+ python -m lidar_slam --no-model /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c Lidar SLAM 0.0.13 ===================================================== The recording path: /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c 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 0.019072329 Adjusted end_distance from 9.223372036854776e+18 to 452.009072329 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019072329 meters Centerline goodness [0,1] 0.4365961591395118 Centerline is valid? [0, False] SLAMing on 0.049072329 meters Centerline goodness [0,1] 0.4639227642276422 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99997113e-01 -1.98546867e-03 -1.35356519e-03 5.30562411e-03] [ 1.98317233e-03 9.99996596e-01 -1.69574811e-03 8.26837074e-03] [ 1.35692744e-03 1.69305886e-03 9.99997646e-01 -5.80533153e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079072329 meters Centerline goodness [0,1] 0.4476323769535806 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99986482e-01 -4.14379899e-03 -3.14078846e-03 1.10922559e-02] [ 4.13301869e-03 9.99985573e-01 -3.43110708e-03 1.76309648e-02] [ 3.15496097e-03 3.41807976e-03 9.99989181e-01 -7.62599249e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.109072329 meters Centerline goodness [0,1] 0.49110418389634625 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.00 [[ 0.99991846 -0.01252048 -0.00251031 0.04088486] [ 0.01250394 0.99990069 -0.00650044 0.04247563] [ 0.00259145 0.00646852 0.99997572 -0.00237112] [ 0. 0. 0. 1. ]] SLAMing on 0.139072329 meters Centerline goodness [0,1] 0.4899951195705222 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:-0.01 [[ 0.99988474 -0.01454008 -0.00436933 0.04819639] [ 0.01449832 0.99985032 -0.00944154 0.05191415] [ 0.00450595 0.00937711 0.99994588 -0.00539378] [ 0. 0. 0. 1. ]] SLAMing on 0.169072329 meters Centerline goodness [0,1] 0.49693485777315827 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.01 [[ 0.99978703 -0.01978967 -0.00585363 0.08064931] [ 0.01972526 0.99974643 -0.01086256 0.07819788] [ 0.00606711 0.01074478 0.99992387 -0.01215327] [ 0. 0. 0. 1. ]] SLAMing on 0.199072329 meters Centerline goodness [0,1] 0.4997984170433085 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.01 [[ 0.99980286 -0.01798786 -0.00840758 0.08833647] [ 0.01789864 0.99978394 -0.01056959 0.08997838] [ 0.00859588 0.01041702 0.99990879 -0.01446778] [ 0. 0. 0. 1. ]] SLAMing on 0.229072329 meters Centerline goodness [0,1] 0.5075152853260869 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.01 [[ 0.99980885 -0.01611415 -0.01107237 0.0948586 ] [ 0.01600204 0.99982054 -0.01014027 0.10261341] [ 0.01123378 0.00996115 0.99988728 -0.01476718] [ 0. 0. 0. 1. ]] SLAMing on 0.259072329 meters Centerline goodness [0,1] 0.5116821934087388 Centerline is valid? [False, False] Translation: X:0.10, Y:0.12, Z:-0.01 [[ 0.99979638 -0.01460986 -0.01391937 0.10095665] [ 0.01447214 0.99984582 -0.00994424 0.11526515] [ 0.01406251 0.00974077 0.99985367 -0.01394408] [ 0. 0. 0. 1. ]] SLAMing on 0.289072329 meters Centerline goodness [0,1] 0.516843159397439 Centerline is valid? [False, False] Translation: X:0.12, Y:0.14, Z:-0.02 [[ 0.99957682 -0.02405179 -0.01636136 0.11814608] [ 0.02389628 0.99966801 -0.00963486 0.14406088] [ 0.01658767 0.0092398 0.99981972 -0.01600749] [ 0. 0. 0. 1. ]] SLAMing on 0.319072329 meters Centerline goodness [0,1] 0.5210247010933271 Centerline is valid? [False, False] Translation: X:0.12, Y:0.16, Z:-0.02 [[ 0.99949703 -0.0262313 -0.01782129 0.12344552] [ 0.02599767 0.99957462 -0.01321746 0.15504356] [ 0.01816042 0.0127475 0.99975382 -0.01787566] [ 0. 0. 0. 1. ]] SLAMing on 0.34907232899999996 meters Centerline goodness [0,1] 0.5231533818228356 Centerline is valid? [False, False] Translation: X:0.13, Y:0.17, Z:-0.02 [[ 0.9994063 -0.02846181 -0.01941594 0.12869976] [ 0.02813948 0.99946488 -0.01667732 0.16589942] [ 0.01988022 0.01612106 0.99967239 -0.01948132] [ 0. 0. 0. 1. ]] SLAMing on 0.379072329 meters Centerline goodness [0,1] 0.5262819964044174 Centerline is valid? [False, False] Translation: X:0.15, Y:0.19, Z:-0.03 [[ 0.99924001 -0.03468604 -0.01778407 0.14683796] [ 0.03447542 0.9993333 -0.0120164 0.18985726] [ 0.01818901 0.01139416 0.99976964 -0.0264987 ] [ 0. 0. 0. 1. ]] SLAMing on 0.409072329 meters Centerline goodness [0,1] 0.5254373399314147 Centerline is valid? [False, False] Translation: X:0.15, Y:0.20, Z:-0.03 [[ 0.99918683 -0.03498345 -0.02004586 0.15169192] [ 0.03472036 0.99930823 -0.01332545 0.20050365] [ 0.02049816 0.01261861 0.99971026 -0.0262504 ] [ 0. 0. 0. 1. ]] SLAMing on 0.439072329 meters Centerline goodness [0,1] 0.5240094982630491 Centerline is valid? [False, False] Translation: X:0.16, Y:0.21, Z:-0.03 [[ 0.9991419 -0.03506965 -0.02203598 0.15640027] [ 0.03475805 0.99929247 -0.01436812 0.21041341] [ 0.02252428 0.01358986 0.99965393 -0.02648432] [ 0. 0. 0. 1. ]] SLAMing on 0.46907232899999995 meters Centerline goodness [0,1] 0.528767987029072 Centerline is valid? [False, False] Translation: X:0.18, Y:0.23, Z:-0.03 [[ 0.99902935 -0.03815359 -0.02201517 0.17841451] [ 0.03795563 0.99923577 -0.00934081 0.23273259] [ 0.02235473 0.00849614 0.999714 -0.03043544] [ 0. 0. 0. 1. ]] SLAMing on 0.499072329 meters Centerline goodness [0,1] 0.534042407504622 Centerline is valid? [False, False] Translation: X:0.18, Y:0.24, Z:-0.03 [[ 0.99899249 -0.03782975 -0.0241435 0.18356636] [ 0.0376022 0.99924463 -0.00981024 0.24199726] [ 0.02449638 0.0088925 0.99966037 -0.03107598] [ 0. 0. 0. 1. ]] SLAMing on 0.529072329 meters Centerline goodness [0,1] 0.5268621673879017 Centerline is valid? [False, False] Translation: X:0.19, Y:0.25, Z:-0.03 [[ 0.99894399 -0.03798879 -0.02584106 0.18844393] [ 0.03771932 0.99922961 -0.01083699 0.25060376] [ 0.02623284 0.00985084 0.99960732 -0.03232484] [ 0. 0. 0. 1. ]] SLAMing on 0.559072329 meters Centerline goodness [0,1] 0.5283225926963668 Centerline is valid? [False, False] Translation: X:0.20, Y:0.27, Z:-0.03 [[ 0.99879779 -0.03965827 -0.02881307 0.19724048] [ 0.03925272 0.999124 -0.0145073 0.26867398] [ 0.02936316 0.01335887 0.99947954 -0.03388739] [ 0. 0. 0. 1. ]] SLAMing on 0.589072329 meters Centerline goodness [0,1] 0.5283608753907995 Centerline is valid? [False, False] Translation: X:0.20, Y:0.28, Z:-0.03 [[ 0.99874251 -0.0399159 -0.03033342 0.20065484] [ 0.03945821 0.99910036 -0.01554067 0.27609343] [ 0.03092645 0.01432422 0.99941902 -0.0335621 ] [ 0. 0. 0. 1. ]] SLAMing on 0.619072329 meters Centerline goodness [0,1] 0.5385327415564997 Centerline is valid? [False, False] Translation: X:0.20, Y:0.28, Z:-0.03 [[ 0.99867139 -0.04044726 -0.03192911 0.20332288] [ 0.03992486 0.99906089 -0.01683283 0.28310086] [ 0.03257997 0.0155357 0.99934838 -0.03187357] [ 0. 0. 0. 1. ]] SLAMing on 0.649072329 meters Centerline goodness [0,1] 0.5356395127521888 Centerline is valid? [False, False] Translation: X:0.21, Y:0.29, Z:-0.03 [[ 0.99855649 -0.04162465 -0.03394599 0.20644761] [ 0.04097093 0.99896549 -0.01973154 0.29113263] [ 0.03473219 0.01831226 0.99922887 -0.02787604] [ 0. 0. 0. 1. ]] SLAMing on 0.6790723289999999 meters Centerline goodness [0,1] 0.5472918938567793 Centerline is valid? [False, False] Translation: X:0.23, Y:0.31, Z:-0.03 [[ 0.9985479 -0.04467242 -0.03010768 0.22651211] [ 0.04426815 0.9989221 -0.01396319 0.30686668] [ 0.03069899 0.0126101 0.99944913 -0.03260859] [ 0. 0. 0. 1. ]] SLAMing on 0.709072329 meters Centerline goodness [0,1] 0.5507949339800593 Centerline is valid? [False, False] Translation: X:0.23, Y:0.31, Z:-0.03 [[ 0.99849186 -0.04470367 -0.03186828 0.23072413] [ 0.04425546 0.99891306 -0.014634 0.31367923] [ 0.03248784 0.01320158 0.99938494 -0.03262646] [ 0. 0. 0. 1. ]] SLAMing on 0.739072329 meters Centerline goodness [0,1] 0.5533920377030882 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:-0.04 [[ 0.99826715 -0.05079793 -0.02970297 0.25309578] [ 0.05047348 0.99865834 -0.01157342 0.32816718] [ 0.03025102 0.01005415 0.99949177 -0.03830924] [ 0. 0. 0. 1. ]] SLAMing on 0.769072329 meters Centerline goodness [0,1] 0.5526590976994323 Centerline is valid? [False, False] Translation: X:0.26, Y:0.33, Z:-0.04 [[ 0.99809099 -0.05326461 -0.03126099 0.25752639] [ 0.0528363 0.99849977 -0.01437155 0.33437568] [ 0.03197958 0.0126924 0.99940793 -0.0389775 ] [ 0. 0. 0. 1. ]] SLAMing on 0.799072329 meters Centerline goodness [0,1] 0.5510408076567459 Centerline is valid? [False, False] Translation: X:0.26, Y:0.34, Z:-0.04 [[ 0.99790535 -0.05571907 -0.03286797 0.26131874] [ 0.05518021 0.9983303 -0.0170809 0.34037466] [ 0.03376482 0.01523146 0.99931373 -0.03873924] [ 0. 0. 0. 1. ]] SLAMing on 0.8290723289999999 meters Centerline goodness [0,1] 0.5565500814842672 Centerline is valid? [False, False] Translation: X:0.26, Y:0.35, Z:-0.04 [[ 0.99774954 -0.05728593 -0.03484491 0.2647662 ] [ 0.05665638 0.99821681 -0.01879483 0.34502932] [ 0.03585946 0.01677834 0.99921599 -0.0370714 ] [ 0. 0. 0. 1. ]] SLAMing on 0.859072329 meters Centerline goodness [0,1] 0.5787104930467762 Centerline is valid? [False, False] Translation: X:0.28, Y:0.36, Z:-0.04 [[ 0.99742743 -0.063981 -0.03232582 0.28454894] [ 0.06352004 0.99786644 -0.01509185 0.35698632] [ 0.03322245 0.01299969 0.99936344 -0.03792292] [ 0. 0. 0. 1. ]] SLAMing on 0.889072329 meters Centerline goodness [0,1] 0.5822710734549525 Centerline is valid? [False, False] Translation: X:0.29, Y:0.36, Z:-0.04 [[ 0.99713591 -0.06698266 -0.0351184 0.28925384] [ 0.06638822 0.99763456 -0.01782932 0.36279813] [ 0.03622959 0.01544681 0.99922411 -0.0358812 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9190723289999999 meters Centerline goodness [0,1] 0.5962588679630481 Centerline is valid? [False, False] Translation: X:0.29, Y:0.37, Z:-0.04 [[ 0.9967871 -0.07089425 -0.03727579 0.29404809] [ 0.07012742 0.99730646 -0.0214934 0.36786175] [ 0.03869914 0.01881029 0.99907385 -0.03521263] [ 0. 0. 0. 1. ]] SLAMing on 0.9490723289999999 meters Centerline goodness [0,1] 0.6128178370536282 Centerline is valid? [False, False] Translation: X:0.32, Y:0.38, Z:-0.04 [[ 0.99610138 -0.08219748 -0.03202533 0.31611934] [ 0.08146641 0.99639894 -0.02350277 0.37684407] [ 0.03384188 0.02080215 0.99921069 -0.04194728] [ 0. 0. 0. 1. ]] SLAMing on 0.979072329 meters Centerline goodness [0,1] 0.6285460317460317 Centerline is valid? [False, False] Translation: X:0.32, Y:0.38, Z:-0.04 [[ 0.99571044 -0.08623692 -0.03352476 0.32042249] [ 0.08532842 0.99596918 -0.02764874 0.38064743] [ 0.03577396 0.02466952 0.99905537 -0.04152767] [ 0. 0. 0. 1. ]] SLAMing on 1.0090723289999999 meters Centerline goodness [0,1] 0.6492039559428586 Centerline is valid? [False, False] Translation: X:0.34, Y:0.39, Z:-0.05 [[ 0.99517372 -0.09293812 -0.03149226 0.34257137] [ 0.09221853 0.99545949 -0.02358273 0.39126196] [ 0.033541 0.02056474 0.99922575 -0.04619831] [ 0. 0. 0. 1. ]] SLAMing on 1.0390723290000001 meters Centerline goodness [0,1] 0.6603081814219419 Centerline is valid? [False, False] Translation: X:0.35, Y:0.40, Z:-0.05 [[ 0.99498623 -0.09432111 -0.0332554 0.34689887] [ 0.09351358 0.99530262 -0.02505821 0.39596397] [ 0.03546271 0.02182274 0.99913271 -0.04597704] [ 0. 0. 0. 1. ]] SLAMing on 1.069072329 meters Centerline goodness [0,1] 0.6640358744394619 Centerline is valid? [False, False] Translation: X:0.35, Y:0.40, Z:-0.05 [[ 0.99479474 -0.09578691 -0.03476045 0.35167496] [ 0.09488602 0.99512986 -0.02670574 0.40029564] [ 0.03714922 0.02326845 0.9990388 -0.04701839] [ 0. 0. 0. 1. ]] SLAMing on 1.0990723290000002 meters Centerline goodness [0,1] 0.6688599298497145 Centerline is valid? [False, False] Translation: X:0.36, Y:0.40, Z:-0.05 [[ 0.99464004 -0.09696361 -0.03590609 0.35650579] [ 0.09598688 0.99498875 -0.0279982 0.40404762] [ 0.03844096 0.02440162 0.99896289 -0.04911559] [ 0. 0. 0. 1. ]] SLAMing on 1.129072329 meters Centerline goodness [0,1] 0.6786762812258562 Centerline is valid? [False, False] Translation: X:0.38, Y:0.41, Z:-0.06 [[ 0.99407978 -0.10313019 -0.03419882 0.37871567] [ 0.10235092 0.9944634 -0.02380827 0.41231904] [ 0.03646482 0.02016704 0.99913143 -0.05505104] [ 0. 0. 0. 1. ]] SLAMing on 1.1590723289999998 meters Centerline goodness [0,1] 0.6786762812258562 Centerline is valid? [False, False] Translation: X:0.38, Y:0.41, Z:-0.06 [[ 0.99407978 -0.10313019 -0.03419882 0.37871567] [ 0.10235092 0.9944634 -0.02380827 0.41231904] [ 0.03646482 0.02016704 0.99913143 -0.05505104] [ 0. 0. 0. 1. ]] SLAMing on 1.189072329 meters Centerline goodness [0,1] 0.681697681002754 Centerline is valid? [False, False] Translation: X:0.38, Y:0.41, Z:-0.06 [[ 0.99397882 -0.10354075 -0.03585273 0.3832397 ] [ 0.1027154 0.9944176 -0.02414926 0.41470122] [ 0.03815302 0.02032122 0.99906526 -0.05572384] [ 0. 0. 0. 1. ]] SLAMing on 1.2190723289999998 meters Centerline goodness [0,1] 0.6887784017723737 Centerline is valid? [False, False] Translation: X:0.39, Y:0.42, Z:-0.06 [[ 0.99386486 -0.1040583 -0.03747665 0.38825689] [ 0.10318122 0.99435763 -0.02462807 0.41694824] [ 0.03982795 0.02061009 0.99899397 -0.05702545] [ 0. 0. 0. 1. ]] SLAMing on 1.249072329 meters Centerline goodness [0,1] 0.691074925280841 Centerline is valid? [False, False] Translation: X:0.40, Y:0.42, Z:-0.05 [[ 0.9932955 -0.10772046 -0.04195644 0.403502 ] [ 0.10646415 0.99382962 -0.03111375 0.42337875] [ 0.04504914 0.02643829 0.99863486 -0.05328765] [ 0. 0. 0. 1. ]] SLAMing on 1.279072329 meters Centerline goodness [0,1] 0.690080732246619 Centerline is valid? [False, False] Translation: X:0.41, Y:0.43, Z:-0.05 [[ 0.99287844 -0.1112904 -0.04250697 0.40685676] [ 0.10983436 0.99332697 -0.03518447 0.42606396] [ 0.04613902 0.03026518 0.99847644 -0.05362451] [ 0. 0. 0. 1. ]] SLAMing on 1.3090723290000001 meters Centerline goodness [0,1] 0.6909142226669746 Centerline is valid? [False, False] Translation: X:0.41, Y:0.43, Z:-0.05 [[ 0.99244986 -0.11478052 -0.04322861 0.41008449] [ 0.11312537 0.99281612 -0.03897169 0.42875229] [ 0.04739125 0.03378719 0.99830481 -0.05365607] [ 0. 0. 0. 1. ]] SLAMing on 1.339072329 meters Centerline goodness [0,1] 0.6923787765998408 Centerline is valid? [False, False] Translation: X:0.41, Y:0.43, Z:-0.05 [[ 0.99232727 -0.11522969 -0.04481866 0.41449743] [ 0.11351496 0.99276678 -0.03909566 0.42907386] [ 0.04899946 0.0337081 0.99822984 -0.05440204] [ 0. 0. 0. 1. ]] SLAMing on 1.3690723289999998 meters Centerline goodness [0,1] 0.6931891335135831 Centerline is valid? [False, False] Translation: X:0.43, Y:0.43, Z:-0.06 [[ 0.99169484 -0.12152415 -0.04210978 0.43278933] [ 0.12016947 0.99219334 -0.03334171 0.43377635] [ 0.04583287 0.02800449 0.99855651 -0.05799718] [ 0. 0. 0. 1. ]] SLAMing on 1.399072329 meters Centerline goodness [0,1] 0.6952539763981529 Centerline is valid? [False, False] Translation: X:0.44, Y:0.44, Z:-0.06 [[ 0.99115071 -0.12544824 -0.04339371 0.43587919] [ 0.12388818 0.99160782 -0.0369547 0.43628485] [ 0.04766545 0.03125171 0.99837435 -0.05690356] [ 0. 0. 0. 1. ]] SLAMing on 1.4290723289999998 meters Centerline goodness [0,1] 0.6953871372589197 Centerline is valid? [False, False] Translation: X:0.44, Y:0.44, Z:-0.06 [[ 0.99057145 -0.12975288 -0.04395894 0.43864698] [ 0.12798389 0.9909315 -0.04092527 0.43566987] [ 0.04887047 0.03491337 0.99819474 -0.05669654] [ 0. 0. 0. 1. ]] SLAMing on 1.459072329 meters Centerline goodness [0,1] 0.7012897984055249 Centerline is valid? [False, False] Translation: X:0.46, Y:0.43, Z:-0.06 [[ 0.98909432 -0.14203984 -0.03895012 0.45736507] [ 0.14042795 0.98922466 -0.04140732 0.43422269] [ 0.04441191 0.03548606 0.99838285 -0.06142596] [ 0. 0. 0. 1. ]] SLAMing on 1.4890723289999999 meters Centerline goodness [0,1] 0.7047935814756512 Centerline is valid? [False, False] Translation: X:0.46, Y:0.43, Z:-0.06 [[ 0.98841379 -0.14630599 -0.04040704 0.45950735] [ 0.14448551 0.98849163 -0.04481343 0.43486646] [ 0.0464985 0.03845598 0.99817785 -0.05869658] [ 0. 0. 0. 1. ]] SLAMing on 1.519072329 meters Centerline goodness [0,1] 0.707493670886076 Centerline is valid? [False, False] Translation: X:0.47, Y:0.43, Z:-0.07 [[ 0.98787539 -0.15095774 -0.0362487 0.47426166] [ 0.14964826 0.98806606 -0.03648091 0.4341254 ] [ 0.04132318 0.03061404 0.99867671 -0.06523832] [ 0. 0. 0. 1. ]] SLAMing on 1.549072329 meters Centerline goodness [0,1] 0.714289322153753 Centerline is valid? [False, False] Translation: X:0.49, Y:0.43, Z:-0.07 [[ 0.98641893 -0.16117511 -0.03162704 0.49298874] [ 0.16005027 0.98647502 -0.03536859 0.43391627] [ 0.03689982 0.02982633 0.99887376 -0.06979737] [ 0. 0. 0. 1. ]] SLAMing on 1.5790723290000002 meters Centerline goodness [0,1] 0.7152979469203806 Centerline is valid? [False, False] Translation: X:0.50, Y:0.43, Z:-0.07 [[ 0.9858033 -0.16482534 -0.03200736 0.49755672] [ 0.16356201 0.98577183 -0.03874739 0.43059562] [ 0.03793851 0.03296212 0.99873629 -0.07214247] [ 0. 0. 0. 1. ]] SLAMing on 1.609072329 meters Centerline goodness [0,1] 0.7236182152257039 Centerline is valid? [False, False] Translation: X:0.50, Y:0.43, Z:-0.07 [[ 0.98516632 -0.16848918 -0.03253797 0.50169919] [ 0.16708904 0.98505471 -0.04181467 0.42651381] [ 0.039097 0.03575766 0.99859542 -0.07373529] [ 0. 0. 0. 1. ]] SLAMing on 1.6390723289999998 meters Centerline goodness [0,1] 0.7278446659429587 Centerline is valid? [False, False] Translation: X:0.52, Y:0.42, Z:-0.07 [[ 0.9836852 -0.17743492 -0.02966934 0.52054725] [ 0.17625636 0.9835907 -0.03851001 0.42209717] [ 0.0360155 0.03265232 0.99881766 -0.0742769 ] [ 0. 0. 0. 1. ]] SLAMing on 1.669072329 meters Centerline goodness [0,1] 0.7286442054487732 Centerline is valid? [False, False] Translation: X:0.53, Y:0.42, Z:-0.07 [[ 0.9828592 -0.18046896 -0.03766622 0.53204119] [ 0.1793794 0.98330499 -0.03056689 0.41782482] [ 0.04255376 0.0232864 0.99882277 -0.07116617] [ 0. 0. 0. 1. ]] SLAMing on 1.6990723289999998 meters Centerline goodness [0,1] 0.7283198663948719 Centerline is valid? [False, False] Translation: X:0.55, Y:0.41, Z:-0.08 [[ 0.98184406 -0.18615041 -0.03647277 0.55232471] [ 0.18539499 0.98239179 -0.02313137 0.41409663] [ 0.04013647 0.01594953 0.9990669 -0.07683415] [ 0. 0. 0. 1. ]] SLAMing on 1.729072329 meters Centerline goodness [0,1] 0.7265584844702254 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.08 [[ 0.98127166 -0.18909557 -0.0367259 0.55589657] [ 0.18819921 0.98177253 -0.02652839 0.4122834 ] [ 0.04107288 0.01911977 0.9989732 -0.07820301] [ 0. 0. 0. 1. ]] SLAMing on 1.7590723289999999 meters Centerline goodness [0,1] 0.7275849470222872 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.08 [[ 0.98075179 -0.19171277 -0.03704233 0.56029292] [ 0.19068415 0.98120559 -0.02958275 0.40924701] [ 0.04201753 0.02194995 0.99887573 -0.0803158 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7890723290000001 meters Centerline goodness [0,1] 0.7262222006880179 Centerline is valid? [False, False] Translation: X:0.56, Y:0.41, Z:-0.08 [[ 0.98023789 -0.19430868 -0.03711885 0.56413586] [ 0.19314813 0.98062535 -0.03267608 0.40663094] [ 0.04274894 0.0248609 0.99877648 -0.08234072] [ 0. 0. 0. 1. ]] SLAMing on 1.819072329 meters Centerline goodness [0,1] 0.7261559133334933 Centerline is valid? [False, False] Translation: X:0.57, Y:0.40, Z:-0.08 [[ 0.9798556 -0.19579854 -0.03931843 0.57418609] [ 0.19445138 0.98026544 -0.03561361 0.40411574] [ 0.04551559 0.02725068 0.99859187 -0.08235404] [ 0. 0. 0. 1. ]] SLAMing on 1.8490723289999997 meters Centerline goodness [0,1] 0.7252295562713331 Centerline is valid? [False, False] Translation: X:0.58, Y:0.40, Z:-0.08 [[ 0.97997545 -0.19492852 -0.04063231 0.57730229] [ 0.19357795 0.98046345 -0.03491427 0.40254295] [ 0.04664428 0.02634961 0.99856397 -0.08265837] [ 0. 0. 0. 1. ]] SLAMing on 1.879072329 meters Centerline goodness [0,1] 0.726866028708134 Centerline is valid? [False, False] Translation: X:0.58, Y:0.40, Z:-0.08 [[ 0.98006046 -0.19418447 -0.04211754 0.58089156] [ 0.19283057 0.98063715 -0.03416358 0.40025228] [ 0.04793606 0.02536083 0.9985284 -0.08295484] [ 0. 0. 0. 1. ]] SLAMing on 1.9090723289999998 meters Centerline goodness [0,1] 0.7205938242280285 Centerline is valid? [False, False] Translation: X:0.59, Y:0.40, Z:-0.08 [[ 0.98021765 -0.19305182 -0.04363893 0.58595802] [ 0.19171866 0.98089668 -0.03294935 0.39578496] [ 0.04916621 0.02393114 0.99850387 -0.08496006] [ 0. 0. 0. 1. ]] SLAMing on 1.939072329 meters Centerline goodness [0,1] 0.7141920835186442 Centerline is valid? [False, False] Translation: X:0.60, Y:0.39, Z:-0.08 [[ 0.97969787 -0.19521655 -0.04563533 0.59827186] [ 0.19364621 0.98038635 -0.03665714 0.38544481] [ 0.05189633 0.02707581 0.99828537 -0.08497647] [ 0. 0. 0. 1. ]] SLAMing on 1.9690723289999998 meters Centerline goodness [0,1] 0.7135838688646736 Centerline is valid? [False, False] Translation: X:0.60, Y:0.38, Z:-0.09 [[ 0.97979544 -0.1943565 -0.04718517 0.60331771] [ 0.19282473 0.9806039 -0.0351372 0.37875654] [ 0.0530991 0.0253288 0.99826797 -0.08709047] [ 0. 0. 0. 1. ]] SLAMing on 1.999072329 meters Centerline goodness [0,1] 0.7141035154438364 Centerline is valid? [False, False] Translation: X:0.61, Y:0.37, Z:-0.09 [[ 0.9798228 -0.19375252 -0.04906363 0.60776651] [ 0.19225145 0.98076673 -0.03370457 0.37323546] [ 0.05465032 0.02359195 0.99822681 -0.08763529] [ 0. 0. 0. 1. ]] SLAMing on 2.029072329 meters Centerline goodness [0,1] 0.707231081205641 Centerline is valid? [False, False] Translation: X:0.62, Y:0.37, Z:-0.09 [[ 0.97808132 -0.20175245 -0.05150615 0.61794043] [ 0.20071053 0.97933887 -0.02471162 0.36526879] [ 0.0554276 0.01383215 0.99836689 -0.08953859] [ 0. 0. 0. 1. ]] SLAMing on 2.059072329 meters Centerline goodness [0,1] 0.7036943144891799 Centerline is valid? [False, False] Translation: X:0.62, Y:0.36, Z:-0.09 [[ 0.97818816 -0.20069682 -0.05356031 0.62415383] [ 0.1997078 0.97957904 -0.02327454 0.36007459] [ 0.05713768 0.01207047 0.99829334 -0.09149376] [ 0. 0. 0. 1. ]] SLAMing on 2.089072329 meters Centerline goodness [0,1] 0.6909645042278696 Centerline is valid? [False, False] Translation: X:0.63, Y:0.36, Z:-0.09 [[ 0.97756158 -0.20359281 -0.05406786 0.62846749] [ 0.2024349 0.97894651 -0.02615021 0.35602862] [ 0.05825353 0.01461822 0.99819479 -0.09258529] [ 0. 0. 0. 1. ]] SLAMing on 2.119072329 meters Centerline goodness [0,1] 0.6816249516924686 Centerline is valid? [False, False] Translation: X:0.64, Y:0.35, Z:-0.10 [[ 0.97696836 -0.20617317 -0.05500417 0.63575915] [ 0.20486347 0.97837457 -0.0285334 0.35022976] [ 0.0596975 0.01660788 0.99807835 -0.09532568] [ 0. 0. 0. 1. ]] SLAMing on 2.149072329 meters Centerline goodness [0,1] 0.6876010781671159 Centerline is valid? [False, False] Translation: X:0.65, Y:0.34, Z:-0.10 [[ 0.97484617 -0.21554885 -0.05668905 0.65314779] [ 0.21357317 0.97615088 -0.0389354 0.34059041] [ 0.06372954 0.02584877 0.99763239 -0.09570027] [ 0. 0. 0. 1. ]] SLAMing on 2.1790723290000003 meters Centerline goodness [0,1] 0.6887560502308567 Centerline is valid? [False, False] Translation: X:0.66, Y:0.34, Z:-0.10 [[ 0.97387004 -0.21970074 -0.05752152 0.65763993] [ 0.2175287 0.97516233 -0.04170969 0.33651812] [ 0.06525647 0.02810724 0.99747259 -0.09559026] [ 0. 0. 0. 1. ]] SLAMing on 2.209072329 meters Centerline goodness [0,1] 0.7011767846417369 Centerline is valid? [False, False] Translation: X:0.69, Y:0.33, Z:-0.09 [[ 0.97140205 -0.22980966 -0.05971245 0.68641159] [ 0.2284291 0.97312576 -0.02909288 0.3299419 ] [ 0.06479355 0.01462082 0.99779157 -0.09472863] [ 0. 0. 0. 1. ]] SLAMing on 2.239072329 meters Centerline goodness [0,1] 0.7118583597199304 Centerline is valid? [False, False] Translation: X:0.70, Y:0.33, Z:-0.09 [[ 0.97011913 -0.23330401 -0.06661912 0.69791604] [ 0.23199641 0.97234625 -0.02684095 0.32712581] [ 0.07103895 0.01058352 0.99741739 -0.08850264] [ 0. 0. 0. 1. ]] SLAMing on 2.269072329 meters Centerline goodness [0,1] 0.7145638370832503 Centerline is valid? [False, False] Translation: X:0.70, Y:0.32, Z:-0.09 [[ 0.9698948 -0.23372428 -0.0683888 0.70349607] [ 0.23247921 0.97226062 -0.02574306 0.32234684] [ 0.07250852 0.00906908 0.99732656 -0.08939317] [ 0. 0. 0. 1. ]] SLAMing on 2.299072329 meters Centerline goodness [0,1] 0.7137748688830132 Centerline is valid? [False, False] Translation: X:0.73, Y:0.32, Z:-0.09 [[ 0.96875243 -0.23804321 -0.06967186 0.72677811] [ 0.23605696 0.97108709 -0.03559446 0.31584943] [ 0.07613047 0.01803569 0.99693474 -0.08739076] [ 0. 0. 0. 1. ]] SLAMing on 2.329072329 meters Centerline goodness [0,1] 0.7087819794986648 Centerline is valid? [False, False] Translation: X:0.73, Y:0.31, Z:-0.09 [[ 0.96796365 -0.24107538 -0.07020706 0.7342292 ] [ 0.23892399 0.97030597 -0.03770488 0.31016244] [ 0.07721205 0.0197228 0.9968196 -0.09112787] [ 0. 0. 0. 1. ]] SLAMing on 2.359072329 meters Centerline goodness [0,1] 0.7309057845514375 Centerline is valid? [False, False] Translation: X:0.74, Y:0.30, Z:-0.09 [[ 0.96710069 -0.24441543 -0.07055033 0.73953491] [ 0.24210909 0.96943622 -0.03970647 0.30462752] [ 0.07809892 0.02131928 0.99671764 -0.09353742] [ 0. 0. 0. 1. ]] SLAMing on 2.389072329 meters Centerline goodness [0,1] 0.7202905736026384 Centerline is valid? [False, False] Translation: X:0.76, Y:0.30, Z:-0.10 [[ 0.96512706 -0.2528759 -0.06770185 0.76030054] [ 0.25098795 0.96734946 -0.03521477 0.29686209] [ 0.07439631 0.01699438 0.99708394 -0.09636624] [ 0. 0. 0. 1. ]] SLAMing on 2.419072329 meters Centerline goodness [0,1] 0.7221489283474274 Centerline is valid? [False, False] Translation: X:0.76, Y:0.29, Z:-0.10 [[ 0.96486888 -0.25355696 -0.06882521 0.7641523 ] [ 0.25179005 0.96720603 -0.03338066 0.29022006] [ 0.07503206 0.01487845 0.99707012 -0.09669923] [ 0. 0. 0. 1. ]] SLAMing on 2.449072329 meters Centerline goodness [0,1] 0.706738115221555 Centerline is valid? [False, False] Translation: X:0.77, Y:0.29, Z:-0.10 [[ 0.96386242 -0.25744566 -0.06849067 0.76618549] [ 0.25552375 0.96614599 -0.03563048 0.28519865] [ 0.0753449 0.01684188 0.99701529 -0.09578267] [ 0. 0. 0. 1. ]] SLAMing on 2.479072329 meters Centerline goodness [0,1] 0.7038620156370823 Centerline is valid? [False, False] Translation: X:0.77, Y:0.28, Z:-0.10 [[ 0.96291125 -0.26109322 -0.06806068 0.76863202] [ 0.25902121 0.96513058 -0.03782829 0.27937065] [ 0.07556416 0.01879612 0.99696377 -0.09550121] [ 0. 0. 0. 1. ]] SLAMing on 2.509072329 meters Centerline goodness [0,1] 0.7105297241289988 Centerline is valid? [False, False] Translation: X:0.77, Y:0.27, Z:-0.09 [[ 0.960918 -0.26891109 -0.06575266 0.77167432] [ 0.26653697 0.96287787 -0.04271116 0.26676021] [ 0.07479728 0.02351641 0.99692143 -0.09491853] [ 0. 0. 0. 1. ]] SLAMing on 2.539072329 meters Centerline goodness [0,1] 0.7018015884973847 Centerline is valid? [False, False] Translation: X:0.78, Y:0.26, Z:-0.10 [[ 0.96090484 -0.26870739 -0.06677 0.77708771] [ 0.26642988 0.96297697 -0.04111527 0.26017148] [ 0.07534596 0.02171834 0.99692091 -0.09764402] [ 0. 0. 0. 1. ]] SLAMing on 2.569072329 meters Centerline goodness [0,1] 0.701153654682799 Centerline is valid? [False, False] Translation: X:0.78, Y:0.25, Z:-0.10 [[ 0.96103298 -0.26787391 -0.06825812 0.78243577] [ 0.26571616 0.96325765 -0.0391104 0.25480869] [ 0.07622681 0.0194491 0.9969008 -0.09982899] [ 0. 0. 0. 1. ]] SLAMing on 2.599072329 meters Centerline goodness [0,1] 0.6815323909461452 Centerline is valid? [False, False] Translation: X:0.80, Y:0.25, Z:-0.10 [[ 0.95966015 -0.2703004 -0.07739572 0.80151657] [ 0.26857822 0.96272436 -0.03205547 0.24891459] [ 0.08317535 0.00997555 0.996485 -0.0998738 ] [ 0. 0. 0. 1. ]] SLAMing on 2.629072329 meters Centerline goodness [0,1] 0.6589880618885489 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.10 [[ 0.95985821 -0.2691499 -0.07893377 0.80759844] [ 0.26756815 0.96306637 -0.03017384 0.24464846] [ 0.08413975 0.00784244 0.9964231 -0.10296045] [ 0. 0. 0. 1. ]] SLAMing on 2.659072329 meters Centerline goodness [0,1] 0.6440219156723044 Centerline is valid? [False, False] Translation: X:0.82, Y:0.24, Z:-0.11 [[ 0.95924463 -0.27097518 -0.08013864 0.81821746] [ 0.26933386 0.96255315 -0.0308335 0.23613172] [ 0.08549282 0.00799282 0.99630673 -0.10755298] [ 0. 0. 0. 1. ]] SLAMing on 2.689072329 meters Centerline goodness [0,1] 0.6474396449063549 Centerline is valid? [False, False] Translation: X:0.82, Y:0.23, Z:-0.11 [[ 0.95940769 -0.27007065 -0.0812325 0.82325571] [ 0.26857287 0.96282154 -0.0290396 0.23017989] [ 0.08605515 0.00604397 0.99627204 -0.10977756] [ 0. 0. 0. 1. ]] SLAMing on 2.719072329 meters Centerline goodness [0,1] 0.6546295492052463 Centerline is valid? [False, False] Translation: X:0.83, Y:0.22, Z:-0.11 [[ 0.95955697 -0.26926459 -0.08214008 0.82718481] [ 0.26791534 0.96305739 -0.02723664 0.22436392] [ 0.08643948 0.00412852 0.99624855 -0.11113034] [ 0. 0. 0. 1. ]] SLAMing on 2.749072329 meters Centerline goodness [0,1] 0.6476859017680016 Centerline is valid? [False, False] Translation: X:0.83, Y:0.21, Z:-0.11 [[ 0.95971131 -0.26844869 -0.08300304 0.83169143] [ 0.26735155 0.96329336 -0.02427062 0.21479794] [ 0.08647169 0.0011018 0.9962537 -0.11143149] [ 0. 0. 0. 1. ]] SLAMing on 2.779072329 meters Centerline goodness [0,1] 0.6383793546140958 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.11 [[ 9.59901818e-01 -2.67444564e-01 -8.40351448e-02 8.35253625e-01] [ 2.66471435e-01 9.63573115e-01 -2.27997041e-02 2.10982738e-01] [ 8.70716632e-02 -5.07488190e-04 9.96201921e-01 -1.12463858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.809072329 meters Centerline goodness [0,1] 0.615711897887859 Centerline is valid? [False, False] Translation: X:0.84, Y:0.21, Z:-0.11 [[ 0.96011862 -0.26626492 -0.08529498 0.84008475] [ 0.26542867 0.9638972 -0.02120877 0.20729999] [ 0.08786275 -0.0022768 0.99612999 -0.11452366] [ 0. 0. 0. 1. ]] SLAMing on 2.839072329 meters Centerline goodness [0,1] 0.6106188925081433 Centerline is valid? [False, False] Translation: X:0.85, Y:0.20, Z:-0.12 [[ 0.96033723 -0.26501911 -0.08670221 0.84586862] [ 0.26433856 0.96423383 -0.01944851 0.20306627] [ 0.08875543 -0.00424161 0.99604442 -0.11731612] [ 0. 0. 0. 1. ]] SLAMing on 2.869072329 meters Centerline goodness [0,1] 0.5835726718885987 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:-0.12 [[ 0.95990137 -0.26584446 -0.0889724 0.85727559] [ 0.26501563 0.96401059 -0.02122027 0.19663884] [ 0.09141163 -0.00320971 0.99580802 -0.11813468] [ 0. 0. 0. 1. ]] SLAMing on 2.899072329 meters Centerline goodness [0,1] 0.581920166971041 Centerline is valid? [False, False] Translation: X:0.86, Y:0.19, Z:-0.12 [[ 0.96005495 -0.26498708 -0.08986846 0.86023169] [ 0.26428579 0.96424046 -0.01983324 0.19253037] [ 0.09191035 -0.00470995 0.99575615 -0.11855463] [ 0. 0. 0. 1. ]] SLAMing on 2.929072329 meters Centerline goodness [0,1] 0.5789965653667232 Centerline is valid? [False, False] Translation: X:0.86, Y:0.19, Z:-0.12 [[ 0.9601927 -0.2642607 -0.09053319 0.86208152] [ 0.26366889 0.96443287 -0.01865361 0.18910442] [ 0.0922426 -0.00595973 0.99571873 -0.11833744] [ 0. 0. 0. 1. ]] SLAMing on 2.959072329 meters Centerline goodness [0,1] 0.5831262262916939 Centerline is valid? [False, False] Translation: X:0.86, Y:0.19, Z:-0.12 [[ 0.96032949 -0.26356538 -0.09110741 0.86338236] [ 0.26306684 0.96461605 -0.01765551 0.1861195 ] [ 0.09253705 -0.00701223 0.99568455 -0.11767032] [ 0. 0. 0. 1. ]] SLAMing on 2.989072329 meters Centerline goodness [0,1] 0.5690140845070423 Centerline is valid? [False, False] Translation: X:0.87, Y:0.18, Z:-0.12 [[ 0.96062543 -0.26221435 -0.09188263 0.86652469] [ 0.26195028 0.96496263 -0.01513838 0.17971836] [ 0.0926328 -0.00952637 0.99565477 -0.11753982] [ 0. 0. 0. 1. ]] SLAMing on 3.019072329 meters Centerline goodness [0,1] 0.554825086531554 Centerline is valid? [False, False] Translation: X:0.87, Y:0.18, Z:-0.12 [[ 0.96075826 -0.26137349 -0.09288412 0.87066202] [ 0.2612372 0.96517542 -0.01383948 0.17631208] [ 0.09326674 -0.0109684 0.99558074 -0.11929896] [ 0. 0. 0. 1. ]] SLAMing on 3.049072329 meters Centerline goodness [0,1] 0.554825086531554 Centerline is valid? [False, False] Translation: X:0.87, Y:0.18, Z:-0.12 [[ 0.96075826 -0.26137349 -0.09288412 0.87066202] [ 0.2612372 0.96517542 -0.01383948 0.17631208] [ 0.09326674 -0.0109684 0.99558074 -0.11929896] [ 0. 0. 0. 1. ]] SLAMing on 3.079072329 meters Centerline goodness [0,1] 0.5484959296504288 Centerline is valid? [False, False] Translation: X:0.88, Y:0.17, Z:-0.12 [[ 0.96058316 -0.26173968 -0.09366076 0.87692543] [ 0.26161156 0.96507368 -0.01386296 0.17381517] [ 0.09401802 -0.01118621 0.99550765 -0.12304355] [ 0. 0. 0. 1. ]] SLAMing on 3.109072329 meters Centerline goodness [0,1] 0.5350154704318648 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:-0.13 [[ 0.95989137 -0.26334352 -0.09622242 0.8937145 ] [ 0.26285855 0.96466812 -0.01791108 0.16936806] [ 0.09753947 -0.00810019 0.99519869 -0.12572789] [ 0. 0. 0. 1. ]] SLAMing on 3.139072329 meters Centerline goodness [0,1] 0.5205843293492696 Centerline is valid? [False, False] Translation: X:0.90, Y:0.17, Z:-0.13 [[ 0.95995778 -0.26266359 -0.09741098 0.89809504] [ 0.26231926 0.96483912 -0.01655556 0.16598824] [ 0.09833446 -0.00966014 0.99510653 -0.12729605] [ 0. 0. 0. 1. ]] SLAMing on 3.169072329 meters Centerline goodness [0,1] 0.5079611226384186 Centerline is valid? [False, False] Translation: X:0.90, Y:0.16, Z:-0.13 [[ 0.95974784 -0.26301378 -0.0985283 0.90180956] [ 0.26285818 0.96472109 -0.0147914 0.16083569] [ 0.09894267 -0.01170295 0.99502432 -0.12706583] [ 0. 0. 0. 1. ]] SLAMing on 3.199072329 meters Centerline goodness [0,1] 0.49353146853146856 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:-0.13 [[ 0.95961933 -0.26310715 -0.09952576 0.90515006] [ 0.26305009 0.96468157 -0.0139328 0.15701634] [ 0.09967649 -0.01281007 0.99493744 -0.12757615] [ 0. 0. 0. 1. ]] SLAMing on 3.229072329 meters Centerline goodness [0,1] 0.4977522695530726 Centerline is valid? [False, False] Translation: X:0.91, Y:0.15, Z:-0.13 [[ 0.95758361 -0.27101502 -0.09790044 0.90711328] [ 0.27037174 0.96254755 -0.02003355 0.15147135] [ 0.09966323 -0.00728571 0.99499455 -0.12657455] [ 0. 0. 0. 1. ]] SLAMing on 3.259072329 meters Centerline goodness [0,1] 0.5015492035784421 Centerline is valid? [False, False] Translation: X:0.91, Y:0.15, Z:-0.13 [[ 0.95741192 -0.2712773 -0.09884857 0.91138423] [ 0.27072123 0.96246522 -0.01925409 0.14717472] [ 0.10036151 -0.00832631 0.9949162 -0.12808738] [ 0. 0. 0. 1. ]] SLAMing on 3.289072329 meters Centerline goodness [0,1] 0.5102884238917649 Centerline is valid? [False, False] Translation: X:0.91, Y:0.15, Z:-0.13 [[ 0.95635465 -0.27516888 -0.09832534 0.91313994] [ 0.27429473 0.96138081 -0.02256839 0.14514932] [ 0.10073822 -0.00538673 0.99489838 -0.12811061] [ 0. 0. 0. 1. ]] SLAMing on 3.319072329 meters Centerline goodness [0,1] 0.5140417540181691 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:-0.13 [[ 0.95533251 -0.27883702 -0.09792705 0.91579551] [ 0.27766561 0.96033474 -0.02567107 0.14342046] [ 0.10120079 -0.00266657 0.99486245 -0.12905225] [ 0. 0. 0. 1. ]] SLAMing on 3.349072329 meters Centerline goodness [0,1] 0.49952917989707657 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:-0.13 [[ 0.95432319 -0.28204101 -0.09859062 0.92250032] [ 0.28070015 0.95940129 -0.02750614 0.13931768] [ 0.10234583 -0.00142465 0.99474786 -0.13191462] [ 0. 0. 0. 1. ]] SLAMing on 3.379072329 meters Centerline goodness [0,1] 0.4994207270422104 Centerline is valid? [False, False] Translation: X:0.93, Y:0.14, Z:-0.13 [[ 0.95436612 -0.28157122 -0.09951365 0.92564201] [ 0.28033258 0.95953682 -0.02650927 0.13711207] [ 0.10295126 -0.00259737 0.99468301 -0.13296788] [ 0. 0. 0. 1. ]] SLAMing on 3.409072329 meters Centerline goodness [0,1] 0.48787521300301484 Centerline is valid? [False, False] Translation: X:0.93, Y:0.14, Z:-0.13 [[ 0.95436481 -0.28133838 -0.10018248 0.92758079] [ 0.28016653 0.95960269 -0.02587269 0.13554 ] [ 0.10341436 -0.00337579 0.99463263 -0.13322431] [ 0. 0. 0. 1. ]] SLAMing on 3.439072329 meters Centerline goodness [0,1] 0.48315934607051403 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:-0.13 [[ 9.53289075e-01 -2.85068289e-01 -9.98799809e-02 9.30603734e-01] [ 2.83623120e-01 9.58506705e-01 -2.86848782e-02 1.32630680e-01] [ 1.03912781e-01 -9.83290839e-04 9.94585927e-01 -1.33721360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.469072329 meters Centerline goodness [0,1] 0.4806951906553847 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:-0.13 [[ 0.95225017 -0.28873423 -0.09925803 0.93280426] [ 0.28696004 0.95740718 -0.03202231 0.13118034] [ 0.10427629 0.00201016 0.99454634 -0.13453666] [ 0. 0. 0. 1. ]] SLAMing on 3.499072329 meters Centerline goodness [0,1] 0.48371371108779293 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:-0.14 [[ 0.95122089 -0.2923258 -0.09861262 0.9352388 ] [ 0.29023601 0.95630627 -0.0352332 0.12956734] [ 0.10460344 0.00489362 0.99450197 -0.1356981 ] [ 0. 0. 0. 1. ]] SLAMing on 3.529072329 meters Centerline goodness [0,1] 0.4749169725572452 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:-0.14 [[ 0.9511749 -0.29215017 -0.09957201 0.93978298] [ 0.29014267 0.95636477 -0.03440428 0.1267794 ] [ 0.10527838 0.0038344 0.9944354 -0.13806368] [ 0. 0. 0. 1. ]] SLAMing on 3.559072329 meters Centerline goodness [0,1] 0.45711164518243386 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:-0.14 [[ 0.95011292 -0.29558471 -0.09957472 0.94469289] [ 0.29328955 0.95529627 -0.03728637 0.12626049] [ 0.10614464 0.00622203 0.99433123 -0.14081021] [ 0. 0. 0. 1. ]] SLAMing on 3.589072329 meters Centerline goodness [0,1] 0.43147840531561465 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.14 [[ 0.95017551 -0.29502764 -0.10062401 0.94895098] [ 0.29282168 0.95547515 -0.03636895 0.1248913 ] [ 0.10687359 0.00509199 0.99425958 -0.14313969] [ 0. 0. 0. 1. ]] SLAMing on 3.6190723289999998 meters Centerline goodness [0,1] 0.3971156153862937 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.15 [[ 0.94910686 -0.2984152 -0.10072012 0.95405583] [ 0.29593025 0.95440804 -0.03912257 0.12381351] [ 0.10780286 0.00732537 0.9941453 -0.14568112] [ 0. 0. 0. 1. ]] SLAMing on 3.649072329 meters Centerline goodness [0,1] 0.39524880455905154 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:-0.15 [[ 0.94910372 -0.29822204 -0.10132006 0.95647332] [ 0.2958035 0.95447416 -0.03846251 0.12133283] [ 0.10817775 0.00653408 0.9941101 -0.14653982] [ 0. 0. 0. 1. ]] SLAMing on 3.679072329 meters Centerline goodness [0,1] 0.4023818352345846 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:-0.15 [[ 0.94911449 -0.29800755 -0.10184882 0.95874958] [ 0.29566513 0.95454655 -0.03772276 0.1185513 ] [ 0.10846111 0.00569007 0.99408441 -0.1474292 ] [ 0. 0. 0. 1. ]] SLAMing on 3.709072329 meters Centerline goodness [0,1] 0.4030165846863709 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:-0.15 [[ 0.94790927 -0.30203481 -0.10120761 0.96115644] [ 0.29939642 0.95326109 -0.04068264 0.1156427 ] [ 0.10876485 0.00826225 0.99403317 -0.14819597] [ 0. 0. 0. 1. ]] SLAMing on 3.739072329 meters Centerline goodness [0,1] 0.39525863947356954 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:-0.15 [[ 0.94777411 -0.30222411 -0.10190595 0.96399869] [ 0.29965616 0.95320838 -0.0399997 0.11310788] [ 0.10922648 0.00737393 0.99398954 -0.14941157] [ 0. 0. 0. 1. ]] SLAMing on 3.769072329 meters Centerline goodness [0,1] 0.390605901868343 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.15 [[ 0.94755614 -0.30270418 -0.10250628 0.96658388] [ 0.30019782 0.9530618 -0.03942688 0.11005659] [ 0.1096295 0.00658702 0.99395069 -0.15039778] [ 0. 0. 0. 1. ]] SLAMing on 3.799072329 meters Centerline goodness [0,1] 0.3812024668221142 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.15 [[ 0.94730821 -0.30329609 -0.10304675 0.96933537] [ 0.30085152 0.9528786 -0.03886814 0.10652715] [ 0.10997959 0.00581834 0.99391682 -0.15157018] [ 0. 0. 0. 1. ]] SLAMing on 3.829072329 meters Centerline goodness [0,1] 0.37220014845216787 Centerline is valid? [False, False] Translation: X:0.97, Y:0.10, Z:-0.15 [[ 0.9459477 -0.30754565 -0.10294959 0.97440449] [ 0.30485249 0.95150201 -0.04133857 0.10224684] [ 0.11067024 0.00771969 0.9938272 -0.1541262 ] [ 0. 0. 0. 1. ]] SLAMing on 3.859072329 meters Centerline goodness [0,1] 0.36791856485820784 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.16 [[ 0.94567338 -0.30811255 -0.10377148 0.9781114 ] [ 0.30547595 0.95132495 -0.04080781 0.09958033] [ 0.11129379 0.00689117 0.99376366 -0.15607948] [ 0. 0. 0. 1. ]] SLAMing on 3.8890723289999998 meters Centerline goodness [0,1] 0.36263279849604335 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.16 [[ 0.94448675 -0.31198397 -0.10300868 0.98057988] [ 0.30902729 0.95003833 -0.04392393 0.09826388] [ 0.11156575 0.00965308 0.99371017 -0.15764595] [ 0. 0. 0. 1. ]] SLAMing on 3.919072329 meters Centerline goodness [0,1] 0.34409560021727326 Centerline is valid? [False, False] Translation: X:0.99, Y:0.09, Z:-0.16 [[ 0.94206848 -0.31957844 -0.10186563 0.98697017] [ 0.31602343 0.94744619 -0.04974851 0.09373855] [ 0.11241075 0.01467457 0.99355346 -0.16137862] [ 0. 0. 0. 1. ]] SLAMing on 3.949072329 meters Centerline goodness [0,1] 0.3397395482314064 Centerline is valid? [False, False] Translation: X:0.99, Y:0.09, Z:-0.16 [[ 0.94091149 -0.32316726 -0.10123478 0.99026195] [ 0.319344 0.94618986 -0.05238461 0.09017421] [ 0.11271631 0.01696057 0.99348245 -0.16317129] [ 0. 0. 0. 1. ]] SLAMing on 3.979072329 meters Centerline goodness [0,1] 0.330907030466809 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:-0.17 [[ 0.93712904 -0.3349115 -0.09809914 0.99451217] [ 0.3301133 0.94189572 -0.0621101 0.08439406] [ 0.11320055 0.02582135 0.99323658 -0.16515355] [ 0. 0. 0. 1. ]] SLAMing on 4.009072328999999 meters Centerline goodness [0,1] 0.3255200383759975 Centerline is valid? [False, False] Translation: X:1.00, Y:0.08, Z:-0.17 [[ 0.93680597 -0.33573157 -0.09838133 0.9970278 ] [ 0.3310151 0.94162794 -0.06136641 0.07914188] [ 0.11324125 0.02492271 0.99325489 -0.16652374] [ 0. 0. 0. 1. ]] SLAMing on 4.039072329 meters Centerline goodness [0,1] 0.31566207257501744 Centerline is valid? [False, False] Translation: X:1.00, Y:0.08, Z:-0.17 [[ 0.9366336 -0.33615371 -0.09858084 0.99836804] [ 0.33155968 0.9415073 -0.06026764 0.07531302] [ 0.11307377 0.02376327 0.99330239 -0.16725881] [ 0. 0. 0. 1. ]] SLAMing on 4.069072329 meters Centerline goodness [0,1] 0.3001978131860965 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:-0.17 [[ 0.93482917 -0.34210322 -0.09518305 0.99206823] [ 0.33779598 0.93938789 -0.05868786 0.06965862] [ 0.10949111 0.02271068 0.99372829 -0.17099946] [ 0. 0. 0. 1. ]] SLAMing on 4.099072329 meters Centerline goodness [0,1] 0.2911362258595306 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:-0.17 [[ 0.93354906 -0.34585098 -0.0941979 0.99363022] [ 0.34125961 0.93794553 -0.06164466 0.06679261] [ 0.10967237 0.02540237 0.99364314 -0.17148841] [ 0. 0. 0. 1. ]] SLAMing on 4.1290723289999995 meters Centerline goodness [0,1] 0.28061401229756644 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:-0.17 [[ 0.93213401 -0.34989126 -0.0932861 0.99689918] [ 0.34504382 0.93637778 -0.06435389 0.0610778 ] [ 0.1098679 0.02779865 0.99355739 -0.17327642] [ 0. 0. 0. 1. ]] SLAMing on 4.159072329 meters Centerline goodness [0,1] 0.2693101127011357 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:-0.18 [[ 0.93009775 -0.35443468 -0.09640657 0.98301956] [ 0.34880117 0.93453029 -0.07064623 0.05105526] [ 0.11513433 0.03208118 0.99283175 -0.17776251] [ 0. 0. 0. 1. ]] SLAMing on 4.189072329 meters Centerline goodness [0,1] 0.2477916539750229 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:-0.18 [[ 0.92592318 -0.36607482 -0.09303485 0.98851663] [ 0.35975132 0.92977473 -0.07808932 0.0402259 ] [ 0.11508799 0.0388353 0.99259588 -0.1821935 ] [ 0. 0. 0. 1. ]] SLAMing on 4.219072329 meters Centerline goodness [0,1] 0.23115817799092897 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.19 [[ 0.92481615 -0.3694593 -0.09063615 0.98665233] [ 0.36327436 0.92842616 -0.07782418 0.03305439] [ 0.11290184 0.03904727 0.9928386 -0.18515712] [ 0. 0. 0. 1. ]] SLAMing on 4.249072329 meters Centerline goodness [0,1] 0.2285987565758011 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.19 [[ 0.92287471 -0.37522563 -0.08664865 0.97844882] [ 0.36939799 0.92614081 -0.07621243 0.02516808] [ 0.10884571 0.03832668 0.99331952 -0.18951294] [ 0. 0. 0. 1. ]] SLAMing on 4.279072329 meters Centerline goodness [0,1] 0.17050721185082518 Centerline is valid? [False, False] Translation: X:0.96, Y:0.01, Z:-0.19 [[ 0.91472121 -0.39552215 -0.08274868 0.96416851] [ 0.39058106 0.9179128 -0.06987504 0.00806202] [ 0.1035932 0.03159612 0.99411777 -0.18886486] [ 0. 0. 0. 1. ]] SLAMing on 4.309072329 meters Centerline goodness [0,1] 0.14784801396581826 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.01, Z:-0.19 [[ 0.91084208 -0.40578016 -0.07555902 0.94981709] [ 0.40123941 0.91340727 -0.06851346 -0.00634613] [ 0.09681756 0.03208769 0.99478477 -0.19221228] [ 0. 0. 0. 1. ]] SLAMing on 4.339072329 meters Centerline goodness [0,1] 0.16541061132825152 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.03, Z:-0.20 [[ 0.90544031 -0.41873961 -0.06953412 0.91094497] [ 0.41431203 0.90745531 -0.06978831 -0.0252529 ] [ 0.09232224 0.03438033 0.99513547 -0.19757627] [ 0. 0. 0. 1. ]] SLAMing on 4.369072329 meters Centerline goodness [0,1] 0.25682718814610617 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.20 [[ 0.89839741 -0.43440017 -0.06464195 0.86310317] [ 0.43032852 0.90010344 -0.06805265 -0.04707981] [ 0.08774652 0.03332105 0.99558538 -0.20399708] [ 0. 0. 0. 1. ]] SLAMing on 4.399072329 meters Centerline goodness [0,1] 0.13719472938752741 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.21 [[ 0.87991899 -0.47119047 -0.06100906 0.79916695] [ 0.46810227 0.88173263 -0.05854766 -0.08616749] [ 0.08138078 0.02295872 0.99641862 -0.21268812] [ 0. 0. 0. 1. ]] SLAMing on 4.429072329 meters Centerline goodness [0,1] 0.21842110903907574 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.22 [[ 0.87021043 -0.48922712 -0.05822922 0.71423019] [ 0.48689824 0.87202405 -0.05004164 -0.11726101] [ 0.07525901 0.01519506 0.99704824 -0.22409209] [ 0. 0. 0. 1. ]] SLAMing on 4.459072329 meters Centerline goodness [0,1] 0.22117798519472165 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.24 [[ 0.85944799 -0.50829535 -0.05463499 0.60147593] [ 0.50665663 0.86114524 -0.04156851 -0.1546579 ] [ 0.06817774 0.0080448 0.99764076 -0.23754999] [ 0. 0. 0. 1. ]] SLAMing on 4.489072329 meters Centerline goodness [0,1] 0.23943993662891516 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.22, Z:-0.25 [[ 0.83190799 -0.55336262 -0.04145965 0.44979697] [ 0.55213903 0.83289694 -0.03775151 -0.21712488] [ 0.05542189 0.00851429 0.99842672 -0.25468021] [ 0. 0. 0. 1. ]] SLAMing on 4.519072329 meters Centerline goodness [0,1] 0.2449507362841693 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.27, Z:-0.27 [[ 0.81832878 -0.57405088 -0.02834763 0.25994822] [ 0.57309926 0.81872068 -0.03540733 -0.26746171] [ 0.0435344 0.01272884 0.99897084 -0.27379585] [ 0. 0. 0. 1. ]] SLAMing on 4.549072329 meters Centerline goodness [0,1] 0.25275076765609006 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.32, Z:-0.30 [[ 0.80437738 -0.5939994 -0.01190514 0.04090614] [ 0.5933467 0.80419207 -0.03485425 -0.32021598] [ 0.03027742 0.0209721 0.99932149 -0.29509423] [ 0. 0. 0. 1. ]] SLAMing on 4.579072329 meters Centerline goodness [0,1] 0.17611473051865645 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.40, Z:-0.32 [[ 0.76893398 -0.63919943 0.01283079 -0.22148615] [ 0.6392327 0.76831741 -0.03270962 -0.39982641] [ 0.01104985 0.0333534 0.99938254 -0.32125699] [ 0. 0. 0. 1. ]] SLAMing on 4.609072329 meters Centerline goodness [0,1] 0.19219466818883324 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.46, Z:-0.35 [[ 0.7525485 -0.65695526 0.04561287 -0.53979993] [ 0.65840233 0.75198762 -0.03195303 -0.46266226] [-0.0133086 0.05407783 0.99844803 -0.34793186] [ 0. 0. 0. 1. ]] SLAMing on 4.639072329 meters Centerline goodness [0,1] 0.21611466447132333 Centerline is valid? [False, False] Translation: X:-0.90, Y:-0.53, Z:-0.37 [[ 0.73499865 -0.67253541 0.08644711 -0.90195784] [ 0.67687677 0.73527515 -0.03476036 -0.52754839] [-0.04018484 0.08406286 0.99564985 -0.36916434] [ 0. 0. 0. 1. ]] SLAMing on 4.669072329 meters Centerline goodness [0,1] 0.21941926434567793 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.62, Z:-0.38 [[ 0.68895676 -0.7099994 0.14573759 -1.33755141] [ 0.72125142 0.69145865 -0.04100393 -0.6228362 ] [-0.07165876 0.13336338 0.98847318 -0.38078646] [ 0. 0. 0. 1. ]] SLAMing on 4.699072329 meters Centerline goodness [0,1] 0.20889008956588595 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.69, Z:-0.38 [[ 0.6737653 -0.70873224 0.20913854 -1.81988014] [ 0.73165733 0.67949548 -0.05443744 -0.69184826] [-0.10352712 0.1896958 0.97636962 -0.38183074] [ 0. 0. 0. 1. ]] SLAMing on 4.729072329 meters Centerline goodness [0,1] 0.14218352532417844 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.75, Z:-0.35 [[ 0.66097901 -0.69859166 0.27400081 -2.35414421] [ 0.73966213 0.66809386 -0.08093534 -0.74661749] [-0.1265175 0.25616458 0.95831781 -0.35024258] [ 0. 0. 0. 1. ]] SLAMing on 4.759072329 meters Centerline goodness [0,1] 0.1390467951886637 Centerline is valid? [False, False] Translation: X:-2.95, Y:-0.82, Z:-0.29 [[ 0.62819666 -0.69430333 0.35115786 -2.94617626] [ 0.76319443 0.63765692 -0.10453664 -0.81649392] [-0.15133811 0.33367129 0.93046238 -0.28933381] [ 0. 0. 0. 1. ]] SLAMing on 4.789072329 meters Centerline goodness [0,1] 0.13509683514407178 Centerline is valid? [False, False] Translation: X:-3.57, Y:-0.85, Z:-0.17 [[ 0.62288342 -0.65534357 0.42724824 -3.57140653] [ 0.76104685 0.63408041 -0.13692963 -0.84666889] [-0.18117379 0.41044712 0.89370533 -0.17025472] [ 0. 0. 0. 1. ]] SLAMing on 4.819072329 meters Centerline goodness [0,1] 0.12595021001946527 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.86, Z:-0.00 [[ 6.20091322e-01 -6.02587635e-01 5.02369281e-01 -4.19358287e+00] [ 7.55455842e-01 6.31342429e-01 -1.75194771e-01 -8.61443956e-01] [-2.11596839e-01 4.88154565e-01 8.46718311e-01 -4.08817620e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.849072329 meters Centerline goodness [0,1] 0.1249616650651183 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.88, Z:0.21 [[ 0.61321897 -0.53856982 0.57784517 -4.78842671] [ 0.75040999 0.62563034 -0.21324054 -0.88297805] [-0.24667255 0.56438393 0.78779657 0.20738418] [ 0. 0. 0. 1. ]] SLAMing on 4.8790723289999995 meters Centerline goodness [0,1] 0.11464564999897908 Centerline is valid? [False, False] Translation: X:-5.33, Y:-0.87, Z:0.46 [[ 0.61375811 -0.45667759 0.6440082 -5.3346571 ] [ 0.73489245 0.62855844 -0.25465148 -0.87198794] [-0.28850317 0.62957117 0.72139175 0.45865948] [ 0. 0. 0. 1. ]] SLAMing on 4.909072329 meters Centerline goodness [0,1] 0.11573081868838409 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.84, Z:0.81 [[ 0.62394448 -0.37770515 0.68412872 -5.87568338] [ 0.71353697 0.63235789 -0.30164297 -0.84344268] [-0.3186821 0.6763596 0.6640628 0.81306672] [ 0. 0. 0. 1. ]] SLAMing on 4.939072329 meters Centerline goodness [0,1] 0.12070129498169024 Centerline is valid? [False, False] Translation: X:-6.33, Y:-0.83, Z:1.16 [[ 0.63780437 -0.29110211 0.71306742 -6.32935404] [ 0.67482051 0.65746867 -0.33518984 -0.82781569] [-0.37124501 0.69497807 0.61577807 1.16151831] [ 0. 0. 0. 1. ]] SLAMing on 4.969072329 meters Centerline goodness [0,1] 0.125689559707155 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.79, Z:1.51 [[ 0.65010338 -0.21532848 0.72869695 -6.71202641] [ 0.64019581 0.67178174 -0.37263738 -0.79163744] [-0.40928587 0.70876155 0.57457997 1.50998869] [ 0. 0. 0. 1. ]] SLAMing on 4.999072329 meters Centerline goodness [0,1] 0.125689559707155 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.74, Z:1.89 [[ 0.66149938 -0.16278867 0.73206449 -7.07064653] [ 0.62438365 0.66025877 -0.41737682 -0.7354199 ] [-0.41540779 0.73318361 0.53840335 1.89310865] [ 0. 0. 0. 1. ]] SLAMing on 5.029072329 meters Centerline goodness [0,1] 0.2672293124742693 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.69, Z:2.31 [[ 0.68047926 -0.10176469 0.72566654 -7.40809248] [ 0.58466209 0.6723741 -0.453964 -0.68916914] [-0.44172188 0.7331828 0.51703459 2.31479396] [ 0. 0. 0. 1. ]] SLAMing on 5.059072329 meters Centerline goodness [0,1] 0.2694197811274004 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.65, Z:2.74 [[ 0.69945224 -0.05145761 0.71282443 -7.71563459] [ 0.54203304 0.68826027 -0.48218044 -0.64598002] [-0.46579689 0.72363659 0.50929692 2.74228236] [ 0. 0. 0. 1. ]] SLAMing on 5.0890723289999995 meters Centerline goodness [0,1] 0.36403738005142894 Centerline is valid? [False, False] Translation: X:-7.99, Y:-0.62, Z:3.20 [[ 7.21621298e-01 -2.24104414e-04 6.92287983e-01 -7.99039130e+00] [ 4.63399162e-01 7.43082499e-01 -4.82793555e-01 -6.23859581e-01] [-5.14318888e-01 6.69199783e-01 5.36328007e-01 3.19830717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.119072329 meters Centerline goodness [0,1] 0.37032366540563266 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.60, Z:3.66 [[ 7.45126519e-01 5.88486184e-03 6.66897173e-01 -8.26457172e+00] [ 4.17557784e-01 7.75599247e-01 -4.73382832e-01 -5.99290398e-01] [-5.20030738e-01 6.31198207e-01 5.75462297e-01 3.66059887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.149072329 meters Centerline goodness [0,1] 0.37165414168707256 Centerline is valid? [False, False] Translation: X:-8.53, Y:-0.59, Z:4.09 [[ 7.66935233e-01 -1.15930610e-03 6.41723465e-01 -8.52514287e+00] [ 3.70675357e-01 8.17102059e-01 -4.41524637e-01 -5.89253540e-01] [-5.23841702e-01 5.76491875e-01 6.27094084e-01 4.09232200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.179072329 meters Centerline goodness [0,1] 0.35556823705958196 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.58, Z:4.45 [[ 7.87866767e-01 -7.47767191e-03 6.15800326e-01 -8.76125336e+00] [ 3.21203351e-01 8.58138359e-01 -4.00533351e-01 -5.82471760e-01] [-5.25446824e-01 5.13364044e-01 6.78500547e-01 4.45482878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.209072329 meters Centerline goodness [0,1] 0.3577249721197564 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.58, Z:4.78 [[ 0.80336768 0.03332955 0.59454983 -9.00118278] [ 0.21454411 0.91517948 -0.34119986 -0.57513943] [-0.55549184 0.40166611 0.72807496 4.77843351] [ 0. 0. 0. 1. ]] SLAMing on 5.239072329 meters Centerline goodness [0,1] 0.3632773938795657 Centerline is valid? [False, False] Translation: X:-9.21, Y:-0.57, Z:5.03 [[ 0.81524978 0.03157617 0.57824799 -9.20842547] [ 0.16410621 0.94498539 -0.28296954 -0.56640601] [-0.555371 0.32558494 0.76521729 5.026761 ] [ 0. 0. 0. 1. ]] SLAMing on 5.269072329 meters Centerline goodness [0,1] 0.4302953386822689 Centerline is valid? [False, False] Translation: X:-9.42, Y:-0.55, Z:5.25 [[ 0.82038324 0.08442078 0.56554794 -9.42487731] [ 0.05616476 0.97236263 -0.22661959 -0.54912995] [-0.56904908 0.21767878 0.79296853 5.24649834] [ 0. 0. 0. 1. ]] SLAMing on 5.2990723289999995 meters Centerline goodness [0,1] 0.5419245315454702 Centerline is valid? [False, False] Translation: X:-9.65, Y:-0.53, Z:5.44 [[ 0.82590692 0.0941486 0.55589009 -9.64529775] [ 0.01296573 0.98252665 -0.18566978 -0.53438585] [-0.56365738 0.16055347 0.81025486 5.44331104] [ 0. 0. 0. 1. ]] SLAMing on 5.329072329 meters Centerline goodness [0,1] 0.7333619119065481 Centerline is valid? [False, False] Translation: X:-9.86, Y:-0.52, Z:5.62 [[ 0.82707658 0.10654406 0.55189918 -9.8643932 ] [-0.02800084 0.98846171 -0.14886031 -0.52254511] [-0.56139139 0.10766524 0.82051685 5.62444782] [ 0. 0. 0. 1. ]] SLAMing on 5.359072329 meters Centerline goodness [0,1] 0.716581446311176 Centerline is valid? [False, False] Translation: X:-10.10, Y:-0.51, Z:5.81 [[ 0.82504887 0.11911904 0.55236312 -10.10455527] [ -0.06567478 0.99111749 -0.11564143 -0.51166352] [ -0.56123184 0.0591335 0.82554349 5.80990108] [ 0. 0. 0. 1. ]] SLAMing on 5.389072329 meters Centerline goodness [0,1] 0.46717750048158213 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.50, Z:6.00 [[ 0.80908366 0.15117455 0.56791714 -10.36035929] [ -0.13188208 0.98840738 -0.07521943 -0.49666299] [ -0.57270476 -0.01403928 0.81964148 5.99762098] [ 0. 0. 0. 1. ]] SLAMing on 5.419072329 meters Centerline goodness [0,1] 0.41138850525868476 Centerline is valid? [False, False] Translation: X:-10.62, Y:-0.49, Z:6.18 [[ 0.80157541 0.13848949 0.58163349 -10.61547179] [ -0.14695011 0.98859758 -0.03287083 -0.49327296] [ -0.57955373 -0.05912266 0.81278656 6.1815364 ] [ 0. 0. 0. 1. ]] SLAMing on 5.449072329 meters Centerline goodness [0,1] 0.4891285811732605 Centerline is valid? [False, False] Translation: X:-10.89, Y:-0.49, Z:6.38 [[ 7.95596203e-01 1.22845541e-01 5.93241649e-01 -1.08867987e+01] [-1.56209082e-01 9.87711550e-01 4.96154186e-03 -4.93531693e-01] [-5.85342126e-01 -9.66171173e-02 8.05009148e-01 6.37824012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.479072329 meters Centerline goodness [0,1] 0.4671428875140846 Centerline is valid? [False, False] Translation: X:-11.16, Y:-0.49, Z:6.58 [[ 0.79123846 0.11887004 0.599843 -11.16081354] [ -0.17629551 0.98361794 0.03762499 -0.49212855] [ -0.58554385 -0.13551997 0.79923259 6.57733445] [ 0. 0. 0. 1. ]] SLAMing on 5.509072329 meters Centerline goodness [0,1] 0.45849911700248946 Centerline is valid? [False, False] Translation: X:-11.43, Y:-0.50, Z:6.77 [[ 0.79169734 0.09820313 0.60296887 -11.42722286] [ -0.17223282 0.982838 0.06607057 -0.502381 ] [ -0.58613239 -0.15615892 0.79502404 6.7679034 ] [ 0. 0. 0. 1. ]] SLAMing on 5.539072329 meters Centerline goodness [0,1] 0.46200123296698625 Centerline is valid? [False, False] Translation: X:-11.68, Y:-0.52, Z:6.95 [[ 0.79189446 0.07664193 0.60582933 -11.6829335 ] [ -0.16616492 0.98170218 0.09300561 -0.51736226] [ -0.58761585 -0.17431821 0.79013972 6.95233438] [ 0. 0. 0. 1. ]] SLAMing on 5.569072329 meters Centerline goodness [0,1] 0.4739537948183885 Centerline is valid? [False, False] Translation: X:-11.93, Y:-0.53, Z:7.14 [[ 0.79248116 0.05897952 0.60703792 -11.93333201] [ -0.16202643 0.97990711 0.11631637 -0.53160268] [ -0.58798048 -0.19053472 0.78611416 7.14032197] [ 0. 0. 0. 1. ]] SLAMing on 5.599072329 meters Centerline goodness [0,1] 0.4632864529032532 Centerline is valid? [False, False] Translation: X:-12.18, Y:-0.55, Z:7.33 [[ 0.79207388 0.04155127 0.6090094 -12.17953459] [ -0.15271666 0.97944223 0.13179732 -0.55417584] [ -0.59101318 -0.1973991 0.78213619 7.32963435] [ 0. 0. 0. 1. ]] SLAMing on 5.6290723289999995 meters Centerline goodness [0,1] 0.46667944540284967 Centerline is valid? [False, False] Translation: X:-12.41, Y:-0.58, Z:7.51 [[ 0.79338033 0.02783588 0.60808948 -12.41204259] [ -0.14416661 0.97912625 0.14327515 -0.57905398] [ -0.59140818 -0.20133788 0.78083252 7.51327012] [ 0. 0. 0. 1. ]] SLAMing on 5.659072329 meters Centerline goodness [0,1] 0.4570465790820679 Centerline is valid? [False, False] Translation: X:-12.64, Y:-0.60, Z:7.69 [[ 0.79613215 0.01457536 0.60494724 -12.64202922] [ -0.13595408 0.9784601 0.15534579 -0.60226968] [ -0.58965252 -0.20592083 0.78096512 7.69346431] [ 0. 0. 0. 1. ]] SLAMing on 5.689072329 meters Centerline goodness [0,1] 0.45189678742310324 Centerline is valid? [False, False] Translation: X:-12.86, Y:-0.63, Z:7.87 [[ 7.99446443e-01 7.15240214e-03 6.00694787e-01 -1.28597023e+01] [-1.29800231e-01 9.78365661e-01 1.61097899e-01 -6.29005059e-01] [-5.86546916e-01 -2.06759464e-01 7.83079332e-01 7.87007971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719072329 meters Centerline goodness [0,1] 0.447440731037127 Centerline is valid? [False, False] Translation: X:-13.07, Y:-0.66, Z:8.04 [[ 8.02934928e-01 -2.80348955e-03 5.96060099e-01 -1.30717407e+01] [-1.22771975e-01 9.77769604e-01 1.69981306e-01 -6.57218860e-01] [-5.83285987e-01 -2.09663403e-01 7.84741177e-01 8.04178190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.749072329 meters Centerline goodness [0,1] 0.439899602237679 Centerline is valid? [False, False] Translation: X:-13.26, Y:-0.68, Z:8.19 [[ 8.07292696e-01 -8.68060119e-03 5.90087409e-01 -1.32646021e+01] [-1.19749988e-01 9.76681101e-01 1.78196430e-01 -6.77457880e-01] [-5.77874072e-01 -2.14519636e-01 7.87428017e-01 8.19443798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779072329 meters Centerline goodness [0,1] 0.437228882193303 Centerline is valid? [False, False] Translation: X:-13.45, Y:-0.70, Z:8.35 [[ 8.09961521e-01 -1.34539854e-02 5.86328683e-01 -1.34540696e+01] [-1.15875078e-01 9.76358478e-01 1.82474899e-01 -7.01765619e-01] [-5.74921995e-01 -2.15738528e-01 7.89253817e-01 8.34787979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.809072329 meters Centerline goodness [0,1] 0.4299934206337416 Centerline is valid? [False, False] Translation: X:-13.65, Y:-0.73, Z:8.50 [[ 0.81243611 -0.01654468 0.58281545 -13.6459522 ] [ -0.11283101 0.97624023 0.18499779 -0.72723037] [ -0.57202861 -0.21605854 0.79126606 8.50280806] [ 0. 0. 0. 1. ]] SLAMing on 5.8390723289999995 meters Centerline goodness [0,1] 0.4301832371903631 Centerline is valid? [False, False] Translation: X:-13.83, Y:-0.75, Z:8.65 [[ 0.81418224 -0.01584307 0.58039321 -13.82851332] [ -0.11165431 0.97669736 0.18329098 -0.75208852] [ -0.56977241 -0.21403566 0.7934407 8.64959072] [ 0. 0. 0. 1. ]] SLAMing on 5.869072329 meters Centerline goodness [0,1] 0.4220363156438257 Centerline is valid? [False, False] Translation: X:-14.03, Y:-0.78, Z:8.81 [[ 8.18660706e-01 -1.17308677e-02 5.74157674e-01 -1.40302020e+01] [-1.12326064e-01 9.77209115e-01 1.80125513e-01 -7.76690081e-01] [-5.63185141e-01 -2.11954551e-01 7.98685022e-01 8.80852727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899072329 meters Centerline goodness [0,1] 0.4168744007670182 Centerline is valid? [False, False] Translation: X:-14.24, Y:-0.81, Z:8.98 [[ 0.82289999 -0.01738225 0.56792029 -14.24401893] [ -0.10763255 0.97666543 0.18584908 -0.81166484] [ -0.55789859 -0.21406192 0.80182708 8.97949947] [ 0. 0. 0. 1. ]] SLAMing on 5.929072329 meters Centerline goodness [0,1] 0.41441690993160174 Centerline is valid? [False, False] Translation: X:-14.45, Y:-0.84, Z:9.14 [[ 0.82630099 -0.0217937 0.56280699 -14.44855376] [ -0.1035861 0.97632574 0.18988933 -0.84389453] [ -0.55362135 -0.21520473 0.8044814 9.14092165] [ 0. 0. 0. 1. ]] SLAMing on 5.959072329 meters Centerline goodness [0,1] 0.41821787244930597 Centerline is valid? [False, False] Translation: X:-14.61, Y:-0.87, Z:9.27 [[ 0.83023915 -0.02314025 0.55692683 -14.61493282] [ -0.10009488 0.97670748 0.18979862 -0.8664681 ] [ -0.54834659 -0.21332377 0.80858456 9.27459235] [ 0. 0. 0. 1. ]] SLAMing on 5.989072329 meters Centerline goodness [0,1] 0.416880068288519 Centerline is valid? [False, False] Translation: X:-14.78, Y:-0.88, Z:9.40 [[ 0.83406234 -0.02178273 0.55123999 -14.77524937] [ -0.1002196 0.97661067 0.19023047 -0.87608209] [ -0.54249059 -0.21390912 0.81237112 9.3995555 ] [ 0. 0. 0. 1. ]] SLAMing on 6.019072329 meters Centerline goodness [0,1] 0.41061321758372693 Centerline is valid? [False, False] Translation: X:-14.93, Y:-0.90, Z:9.52 [[ 0.83620532 -0.02063431 0.54802818 -14.93124174] [ -0.0979268 0.97761379 0.18623002 -0.89770747] [ -0.53960263 -0.20939318 0.8154652 9.52481211] [ 0. 0. 0. 1. ]] SLAMing on 6.0490723289999995 meters Centerline goodness [0,1] 0.4118310458559421 Centerline is valid? [False, False] Translation: X:-15.08, Y:-0.92, Z:9.65 [[ 0.83825415 -0.01610894 0.54504173 -15.08038017] [ -0.09617444 0.97952537 0.17686304 -0.91864596] [ -0.53673127 -0.20067526 0.81954193 9.64520427] [ 0. 0. 0. 1. ]] SLAMing on 6.079072329 meters Centerline goodness [0,1] 0.41056146060055365 Centerline is valid? [False, False] Translation: X:-15.23, Y:-0.93, Z:9.77 [[ 8.37173715e-01 -8.08477367e-03 5.46877324e-01 -1.52332731e+01] [-9.82968399e-02 9.81385821e-01 1.64983643e-01 -9.30586688e-01] [-5.38031506e-01 -1.91876282e-01 8.20795706e-01 9.76555969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.109072329 meters Centerline goodness [0,1] 0.41361078670771845 Centerline is valid? [False, False] Translation: X:-15.39, Y:-0.95, Z:9.89 [[ 8.36941764e-01 -4.84302720e-03 5.47270526e-01 -1.53933100e+01] [-9.90896468e-02 9.82093647e-01 1.60228929e-01 -9.51430854e-01] [-5.38246900e-01 -1.88331125e-01 8.21475296e-01 9.89173386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139072329 meters Centerline goodness [0,1] 0.44444680986949947 Centerline is valid? [False, False] Translation: X:-15.56, Y:-0.97, Z:10.02 [[ 8.37801239e-01 -4.25259788e-03 5.45958790e-01 -1.55602659e+01] [-9.92217410e-02 9.82132160e-01 1.59910807e-01 -9.73071098e-01] [-5.36883722e-01 -1.88144454e-01 8.22409590e-01 1.00227735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.169072329 meters Centerline goodness [0,1] 0.44558228656589316 Centerline is valid? [False, False] Translation: X:-15.73, Y:-0.98, Z:10.16 [[ 8.37422538e-01 -2.63242866e-03 5.46549689e-01 -1.57333520e+01] [-1.01688100e-01 9.81777998e-01 1.60535023e-01 -9.80740325e-01] [-5.37013056e-01 -1.90013246e-01 8.21895336e-01 1.01562712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199072329 meters Centerline goodness [0,1] 0.4479502680993783 Centerline is valid? [False, False] Translation: X:-15.90, Y:-1.01, Z:10.28 [[ 8.38230883e-01 -5.98395759e-04 5.45315165e-01 -1.58986082e+01] [-1.00258586e-01 9.82783806e-01 1.55190873e-01 -1.00507949e+00] [-5.36019779e-01 -1.84758310e-01 8.23739743e-01 1.02833294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.229072329 meters Centerline goodness [0,1] 0.4163488783314515 Centerline is valid? [False, False] Translation: X:-16.08, Y:-1.02, Z:10.42 [[ 8.37647815e-01 -1.65923517e-03 5.46208188e-01 -1.60776257e+01] [-9.59729191e-02 9.83990913e-01 1.50170173e-01 -1.01888844e+00] [-5.37713062e-01 -1.78210912e-01 8.24078597e-01 1.04162360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259072329 meters Centerline goodness [0,1] 0.4469251108836575 Centerline is valid? [False, False] Translation: X:-16.25, Y:-1.05, Z:10.55 [[ 8.39320051e-01 -4.69615158e-03 5.43617327e-01 -1.62547808e+01] [-9.12202038e-02 9.84568378e-01 1.49345182e-01 -1.04676987e+00] [-5.35929777e-01 -1.74937289e-01 8.25939597e-01 1.05499221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.289072329 meters Centerline goodness [0,1] 0.44473611200034147 Centerline is valid? [False, False] Translation: X:-16.42, Y:-1.07, Z:10.68 [[ 8.42848145e-01 -7.14111716e-03 5.38104087e-01 -1.64189656e+01] [-8.51640068e-02 9.85541726e-01 1.46473881e-01 -1.07233453e+00] [-5.31370018e-01 -1.69282339e-01 8.30053850e-01 1.06752286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319072329 meters Centerline goodness [0,1] 0.44179798281339955 Centerline is valid? [False, False] Translation: X:-16.58, Y:-1.09, Z:10.79 [[ 8.48232964e-01 -1.06421194e-02 5.29516369e-01 -1.65836220e+01] [-7.43863751e-02 9.87493784e-01 1.39006094e-01 -1.08564322e+00] [-5.24373442e-01 -1.57298354e-01 8.36833150e-01 1.07940287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349072329 meters Centerline goodness [0,1] 0.43870664616436017 Centerline is valid? [False, False] Translation: X:-16.75, Y:-1.11, Z:10.92 [[ 8.51991970e-01 -1.08498000e-02 5.23442417e-01 -1.67509304e+01] [-6.93696705e-02 9.88631102e-01 1.33403121e-01 -1.11354867e+00] [-5.18938851e-01 -1.49969416e-01 8.41553114e-01 1.09161162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3790723289999995 meters Centerline goodness [0,1] 0.4087424459202631 Centerline is valid? [False, False] Translation: X:-16.91, Y:-1.14, Z:11.03 [[ 8.54866280e-01 -1.06965897e-02 5.18738110e-01 -1.69081128e+01] [-6.50050662e-02 9.89701602e-01 1.27534626e-01 -1.13775434e+00] [-5.14760124e-01 -1.42745657e-01 8.45367194e-01 1.10308105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.409072329 meters Centerline goodness [0,1] 0.4365544063595179 Centerline is valid? [False, False] Translation: X:-17.07, Y:-1.16, Z:11.15 [[ 8.57143061e-01 -9.31264862e-03 5.14994220e-01 -1.70715811e+01] [-6.17437517e-02 9.90769324e-01 1.20680801e-01 -1.16457747e+00] [-5.11364333e-01 -1.35238386e-01 8.48656054e-01 1.11492855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439072329 meters Centerline goodness [0,1] 0.44596008111858254 Centerline is valid? [False, False] Translation: X:-17.25, Y:-1.18, Z:11.28 [[ 8.59841918e-01 -8.74499105e-03 5.10485456e-01 -1.72493949e+01] [-5.51306073e-02 9.92416871e-01 1.09860689e-01 -1.18391085e+00] [-5.07575109e-01 -1.22606199e-01 8.52839509e-01 1.12759541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.469072329 meters Centerline goodness [0,1] 0.4311967727476468 Centerline is valid? [False, False] Translation: X:-17.43, Y:-1.22, Z:11.40 [[ 8.63296910e-01 -5.98369786e-03 5.04660916e-01 -1.74348912e+01] [-5.25314314e-02 9.93433138e-01 1.01641765e-01 -1.21921020e+00] [-5.01955071e-01 -1.14257582e-01 8.57313427e-01 1.14045604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499072329 meters Centerline goodness [0,1] 0.4287055409759116 Centerline is valid? [False, False] Translation: X:-17.61, Y:-1.25, Z:11.52 [[ 8.66232671e-01 -6.20652935e-03 4.99602280e-01 -1.76112532e+01] [-4.84049700e-02 9.94176867e-01 9.62772916e-02 -1.25220326e+00] [-4.97290577e-01 -1.07581769e-01 8.60888056e-01 1.15244560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.529072329 meters Centerline goodness [0,1] 0.40151837359646136 Centerline is valid? [False, False] Translation: X:-17.79, Y:-1.29, Z:11.64 [[ 8.68526714e-01 -7.94012942e-03 4.95578754e-01 -1.77893400e+01] [-4.34632670e-02 9.94799809e-01 9.21101788e-02 -1.28564171e+00] [-4.93733017e-01 -1.01539623e-01 8.63665105e-01 1.16443603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559072329 meters Centerline goodness [0,1] 0.43345384942577625 Centerline is valid? [False, False] Translation: X:-17.98, Y:-1.31, Z:11.77 [[ 0.86767101 -0.02194296 0.49665434 -17.98023325] [ -0.02678451 0.99551102 0.09077662 -1.3134188 ] [ -0.49641677 -0.09206689 0.86318832 11.77478778] [ 0. 0. 0. 1. ]] SLAMing on 6.5890723289999995 meters Centerline goodness [0,1] 0.46238344616170646 Centerline is valid? [False, False] Translation: X:-18.17, Y:-1.35, Z:11.90 [[ 8.69486938e-01 -2.74053809e-02 4.93195103e-01 -1.81653672e+01] [-1.66571461e-02 9.96265091e-01 8.47254868e-02 -1.35161168e+00] [-4.93674999e-01 -8.18829269e-02 8.65782988e-01 1.19010224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619072329 meters Centerline goodness [0,1] 0.45827575209950033 Centerline is valid? [False, False] Translation: X:-18.33, Y:-1.39, Z:12.01 [[ 8.71221275e-01 -3.51210834e-02 4.89632516e-01 -1.83344067e+01] [-2.17960582e-03 9.97150733e-01 7.54033521e-02 -1.38647256e+00] [-4.90885669e-01 -6.67602104e-02 8.68662382e-01 1.20135909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.649072329 meters Centerline goodness [0,1] 0.4954157646759201 Centerline is valid? [False, False] Translation: X:-18.50, Y:-1.42, Z:12.12 [[ 0.87380862 -0.05906983 0.48266889 -18.50384617] [ 0.03464029 0.99763421 0.05938047 -1.41996319] [ -0.48503459 -0.03516738 0.87378756 12.12125033] [ 0. 0. 0. 1. ]] SLAMing on 6.679072329 meters Centerline goodness [0,1] 0.511328307993697 Centerline is valid? [False, False] Translation: X:-18.67, Y:-1.45, Z:12.22 [[ 8.76757359e-01 -6.72742562e-02 4.76204482e-01 -1.86670301e+01] [ 5.08660420e-02 9.97585738e-01 4.72793993e-02 -1.45398202e+00] [-4.78235486e-01 -1.72299241e-02 8.78062612e-01 1.22246257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.709072329 meters Centerline goodness [0,1] 0.5416347707748576 Centerline is valid? [False, False] Translation: X:-18.82, Y:-1.48, Z:12.32 [[ 8.79222425e-01 -7.67402579e-02 4.70190238e-01 -1.88175836e+01] [ 6.68059766e-02 9.97049440e-01 3.78070767e-02 -1.48359310e+00] [-4.71704238e-01 -1.82931158e-03 8.81754935e-01 1.23176922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739072329 meters Centerline goodness [0,1] 0.588718929254302 Centerline is valid? [False, False] Translation: X:-18.95, Y:-1.51, Z:12.40 [[ 8.81696437e-01 -8.69109812e-02 4.63743327e-01 -1.89507389e+01] [ 8.20211275e-02 9.96156160e-01 3.07479862e-02 -1.50886896e+00] [-4.64633110e-01 1.09263606e-02 8.85435874e-01 1.23999250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.769072329 meters Centerline goodness [0,1] 0.6650861152455879 Centerline is valid? [False, False] Translation: X:-19.10, Y:-1.53, Z:12.49 [[ 0.88102771 -0.1161004 0.45859664 -19.10389706] [ 0.11825212 0.99269025 0.02413524 -1.53450372] [ -0.45804652 0.03296621 0.88831673 12.4909512 ] [ 0. 0. 0. 1. ]] SLAMing on 6.7990723289999995 meters Centerline goodness [0,1] 0.7192182962758855 Centerline is valid? [False, False] Translation: X:-19.27, Y:-1.57, Z:12.59 [[ 8.80094305e-01 -1.24476212e-01 4.58191759e-01 -1.92696963e+01] [ 1.32909650e-01 9.91030138e-01 1.39388178e-02 -1.56579162e+00] [-4.55816893e-01 4.86306321e-02 8.88744070e-01 1.25850911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.829072329 meters Centerline goodness [0,1] 0.8092685200881505 Centerline is valid? [False, False] Translation: X:-19.43, Y:-1.60, Z:12.68 [[ 8.78782765e-01 -1.32967064e-01 4.58323697e-01 -1.94347576e+01] [ 1.47774849e-01 9.89014521e-01 3.58778397e-03 -1.59678115e+00] [-4.53765849e-01 6.45758325e-02 8.88778103e-01 1.26786858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859072329 meters Centerline goodness [0,1] 0.8092685200881505 Centerline is valid? [False, False] Translation: X:-19.58, Y:-1.63, Z:12.76 [[ 8.80320445e-01 -1.25356657e-01 4.57516800e-01 -1.95839856e+01] [ 1.42057142e-01 9.89856185e-01 -2.12176727e-03 -1.62539396e+00] [-4.52609857e-01 6.68613644e-02 8.89198446e-01 1.27612095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.889072329 meters Centerline goodness [0,1] 0.7975529072479749 Centerline is valid? [False, False] Translation: X:-19.77, Y:-1.66, Z:12.86 [[ 8.73705927e-01 -1.48190111e-01 4.63333189e-01 -1.97713528e+01] [ 1.72134825e-01 9.85027125e-01 -9.54806957e-03 -1.65790294e+00] [-4.54980830e-01 8.80979825e-02 8.86132716e-01 1.28629479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919072329 meters Centerline goodness [0,1] 0.7180684699915469 Centerline is valid? [False, False] Translation: X:-19.96, Y:-1.69, Z:12.96 [[ 8.71277839e-01 -1.54353917e-01 4.65886033e-01 -1.99564045e+01] [ 1.81430313e-01 9.83310875e-01 -1.35190266e-02 -1.68923423e+00] [-4.56024088e-01 9.63046771e-02 8.84741454e-01 1.29625158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.949072329 meters Centerline goodness [0,1] 0.6715070061263859 Centerline is valid? [False, False] Translation: X:-20.15, Y:-1.72, Z:13.06 [[ 8.68898530e-01 -1.59925627e-01 4.68443314e-01 -2.01479410e+01] [ 1.89174204e-01 9.81817997e-01 -1.57016413e-02 -1.72070329e+00] [-4.57414981e-01 1.02260524e-01 8.83354017e-01 1.30645723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979072329 meters Centerline goodness [0,1] 0.6350530304634079 Centerline is valid? [False, False] Translation: X:-20.35, Y:-1.75, Z:13.17 [[ 8.66364412e-01 -1.71679850e-01 4.68976262e-01 -2.03481634e+01] [ 2.04621789e-01 9.78641773e-01 -1.97535886e-02 -1.74936146e+00] [-4.55568467e-01 1.13076568e-01 8.82989842e-01 1.31716080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.009072328999999 meters Centerline goodness [0,1] 0.6063471200525747 Centerline is valid? [False, False] Translation: X:-20.55, Y:-1.78, Z:13.28 [[ 0.86623933 -0.16971865 0.46992021 -20.55204378] [ 0.20594863 0.97820807 -0.02634629 -1.78013948] [ -0.45520829 0.11960161 0.88231563 13.27974551] [ 0. 0. 0. 1. ]] SLAMing on 7.039072329 meters Centerline goodness [0,1] 0.5938989513822688 Centerline is valid? [False, False] Translation: X:-20.74, Y:-1.81, Z:13.38 [[ 0.86662524 -0.16515609 0.47083348 -20.73654253] [ 0.2052845 0.97808473 -0.03476405 -1.80712919] [ -0.45477354 0.12678222 0.88153689 13.37631966] [ 0. 0. 0. 1. ]] SLAMing on 7.069072329 meters Centerline goodness [0,1] 0.5831178739456618 Centerline is valid? [False, False] Translation: X:-20.94, Y:-1.83, Z:13.48 [[ 0.86772899 -0.16258014 0.46969575 -20.93710662] [ 0.20624425 0.97757079 -0.04264572 -1.83333313] [ -0.4522275 0.13387698 0.88179773 13.48306764] [ 0. 0. 0. 1. ]] SLAMing on 7.099072329 meters Centerline goodness [0,1] 0.6006829557987614 Centerline is valid? [False, False] Translation: X:-21.14, Y:-1.86, Z:13.59 [[ 0.8674297 -0.15615637 0.47242026 -21.13865122] [ 0.20077871 0.97859386 -0.04518807 -1.8588173 ] [ -0.45525116 0.1340494 0.88021426 13.59262828] [ 0. 0. 0. 1. ]] SLAMing on 7.1290723289999995 meters Centerline goodness [0,1] 0.5901120465911249 Centerline is valid? [False, False] Translation: X:-21.32, Y:-1.88, Z:13.69 [[ 0.86732033 -0.1472812 0.47546157 -21.31515617] [ 0.19248404 0.98014947 -0.04750694 -1.8786447 ] [ -0.45902652 0.1327225 0.87845284 13.69121214] [ 0. 0. 0. 1. ]] SLAMing on 7.159072329 meters Centerline goodness [0,1] 0.6069484875332236 Centerline is valid? [False, False] Translation: X:-21.51, Y:-1.90, Z:13.80 [[ 0.86635629 -0.13312158 0.48135789 -21.51040904] [ 0.17668111 0.98318849 -0.04608876 -1.89503081] [ -0.46713013 0.12497614 0.87531161 13.80462789] [ 0. 0. 0. 1. ]] SLAMing on 7.189072329 meters Centerline goodness [0,1] 0.6188109428637618 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.91, Z:13.90 [[ 0.86702704 -0.1203275 0.48351361 -21.68111607] [ 0.16389136 0.98527604 -0.04869033 -1.91187586] [ -0.47053559 0.12145953 0.8739816 13.90313621] [ 0. 0. 0. 1. ]] SLAMing on 7.219072328999999 meters Centerline goodness [0,1] 0.6373891510931449 Centerline is valid? [False, False] Translation: X:-21.86, Y:-1.93, Z:14.00 [[ 0.86838059 -0.10828342 0.48393165 -21.8578259 ] [ 0.15150927 0.98713966 -0.05099243 -1.92815267] [ -0.47218649 0.11760097 0.87361887 14.00458877] [ 0. 0. 0. 1. ]] SLAMing on 7.249072329 meters Centerline goodness [0,1] 0.6998753090855295 Centerline is valid? [False, False] Translation: X:-22.01, Y:-1.94, Z:14.09 [[ 0.87152054 -0.08829816 0.48234363 -22.01194444] [ 0.130525 0.98993936 -0.05461956 -1.93575652] [ -0.47266814 0.11055997 0.8742776 14.0914676 ] [ 0. 0. 0. 1. ]] SLAMing on 7.279072329 meters Centerline goodness [0,1] 0.7316168679805044 Centerline is valid? [False, False] Translation: X:-22.15, Y:-1.95, Z:14.17 [[ 0.87369206 -0.07768022 0.48023742 -22.14827309] [ 0.11909386 0.99128423 -0.05632253 -1.94574514] [ -0.47167663 0.10640188 0.87532839 14.16840925] [ 0. 0. 0. 1. ]] SLAMing on 7.309072329 meters Centerline goodness [0,1] 0.7602130312572648 Centerline is valid? [False, False] Translation: X:-22.25, Y:-1.95, Z:14.23 [[ 0.877627 -0.06882147 0.47437796 -22.2546823 ] [ 0.10917606 0.99232782 -0.05801789 -1.95328997] [ -0.46674558 0.10270878 0.87840735 14.23160108] [ 0. 0. 0. 1. ]] SLAMing on 7.3390723289999995 meters Centerline goodness [0,1] 0.7820107392236348 Centerline is valid? [False, False] Translation: X:-22.36, Y:-1.96, Z:14.29 [[ 0.88084134 -0.06055237 0.4695231 -22.36162042] [ 0.10051905 0.99309386 -0.06050212 -1.96077707] [ -0.46261697 0.10048878 0.88084479 14.29393417] [ 0. 0. 0. 1. ]] SLAMing on 7.369072329 meters Centerline goodness [0,1] 0.796458112407211 Centerline is valid? [False, False] Translation: X:-22.47, Y:-1.96, Z:14.36 [[ 0.88336415 -0.05206431 0.46578652 -22.47016843] [ 0.09143862 0.99385858 -0.06232262 -1.96380339] [ -0.45968114 0.09764444 0.88269973 14.35875583] [ 0. 0. 0. 1. ]] SLAMing on 7.399072329 meters Centerline goodness [0,1] 0.7976729426697694 Centerline is valid? [False, False] Translation: X:-22.56, Y:-1.97, Z:14.41 [[ 0.88482848 -0.04854196 0.46338132 -22.56283815] [ 0.08778101 0.99411516 -0.0634787 -1.97081355] [ -0.45757301 0.09684384 0.88388246 14.41432812] [ 0. 0. 0. 1. ]] SLAMing on 7.429072329 meters Centerline goodness [0,1] 0.7886749381750544 Centerline is valid? [False, False] Translation: X:-22.65, Y:-1.98, Z:14.47 [[ 0.88572908 -0.04551088 0.46196619 -22.65252609] [ 0.086114 0.9940177 -0.06718035 -1.9787395 ] [ -0.45614513 0.09928535 0.8843495 14.46609887] [ 0. 0. 0. 1. ]] SLAMing on 7.459072329 meters Centerline goodness [0,1] 0.7513774831640947 Centerline is valid? [False, False] Translation: X:-22.76, Y:-1.99, Z:14.52 [[ 0.88467681 -0.05000657 0.46351513 -22.75536142] [ 0.09132088 0.99355783 -0.06710687 -1.98551775] [ -0.45717331 0.1016965 0.88354422 14.52447764] [ 0. 0. 0. 1. ]] SLAMing on 7.489072329 meters Centerline goodness [0,1] 0.7262000422922394 Centerline is valid? [False, False] Translation: X:-22.86, Y:-1.99, Z:14.59 [[ 0.88385093 -0.05305211 0.46475048 -22.86155097] [ 0.09327045 0.99358429 -0.06395998 -1.99228539] [ -0.45837556 0.09987858 0.8831286 14.58523817] [ 0. 0. 0. 1. ]] SLAMing on 7.519072329 meters Centerline goodness [0,1] 0.6874960403775896 Centerline is valid? [False, False] Translation: X:-22.96, Y:-2.00, Z:14.64 [[ 0.88352417 -0.05331477 0.46534135 -22.95962013] [ 0.09407217 0.99345496 -0.06478947 -1.99971326] [ -0.45884143 0.10101874 0.88275691 14.64082854] [ 0. 0. 0. 1. ]] SLAMing on 7.5490723289999995 meters Centerline goodness [0,1] 0.6798057637496042 Centerline is valid? [False, False] Translation: X:-23.05, Y:-2.01, Z:14.69 [[ 0.8838112 -0.05168116 0.46498045 -23.05226547] [ 0.09487486 0.99302778 -0.0699613 -2.00842953] [ -0.45812282 0.10594754 0.88255232 14.69120706] [ 0. 0. 0. 1. ]] SLAMing on 7.579072329 meters Centerline goodness [0,1] 0.6496943713388234 Centerline is valid? [False, False] Translation: X:-23.16, Y:-2.02, Z:14.75 [[ 0.88560077 -0.05752696 0.46087083 -23.16351933] [ 0.10394246 0.99167915 -0.0759502 -2.02213036] [ -0.45266681 0.11516561 0.88421131 14.75117451] [ 0. 0. 0. 1. ]] SLAMing on 7.609072329 meters Centerline goodness [0,1] 0.6357180710121886 Centerline is valid? [False, False] Translation: X:-23.26, Y:-2.03, Z:14.80 [[ 0.88656524 -0.05999847 0.45869625 -23.26155533] [ 0.10673612 0.99132998 -0.07663078 -2.03273665] [ -0.45012161 0.11689765 0.88528271 14.80245905] [ 0. 0. 0. 1. ]] SLAMing on 7.639072329 meters Centerline goodness [0,1] 0.6252995948840859 Centerline is valid? [False, False] Translation: X:-23.36, Y:-2.04, Z:14.85 [[ 0.88694245 -0.06418413 0.45739861 -23.36300342] [ 0.11089285 0.99092357 -0.07598189 -2.04291433] [ -0.44837023 0.1181138 0.88600974 14.85355564] [ 0. 0. 0. 1. ]] SLAMing on 7.669072329 meters Centerline goodness [0,1] 0.5927937868692441 Centerline is valid? [False, False] Translation: X:-23.48, Y:-2.06, Z:14.91 [[ 0.88682436 -0.08067982 0.45500915 -23.47577732] [ 0.12396525 0.99008555 -0.06605467 -2.05743079] [ -0.44516871 0.11498421 0.88803347 14.9120627 ] [ 0. 0. 0. 1. ]] SLAMing on 7.699072329 meters Centerline goodness [0,1] 0.5791903108325569 Centerline is valid? [False, False] Translation: X:-23.58, Y:-2.07, Z:14.97 [[ 0.88592856 -0.0828956 0.45635392 -23.57585004] [ 0.12509717 0.99014248 -0.06299651 -2.06617072] [ -0.44663327 0.11289899 0.88756551 14.9666835 ] [ 0. 0. 0. 1. ]] SLAMing on 7.729072329 meters Centerline goodness [0,1] 0.568856942942561 Centerline is valid? [False, False] Translation: X:-23.69, Y:-2.07, Z:15.03 [[ 0.88429394 -0.08689343 0.45877419 -23.68945006] [ 0.12711158 0.99022283 -0.05745777 -2.07496362] [ -0.44929598 0.10912508 0.88669321 15.0305657 ] [ 0. 0. 0. 1. ]] SLAMing on 7.759072328999999 meters Centerline goodness [0,1] 0.5562415426251692 Centerline is valid? [False, False] Translation: X:-23.81, Y:-2.09, Z:15.10 [[ 0.88219453 -0.08382687 0.46336365 -23.81219015] [ 0.12716222 0.98987758 -0.06302496 -2.08595638] [ -0.4533901 0.11452263 0.88392419 15.09962753] [ 0. 0. 0. 1. ]] SLAMing on 7.789072329 meters Centerline goodness [0,1] 0.5469561911199358 Centerline is valid? [False, False] Translation: X:-23.93, Y:-2.09, Z:15.16 [[ 0.88303745 -0.07729106 0.46289412 -23.92510807] [ 0.12232563 0.99015614 -0.06802398 -2.09304314] [ -0.45307981 0.11669153 0.88379962 15.15976814] [ 0. 0. 0. 1. ]] SLAMing on 7.819072329 meters Centerline goodness [0,1] 0.5629629629629629 Centerline is valid? [False, False] Translation: X:-24.01, Y:-2.10, Z:15.21 [[ 0.88464515 -0.07189318 0.46068898 -24.01472588] [ 0.1169197 0.99067732 -0.06991593 -2.09810845] [ -0.45136764 0.1157144 0.88480361 15.20670118] [ 0. 0. 0. 1. ]] SLAMing on 7.849072329 meters Centerline goodness [0,1] 0.5786831066480234 Centerline is valid? [False, False] Translation: X:-24.11, Y:-2.10, Z:15.25 [[ 0.88697359 -0.06779839 0.45681641 -24.10881756] [ 0.10845827 0.99208059 -0.06334746 -2.10012355] [ -0.44890384 0.10573304 0.88730258 15.2543796 ] [ 0. 0. 0. 1. ]] SLAMing on 7.8790723289999995 meters Centerline goodness [0,1] 0.5850937975325334 Centerline is valid? [False, False] Translation: X:-24.20, Y:-2.10, Z:15.30 [[ 0.8887485 -0.06191146 0.45419497 -24.19750434] [ 0.10047618 0.99305272 -0.06124399 -2.10155425] [ -0.44724785 0.10006628 0.88879475 15.30017964] [ 0. 0. 0. 1. ]] SLAMing on 7.909072329 meters Centerline goodness [0,1] 0.59070782398678 Centerline is valid? [False, False] Translation: X:-24.29, Y:-2.10, Z:15.35 [[ 0.89083305 -0.05642373 0.45081353 -24.2862684 ] [ 0.0934721 0.99379277 -0.06032326 -2.10363122] [ -0.44461157 0.09587644 0.89057749 15.34683884] [ 0. 0. 0. 1. ]] SLAMing on 7.939072329 meters Centerline goodness [0,1] 0.6070425212817643 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.11, Z:15.39 [[ 0.89432204 -0.04629128 0.44502271 -24.36355231] [ 0.08326255 0.99447813 -0.0638796 -2.10745324] [ -0.43960828 0.09418266 0.89323803 15.38586811] [ 0. 0. 0. 1. ]] SLAMing on 7.969072328999999 meters Centerline goodness [0,1] 0.6033747254603818 Centerline is valid? [False, False] Translation: X:-24.43, Y:-2.11, Z:15.42 [[ 0.89549549 -0.04247936 0.44303874 -24.43452753] [ 0.07749589 0.99511092 -0.06122613 -2.11029621] [ -0.43827184 0.08916141 0.89440932 15.42428637] [ 0. 0. 0. 1. ]] SLAMing on 7.999072329 meters Centerline goodness [0,1] 0.6231662850843721 Centerline is valid? [False, False] Translation: X:-24.50, Y:-2.11, Z:15.46 [[ 0.89616482 -0.03864495 0.44203528 -24.50482501] [ 0.0711277 0.99582918 -0.05714108 -2.11265255] [ -0.43798342 0.08264878 0.8951758 15.46137317] [ 0. 0. 0. 1. ]] SLAMing on 8.029072329 meters Centerline goodness [0,1] 0.6251187936896792 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.11, Z:15.50 [[ 0.89723291 -0.02912073 0.4405963 -24.56742045] [ 0.05864773 0.99684168 -0.05354543 -2.11225247] [ -0.43764547 0.07388269 0.89610702 15.49831803] [ 0. 0. 0. 1. ]] SLAMing on 8.059072329 meters Centerline goodness [0,1] 0.6471472743445297 Centerline is valid? [False, False] Translation: X:-24.62, Y:-2.11, Z:15.53 [[ 0.8990207 -0.02657844 0.4370988 -24.61736154] [ 0.05252587 0.99749492 -0.04738056 -2.11293653] [ -0.43474453 0.0655551 0.89816464 15.52943837] [ 0. 0. 0. 1. ]] SLAMing on 8.089072329 meters Centerline goodness [0,1] 0.6546936183723145 Centerline is valid? [False, False] Translation: X:-24.67, Y:-2.11, Z:15.56 [[ 8.99236611e-01 -2.29443021e-02 4.36860477e-01 -2.46661846e+01] [ 4.65302434e-02 9.97975216e-01 -4.33636241e-02 -2.11305099e+00] [-4.34980981e-01 5.93213827e-02 8.98483456e-01 1.55567238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119072329 meters Centerline goodness [0,1] 0.6482108829134026 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.11, Z:15.58 [[ 9.00159919e-01 -1.63398361e-02 4.35252949e-01 -2.47059906e+01] [ 3.90104133e-02 9.98304482e-01 -4.32012671e-02 -2.11426987e+00] [-4.33809068e-01 5.58674466e-02 8.99271105e-01 1.55793779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.149072329 meters Centerline goodness [0,1] 0.7098783743696233 Centerline is valid? [False, False] Translation: X:-24.75, Y:-2.11, Z:15.60 [[ 9.04263898e-01 -1.93295075e-03 4.26969632e-01 -2.47496640e+01] [ 2.54689128e-02 9.98453324e-01 -4.94195740e-02 -2.11369341e+00] [-4.26213722e-01 5.55627890e-02 9.02914525e-01 1.56012395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179072329 meters Centerline goodness [0,1] 0.7262562734260847 Centerline is valid? [False, False] Translation: X:-24.78, Y:-2.11, Z:15.61 [[ 9.08662630e-01 8.36058387e-03 4.17447392e-01 -2.47751344e+01] [ 1.40747096e-02 9.98617955e-01 -5.06367801e-02 -2.11355766e+00] [-4.17293814e-01 5.18872006e-02 9.07289144e-01 1.56127369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.209072329 meters Centerline goodness [0,1] 0.7734852167297166 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.11, Z:15.62 [[ 9.10513121e-01 1.45457332e-02 4.13224246e-01 -2.47918571e+01] [ 4.81327171e-03 9.98940453e-01 -4.57690190e-02 -2.11319449e+00] [-4.13452160e-01 4.36622529e-02 9.09478378e-01 1.56207124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239072328999999 meters Centerline goodness [0,1] 0.8015461188181722 Centerline is valid? [False, False] Translation: X:-24.81, Y:-2.11, Z:15.63 [[ 9.10454372e-01 2.12314752e-02 4.13064234e-01 -2.48129854e+01] [-5.07320608e-03 9.99179752e-01 -4.01756824e-02 -2.11171755e+00] [-4.13578408e-01 3.44825657e-02 9.09815285e-01 1.56349659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.269072329 meters Centerline goodness [0,1] 0.8447020988490183 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.11, Z:15.65 [[ 9.10788343e-01 3.30263924e-02 4.11550546e-01 -2.48279589e+01] [-1.98856253e-02 9.99147707e-01 -3.61721025e-02 -2.10899722e+00] [-4.12394418e-01 2.47611894e-02 9.10668835e-01 1.56521320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299072329 meters Centerline goodness [0,1] 0.8489703485788059 Centerline is valid? [False, False] Translation: X:-24.84, Y:-2.11, Z:15.66 [[ 9.12570433e-01 3.94162800e-02 4.07015432e-01 -2.48419582e+01] [-2.65350758e-02 9.98953745e-01 -3.72465359e-02 -2.11060965e+00] [-4.08057710e-01 2.31899020e-02 9.12661566e-01 1.56635659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.329072329 meters Centerline goodness [0,1] 0.8488470309992397 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.11, Z:15.67 [[ 9.14445585e-01 4.75626281e-02 4.01904303e-01 -2.48504936e+01] [-3.37378888e-02 9.98572422e-01 -4.14110155e-02 -2.11312846e+00] [-4.03300170e-01 2.43087177e-02 9.14744805e-01 1.56721357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359072329 meters Centerline goodness [0,1] 0.8367731419741327 Centerline is valid? [False, False] Translation: X:-24.87, Y:-2.12, Z:15.68 [[ 9.16386410e-01 5.35368882e-02 3.96698563e-01 -2.48656588e+01] [-4.32517437e-02 9.98456717e-01 -3.48349019e-02 -2.11623557e+00] [-3.97951297e-01 1.47643261e-02 9.17287730e-01 1.56782523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.389072329 meters Centerline goodness [0,1] 0.830403287299839 Centerline is valid? [False, False] Translation: X:-24.87, Y:-2.12, Z:15.68 [[ 9.20353469e-01 5.25395133e-02 3.87542374e-01 -2.48693729e+01] [-4.65797875e-02 9.98607604e-01 -2.47624236e-02 -2.11932374e+00] [-3.88303767e-01 4.73854106e-03 9.21519251e-01 1.56842338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419072329 meters Centerline goodness [0,1] 0.8110807200559761 Centerline is valid? [False, False] Translation: X:-24.87, Y:-2.12, Z:15.69 [[ 9.25105585e-01 5.60242760e-02 3.75554174e-01 -2.48693086e+01] [-5.34672912e-02 9.98420844e-01 -1.72356366e-02 -2.12344669e+00] [-3.75926730e-01 -4.13508075e-03 9.26640165e-01 1.56931450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.449072329 meters Centerline goodness [0,1] 0.8070461278036394 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.13, Z:15.70 [[ 9.30336549e-01 5.92358022e-02 3.61890902e-01 -2.48649006e+01] [-5.67741665e-02 9.98234675e-01 -1.74421339e-02 -2.12894470e+00] [-3.62285246e-01 -4.31899965e-03 9.32057266e-01 1.57029830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479072329 meters Centerline goodness [0,1] 0.7940185965729778 Centerline is valid? [False, False] Translation: X:-24.87, Y:-2.13, Z:15.71 [[ 9.32405909e-01 6.57939076e-02 3.55373581e-01 -2.48703634e+01] [-6.04874137e-02 9.97829361e-01 -2.60353369e-02 -2.13304641e+00] [-3.56315160e-01 2.77987316e-03 9.34361696e-01 1.57103682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.509072329 meters Centerline goodness [0,1] 0.7581414994720169 Centerline is valid? [False, False] Translation: X:-24.88, Y:-2.14, Z:15.71 [[ 9.32511342e-01 7.51874889e-02 3.53227177e-01 -2.48763500e+01] [-6.75579191e-02 9.97139317e-01 -3.38985115e-02 -2.13951475e+00] [-3.54765451e-01 7.74745335e-03 9.34923233e-01 1.57149053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539072329 meters Centerline goodness [0,1] 0.7366432355983366 Centerline is valid? [False, False] Translation: X:-24.88, Y:-2.14, Z:15.72 [[ 9.32011317e-01 7.90477250e-02 3.53703778e-01 -2.48769420e+01] [-7.44008523e-02 9.96869858e-01 -2.67394881e-02 -2.14233095e+00] [-3.54710331e-01 -1.39435705e-03 9.34975207e-01 1.57170050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.569072328999999 meters Centerline goodness [0,1] 0.7184717944390532 Centerline is valid? [False, False] Translation: X:-24.89, Y:-2.14, Z:15.72 [[ 9.31545275e-01 7.84860248e-02 3.55054004e-01 -2.48871053e+01] [-7.88540842e-02 9.96795321e-01 -1.34581014e-02 -2.14231880e+00] [-3.54972442e-01 -1.54606275e-02 9.34748915e-01 1.57200066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599072329 meters Centerline goodness [0,1] 0.6895817073427974 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.14, Z:15.73 [[ 9.33236738e-01 8.81789523e-02 3.48272398e-01 -2.48966617e+01] [-9.07045119e-02 9.95836436e-01 -9.08205992e-03 -2.14096936e+00] [-3.47623190e-01 -2.31141659e-02 9.37349376e-01 1.57286604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.629072329 meters Centerline goodness [0,1] 0.6830749053370846 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.14, Z:15.73 [[ 9.35902643e-01 9.53469419e-02 3.39109427e-01 -2.49000803e+01] [-9.63056165e-02 9.95252763e-01 -1.40415631e-02 -2.14399427e+00] [-3.38838414e-01 -1.95166064e-02 9.40642138e-01 1.57344047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659072329 meters Centerline goodness [0,1] 0.6589654078070454 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.15, Z:15.74 [[ 9.38134796e-01 1.03374029e-01 3.30479825e-01 -2.49006137e+01] [-1.01489372e-01 9.94570643e-01 -2.30031058e-02 -2.14802207e+00] [-3.31063456e-01 -1.19601760e-02 9.43532693e-01 1.57388067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.689072329 meters Centerline goodness [0,1] 0.6636059746963991 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.15, Z:15.75 [[ 9.40253612e-01 1.10578028e-01 3.22018083e-01 -2.49044649e+01] [-1.06769291e-01 9.93845387e-01 -2.95239674e-02 -2.15209552e+00] [-3.23300889e-01 -6.62162535e-03 9.46273052e-01 1.57453380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719072329 meters Centerline goodness [0,1] 0.6550804967314731 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.16, Z:15.76 [[ 9.44386434e-01 1.13016234e-01 3.08806725e-01 -2.49026819e+01] [-1.10049694e-01 9.93557449e-01 -2.70676853e-02 -2.15761719e+00] [-3.09876310e-01 -8.42173066e-03 9.50739579e-01 1.57552125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.749072329 meters Centerline goodness [0,1] 0.6467889908256881 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.16, Z:15.76 [[ 9.42956459e-01 1.11689824e-01 3.13621587e-01 -2.49167446e+01] [-1.11740836e-01 9.93576624e-01 -1.78739452e-02 -2.16168023e+00] [-3.13603415e-01 -1.81899862e-02 9.49379809e-01 1.57602406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779072329 meters Centerline goodness [0,1] 0.6467889908256881 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.16, Z:15.77 [[ 9.47039067e-01 1.12033072e-01 3.00941185e-01 -2.49162719e+01] [-1.12289479e-01 9.93538475e-01 -1.65037033e-02 -2.16257553e+00] [-3.00845606e-01 -1.81628772e-02 9.53499885e-01 1.57693099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.809072329 meters Centerline goodness [0,1] 0.6436500747793483 Centerline is valid? [False, False] Translation: X:-24.93, Y:-2.17, Z:15.77 [[ 9.48122999e-01 1.09005707e-01 2.98631101e-01 -2.49255535e+01] [-1.12599124e-01 9.93626885e-01 -5.20100298e-03 -2.16591758e+00] [-2.97294830e-01 -2.86944100e-02 9.54354449e-01 1.57736495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839072329 meters Centerline goodness [0,1] 0.6275294217255101 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.17, Z:15.79 [[ 9.47476308e-01 1.14964198e-01 2.98449121e-01 -2.49413252e+01] [-1.18225938e-01 9.92960864e-01 -7.16596010e-03 -2.17194222e+00] [-2.97172126e-01 -2.84948498e-02 9.54398644e-01 1.57865118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.869072329 meters Centerline goodness [0,1] 0.6263983050847457 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.17, Z:15.79 [[ 9.48539293e-01 1.19871051e-01 2.93094080e-01 -2.49516670e+01] [-1.20934045e-01 9.92553742e-01 -1.45610804e-02 -2.17428985e+00] [-2.92657078e-01 -2.16332958e-02 9.55972717e-01 1.57949767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899072329 meters Centerline goodness [0,1] 0.6226578874939132 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.18, Z:15.81 [[ 9.52238469e-01 1.21861649e-01 2.79985066e-01 -2.49503994e+01] [-1.22657341e-01 9.92339502e-01 -1.47475332e-02 -2.17853150e+00] [-2.79637400e-01 -2.02990555e-02 9.59891073e-01 1.58052265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.929072329 meters Centerline goodness [0,1] 0.6093161923288366 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.18, Z:15.81 [[ 9.53435638e-01 1.26835442e-01 2.73629778e-01 -2.49621585e+01] [-1.26482152e-01 9.91786754e-01 -1.90078723e-02 -2.18022119e+00] [-2.73793262e-01 -1.64865004e-02 9.61647256e-01 1.58144050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959072329 meters Centerline goodness [0,1] 0.5985796056815773 Centerline is valid? [False, False] Translation: X:-24.97, Y:-2.18, Z:15.82 [[ 9.54861577e-01 1.32106919e-01 2.66058509e-01 -2.49716550e+01] [-1.30747942e-01 9.91151218e-01 -2.28962678e-02 -2.18049436e+00] [-2.66728970e-01 -1.29238362e-02 9.63684923e-01 1.58216247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.989072328999999 meters Centerline goodness [0,1] 0.5877701188311414 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.18, Z:15.83 [[ 9.56211884e-01 1.37832132e-01 2.58188179e-01 -2.49801751e+01] [-1.35725714e-01 9.90403807e-01 -2.60543576e-02 -2.18100462e+00] [-2.59301683e-01 -1.01292885e-02 9.65743255e-01 1.58275202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019072329 meters Centerline goodness [0,1] 0.6047251058095218 Centerline is valid? [False, False] Translation: X:-24.97, Y:-2.18, Z:15.83 [[ 9.59168372e-01 1.43851539e-01 2.43521598e-01 -2.49747896e+01] [-1.42687504e-01 9.89511807e-01 -2.25091158e-02 -2.18247534e+00] [-2.44205467e-01 -1.31574570e-02 9.69634246e-01 1.58324895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.049072329 meters Centerline goodness [0,1] 0.5576646351786017 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.18, Z:15.84 [[ 9.61957164e-01 1.45162341e-01 2.31443965e-01 -2.49777174e+01] [-1.45069751e-01 9.89266421e-01 -1.75132802e-02 -2.18352958e+00] [-2.31502011e-01 -1.67284931e-02 9.72690586e-01 1.58415721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079072329 meters Centerline goodness [0,1] 0.5905396825396825 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.18, Z:15.85 [[ 9.64895550e-01 1.45599392e-01 2.18580407e-01 -2.49777645e+01] [-1.46256436e-01 9.89157824e-01 -1.32609914e-02 -2.18459223e+00] [-2.18141312e-01 -1.91733198e-02 9.75728831e-01 1.58497962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.109072329 meters Centerline goodness [0,1] 0.5852285950028562 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.18, Z:15.86 [[ 9.67826512e-01 1.46252125e-01 2.04749012e-01 -2.49770297e+01] [-1.46955393e-01 9.89072118e-01 -1.18514532e-02 -2.18376791e+00] [-2.04244839e-01 -1.86188209e-02 9.78742757e-01 1.58567283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139072329 meters Centerline goodness [0,1] 0.6044837733132926 Centerline is valid? [False, False] Translation: X:-24.99, Y:-2.18, Z:15.86 [[ 9.69205029e-01 1.49563620e-01 1.95633165e-01 -2.49862283e+01] [-1.49403364e-01 9.88652290e-01 -1.56615726e-02 -2.18221318e+00] [-1.95755578e-01 -1.40489781e-02 9.80552079e-01 1.58622614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.169072329 meters Centerline goodness [0,1] 0.6057026735251159 Centerline is valid? [False, False] Translation: X:-24.99, Y:-2.18, Z:15.87 [[ 9.70510190e-01 1.52919200e-01 1.86348301e-01 -2.49949166e+01] [-1.51938707e-01 9.88195187e-01 -1.96189286e-02 -2.18082109e+00] [-1.87148605e-01 -9.27314975e-03 9.82287844e-01 1.58671541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199072329 meters Centerline goodness [0,1] 0.5831994248985115 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.18, Z:15.87 [[ 9.72929690e-01 1.53272646e-01 1.72960443e-01 -2.49961300e+01] [-1.52391969e-01 9.88148092e-01 -1.84400651e-02 -2.18105846e+00] [-1.73736890e-01 -8.41689562e-03 9.84756137e-01 1.58737809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.229072329 meters Centerline goodness [0,1] 0.6073674182280089 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.18, Z:15.87 [[ 9.73062515e-01 1.52605745e-01 1.72802859e-01 -2.49960464e+01] [-1.51430941e-01 9.88264661e-01 -2.00407149e-02 -2.17666545e+00] [-1.73833287e-01 -6.66683107e-03 9.84752528e-01 1.58747816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259072329 meters Centerline goodness [0,1] 0.588977044324553 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.17, Z:15.88 [[ 9.72830368e-01 1.53735444e-01 1.73108314e-01 -2.49977400e+01] [-1.52871076e-01 9.88074906e-01 -1.83960497e-02 -2.17445540e+00] [-1.73872106e-01 -8.56701845e-03 9.84730977e-01 1.58782819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.289072329 meters Centerline goodness [0,1] 0.6067581837381204 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.17, Z:15.88 [[ 9.72940130e-01 1.53433544e-01 1.72758940e-01 -2.49974944e+01] [-1.52376771e-01 9.88131205e-01 -1.94432635e-02 -2.17066482e+00] [-1.73691748e-01 -7.40731802e-03 9.84772211e-01 1.58799288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319072328999999 meters Centerline goodness [0,1] 0.6096942548650877 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.16, Z:15.88 [[ 9.72774366e-01 1.50929881e-01 1.75869849e-01 -2.50047971e+01] [-1.49951887e-01 9.88512331e-01 -1.89156777e-02 -2.16366196e+00] [-1.76704455e-01 -7.97132923e-03 9.84231677e-01 1.58803212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.349072329 meters Centerline goodness [0,1] 0.6095755704527672 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.16, Z:15.89 [[ 9.75414537e-01 1.50217318e-01 1.61248998e-01 -2.50033235e+01] [-1.49126401e-01 9.88637173e-01 -1.89171164e-02 -2.16116276e+00] [-1.62258432e-01 -5.59445226e-03 9.86732438e-01 1.58851699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379072329 meters Centerline goodness [0,1] 0.6194476774944451 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.16, Z:15.89 [[ 9.77984967e-01 1.47960613e-01 1.47149790e-01 -2.50022262e+01] [-1.46970245e-01 9.88983584e-01 -1.76413900e-02 -2.15894274e+00] [-1.48138958e-01 -4.37362651e-03 9.88956885e-01 1.58899274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.409072328999999 meters Centerline goodness [0,1] 0.6377133900961579 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.16, Z:15.89 [[ 9.80964250e-01 1.35259413e-01 1.39334241e-01 -2.49998206e+01] [-1.34676079e-01 9.90795645e-01 -1.36507593e-02 -2.15525914e+00] [-1.39898153e-01 -5.37408237e-03 9.90151315e-01 1.58906457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439072329 meters Centerline goodness [0,1] 0.6527574891499948 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.15, Z:15.89 [[ 9.83123174e-01 1.24784050e-01 1.33782533e-01 -2.50012287e+01] [-1.24978684e-01 9.92134907e-01 -6.97528736e-03 -2.15436157e+00] [-1.33600726e-01 -9.86239832e-03 9.90986165e-01 1.58944699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.469072329 meters Centerline goodness [0,1] 0.6698592856690787 Centerline is valid? [False, False] Translation: X:-24.99, Y:-2.15, Z:15.90 [[ 9.84553148e-01 1.17488780e-01 1.29813267e-01 -2.49945106e+01] [-1.17790330e-01 9.93023917e-01 -5.37948270e-03 -2.15272566e+00] [-1.29539708e-01 -9.99436102e-03 9.91523866e-01 1.59026877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499072329 meters Centerline goodness [0,1] 0.691211852602254 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.15, Z:15.91 [[ 9.84920204e-01 1.14816549e-01 1.29419290e-01 -2.49968458e+01] [-1.14767499e-01 9.93361269e-01 -7.86192030e-03 -2.15039212e+00] [-1.29462789e-01 -7.10976415e-03 9.91558792e-01 1.59074093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.529072329 meters Centerline goodness [0,1] 0.742962776237291 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.15, Z:15.91 [[ 9.86020991e-01 1.06615053e-01 1.28046225e-01 -2.49968290e+01] [-1.05221509e-01 9.94292729e-01 -1.76182885e-02 -2.14613386e+00] [-1.29193806e-01 3.89878525e-03 9.91611698e-01 1.59095854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559072329 meters Centerline goodness [0,1] 0.7789393651397073 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.15, Z:15.90 [[ 9.86515404e-01 9.96834402e-02 1.29809741e-01 -2.50032202e+01] [-9.82797926e-02 9.95010332e-01 -1.71907251e-02 -2.14687438e+00] [-1.30875664e-01 4.20124073e-03 9.91389888e-01 1.59037759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.589072329 meters Centerline goodness [0,1] 0.8070794590025359 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.15, Z:15.90 [[ 9.86901969e-01 9.38499766e-02 1.31212368e-01 -2.50087693e+01] [-9.26671253e-02 9.95582557e-01 -1.51055209e-02 -2.14870143e+00] [-1.32050398e-01 2.74859537e-03 9.91239193e-01 1.58974284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619072329 meters Centerline goodness [0,1] 0.8322188835752677 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.15, Z:15.90 [[ 9.88753749e-01 8.36794850e-02 1.23950666e-01 -2.50059338e+01] [-8.32974104e-02 9.96490409e-01 -8.27084995e-03 -2.14611811e+00] [-1.24207751e-01 -2.14693564e-03 9.92253912e-01 1.58967913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.649072329 meters Centerline goodness [0,1] 0.8374470787468247 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.14, Z:15.90 [[ 9.89819699e-01 7.81584511e-02 1.18946289e-01 -2.50060675e+01] [-7.89859838e-02 9.96873184e-01 2.25159441e-03 -2.14254673e+00] [-1.18398384e-01 -1.16237621e-02 9.92898137e-01 1.58977705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679072329 meters Centerline goodness [0,1] 0.8384460675346671 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.13, Z:15.90 [[ 9.89671494e-01 8.06792586e-02 1.18495532e-01 -2.50058264e+01] [-8.17768457e-02 9.96640856e-01 4.42183540e-03 -2.13175193e+00] [-1.17740738e-01 -1.40663553e-02 9.92944740e-01 1.59008060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.709072329 meters Centerline goodness [0,1] 0.8333263104668802 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.13, Z:15.90 [[ 9.89734475e-01 8.07220560e-02 1.17939045e-01 -2.50046259e+01] [-8.16497871e-02 9.96656422e-01 3.04779196e-03 -2.12669929e+00] [-1.17298682e-01 -1.26462027e-02 9.93016159e-01 1.59014130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739072328999999 meters Centerline goodness [0,1] 0.8307997635334854 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.12, Z:15.91 [[ 9.90240036e-01 8.48288930e-02 1.10583585e-01 -2.50145097e+01] [-8.48749258e-02 9.96382337e-01 -4.29956204e-03 -2.12067233e+00] [-1.10548258e-01 -5.12817512e-03 9.93857527e-01 1.59071848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.769072329 meters Centerline goodness [0,1] 0.8192201321595203 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.12, Z:15.91 [[ 9.90737459e-01 8.91384740e-02 1.02438366e-01 -2.50224886e+01] [-8.84650582e-02 9.96017349e-01 -1.11073583e-02 -2.11560174e+00] [-1.03020483e-01 1.94225987e-03 9.94677338e-01 1.59110378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799072329 meters Centerline goodness [0,1] 0.7890498176375098 Centerline is valid? [False, False] Translation: X:-25.03, Y:-2.11, Z:15.91 [[ 9.91083629e-01 9.51553413e-02 9.32668329e-02 -2.50265056e+01] [-9.40115469e-02 9.95432844e-01 -1.65916108e-02 -2.10798621e+00] [-9.44196492e-02 7.67551455e-03 9.95502896e-01 1.59118474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.829072329 meters Centerline goodness [0,1] 0.7610551965250556 Centerline is valid? [False, False] Translation: X:-25.03, Y:-2.10, Z:15.92 [[ 9.92015987e-01 9.82454800e-02 7.90702657e-02 -2.50261236e+01] [-9.73409095e-02 9.95134657e-01 -1.52237208e-02 -2.10372926e+00] [-8.01812235e-02 7.40540280e-03 9.96752794e-01 1.59172325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859072329 meters Centerline goodness [0,1] 0.7830503463422875 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.10, Z:15.92 [[ 9.91643499e-01 1.02108134e-01 7.88485876e-02 -2.50233841e+01] [-1.01500590e-01 9.94766847e-01 -1.16855147e-02 -2.09990174e+00] [-7.96291470e-02 3.58468649e-03 9.96818112e-01 1.59155163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.889072329 meters Centerline goodness [0,1] 0.747006811355079 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.09, Z:15.92 [[ 9.91805628e-01 1.09565149e-01 6.57044491e-02 -2.50243488e+01] [-1.09572774e-01 9.93972619e-01 -3.49846310e-03 -2.08761750e+00] [-6.56917330e-02 -3.72962333e-03 9.97832995e-01 1.59239282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919072329 meters Centerline goodness [0,1] 0.7235981604151723 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.08, Z:15.92 [[ 9.91417633e-01 1.13092952e-01 6.55824813e-02 -2.50229926e+01] [-1.13299133e-01 9.93560754e-01 -5.78806378e-04 -2.08295727e+00] [-6.52256385e-02 -6.85659946e-03 9.97846984e-01 1.59242944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.949072329 meters Centerline goodness [0,1] 0.7079868824711733 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.08, Z:15.93 [[ 9.91014135e-01 1.16466313e-01 6.57767566e-02 -2.50230494e+01] [-1.16875218e-01 9.93143732e-01 2.38997486e-03 -2.07978542e+00] [-6.50474219e-02 -1.00561716e-02 9.97831502e-01 1.59255949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979072329 meters Centerline goodness [0,1] 0.6793847973972198 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.07, Z:15.93 [[ 9.90876042e-01 1.18502649e-01 6.42011833e-02 -2.50199913e+01] [-1.18549539e-01 9.92943325e-01 -3.09209728e-03 -2.07203517e+00] [-6.41145581e-02 -4.54713554e-03 9.97932186e-01 1.59339844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.009072329 meters Centerline goodness [0,1] 0.6777751850830487 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.07, Z:15.93 [[ 9.90887597e-01 1.18492548e-01 6.40412877e-02 -2.50200703e+01] [-1.18492486e-01 9.92947630e-01 -3.81253929e-03 -2.07039751e+00] [-6.40414023e-02 -3.81061351e-03 9.97939967e-01 1.59349359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039072329 meters Centerline goodness [0,1] 0.6666313940445705 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.07, Z:15.94 [[ 9.90886398e-01 1.18710471e-01 6.36550966e-02 -2.50192279e+01] [-1.18671437e-01 9.92923797e-01 -4.40717526e-03 -2.06831070e+00] [-6.37278380e-02 -3.18703174e-03 9.97962226e-01 1.59353843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.069072328999999 meters Centerline goodness [0,1] 0.6636026686434395 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.06, Z:15.94 [[ 9.90868799e-01 1.18990383e-01 6.34059309e-02 -2.50184751e+01] [-1.18895170e-01 9.92892741e-01 -5.28615390e-03 -2.06398374e+00] [-6.35842900e-02 -2.30077397e-03 9.97973820e-01 1.59359720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099072329 meters Centerline goodness [0,1] 0.6497797356828194 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.06, Z:15.94 [[ 9.90607689e-01 1.27077931e-01 5.04738056e-02 -2.50194600e+01] [-1.27349331e-01 9.91855521e-01 2.18487437e-03 -2.05528359e+00] [-4.97850735e-02 -8.59215872e-03 9.98722995e-01 1.59431725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.129072329 meters Centerline goodness [0,1] 0.6404444444444444 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.05, Z:15.94 [[ 9.90024018e-01 1.31709661e-01 5.00500709e-02 -2.50149496e+01] [-1.32195069e-01 9.91202403e-01 6.50071664e-03 -2.05229223e+00] [-4.87535433e-02 -1.30522382e-02 9.98725553e-01 1.59401334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159072328999999 meters Centerline goodness [0,1] 0.6277308785474908 Centerline is valid? [False, False] Translation: X:-25.02, Y:-2.05, Z:15.94 [[ 9.88984733e-01 1.42133797e-01 4.13180518e-02 -2.50162471e+01] [-1.42419511e-01 9.89798139e-01 4.04072840e-03 -2.04648182e+00] [-4.03222067e-02 -9.88071543e-03 9.99137874e-01 1.59410464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.189072329 meters Centerline goodness [0,1] 0.6297216383209121 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.05, Z:15.94 [[ 9.88938631e-01 1.42607515e-01 4.07858031e-02 -2.50145153e+01] [-1.42878261e-01 9.89733024e-01 3.78720612e-03 -2.04507759e+00] [-3.98269722e-02 -9.57271903e-03 9.99160735e-01 1.59405503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219072329 meters Centerline goodness [0,1] 0.6179994073572366 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.04, Z:15.94 [[ 9.88904961e-01 1.42951841e-01 4.03949269e-02 -2.50136676e+01] [-1.43211329e-01 9.89685621e-01 3.58985256e-03 -2.04448405e+00] [-3.94651023e-02 -9.33503416e-03 9.99177343e-01 1.59408273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.249072329 meters Centerline goodness [0,1] 0.6150479895141854 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.04, Z:15.94 [[ 9.88890248e-01 1.43121035e-01 4.01552877e-02 -2.50134928e+01] [-1.43367957e-01 9.89663874e-01 3.32351316e-03 -2.04401653e+00] [-3.92645729e-02 -9.04357132e-03 9.99187924e-01 1.59415499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279072329 meters Centerline goodness [0,1] 0.6140168913913172 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.04, Z:15.94 [[ 9.88825407e-01 1.43523881e-01 4.03138971e-02 -2.50145511e+01] [-1.43731070e-01 9.89614172e-01 2.27381395e-03 -2.03939956e+00] [-3.95688573e-02 -8.04276456e-03 9.99184477e-01 1.59443558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.309072329 meters Centerline goodness [0,1] 0.5791325730275152 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.03, Z:15.95 [[ 9.88800940e-01 1.43771519e-01 4.00306196e-02 -2.50140198e+01] [-1.43944297e-01 9.89584725e-01 1.45282869e-03 -2.03474496e+00] [-3.94048144e-02 -7.19873779e-03 9.99197397e-01 1.59455849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339072329 meters Centerline goodness [0,1] 0.6082989308775273 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.03, Z:15.95 [[ 9.88222747e-01 1.47616260e-01 4.03142878e-02 -2.50133148e+01] [-1.47924999e-01 9.88987081e-01 4.76940869e-03 -2.03161162e+00] [-3.91662676e-02 -1.06767292e-02 9.99175666e-01 1.59460592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.369072329 meters Centerline goodness [0,1] 0.5574290060851927 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.03, Z:15.94 [[ 9.88601038e-01 1.45329305e-01 3.93367485e-02 -2.50101137e+01] [-1.45503896e-01 9.89356390e-01 1.59712885e-03 -2.03101332e+00] [-3.86859538e-02 -7.30257339e-03 9.99224734e-01 1.59434844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399072329 meters Centerline goodness [0,1] 0.554047472843924 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.03, Z:15.94 [[ 9.89015046e-01 1.42768088e-01 3.82950573e-02 -2.50070527e+01] [-1.42818862e-01 9.89747824e-01 -1.42057736e-03 -2.03222665e+00] [-3.81052628e-02 -4.06428414e-03 9.99265466e-01 1.59407666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.429072329 meters Centerline goodness [0,1] 0.5996668634561861 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.03, Z:15.94 [[ 9.89431785e-01 1.40161776e-01 3.71405333e-02 -2.50037873e+01] [-1.40092649e-01 9.90128309e-01 -4.47012711e-03 -2.03275530e+00] [-3.74004344e-02 -7.80229837e-04 9.99300054e-01 1.59383248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459072329 meters Centerline goodness [0,1] 0.5942473755502878 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.03, Z:15.94 [[ 9.89448329e-01 1.40162368e-01 3.66948959e-02 -2.50028947e+01] [-1.40101142e-01 9.90128088e-01 -4.24738667e-03 -2.03336986e+00] [-3.69279709e-02 -9.38427168e-04 9.99317489e-01 1.59384078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.489072328999999 meters Centerline goodness [0,1] 0.5889547185780788 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.03, Z:15.94 [[ 9.89453775e-01 1.40218521e-01 3.63317271e-02 -2.50025428e+01] [-1.40155213e-01 9.90120224e-01 -4.29620855e-03 -2.03292975e+00] [-3.65751858e-02 -8.41181179e-04 9.99330550e-01 1.59392731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519072329 meters Centerline goodness [0,1] 0.5830845139021239 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.03, Z:15.94 [[ 9.89441150e-01 1.40385243e-01 3.60304716e-02 -2.50023286e+01] [-1.40326378e-01 9.90096520e-01 -4.17001404e-03 -2.03320719e+00] [-3.62590529e-02 -9.30042084e-04 9.99341992e-01 1.59401244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.549072329 meters Centerline goodness [0,1] 0.5746284456112123 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.04, Z:15.94 [[ 9.89462242e-01 1.40201931e-01 3.61647655e-02 -2.50045601e+01] [-1.40144859e-01 9.90122435e-01 -4.12087180e-03 -2.03606421e+00] [-3.63852999e-02 -9.90858929e-04 9.99337345e-01 1.59425693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579072328999999 meters Centerline goodness [0,1] 0.5992016558249557 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.04, Z:15.94 [[ 9.89891920e-01 1.37247712e-01 3.57358691e-02 -2.50047535e+01] [-1.37058817e-01 9.90533025e-01 -7.69467785e-03 -2.03590260e+00] [-3.64536354e-02 2.71898349e-03 9.99331646e-01 1.59431966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.609072329 meters Centerline goodness [0,1] 0.5753005695001054 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.04, Z:15.95 [[ 9.89979277e-01 1.36544221e-01 3.60098198e-02 -2.50071753e+01] [-1.36346625e-01 9.90629704e-01 -7.89861055e-03 -2.03821822e+00] [-3.67509067e-02 2.90964335e-03 9.99320221e-01 1.59452195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639072329 meters Centerline goodness [0,1] 0.6144260217552011 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.04, Z:15.95 [[ 9.90499542e-01 1.32746975e-01 3.59012242e-02 -2.50095081e+01] [-1.32440724e-01 9.91132211e-01 -1.07886690e-02 -2.04309123e+00] [-3.70150229e-02 5.93138764e-03 9.99297106e-01 1.59469598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.669072329 meters Centerline goodness [0,1] 0.6152060114826072 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.05, Z:15.95 [[ 9.90965561e-01 1.29429973e-01 3.51445587e-02 -2.50086753e+01] [-1.29020047e-01 9.91547329e-01 -1.37011371e-02 -2.04617795e+00] [-3.66208311e-02 9.04300240e-03 9.99288316e-01 1.59463205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699072329 meters Centerline goodness [0,1] 0.6152060114826072 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.05, Z:15.95 [[ 9.90965561e-01 1.29429973e-01 3.51445587e-02 -2.50086753e+01] [-1.29020047e-01 9.91547329e-01 -1.37011371e-02 -2.04617795e+00] [-3.66208311e-02 9.04300240e-03 9.99288316e-01 1.59463205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.729072329 meters Centerline goodness [0,1] 0.6165757075771037 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.05, Z:15.94 [[ 9.91846976e-01 1.22860916e-01 3.38344685e-02 -2.50069138e+01] [-1.22275268e-01 9.92316750e-01 -1.88739630e-02 -2.05461896e+00] [-3.58933822e-02 1.45829644e-02 9.99249219e-01 1.59439618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759072329 meters Centerline goodness [0,1] 0.6227850234929732 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.06, Z:15.94 [[ 9.92289575e-01 1.19438106e-01 3.31049666e-02 -2.50061610e+01] [-1.18762294e-01 9.92685857e-01 -2.16865549e-02 -2.05815578e+00] [-3.54530332e-02 1.75877205e-02 9.99216570e-01 1.59433781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.789072329 meters Centerline goodness [0,1] 0.6303023895115246 Centerline is valid? [False, False] Translation: X:-25.01, Y:-2.06, Z:15.94 [[ 9.92703984e-01 1.16087637e-01 3.25954201e-02 -2.50066203e+01] [-1.15321897e-01 9.93026720e-01 -2.44702735e-02 -2.06129036e+00] [-3.52088193e-02 2.05327723e-02 9.99169027e-01 1.59439877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819072328999999 meters Centerline goodness [0,1] 0.634303254562274 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.07, Z:15.94 [[ 9.93314041e-01 1.10395957e-01 3.37631135e-02 -2.49977247e+01] [-1.09898681e-01 9.93809928e-01 -1.62513442e-02 -2.06748259e+00] [-3.53482001e-02 1.24321667e-02 9.99297726e-01 1.59448103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.849072329 meters Centerline goodness [0,1] 0.637854609929078 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.08, Z:15.95 [[ 9.94559871e-01 9.94807773e-02 3.08907558e-02 -2.50004821e+01] [-9.92549236e-02 9.95023439e-01 -8.76447222e-03 -2.07605296e+00] [-3.16089225e-02 5.65073275e-03 9.99484340e-01 1.59470513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879072329 meters Centerline goodness [0,1] 0.6520259559087739 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.08, Z:15.95 [[ 9.94872351e-01 9.65290824e-02 3.01851177e-02 -2.49986295e+01] [-9.62296488e-02 9.95295880e-01 -1.12234463e-02 -2.07957657e+00] [-3.11265122e-02 8.26119315e-03 9.99481312e-01 1.59453427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.909072328999999 meters Centerline goodness [0,1] 0.6446966021977094 Centerline is valid? [False, False] Translation: X:-25.00, Y:-2.08, Z:15.94 [[ 9.95148195e-01 9.38813905e-02 2.94339074e-02 -2.49961286e+01] [-9.35214869e-02 9.95527383e-01 -1.33776383e-02 -2.08365341e+00] [-3.05581721e-02 1.05600299e-02 9.99477205e-01 1.59428600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939072329 meters Centerline goodness [0,1] 0.6534093308000845 Centerline is valid? [False, False] Translation: X:-24.99, Y:-2.09, Z:15.94 [[ 9.95375045e-01 9.17175073e-02 2.85730274e-02 -2.49928643e+01] [-9.13079253e-02 9.95704754e-01 -1.53266134e-02 -2.08686365e+00] [-2.98560180e-02 1.26467846e-02 9.99474200e-01 1.59399105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.969072329 meters Centerline goodness [0,1] 0.6488736739782766 Centerline is valid? [False, False] Translation: X:-24.99, Y:-2.09, Z:15.94 [[ 9.95209820e-01 9.35269204e-02 2.84627773e-02 -2.49906467e+01] [-9.31840696e-02 9.95562115e-01 -1.31455044e-02 -2.09031387e+00] [-2.95659214e-02 1.04302577e-02 9.99508412e-01 1.59373944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999072329 meters Centerline goodness [0,1] 0.6332649652168397 Centerline is valid? [False, False] Translation: X:-24.99, Y:-2.09, Z:15.94 [[ 9.95139152e-01 9.43870729e-02 2.80918068e-02 -2.49892839e+01] [-9.40589077e-02 9.95484531e-01 -1.27855598e-02 -2.08895156e+00] [-2.91717506e-02 1.00811264e-02 9.99523576e-01 1.59369905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.029072329 meters Centerline goodness [0,1] 0.6330431850275045 Centerline is valid? [False, False] Translation: X:-24.99, Y:-2.09, Z:15.93 [[ 9.94923284e-01 9.67685684e-02 2.76315732e-02 -2.49860162e+01] [-9.64975974e-02 9.95272649e-01 -1.09803010e-02 -2.08905799e+00] [-2.85634971e-02 8.25817668e-03 9.99557867e-01 1.59347685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059072329 meters Centerline goodness [0,1] 0.6265202702702704 Centerline is valid? [False, False] Translation: X:-24.99, Y:-2.09, Z:15.93 [[ 9.94897396e-01 9.70631589e-02 2.75302615e-02 -2.49856597e+01] [-9.68054074e-02 9.95247424e-01 -1.05487990e-02 -2.09097208e+00] [-2.84233216e-02 7.82989445e-03 9.99565309e-01 1.59343674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.089072329 meters Centerline goodness [0,1] 0.6247623473742026 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.09, Z:15.93 [[ 9.95146288e-01 9.46737579e-02 2.68467122e-02 -2.49836142e+01] [-9.43366328e-02 9.95447997e-01 -1.35604217e-02 -2.09162603e+00] [-2.80083220e-02 1.09619749e-02 9.99547582e-01 1.59328625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119072329 meters Centerline goodness [0,1] 0.629575063666786 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.09, Z:15.93 [[ 9.95114162e-01 9.49899856e-02 2.69203846e-02 -2.49834934e+01] [-9.46730458e-02 9.95425924e-01 -1.28157742e-02 -2.09466596e+00] [-2.80146189e-02 1.02045236e-02 9.99555426e-01 1.59321712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.149072329 meters Centerline goodness [0,1] 0.6290054493046351 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.09, Z:15.93 [[ 9.95109991e-01 9.50554344e-02 2.68434428e-02 -2.49830913e+01] [-9.47367636e-02 9.95418689e-01 -1.29065391e-02 -2.09318295e+00] [-2.79473013e-02 1.03003651e-02 9.99556327e-01 1.59320457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179072329 meters Centerline goodness [0,1] 0.6339462696638691 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.09, Z:15.93 [[ 9.94847025e-01 9.77525095e-02 2.69043577e-02 -2.49827401e+01] [-9.75300680e-02 9.95187592e-01 -9.46265348e-03 -2.09186823e+00] [-2.76998811e-02 6.78990882e-03 9.99593224e-01 1.59321774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.209072329 meters Centerline goodness [0,1] 0.6319514661274015 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.09, Z:15.93 [[ 9.94872677e-01 9.75759257e-02 2.65950179e-02 -2.49817784e+01] [-9.73545684e-02 9.95204441e-01 -9.49781531e-03 -2.09191446e+00] [-2.73942381e-02 6.85997046e-03 9.99601169e-01 1.59316007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239072328999999 meters Centerline goodness [0,1] 0.634067398616488 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.09, Z:15.93 [[ 9.95183798e-01 9.45848136e-02 2.57472592e-02 -2.49790013e+01] [-9.42767988e-02 9.95462084e-01 -1.29277020e-02 -2.09106041e+00] [-2.68531846e-02 1.04380704e-02 9.99584890e-01 1.59294952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.269072329 meters Centerline goodness [0,1] 0.6381473006186965 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.09, Z:15.93 [[ 9.95486872e-01 9.15814446e-02 2.48742095e-02 -2.49761838e+01] [-9.11964861e-02 9.95701213e-01 -1.61955202e-02 -2.09095464e+00] [-2.62504897e-02 1.38539872e-02 9.99559392e-01 1.59273120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299072329 meters Centerline goodness [0,1] 0.6394513112981534 Centerline is valid? [False, False] Translation: X:-24.98, Y:-2.09, Z:15.93 [[ 9.95530951e-01 9.11452928e-02 2.47115448e-02 -2.49757953e+01] [-9.07656811e-02 9.95742553e-01 -1.60735298e-02 -2.09245055e+00] [-2.60713633e-02 1.37587362e-02 9.99565396e-01 1.59268250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.329072328999999 meters Centerline goodness [0,1] 0.6548831889521953 Centerline is valid? [False, False] Translation: X:-24.97, Y:-2.09, Z:15.93 [[ 9.96533676e-01 8.09442527e-02 1.92005425e-02 -2.49714402e+01] [-8.07796824e-02 9.96689536e-01 -9.19847992e-03 -2.09014882e+00] [-1.98815438e-02 7.61558128e-03 9.99773338e-01 1.59253447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359072329 meters Centerline goodness [0,1] 0.6669701268181145 Centerline is valid? [False, False] Translation: X:-24.97, Y:-2.09, Z:15.93 [[ 9.96625075e-01 7.99174855e-02 1.87524695e-02 -2.49708770e+01] [-7.97430565e-02 9.96766555e-01 -9.87320654e-03 -2.08896352e+00] [-1.94808762e-02 8.34450597e-03 9.99775407e-01 1.59256263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389072329 meters Centerline goodness [0,1] 0.6964727265042163 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.09, Z:15.92 [[ 9.97299734e-01 7.00203234e-02 2.21448701e-02 -2.49612821e+01] [-6.98747903e-02 9.97529207e-01 -7.27969526e-03 -2.08747184e+00] [-2.25998813e-02 5.71266999e-03 9.99728268e-01 1.59244063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419072329 meters Centerline goodness [0,1] 0.7013354148646653 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.09, Z:15.92 [[ 9.97599226e-01 6.57709347e-02 2.16787485e-02 -2.49608137e+01] [-6.55263685e-02 9.97780997e-01 -1.18057691e-02 -2.08591889e+00] [-2.24071197e-02 1.03568965e-02 9.99695281e-01 1.59244004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.449072329 meters Centerline goodness [0,1] 0.730849516098425 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.08, Z:15.92 [[ 9.97889423e-01 6.13433210e-02 2.13001322e-02 -2.49604585e+01] [-6.09949583e-02 9.97999408e-01 -1.66371862e-02 -2.08341581e+00] [-2.22780996e-02 1.53028715e-02 9.99634687e-01 1.59244090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479072329 meters Centerline goodness [0,1] 0.7909346525443437 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.08, Z:15.93 [[ 9.98636790e-01 4.91054662e-02 1.76978805e-02 -2.49602594e+01] [-4.89365768e-02 9.98753286e-01 -9.85314499e-03 -2.07949098e+00] [-1.81596596e-02 8.97363939e-03 9.99794829e-01 1.59262991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.509072329 meters Centerline goodness [0,1] 0.8101817566280866 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.08, Z:15.93 [[ 9.98726726e-01 4.71967356e-02 1.78155660e-02 -2.49619139e+01] [-4.69989457e-02 9.98830314e-01 -1.13623700e-02 -2.07787950e+00] [-1.83309941e-02 1.05105897e-02 9.99776726e-01 1.59279151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539072329 meters Centerline goodness [0,1] 0.8172777860059666 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.08, Z:15.93 [[ 9.98810104e-01 4.53473602e-02 1.79441801e-02 -2.49635388e+01] [-4.51225235e-02 9.98900188e-01 -1.27425290e-02 -2.07685301e+00] [-1.85022849e-02 1.19176800e-02 9.99757788e-01 1.59294189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.569072328999999 meters Centerline goodness [0,1] 0.8103908201719101 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.07, Z:15.93 [[ 9.99407122e-01 3.25181274e-02 1.13126069e-02 -2.49601987e+01] [-3.24235634e-02 9.99438544e-01 -8.44453663e-03 -2.07343650e+00] [-1.15808559e-02 8.07273503e-03 9.99900352e-01 1.59294885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599072329 meters Centerline goodness [0,1] 0.8059066370276278 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.07, Z:15.93 [[ 9.99447345e-01 3.12810304e-02 1.12473382e-02 -2.49604590e+01] [-3.11762635e-02 9.99469957e-01 -9.37256432e-03 -2.07213496e+00] [-1.15345601e-02 9.01673455e-03 9.99892820e-01 1.59298346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.629072329 meters Centerline goodness [0,1] 0.7937498682074099 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.07, Z:15.93 [[ 9.99539975e-01 2.85433016e-02 1.02526791e-02 -2.49573189e+01] [-2.84195786e-02 9.99523847e-01 -1.20169282e-02 -2.06868309e+00] [-1.05908000e-02 1.17200233e-02 9.99875230e-01 1.59282722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659072328999999 meters Centerline goodness [0,1] 0.7669013487149037 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.06, Z:15.93 [[ 9.99618689e-01 2.55621720e-02 1.04428378e-02 -2.49585183e+01] [-2.54011210e-02 9.99560645e-01 -1.52741876e-02 -2.06171153e+00] [-1.08286911e-02 1.50031035e-02 9.99828809e-01 1.59291777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.689072329 meters Centerline goodness [0,1] 0.7540632293655846 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.06, Z:15.93 [[ 9.99637080e-01 2.48112846e-02 1.04932813e-02 -2.49585687e+01] [-2.46360503e-02 9.99560119e-01 -1.65116311e-02 -2.05790409e+00] [-1.08983403e-02 1.62471257e-02 9.99808610e-01 1.59292054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719072329 meters Centerline goodness [0,1] 0.7467908595192124 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.05, Z:15.93 [[ 9.99651973e-01 2.42193882e-02 1.04572433e-02 -2.49582354e+01] [-2.40311244e-02 9.99553295e-01 -1.77683871e-02 -2.05356094e+00] [-1.08829114e-02 1.75109039e-02 9.99787443e-01 1.59290103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.749072329 meters Centerline goodness [0,1] 0.736316833354433 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.05, Z:15.93 [[ 9.99665018e-01 2.37914907e-02 1.01890311e-02 -2.49572306e+01] [-2.35959562e-02 9.99542922e-01 -1.88991581e-02 -2.04928803e+00] [-1.06340131e-02 1.86524073e-02 9.99769476e-01 1.59285333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779072329 meters Centerline goodness [0,1] 0.7153065539112051 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.04, Z:15.93 [[ 9.99856445e-01 1.66190584e-02 3.30091019e-03 -2.49529500e+01] [-1.65777930e-02 9.99788656e-01 -1.21581301e-02 -2.04391483e+00] [-3.50226924e-03 1.21016629e-02 9.99920639e-01 1.59254375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.809072329 meters Centerline goodness [0,1] 0.6825072824307372 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.04, Z:15.92 [[ 9.99868890e-01 1.58322078e-02 3.39775846e-03 -2.49529641e+01] [-1.57878645e-02 9.99794665e-01 -1.27031769e-02 -2.04329720e+00] [-3.59818012e-03 1.26478680e-02 9.99913539e-01 1.59249518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839072329 meters Centerline goodness [0,1] 0.651940869935127 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.04, Z:15.92 [[ 9.99959956e-01 5.24253411e-03 7.25274965e-03 -2.49433873e+01] [-5.16734764e-03 9.99933119e-01 -1.03468013e-02 -2.04082642e+00] [-7.30650803e-03 1.03089095e-02 9.99920167e-01 1.59231129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.869072329 meters Centerline goodness [0,1] 0.6406196799455226 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.04, Z:15.92 [[ 9.99987745e-01 -4.22254855e-03 2.58466387e-03 -2.49420125e+01] [ 4.23096973e-03 9.99985731e-01 -3.26138269e-03 -2.04049277e+00] [-2.57085564e-03 3.27227835e-03 9.99991341e-01 1.59239640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899072329 meters Centerline goodness [0,1] 0.6264356835021123 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.04, Z:15.93 [[ 9.99950339e-01 -9.55612372e-03 2.82826622e-03 -2.49439715e+01] [ 9.57951482e-03 9.99919036e-01 -8.37582850e-03 -2.03891048e+00] [-2.74799678e-03 8.40250597e-03 9.99960922e-01 1.59260846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.929072329 meters Centerline goodness [0,1] 0.5894284087794388 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.04, Z:15.93 [[ 9.99573982e-01 -2.71488272e-02 1.07143015e-02 -2.49401257e+01] [ 2.72915433e-02 9.99537610e-01 -1.34066396e-02 -2.04060228e+00] [-1.03453728e-02 1.36933380e-02 9.99852722e-01 1.59268782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959072329 meters Centerline goodness [0,1] 0.5726441318140344 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.04, Z:15.93 [[ 9.99356377e-01 -3.40572899e-02 1.12664616e-02 -2.49434847e+01] [ 3.42738277e-02 9.99219877e-01 -1.96199350e-02 -2.04208235e+00] [-1.05894705e-02 1.99934519e-02 9.99744030e-01 1.59301036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.989072328999999 meters Centerline goodness [0,1] 0.5506374384650987 Centerline is valid? [False, False] Translation: X:-24.93, Y:-2.05, Z:15.93 [[ 9.98877646e-01 -4.38702071e-02 1.78564479e-02 -2.49343387e+01] [ 4.41785194e-02 9.98874643e-01 -1.72541583e-02 -2.04620491e+00] [-1.70794096e-02 1.80236644e-02 9.99691673e-01 1.59270502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019072329 meters Centerline goodness [0,1] 0.536839430894309 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.05, Z:15.93 [[ 9.97799442e-01 -6.33295730e-02 1.96376704e-02 -2.49437631e+01] [ 6.35569361e-02 9.97915614e-01 -1.11777867e-02 -2.05189012e+00] [-1.88888534e-02 1.24012995e-02 9.99744677e-01 1.59258511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.049072329 meters Centerline goodness [0,1] 0.5145165737068691 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.05, Z:15.92 [[ 9.97509921e-01 -6.76749722e-02 1.98508347e-02 -2.49432291e+01] [ 6.79687280e-02 9.97581843e-01 -1.45161133e-02 -2.05474977e+00] [-1.88204547e-02 1.58292030e-02 9.99697568e-01 1.59249799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079072328999999 meters Centerline goodness [0,1] 0.4937509220814804 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.06, Z:15.92 [[ 9.97210720e-01 -7.19249446e-02 1.99394790e-02 -2.49423891e+01] [ 7.22784067e-02 9.97228996e-01 -1.76113737e-02 -2.05854075e+00] [-1.86175296e-02 1.90034444e-02 9.99646066e-01 1.59240552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.109072329 meters Centerline goodness [0,1] 0.5257705697546065 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.06, Z:15.92 [[ 9.96887641e-01 -7.61650512e-02 2.03449398e-02 -2.49424406e+01] [ 7.65849609e-02 9.96847640e-01 -2.07250292e-02 -2.06303976e+00] [-1.87022823e-02 2.22186419e-02 9.99578189e-01 1.59236779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139072329 meters Centerline goodness [0,1] 0.48218371324464027 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.07, Z:15.93 [[ 9.96133579e-01 -8.52357343e-02 2.12782294e-02 -2.49447589e+01] [ 8.58168507e-02 9.95915155e-01 -2.80797324e-02 -2.07013018e+00] [-1.87979146e-02 2.97971949e-02 9.99379190e-01 1.59261178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.169072329 meters Centerline goodness [0,1] 0.5044369612639515 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.07, Z:15.93 [[ 9.95786089e-01 -8.91194585e-02 2.16284069e-02 -2.49454023e+01] [ 8.97756998e-02 9.95462219e-01 -3.15482821e-02 -2.07242205e+00] [-1.87186961e-02 3.33570458e-02 9.99268191e-01 1.59272009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199072329 meters Centerline goodness [0,1] 0.4910289735624168 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.08, Z:15.93 [[ 9.95746018e-01 -8.95025250e-02 2.18898598e-02 -2.49465465e+01] [ 9.01523930e-02 9.95452828e-01 -3.07605721e-02 -2.07637945e+00] [-1.90371740e-02 3.26031404e-02 9.99287056e-01 1.59279404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.229072329 meters Centerline goodness [0,1] 0.5083638647545274 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.08, Z:15.93 [[ 9.95768933e-01 -8.92471733e-02 2.18900257e-02 -2.49467164e+01] [ 8.98606636e-02 9.95536228e-01 -2.88561949e-02 -2.08292600e+00] [-1.92169798e-02 3.07011547e-02 9.99343858e-01 1.59279085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259072329 meters Centerline goodness [0,1] 0.491976927110645 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.09, Z:15.93 [[ 9.96094665e-01 -8.56683028e-02 2.13626040e-02 -2.49462292e+01] [ 8.61731988e-02 9.95992179e-01 -2.39532574e-02 -2.08839138e+00] [-1.92249516e-02 2.57005958e-02 9.99484808e-01 1.59274371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.289072329 meters Centerline goodness [0,1] 0.5148102763458126 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.09, Z:15.93 [[ 9.96453498e-01 -8.14550563e-02 2.11068773e-02 -2.49461472e+01] [ 8.18534497e-02 9.96467943e-01 -1.87523684e-02 -2.09360168e+00] [-1.95048513e-02 2.04135338e-02 9.99601345e-01 1.59268850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319072328999999 meters Centerline goodness [0,1] 0.5174637405387119 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.10, Z:15.93 [[ 9.96847183e-01 -7.66366008e-02 2.05554286e-02 -2.49452117e+01] [ 7.69146468e-02 9.96951691e-01 -1.30943597e-02 -2.09840581e+00] [-1.94892621e-02 1.46340891e-02 9.99702962e-01 1.59260737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.349072329 meters Centerline goodness [0,1] 0.5242905548496399 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.10, Z:15.92 [[ 9.97685713e-01 -6.32294025e-02 2.50051950e-02 -2.49528246e+01] [ 6.34036106e-02 9.97968485e-01 -6.23572352e-03 -2.10456135e+00] [-2.45601155e-02 7.80671192e-03 9.99667873e-01 1.59202542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379072329 meters Centerline goodness [0,1] 0.5334815285275749 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.11, Z:15.92 [[ 9.98003080e-01 -5.83444935e-02 2.42027407e-02 -2.49517117e+01] [ 5.83976681e-02 9.98292280e-01 -1.49549908e-03 -2.10524947e+00] [-2.40741550e-02 2.90589630e-03 9.99705952e-01 1.59203531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.409072328999999 meters Centerline goodness [0,1] 0.5442855934354116 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.10, Z:15.92 [[ 9.98999258e-01 -4.03890463e-02 1.92147696e-02 -2.49542601e+01] [ 4.04347571e-02 9.99180187e-01 -1.99625141e-03 -2.10394719e+00] [-1.91183904e-02 2.77119822e-03 9.99813386e-01 1.59245515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439072329 meters Centerline goodness [0,1] 0.553588365475814 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.11, Z:15.92 [[ 9.99204453e-01 -3.52893549e-02 1.85774966e-02 -2.49532250e+01] [ 3.52408053e-02 9.99374542e-01 2.93437394e-03 -2.10527564e+00] [-1.86694293e-02 -2.27735356e-03 9.99823117e-01 1.59245914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.469072329 meters Centerline goodness [0,1] 0.5639145545477664 Centerline is valid? [False, False] Translation: X:-24.96, Y:-2.11, Z:15.93 [[ 9.99538850e-01 -2.66847074e-02 1.44918671e-02 -2.49607570e+01] [ 2.67122475e-02 9.99641701e-01 -1.71011817e-03 -2.10560821e+00] [-1.44410407e-02 2.09643989e-03 9.99893525e-01 1.59251970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499072329 meters Centerline goodness [0,1] 0.5815241517809957 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.11, Z:15.93 [[ 9.99911053e-01 -9.97347440e-03 8.85522460e-03 -2.49536525e+01] [ 1.00318654e-02 9.99928068e-01 -6.57421120e-03 -2.11048642e+00] [-8.78901990e-03 6.66246086e-03 9.99939181e-01 1.59262406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.529072329 meters Centerline goodness [0,1] 0.5924779413313117 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.11, Z:15.92 [[ 9.99957152e-01 -4.28414378e-03 8.20610266e-03 -2.49512384e+01] [ 4.29049004e-03 9.99990510e-01 -7.55910680e-04 -2.11353281e+00] [-8.20278636e-03 7.91086492e-04 9.99966044e-01 1.59246973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559072329 meters Centerline goodness [0,1] 0.603994853515007 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.11, Z:15.92 [[ 9.99969633e-01 6.97102908e-04 7.76183911e-03 -2.49500783e+01] [-7.29229113e-04 9.99991177e-01 4.13693342e-03 -2.11482114e+00] [-7.75888675e-03 -4.14246796e-03 9.99961319e-01 1.59243813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.589072329 meters Centerline goodness [0,1] 0.603994853515007 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.11, Z:15.92 [[ 9.99969633e-01 6.97102908e-04 7.76183911e-03 -2.49500783e+01] [-7.29229113e-04 9.99991177e-01 4.13693342e-03 -2.11482114e+00] [-7.75888675e-03 -4.14246796e-03 9.99961319e-01 1.59243813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619072329 meters Centerline goodness [0,1] 0.6250291356769012 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.12, Z:15.93 [[ 9.99907958e-01 1.35368968e-02 9.09746477e-04 -2.49543848e+01] [-1.35386616e-02 9.99906422e-01 1.96265223e-03 -2.11544630e+00] [-8.83093124e-04 -1.97478834e-03 9.99997660e-01 1.59279633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.649072329 meters Centerline goodness [0,1] 0.6338887832900377 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.12, Z:15.93 [[ 9.99889514e-01 1.48621092e-02 2.79665555e-04 -2.49524785e+01] [-1.48628959e-02 9.99884859e-01 3.06002686e-03 -2.11736798e+00] [-2.34154900e-04 -3.06384541e-03 9.99995279e-01 1.59272692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679072329 meters Centerline goodness [0,1] 0.6431635218796881 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.12, Z:15.93 [[ 9.99874082e-01 1.58679867e-02 -1.67504029e-04 -2.49511512e+01] [-1.58671324e-02 9.99865089e-01 4.24713398e-03 -2.12047165e+00] [ 2.34874896e-04 -4.24394138e-03 9.99990967e-01 1.59267066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.709072329 meters Centerline goodness [0,1] 0.6661084140679655 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.13, Z:15.93 [[ 9.99840707e-01 1.78381101e-02 -6.01258354e-04 -2.49496572e+01] [-1.78335571e-02 9.99817317e-01 6.87729701e-03 -2.12804979e+00] [ 7.23826496e-04 -6.86547894e-03 9.99976170e-01 1.59259100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739072328999999 meters Centerline goodness [0,1] 0.6760870947908495 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.13, Z:15.93 [[ 9.99826453e-01 1.86081124e-02 -8.95929638e-04 -2.49488431e+01] [-1.86003737e-02 9.99795111e-01 7.98516076e-03 -2.13106134e+00] [ 1.04433484e-03 -7.96711033e-03 9.99967717e-01 1.59256466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.769072329 meters Centerline goodness [0,1] 0.691983032873807 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.13, Z:15.93 [[ 9.99812389e-01 1.93343116e-02 -1.17099283e-03 -2.49483451e+01] [-1.93231827e-02 9.99773965e-01 8.86758534e-03 -2.13333791e+00] [ 1.34217681e-03 -8.84329438e-03 9.99959997e-01 1.59258082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799072329 meters Centerline goodness [0,1] 0.763608646863289 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.14, Z:15.93 [[ 9.99773309e-01 2.12398142e-02 -1.48342135e-03 -2.49477837e+01] [-2.12220160e-02 9.99712839e-01 1.11295005e-02 -2.13941385e+00] [ 1.71938390e-03 -1.10954964e-02 9.99936965e-01 1.59260993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.829072328999999 meters Centerline goodness [0,1] 0.76648520409244 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.14, Z:15.93 [[ 9.99816940e-01 1.90675394e-02 -1.58622295e-03 -2.49472481e+01] [-1.90537803e-02 9.99784184e-01 8.27879557e-03 -2.14049359e+00] [ 1.74373688e-03 -8.24705650e-03 9.99964472e-01 1.59258889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859072329 meters Centerline goodness [0,1] 0.7607073191417183 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.14, Z:15.93 [[ 9.99802353e-01 1.98026222e-02 -1.76370913e-03 -2.49466848e+01] [-1.97853382e-02 9.99760714e-01 9.33031088e-03 -2.14341803e+00] [ 1.94805172e-03 -9.29357119e-03 9.99954916e-01 1.59256075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.889072329 meters Centerline goodness [0,1] 0.7889626871985785 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.15, Z:15.93 [[ 9.99767320e-01 2.14739146e-02 -2.04351032e-03 -2.49461308e+01] [-2.14496045e-02 9.99706575e-01 1.12551135e-02 -2.14806157e+00] [ 2.28460205e-03 -1.12086622e-02 9.99934571e-01 1.59258327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919072329 meters Centerline goodness [0,1] 0.7927850049547744 Centerline is valid? [False, False] Translation: X:-24.95, Y:-2.15, Z:15.93 [[ 9.99751776e-01 2.21642595e-02 -2.26544839e-03 -2.49454729e+01] [-2.21350610e-02 9.99680673e-01 1.21897653e-02 -2.15048818e+00] [ 2.53490210e-03 -1.21365937e-02 9.99923136e-01 1.59255630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949072329 meters Centerline goodness [0,1] 0.7943446904807224 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.15, Z:15.93 [[ 9.99805528e-01 1.95544055e-02 -2.55564507e-03 -2.49446577e+01] [-1.95306241e-02 9.99768563e-01 9.02079288e-03 -2.15130031e+00] [ 2.73144984e-03 -8.96912524e-03 9.99956046e-01 1.59253784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979072329 meters Centerline goodness [0,1] 0.7973710947421895 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.15, Z:15.93 [[ 9.99861885e-01 1.63458810e-02 -3.00390747e-03 -2.49437651e+01] [-1.63284033e-02 9.99850129e-01 5.75354771e-03 -2.15311309e+00] [ 3.09750408e-03 -5.70370405e-03 9.99978936e-01 1.59253528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.009072329 meters Centerline goodness [0,1] 0.7971397744822188 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.16, Z:15.92 [[ 9.99945706e-01 9.85180687e-03 -3.39527053e-03 -2.49426883e+01] [-9.85159285e-03 9.99951469e-01 7.97542443e-05 -2.15989088e+00] [ 3.39589147e-03 -4.63010912e-05 9.99994233e-01 1.59248130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039072329 meters Centerline goodness [0,1] 0.7914835164835164 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.16, Z:15.92 [[ 9.99973558e-01 6.32532055e-03 -3.58792998e-03 -2.49422673e+01] [-6.33542091e-03 9.99975981e-01 -2.81074698e-03 -2.16335239e+00] [ 3.57006492e-03 2.83340371e-03 9.99989613e-01 1.59246919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.069072328999999 meters Centerline goodness [0,1] 0.7819875119060218 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.17, Z:15.92 [[ 9.99989499e-01 2.69681831e-03 -3.70529532e-03 -2.49421806e+01] [-2.71862701e-03 9.99978938e-01 -5.89344513e-03 -2.16619139e+00] [ 3.68932373e-03 5.90345656e-03 9.99975769e-01 1.59248747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099072329 meters Centerline goodness [0,1] 0.7517499524182122 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.17, Z:15.93 [[ 9.99986282e-01 -3.81711988e-03 -3.58671551e-03 -2.49439558e+01] [ 3.77764802e-03 9.99932932e-01 -1.09480876e-02 -2.17438240e+00] [ 3.62826512e-03 1.09343881e-02 9.99933635e-01 1.59267703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.129072329 meters Centerline goodness [0,1] 0.7428160615735944 Centerline is valid? [False, False] Translation: X:-24.94, Y:-2.18, Z:15.93 [[ 9.99967152e-01 -7.22937933e-03 -3.66478121e-03 -2.49437934e+01] [ 7.17960759e-03 9.99884212e-01 -1.34170318e-02 -2.17964647e+00] [ 3.76135369e-03 1.33902794e-02 9.99903272e-01 1.59267789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159072328999999 meters Centerline goodness [0,1] 0.6967588700184968 Centerline is valid? [False, False] Translation: X:-24.93, Y:-2.19, Z:15.92 [[ 9.99916635e-01 -1.28499431e-02 1.26535683e-03 -2.49262766e+01] [ 1.28619675e-02 9.99867240e-01 -1.00036334e-02 -2.19320187e+00] [-1.13664272e-03 1.00190744e-02 9.99949162e-01 1.59221997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.189072329 meters Centerline goodness [0,1] 0.6826256132634072 Centerline is valid? [False, False] Translation: X:-24.93, Y:-2.20, Z:15.92 [[ 9.99915803e-01 -1.29179792e-02 1.22980099e-03 -2.49262507e+01] [ 1.29279238e-02 9.99880688e-01 -8.45449884e-03 -2.19943829e+00] [-1.12043922e-03 8.46968577e-03 9.99963504e-01 1.59220807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219072329 meters Centerline goodness [0,1] 0.6536499671936842 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.21, Z:15.92 [[ 9.99805170e-01 -1.97182648e-02 9.01203243e-04 -2.49247533e+01] [ 1.97286755e-02 9.99713463e-01 -1.35562144e-02 -2.20767875e+00] [-6.33639989e-04 1.35713528e-02 9.99907704e-01 1.59212924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.249072328999999 meters Centerline goodness [0,1] 0.6419502285424072 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.21, Z:15.92 [[ 9.99730961e-01 -2.31804883e-02 8.19356347e-04 -2.49242566e+01] [ 2.31907335e-02 9.99599452e-01 -1.62211379e-02 -2.21199286e+00] [-4.43014257e-04 1.62357753e-02 9.99868093e-01 1.59210724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279072329 meters Centerline goodness [0,1] 0.6395089754908143 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.22, Z:15.92 [[ 9.99723141e-01 -2.35223308e-02 5.83967819e-04 -2.49236945e+01] [ 2.35284158e-02 9.99612537e-01 -1.48724606e-02 -2.21863074e+00] [-2.33906615e-04 1.48820829e-02 9.99889228e-01 1.59207563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.309072329 meters Centerline goodness [0,1] 0.6317879125265214 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.22, Z:15.92 [[ 9.99726088e-01 -2.33980397e-02 5.30300836e-04 -2.49237026e+01] [ 2.34030222e-02 9.99637781e-01 -1.32893128e-02 -2.22471256e+00] [-2.19164881e-04 1.32980834e-02 9.99911553e-01 1.59207659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339072329 meters Centerline goodness [0,1] 0.6375212759251088 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.23, Z:15.92 [[ 9.99656912e-01 -2.61869607e-02 5.48331588e-04 -2.49240971e+01] [ 2.61922166e-02 9.99546657e-01 -1.48474843e-02 -2.23207998e+00] [-1.59272518e-04 1.48567523e-02 9.99889620e-01 1.59214014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.369072329 meters Centerline goodness [0,1] 0.633427797986634 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.24, Z:15.92 [[ 9.99671568e-01 -2.56221307e-02 5.13181567e-04 -2.49238473e+01] [ 2.56266545e-02 9.99585856e-01 -1.30916624e-02 -2.23792091e+00] [-1.77532749e-04 1.31005138e-02 9.99914169e-01 1.59210657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399072329 meters Centerline goodness [0,1] 0.6193095278388898 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.24, Z:15.92 [[ 9.99687304e-01 -2.50041358e-02 2.95453226e-04 -2.49227617e+01] [ 2.50058763e-02 9.99624763e-01 -1.11821198e-02 -2.24399649e+00] [-1.57431196e-05 1.11860113e-02 9.99937434e-01 1.59200420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.429072329 meters Centerline goodness [0,1] 0.6241256905206999 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.25, Z:15.92 [[ 9.99618839e-01 -2.76074991e-02 -4.23686455e-05 -2.49202343e+01] [ 2.76049544e-02 9.99545316e-01 -1.21296497e-02 -2.25178827e+00] [ 3.77218673e-04 1.21238567e-02 9.99926432e-01 1.59177282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459072329 meters Centerline goodness [0,1] 0.6141071806820588 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.26, Z:15.92 [[ 9.99629588e-01 -2.72155757e-02 7.96744220e-06 -2.49203159e+01] [ 2.72141228e-02 9.99573112e-01 -1.06294763e-02 -2.25677508e+00] [ 2.81323275e-04 1.06257558e-02 9.99943505e-01 1.59176554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.489072328999999 meters Centerline goodness [0,1] 0.6124199258260283 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.26, Z:15.92 [[ 9.99644581e-01 -2.66587290e-02 -1.53910137e-04 -2.49199727e+01] [ 2.66562583e-02 9.99603992e-01 -9.01680647e-03 -2.26230719e+00] [ 3.94225788e-04 9.00949905e-03 9.99959336e-01 1.59175865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519072329 meters Centerline goodness [0,1] 0.6123778501628665 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.27, Z:15.92 [[ 9.99667235e-01 -2.57934165e-02 -3.45647927e-04 -2.49193782e+01] [ 2.57902430e-02 9.99641195e-01 -7.23493057e-03 -2.26797606e+00] [ 5.32137484e-04 7.22360869e-03 9.99973768e-01 1.59173335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.549072329 meters Centerline goodness [0,1] 0.6303297448503857 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.28, Z:15.92 [[ 9.99697914e-01 -2.45741041e-02 -4.41557846e-04 -2.49187301e+01] [ 2.45716426e-02 9.99686011e-01 -4.91049818e-03 -2.27779391e+00] [ 5.62090296e-04 4.89816498e-03 9.99987846e-01 1.59167278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579072328999999 meters Centerline goodness [0,1] 0.6183425088063448 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.28, Z:15.92 [[ 9.99719821e-01 -2.36597042e-02 -7.05107342e-04 -2.49177451e+01] [ 2.36573124e-02 9.99714919e-01 -3.22673941e-03 -2.28253434e+00] [ 7.81250029e-04 3.20915441e-03 9.99994545e-01 1.59161026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.609072329 meters Centerline goodness [0,1] 0.6200134941384836 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.29, Z:15.92 [[ 9.99737084e-01 -2.29144090e-02 -8.32189643e-04 -2.49171695e+01] [ 2.29127881e-02 9.99735648e-01 -1.90761873e-03 -2.28599255e+00] [ 8.75681608e-04 1.88804940e-03 9.99997834e-01 1.59156433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639072329 meters Centerline goodness [0,1] 0.6275083700069487 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.29, Z:15.92 [[ 9.99831218e-01 -1.83383335e-02 -1.11386077e-03 -2.49169608e+01] [ 1.83429996e-02 9.99822358e-01 4.33427742e-03 -2.29347039e+00] [ 1.03417947e-03 -4.35397742e-03 9.99989987e-01 1.59159043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.669072329 meters Centerline goodness [0,1] 0.6320778564206269 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.30, Z:15.92 [[ 9.99843761e-01 -1.76299323e-02 -1.28012355e-03 -2.49167526e+01] [ 1.76367967e-02 9.99828972e-01 5.56512108e-03 -2.29678142e+00] [ 1.18179190e-03 -5.58682887e-03 9.99983695e-01 1.59161351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699072329 meters Centerline goodness [0,1] 0.6272212992366091 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.30, Z:15.92 [[ 9.99856853e-01 -1.68589726e-02 -1.43096903e-03 -2.49164377e+01] [ 1.68686482e-02 9.99832911e-01 7.04263731e-03 -2.30115402e+00] [ 1.31199830e-03 -7.06576769e-03 9.99974176e-01 1.59161677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.729072329 meters Centerline goodness [0,1] 0.628705377790859 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.31, Z:15.92 [[ 9.99820206e-01 -1.88735517e-02 -1.82895449e-03 -2.49151463e+01] [ 1.88842006e-02 9.99803726e-01 5.99141927e-03 -2.30941355e+00] [ 1.71551615e-03 -6.02488039e-03 9.99980379e-01 1.59158983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759072329 meters Centerline goodness [0,1] 0.6245426636948568 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.32, Z:15.92 [[ 9.99829882e-01 -1.83516296e-02 -1.85067389e-03 -2.49151022e+01] [ 1.83650582e-02 9.99803062e-01 7.52078161e-03 -2.31528706e+00] [ 1.71229082e-03 -7.55348992e-03 9.99970006e-01 1.59159621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.789072329 meters Centerline goodness [0,1] 0.6336517019396642 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.32, Z:15.92 [[ 9.99836783e-01 -1.79606030e-02 -1.95570584e-03 -2.49150096e+01] [ 1.79774507e-02 9.99798174e-01 8.96783547e-03 -2.32116747e+00] [ 1.79424339e-03 -9.00153037e-03 9.99957876e-01 1.59161698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819072328999999 meters Centerline goodness [0,1] 0.6241903391050336 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.33, Z:15.92 [[ 9.99781946e-01 -2.08000710e-02 -1.84879542e-03 -2.49154503e+01] [ 2.08140457e-02 9.99752219e-01 7.89157558e-03 -2.33069622e+00] [ 1.68419199e-03 -7.92833570e-03 9.99967152e-01 1.59166981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.849072329 meters Centerline goodness [0,1] 0.6195822564928187 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.34, Z:15.92 [[ 9.99771587e-01 -2.12945215e-02 -1.82144204e-03 -2.49156531e+01] [ 2.13099795e-02 9.99732980e-01 8.93610010e-03 -2.33636241e+00] [ 1.63066570e-03 -8.97287386e-03 9.99958413e-01 1.59170113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879072329 meters Centerline goodness [0,1] 0.6114683362240365 Centerline is valid? [False, False] Translation: X:-24.92, Y:-2.34, Z:15.92 [[ 9.99689789e-01 -2.48441944e-02 -1.75810111e-03 -2.49158589e+01] [ 2.48546270e-02 9.99671947e-01 6.18435614e-03 -2.34013948e+00] [ 1.60387901e-03 -6.22613464e-03 9.99979331e-01 1.59174633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.909072328999999 meters Centerline goodness [0,1] 0.5965762477185474 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.35, Z:15.91 [[ 9.99450960e-01 -3.26305068e-02 5.74713275e-03 -2.49039988e+01] [ 3.25847481e-02 9.99437885e-01 7.88339845e-03 -2.35466667e+00] [-6.00114149e-03 -7.69180128e-03 9.99952410e-01 1.59145183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939072329 meters Centerline goodness [0,1] 0.5855347632980403 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.36, Z:15.91 [[ 9.99326839e-01 -3.62238885e-02 5.80510770e-03 -2.49038307e+01] [ 3.61898650e-02 9.99327736e-01 5.86261225e-03 -2.36198700e+00] [-6.01357175e-03 -5.64857970e-03 9.99965965e-01 1.59146671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.969072329 meters Centerline goodness [0,1] 0.5758182047933954 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.37, Z:15.91 [[ 9.99198059e-01 -3.96427848e-02 5.62933857e-03 -2.49025216e+01] [ 3.96191415e-02 9.99205810e-01 4.25122759e-03 -2.37037721e+00] [-5.79339831e-03 -4.02478879e-03 9.99975118e-01 1.59139145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999072328999999 meters Centerline goodness [0,1] 0.562435150873478 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.38, Z:15.91 [[ 9.98752871e-01 -4.96534081e-02 5.21937469e-03 -2.48983233e+01] [ 4.96689012e-02 9.98761581e-01 -2.88182387e-03 -2.38387587e+00] [-5.06981854e-03 3.13747047e-03 9.99982226e-01 1.59106231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.029072329 meters Centerline goodness [0,1] 0.5552542372881356 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.39, Z:15.91 [[ 9.98588740e-01 -5.28677356e-02 5.05274893e-03 -2.48971753e+01] [ 5.28907812e-02 9.98589975e-01 -4.54165117e-03 -2.39138956e+00] [-4.80551762e-03 4.80248556e-03 9.99976921e-01 1.59101571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059072329 meters Centerline goodness [0,1] 0.549917718047175 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.40, Z:15.91 [[ 9.98408188e-01 -5.61695324e-02 5.10631945e-03 -2.48970276e+01] [ 5.62015639e-02 9.98399173e-01 -6.36208045e-03 -2.39844508e+00] [-4.74079003e-03 6.63893635e-03 9.99966724e-01 1.59105655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.089072329 meters Centerline goodness [0,1] 0.5435317056629365 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.41, Z:15.91 [[ 9.98227353e-01 -5.92758974e-02 5.34036028e-03 -2.48979416e+01] [ 5.93182144e-02 9.98205867e-01 -8.14844621e-03 -2.40507120e+00] [-4.84777251e-03 8.45078253e-03 9.99952541e-01 1.59119189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119072329 meters Centerline goodness [0,1] 0.5315950596431964 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.42, Z:15.92 [[ 9.97859005e-01 -6.51301065e-02 5.95607557e-03 -2.49007754e+01] [ 6.51933732e-02 9.97810589e-01 -1.11288953e-02 -2.41804314e+00] [-5.21820914e-03 1.14933651e-02 9.99920333e-01 1.59161012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.149072329 meters Centerline goodness [0,1] 0.5244366834276577 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.42, Z:15.92 [[ 9.97664215e-01 -6.80482218e-02 5.96267355e-03 -2.49007583e+01] [ 6.81211684e-02 9.97591966e-01 -1.30298394e-02 -2.42416773e+00] [-5.06165783e-03 1.34055888e-02 9.99897330e-01 1.59168906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179072329 meters Centerline goodness [0,1] 0.5195906741217429 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.43, Z:15.92 [[ 9.97468547e-01 -7.08699775e-02 5.82613740e-03 -2.49000077e+01] [ 7.09499518e-02 9.97368438e-01 -1.49098052e-02 -2.43041060e+00] [-4.75414800e-03 1.52854259e-02 9.99871869e-01 1.59170882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.209072329 meters Centerline goodness [0,1] 0.5624458577193687 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.45, Z:15.92 [[ 9.97321389e-01 -7.29647869e-02 5.11741045e-03 -2.48962544e+01] [ 7.30348123e-02 9.97213856e-01 -1.51803210e-02 -2.44518728e+00] [-3.99552372e-03 1.55134079e-02 9.99871677e-01 1.59151254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239072328999999 meters Centerline goodness [0,1] 0.5064364074488998 Centerline is valid? [False, False] Translation: X:-24.89, Y:-2.45, Z:15.91 [[ 9.97398448e-01 -7.19288388e-02 4.75166424e-03 -2.48949909e+01] [ 7.19839080e-02 9.97325375e-01 -1.26654472e-02 -2.45294025e+00] [-3.82794441e-03 1.29745407e-02 9.99908500e-01 1.59144688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.269072329 meters Centerline goodness [0,1] 0.5608926269520931 Centerline is valid? [False, False] Translation: X:-24.89, Y:-2.46, Z:15.91 [[ 9.97518863e-01 -7.02638615e-02 4.37125490e-03 -2.48941813e+01] [ 7.02992868e-02 9.97489211e-01 -8.56066924e-03 -2.46496033e+00] [-3.75877392e-03 8.84672515e-03 9.99953802e-01 1.59147015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299072329 meters Centerline goodness [0,1] 0.5608854529708722 Centerline is valid? [False, False] Translation: X:-24.89, Y:-2.47, Z:15.92 [[ 9.97594228e-01 -6.91975070e-02 4.17868387e-03 -2.48946681e+01] [ 6.92234896e-02 9.97580447e-01 -6.43114870e-03 -2.47092016e+00] [-3.72355387e-03 6.70493990e-03 9.99970589e-01 1.59160252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.329072328999999 meters Centerline goodness [0,1] 0.5581434634795279 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.48, Z:15.92 [[ 9.97684718e-01 -6.78867036e-02 4.07413350e-03 -2.48957421e+01] [ 6.79025609e-02 9.97684379e-01 -3.88884109e-03 -2.47818672e+00] [-3.80069874e-03 4.15648143e-03 9.99984139e-01 1.59179218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359072329 meters Centerline goodness [0,1] 0.5577442783548687 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.49, Z:15.92 [[ 9.97634183e-01 -6.86094260e-02 4.33408395e-03 -2.48983970e+01] [ 6.86253333e-02 9.97635882e-01 -3.63471202e-03 -2.49005900e+00] [-4.07446216e-03 3.92354091e-03 9.99984002e-01 1.59212531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.389072329 meters Centerline goodness [0,1] 0.5556259637116363 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.50, Z:15.92 [[ 9.97707737e-01 -6.75402428e-02 4.19379659e-03 -2.48985396e+01] [ 6.75475259e-02 9.97714743e-01 -1.61981938e-03 -2.49575149e+00] [-4.07480969e-03 1.89938691e-03 9.99989894e-01 1.59219598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419072328999999 meters Centerline goodness [0,1] 0.5656765815713473 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.50, Z:15.92 [[ 9.97773346e-01 -6.65870907e-02 3.80904489e-03 -2.48978366e+01] [ 6.65877079e-02 9.97780575e-01 -3.52851708e-05 -2.49990971e+00] [-3.79824147e-03 2.88842171e-04 9.99992745e-01 1.59221216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.449072329 meters Centerline goodness [0,1] 0.5708621562341826 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.51, Z:15.92 [[ 9.98056651e-01 -6.22180920e-02 3.43949489e-03 -2.48975309e+01] [ 6.21985076e-02 9.98048453e-01 5.53460745e-03 -2.50563930e+00] [-3.77713526e-03 -5.30992032e-03 9.99978769e-01 1.59223452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479072329 meters Centerline goodness [0,1] 0.5708621562341826 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.51, Z:15.92 [[ 9.98056651e-01 -6.22180920e-02 3.43949489e-03 -2.48975309e+01] [ 6.21985076e-02 9.98048453e-01 5.53460745e-03 -2.50563930e+00] [-3.77713526e-03 -5.30992032e-03 9.99978769e-01 1.59223452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.509072329 meters Centerline goodness [0,1] 0.5734250971119743 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.51, Z:15.92 [[ 9.98394478e-01 -5.65798534e-02 2.68061333e-03 -2.48971724e+01] [ 5.65446490e-02 9.98330734e-01 1.17664109e-02 -2.51422782e+00] [-3.34188048e-03 -1.15959453e-02 9.99927180e-01 1.59236241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539072329 meters Centerline goodness [0,1] 0.5742998906736188 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.52, Z:15.92 [[ 9.98470295e-01 -5.52467929e-02 2.20514850e-03 -2.48967302e+01] [ 5.52128368e-02 9.98386386e-01 1.32728130e-02 -2.51797148e+00] [-2.93487059e-03 -1.31307570e-02 9.99909481e-01 1.59243971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.569072328999999 meters Centerline goodness [0,1] 0.5883887663329375 Centerline is valid? [False, False] Translation: X:-24.90, Y:-2.52, Z:15.92 [[ 9.98535675e-01 -5.40630538e-02 1.92136951e-03 -2.48965557e+01] [ 5.40287559e-02 9.98429248e-01 1.48300150e-02 -2.52201724e+00] [-2.72010742e-03 -1.47044898e-02 9.99888183e-01 1.59249949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599072329 meters Centerline goodness [0,1] 0.600373086869886 Centerline is valid? [False, False] Translation: X:-24.89, Y:-2.53, Z:15.93 [[ 9.98699707e-01 -5.09729056e-02 8.11385463e-04 -2.48944410e+01] [ 5.09492286e-02 9.98530103e-01 1.84881077e-02 -2.52995210e+00] [-1.75258538e-03 -1.84227282e-02 9.99828751e-01 1.59252008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.629072329 meters Centerline goodness [0,1] 0.6074456165570894 Centerline is valid? [False, False] Translation: X:-24.89, Y:-2.53, Z:15.93 [[ 9.98962972e-01 -4.54753658e-02 2.22971619e-03 -2.48850257e+01] [ 4.54462383e-02 9.98897983e-01 1.17242828e-02 -2.53167883e+00] [-2.76042505e-03 -1.16107922e-02 9.99928782e-01 1.59261707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659072328999999 meters Centerline goodness [0,1] 0.6152116738780011 Centerline is valid? [False, False] Translation: X:-24.88, Y:-2.53, Z:15.93 [[ 9.99021402e-01 -4.41914480e-02 1.83142272e-03 -2.48848895e+01] [ 4.41649698e-02 9.98944839e-01 1.25961625e-02 -2.53263444e+00] [-2.38613293e-03 -1.25029512e-02 9.99918988e-01 1.59269319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.689072329 meters Centerline goodness [0,1] 0.6323102666751392 Centerline is valid? [False, False] Translation: X:-24.88, Y:-2.54, Z:15.93 [[ 9.99454305e-01 -3.26938381e-02 4.71219017e-03 -2.48759997e+01] [ 3.26392055e-02 9.99404010e-01 1.12386072e-02 -2.53534923e+00] [-5.07681496e-03 -1.10786722e-02 9.99925742e-01 1.59265884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719072329 meters Centerline goodness [0,1] 0.6450383295921392 Centerline is valid? [False, False] Translation: X:-24.88, Y:-2.54, Z:15.93 [[ 9.99600125e-01 -2.79669679e-02 4.17592871e-03 -2.48750056e+01] [ 2.78974383e-02 9.99484789e-01 1.58709977e-02 -2.53672436e+00] [-4.61764091e-03 -1.57481536e-02 9.99865327e-01 1.59263990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.749072328999999 meters Centerline goodness [0,1] 0.664410995868117 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.54, Z:15.92 [[ 9.99779613e-01 -2.02643979e-02 5.48450545e-03 -2.48634963e+01] [ 2.02055304e-02 9.99739824e-01 1.05840267e-02 -2.53595343e+00] [-5.69755744e-03 -1.04708768e-02 9.99928947e-01 1.59249834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779072329 meters Centerline goodness [0,1] 0.7354500707691658 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.53, Z:15.92 [[ 9.99984789e-01 -4.35183498e-03 3.38869384e-03 -2.48623580e+01] [ 4.33306491e-03 9.99975339e-01 5.52680756e-03 -2.53319751e+00] [-3.41266203e-03 -5.51204006e-03 9.99978985e-01 1.59244737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.809072329 meters Centerline goodness [0,1] 0.7716823846412934 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.53, Z:15.93 [[ 9.99995181e-01 6.89346515e-04 3.02713058e-03 -2.48622965e+01] [-7.19054583e-04 9.99951486e-01 9.82383948e-03 -2.53228807e+00] [-3.02021170e-03 -9.82596880e-03 9.99947163e-01 1.59253408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839072329 meters Centerline goodness [0,1] 0.7955250659630607 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.53, Z:15.93 [[ 9.99980580e-01 5.51580546e-03 2.90077876e-03 -2.48627989e+01] [-5.55567986e-03 9.99887642e-01 1.39225560e-02 -2.53123320e+00] [-2.82365873e-03 -1.39384015e-02 9.99898869e-01 1.59264340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.869072329 meters Centerline goodness [0,1] 0.8161674363428377 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.53, Z:15.93 [[ 9.99759923e-01 2.08286547e-02 6.80167825e-03 -2.48636995e+01] [-2.08962352e-02 9.99731430e-01 1.00207243e-02 -2.52781729e+00] [-6.59113332e-03 -1.01604480e-02 9.99926658e-01 1.59262766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899072329 meters Centerline goodness [0,1] 0.8143114597688964 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.53, Z:15.93 [[ 9.99658491e-01 2.52454844e-02 6.75033953e-03 -2.48632833e+01] [-2.53364029e-02 9.99584544e-01 1.37406899e-02 -2.52586916e+00] [-6.40064468e-03 -1.39070267e-02 9.99882806e-01 1.59260451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.929072329 meters Centerline goodness [0,1] 0.8135403227512108 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.52, Z:15.93 [[ 9.99545643e-01 2.94152064e-02 6.57670696e-03 -2.48621002e+01] [-2.95241000e-02 9.99417385e-01 1.71236050e-02 -2.52309401e+00] [-6.06918090e-03 -1.73099961e-02 9.99831750e-01 1.59250219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959072329 meters Centerline goodness [0,1] 0.7948402165835015 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.52, Z:15.92 [[ 9.99279810e-01 3.74204489e-02 6.29065022e-03 -2.48590896e+01] [-3.75580862e-02 9.99020250e-01 2.34079191e-02 -2.51733871e+00] [-5.40855211e-03 -2.36273258e-02 9.99706205e-01 1.59219030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.989072328999999 meters Centerline goodness [0,1] 0.7374614976101965 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.51, Z:15.92 [[ 9.99244519e-01 3.83817545e-02 6.10184532e-03 -2.48584083e+01] [-3.85116482e-02 9.98997414e-01 2.28258632e-02 -2.51285509e+00] [-5.21963102e-03 -2.30436108e-02 9.99720835e-01 1.59211182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019072329 meters Centerline goodness [0,1] 0.7520132588232794 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.51, Z:15.92 [[ 9.99227320e-01 3.88377723e-02 6.03248011e-03 -2.48582002e+01] [-3.89612690e-02 9.99000320e-01 2.19175937e-02 -2.50875007e+00] [-5.17521904e-03 -2.21356915e-02 9.99741581e-01 1.59208243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.049072329 meters Centerline goodness [0,1] 0.7366332010273173 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.50, Z:15.92 [[ 9.99219081e-01 3.90548937e-02 5.99520659e-03 -2.48583977e+01] [-3.91724899e-02 9.99012980e-01 2.09423400e-02 -2.50482466e+00] [-5.17138834e-03 -2.11608329e-02 9.99762710e-01 1.59210915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079072328999999 meters Centerline goodness [0,1] 0.7146951426630435 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.50, Z:15.92 [[ 9.99063995e-01 4.28010275e-02 6.26144083e-03 -2.48592497e+01] [-4.29377307e-02 9.98798306e-01 2.36282650e-02 -2.50038140e+00] [-5.24260248e-03 -2.38750008e-02 9.99701205e-01 1.59219703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.109072329 meters Centerline goodness [0,1] 0.7050290956972348 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.50, Z:15.92 [[ 9.99087696e-01 4.22765805e-02 6.03878128e-03 -2.48582401e+01] [-4.24007259e-02 9.98854663e-01 2.21706961e-02 -2.49588311e+00] [-5.09456363e-03 -2.24065184e-02 9.99735962e-01 1.59210080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139072329 meters Centerline goodness [0,1] 0.7048387096774194 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.49, Z:15.92 [[ 9.99126101e-01 4.14058741e-02 5.70859639e-03 -2.48564404e+01] [-4.15139170e-02 9.98931205e-01 2.03234462e-02 -2.49048906e+00] [-4.86098502e-03 -2.05426718e-02 9.99777160e-01 1.59192540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.169072328999999 meters Centerline goodness [0,1] 0.6850924826064823 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.49, Z:15.92 [[ 9.99166527e-01 4.04665064e-02 5.35843199e-03 -2.48547120e+01] [-4.05592708e-02 9.99005620e-01 1.85125891e-02 -2.48522391e+00] [-4.60396387e-03 -1.87144935e-02 9.99814268e-01 1.59176965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199072329 meters Centerline goodness [0,1] 0.6989315293671367 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.48, Z:15.92 [[ 9.99226619e-01 3.90123961e-02 4.91909201e-03 -2.48529894e+01] [-3.90865993e-02 9.99107427e-01 1.60183590e-02 -2.47868297e+00] [-4.28978680e-03 -1.61982413e-02 9.99859597e-01 1.59164917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.229072329 meters Centerline goodness [0,1] 0.7236487203992779 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.48, Z:15.92 [[ 9.99392711e-01 3.45300986e-02 4.67786430e-03 -2.48529552e+01] [-3.45786526e-02 9.99344377e-01 1.07300091e-02 -2.47517454e+00] [-4.30428912e-03 -1.08852471e-02 9.99931490e-01 1.59166353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259072329 meters Centerline goodness [0,1] 0.7364982393619278 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.47, Z:15.92 [[ 9.99543488e-01 2.98909017e-02 4.39891952e-03 -2.48525325e+01] [-2.99147649e-02 9.99537525e-01 5.46281582e-03 -2.47220175e+00] [-4.23359664e-03 -5.59191462e-03 9.99975403e-01 1.59163775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.289072329 meters Centerline goodness [0,1] 0.7810842913502736 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.47, Z:15.92 [[ 9.99692225e-01 2.44236664e-02 4.35196280e-03 -2.48522726e+01] [-2.44212163e-02 9.99701568e-01 -6.15255175e-04 -2.46631611e+00] [-4.36569082e-03 5.08785591e-04 9.99990341e-01 1.59157661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319072328999999 meters Centerline goodness [0,1] 0.8000423639059522 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.46, Z:15.92 [[ 9.99716478e-01 2.34190839e-02 4.30228675e-03 -2.48520916e+01] [-2.34116107e-02 9.99724327e-01 -1.77925191e-03 -2.46288432e+00] [-4.34276918e-03 1.67802399e-03 9.99989162e-01 1.59156631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349072329 meters Centerline goodness [0,1] 0.8075359864521592 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.46, Z:15.92 [[ 9.99738633e-01 2.24733671e-02 4.19678971e-03 -2.48522531e+01] [-2.24617799e-02 9.99743815e-01 -2.78798295e-03 -2.46003733e+00] [-4.25836992e-03 2.69298689e-03 9.99987307e-01 1.59162296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379072329 meters Centerline goodness [0,1] 0.8082191780821918 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.46, Z:15.92 [[ 9.99762824e-01 2.14202078e-02 3.93320171e-03 -2.48520519e+01] [-2.14061336e-02 9.99764431e-01 -3.58620289e-03 -2.45874713e+00] [-4.00909237e-03 3.50115769e-03 9.99985834e-01 1.59167799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.409072328999999 meters Centerline goodness [0,1] 0.8099479541319341 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.46, Z:15.92 [[ 9.99914907e-01 1.24945040e-02 3.75049137e-03 -2.48522788e+01] [-1.24450789e-02 9.99839027e-01 -1.29243934e-02 -2.45651477e+00] [-3.91137153e-03 1.28766185e-02 9.99909443e-01 1.59172592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439072329 meters Centerline goodness [0,1] 0.8109464323523184 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.46, Z:15.92 [[ 9.99982437e-01 5.68501661e-03 1.67507149e-03 -2.48595341e+01] [-5.67286205e-03 9.99958178e-01 -7.17368058e-03 -2.45881005e+00] [-1.71578392e-03 7.16405214e-03 9.99972866e-01 1.59152134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.469072329 meters Centerline goodness [0,1] 0.8099416441136671 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.46, Z:15.91 [[ 9.99998368e-01 1.08299414e-03 1.44591335e-03 -2.48585555e+01] [-1.06582976e-03 9.99929580e-01 -1.18194152e-02 -2.45769113e+00] [-1.45861188e-03 1.18178548e-02 9.99929103e-01 1.59144341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499072328999999 meters Centerline goodness [0,1] 0.8062556874695787 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.46, Z:15.91 [[ 9.99999166e-01 -4.73160872e-04 1.20147933e-03 -2.48573586e+01] [ 4.88072759e-04 9.99922483e-01 -1.24414609e-02 -2.45809812e+00] [-1.19549938e-03 1.24420370e-02 9.99921880e-01 1.59136680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.529072329 meters Centerline goodness [0,1] 0.7824290828972735 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.46, Z:15.91 [[ 9.99927326e-01 -1.10456717e-02 -4.83081496e-03 -2.48528003e+01] [ 1.10266746e-02 9.99931436e-01 -3.94158598e-03 -2.45693353e+00] [ 4.87402121e-03 3.88803170e-03 9.99980563e-01 1.59129436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559072329 meters Centerline goodness [0,1] 0.7609341736399469 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.46, Z:15.91 [[ 9.99914987e-01 -1.19578703e-02 -5.19879613e-03 -2.48514395e+01] [ 1.19348526e-02 9.99918936e-01 -4.43620705e-03 -2.45599365e+00] [ 5.25142229e-03 4.37378305e-03 9.99976646e-01 1.59121460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.589072329 meters Centerline goodness [0,1] 0.7261698440207972 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.45, Z:15.92 [[ 9.99874436e-01 -1.51268772e-02 -4.72125891e-03 -2.48544516e+01] [ 1.50913127e-02 9.99858143e-01 -7.47969637e-03 -2.45190102e+00] [ 4.83373362e-03 7.40750719e-03 9.99960881e-01 1.59150435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619072329 meters Centerline goodness [0,1] 0.7152274504003888 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.45, Z:15.92 [[ 9.99868050e-01 -1.55681068e-02 -4.63861443e-03 -2.48554972e+01] [ 1.55311078e-02 9.99848110e-01 -7.90833222e-03 -2.45125822e+00] [ 4.76102763e-03 7.83524589e-03 9.99957970e-01 1.59164013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649072329 meters Centerline goodness [0,1] 0.7055186142052433 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.45, Z:15.92 [[ 9.99861955e-01 -1.59607824e-02 -4.61788453e-03 -2.48560264e+01] [ 1.59218763e-02 9.99838434e-01 -8.34263559e-03 -2.45074438e+00] [ 4.75029343e-03 8.26795854e-03 9.99954537e-01 1.59171959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679072329 meters Centerline goodness [0,1] 0.7007914003978162 Centerline is valid? [False, False] Translation: X:-24.86, Y:-2.45, Z:15.92 [[ 9.99855753e-01 -1.63098305e-02 -4.73955018e-03 -2.48557521e+01] [ 1.62677756e-02 9.99829119e-01 -8.78026319e-03 -2.45000262e+00] [ 4.88194488e-03 8.70189472e-03 9.99950221e-01 1.59172063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709072329 meters Centerline goodness [0,1] 0.7019552245122519 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.44, Z:15.91 [[ 9.99823927e-01 -1.80648785e-02 -5.07682948e-03 -2.48527168e+01] [ 1.80067824e-02 9.99774401e-01 -1.12651289e-02 -2.44395832e+00] [ 5.27918734e-03 1.11717281e-02 9.99923658e-01 1.59141353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739072328999999 meters Centerline goodness [0,1] 0.6930122617816517 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.44, Z:15.91 [[ 9.99871956e-01 -1.50888259e-02 -5.32915605e-03 -2.48513006e+01] [ 1.50456742e-02 9.99854429e-01 -8.04661058e-03 -2.44227331e+00] [ 5.44979418e-03 7.96539951e-03 9.99953425e-01 1.59128437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.769072329 meters Centerline goodness [0,1] 0.6842925760512345 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.44, Z:15.91 [[ 9.99914381e-01 -1.18764276e-02 -5.49365458e-03 -2.48505063e+01] [ 1.18505256e-02 9.99918623e-01 -4.72367177e-03 -2.44031224e+00] [ 5.54930786e-03 4.65816464e-03 9.99973753e-01 1.59121384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799072329 meters Centerline goodness [0,1] 0.6808367071524966 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.43, Z:15.91 [[ 9.99941330e-01 -9.31181668e-03 -5.53412775e-03 -2.48514307e+01] [ 9.29444840e-03 9.99951826e-01 -3.15587166e-03 -2.43215121e+00] [ 5.56324805e-03 3.10424984e-03 9.99979707e-01 1.59134457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.829072328999999 meters Centerline goodness [0,1] 0.6767150004239804 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.43, Z:15.92 [[ 9.99959208e-01 -7.45043219e-03 -5.10615921e-03 -2.48539466e+01] [ 7.44277992e-03 9.99971153e-01 -1.51600215e-03 -2.42818353e+00] [ 5.11730679e-03 1.47793629e-03 9.99985814e-01 1.59156281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859072329 meters Centerline goodness [0,1] 0.6746475295313095 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.43, Z:15.92 [[ 9.99976627e-01 -4.34003800e-03 -5.28297502e-03 -2.48534751e+01] [ 4.34801372e-03 9.99989424e-01 1.49915377e-03 -2.42592247e+00] [ 5.27641276e-03 -1.52208918e-03 9.99984921e-01 1.59155517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.889072329 meters Centerline goodness [0,1] 0.6769201416124313 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.42, Z:15.91 [[ 9.99982411e-01 -2.38154463e-03 -5.43189886e-03 -2.48521525e+01] [ 2.39332075e-03 9.99994798e-01 2.16248788e-03 -2.41804131e+00] [ 5.42672054e-03 -2.17545012e-03 9.99982909e-01 1.59142294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919072328999999 meters Centerline goodness [0,1] 0.6771796879961052 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.41, Z:15.91 [[ 9.99978745e-01 -3.10581367e-03 -5.73272166e-03 -2.48506439e+01] [ 3.10717013e-03 9.99995147e-01 2.27726364e-04 -2.41186298e+00] [ 5.73198656e-03 -2.45534065e-04 9.99983542e-01 1.59129826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.949072329 meters Centerline goodness [0,1] 0.682338846970302 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.41, Z:15.91 [[ 9.99982812e-01 -2.09325205e-04 -5.85940939e-03 -2.48496117e+01] [ 2.24030901e-04 9.99996827e-01 2.50921350e-03 -2.40751656e+00] [ 5.85886555e-03 -2.51048306e-03 9.99979685e-01 1.59120290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979072329 meters Centerline goodness [0,1] 0.7177177810588484 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.39, Z:15.91 [[ 9.99981685e-01 2.00051761e-03 -5.71203696e-03 -2.48500853e+01] [-1.98792574e-03 9.99995584e-01 2.20927194e-03 -2.39389949e+00] [ 5.71643142e-03 -2.19787638e-03 9.99981246e-01 1.59122654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.009072329 meters Centerline goodness [0,1] 0.7222713677913981 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.39, Z:15.91 [[ 9.99982358e-01 1.24986012e-03 -5.80708912e-03 -2.48495916e+01] [-1.24996938e-03 9.99999219e-01 -1.51853950e-05 -2.38579946e+00] [ 5.80706561e-03 2.24438107e-05 9.99983139e-01 1.59119175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039072329 meters Centerline goodness [0,1] 0.7201693121693122 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.38, Z:15.91 [[ 9.99975532e-01 4.06936653e-03 -5.68994423e-03 -2.48500564e+01] [-4.05734127e-03 9.99989515e-01 2.12337186e-03 -2.38042310e+00] [ 5.69852534e-03 -2.10023386e-03 9.99981558e-01 1.59122688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.069072329 meters Centerline goodness [0,1] 0.7270739603918766 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.38, Z:15.91 [[ 9.99958199e-01 7.06227704e-03 -5.80732059e-03 -2.48498988e+01] [-7.03630352e-03 9.99965205e-01 4.48088159e-03 -2.37551448e+00] [ 5.83876375e-03 -4.43983221e-03 9.99973098e-01 1.59125558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099072329 meters Centerline goodness [0,1] 0.7421151057973145 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.36, Z:15.91 [[ 9.99943046e-01 8.85511767e-03 -5.95753094e-03 -2.48495708e+01] [-8.83099723e-03 9.99952752e-01 4.06292823e-03 -2.36276355e+00] [ 5.99322717e-03 -4.01008589e-03 9.99974000e-01 1.59127482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.129072329 meters Centerline goodness [0,1] 0.741004923620755 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.36, Z:15.91 [[ 9.99950229e-01 7.83142094e-03 -6.18128539e-03 -2.48484952e+01] [-7.82144121e-03 9.99968072e-01 1.63703296e-03 -2.35513911e+00] [ 6.19390833e-03 -1.58860493e-03 9.99979556e-01 1.59119596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159072329 meters Centerline goodness [0,1] 0.731200235918608 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.35, Z:15.91 [[ 9.99956539e-01 6.73818980e-03 -6.44337824e-03 -2.48473079e+01] [-6.74301034e-03 9.99977002e-01 -7.26707527e-04 -2.34797370e+00] [ 6.43833336e-03 7.70123710e-04 9.99978977e-01 1.59111432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189072329 meters Centerline goodness [0,1] 0.7115671406666806 Centerline is valid? [False, False] Translation: X:-24.84, Y:-2.34, Z:15.91 [[ 9.99961650e-01 5.18377859e-03 -7.05888051e-03 -2.48439677e+01] [-5.21216641e-03 9.99978380e-01 -4.00913475e-03 -2.33678059e+00] [ 7.03794543e-03 4.04577306e-03 9.99967049e-01 1.59087605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219072329 meters Centerline goodness [0,1] 0.7077023115324915 Centerline is valid? [False, False] Translation: X:-24.84, Y:-2.33, Z:15.91 [[ 9.99964457e-01 4.43098811e-03 -7.17299728e-03 -2.48434280e+01] [-4.47101117e-03 9.99974474e-01 -5.57329810e-03 -2.33210992e+00] [ 7.14811896e-03 5.60517056e-03 9.99958742e-01 1.59084293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.249072329 meters Centerline goodness [0,1] 0.7149736106146309 Centerline is valid? [False, False] Translation: X:-24.84, Y:-2.33, Z:15.91 [[ 9.99966710e-01 3.66481711e-03 -7.29023632e-03 -2.48432462e+01] [-3.71722373e-03 9.99967256e-01 -7.18809007e-03 -2.32729988e+00] [ 7.26365458e-03 7.21495022e-03 9.99947591e-01 1.59086394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279072328999998 meters Centerline goodness [0,1] 0.7132163301251808 Centerline is valid? [False, False] Translation: X:-24.84, Y:-2.32, Z:15.91 [[ 9.99955335e-01 5.13412408e-03 -7.93533730e-03 -2.48406116e+01] [-5.18133488e-03 9.99968932e-01 -5.94037513e-03 -2.32306286e+00] [ 7.90459214e-03 5.98122544e-03 9.99950870e-01 1.59072022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309072329 meters Centerline goodness [0,1] 0.714415499355602 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.31, Z:15.91 [[ 9.99960521e-01 7.57511485e-03 -4.64476326e-03 -2.48495166e+01] [-7.58360203e-03 9.99969602e-01 -1.81237737e-03 -2.30793451e+00] [ 4.63089310e-03 1.84752986e-03 9.99987571e-01 1.59078329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339072329 meters Centerline goodness [0,1] 0.7209180575042407 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.30, Z:15.91 [[ 9.99933259e-01 1.05105217e-02 -4.79646636e-03 -2.48493327e+01] [-1.05108779e-02 9.99944758e-01 -4.90516843e-05 -2.30020326e+00] [ 4.79568584e-03 9.94634828e-05 9.99988496e-01 1.59082530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.369072328999998 meters Centerline goodness [0,1] 0.7273604497493236 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.29, Z:15.91 [[ 9.99896537e-01 1.35432101e-02 -4.84739654e-03 -2.48492489e+01] [-1.35328220e-02 9.99906074e-01 2.16944765e-03 -2.29475624e+00] [ 4.87632253e-03 -2.10362424e-03 9.99985898e-01 1.59084844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399072329 meters Centerline goodness [0,1] 0.7273604497493236 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.29, Z:15.91 [[ 9.99896537e-01 1.35432101e-02 -4.84739654e-03 -2.48492489e+01] [-1.35328220e-02 9.99906074e-01 2.16944765e-03 -2.29475624e+00] [ 4.87632253e-03 -2.10362424e-03 9.99985898e-01 1.59084844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.429072329 meters Centerline goodness [0,1] 0.719941195001575 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.29, Z:15.91 [[ 9.99914094e-01 1.20586141e-02 -5.13763623e-03 -2.48476776e+01] [-1.20650098e-02 9.99926476e-01 -1.21570170e-03 -2.28564492e+00] [ 5.12259881e-03 1.27758290e-03 9.99986063e-01 1.59073584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459072328999998 meters Centerline goodness [0,1] 0.7141557534855185 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.28, Z:15.91 [[ 9.99921607e-01 1.13436466e-02 -5.30102184e-03 -2.48471319e+01] [-1.13566181e-02 9.99932575e-01 -2.42332354e-03 -2.28279197e+00] [ 5.27317509e-03 2.48333525e-03 9.99983013e-01 1.59070592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.489072329 meters Centerline goodness [0,1] 0.7047731788779437 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.28, Z:15.91 [[ 9.99930492e-01 1.05105019e-02 -5.34230339e-03 -2.48467350e+01] [-1.05304267e-02 9.99937651e-01 -3.71528120e-03 -2.27957442e+00] [ 5.30292084e-03 3.77127969e-03 9.99978828e-01 1.59066582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519072329 meters Centerline goodness [0,1] 0.6790263113792525 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.27, Z:15.91 [[ 9.99952753e-01 8.04876028e-03 -5.45065568e-03 -2.48462037e+01] [-8.08657652e-03 9.99943138e-01 -6.95179431e-03 -2.27125415e+00] [ 5.39439242e-03 6.99554300e-03 9.99960981e-01 1.59064479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.549072329 meters Centerline goodness [0,1] 0.6685766238159675 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.27, Z:15.91 [[ 9.99960157e-01 7.05349523e-03 -5.47114395e-03 -2.48462318e+01] [-7.09974603e-03 9.99938833e-01 -8.48074185e-03 -2.26668137e+00] [ 5.41099043e-03 8.51924768e-03 9.99949071e-01 1.59066463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579072329 meters Centerline goodness [0,1] 0.6558729092778746 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.26, Z:15.91 [[ 9.99964597e-01 6.22677835e-03 -5.65972313e-03 -2.48455421e+01] [-6.28244017e-03 9.99931547e-01 -9.87073654e-03 -2.26196671e+00] [ 5.59787282e-03 9.90594396e-03 9.99935266e-01 1.59063908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.609072329 meters Centerline goodness [0,1] 0.6533969160959623 Centerline is valid? [False, False] Translation: X:-24.84, Y:-2.26, Z:15.91 [[ 9.99968220e-01 5.44242138e-03 -5.82571470e-03 -2.48448825e+01] [-5.50815096e-03 9.99920680e-01 -1.13267176e-02 -2.25682213e+00] [ 5.76360783e-03 1.13584466e-02 9.99918880e-01 1.59061267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639072329 meters Centerline goodness [0,1] 0.6420330592381271 Centerline is valid? [False, False] Translation: X:-24.84, Y:-2.25, Z:15.91 [[ 9.99975093e-01 3.84393083e-03 -5.91918575e-03 -2.48447733e+01] [-3.92658168e-03 9.99894069e-01 -1.40154816e-02 -2.24847631e+00] [ 5.86468418e-03 1.40383747e-02 9.99884258e-01 1.59065165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.669072329 meters Centerline goodness [0,1] 0.634932027357933 Centerline is valid? [False, False] Translation: X:-24.85, Y:-2.25, Z:15.91 [[ 9.99977902e-01 3.14436500e-03 -5.85742323e-03 -2.48452960e+01] [-3.23116124e-03 9.99884243e-01 -1.48681107e-02 -2.24694102e+00] [ 5.80999442e-03 1.48867085e-02 9.99872307e-01 1.59071059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699072329 meters Centerline goodness [0,1] 0.6404660390898729 Centerline is valid? [False, False] Translation: X:-24.84, Y:-2.25, Z:15.91 [[ 9.99992748e-01 -8.55019233e-04 -3.71114690e-03 -2.48381131e+01] [ 8.28593880e-04 9.99974336e-01 -7.11624182e-03 -2.24817470e+00] [ 3.71713618e-03 7.11311518e-03 9.99967793e-01 1.59097635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729072329 meters Centerline goodness [0,1] 0.6449281487743026 Centerline is valid? [False, False] Translation: X:-24.84, Y:-2.25, Z:15.91 [[ 9.99992568e-01 -1.40913022e-03 -3.58875625e-03 -2.48386307e+01] [ 1.38120664e-03 9.99968848e-01 -7.77147973e-03 -2.24686004e+00] [ 3.59959548e-03 7.76646516e-03 9.99963362e-01 1.59101958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759072329 meters Centerline goodness [0,1] 0.6289129795369554 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.24, Z:15.91 [[ 9.99962582e-01 -3.58616840e-03 -7.87229511e-03 -2.48299973e+01] [ 3.54073046e-03 9.99977037e-01 -5.77824897e-03 -2.23771831e+00] [ 7.89283611e-03 5.75015908e-03 9.99952318e-01 1.59133121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789072329 meters Centerline goodness [0,1] 0.6432270200579122 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.23, Z:15.91 [[ 9.99969481e-01 -5.25152781e-04 -7.79497931e-03 -2.48298630e+01] [ 4.99990380e-04 9.99994660e-01 -3.22962452e-03 -2.23320449e+00] [ 7.79663373e-03 3.22562854e-03 9.99964403e-01 1.59129327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819072329 meters Centerline goodness [0,1] 0.6199941292405753 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.23, Z:15.91 [[ 9.99963334e-01 1.10223847e-03 -8.49203916e-03 -2.48264189e+01] [-1.11956372e-03 9.99997301e-01 -2.03569212e-03 -2.22827572e+00] [ 8.48977243e-03 2.04512486e-03 9.99961870e-01 1.59105333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.849072329 meters Centerline goodness [0,1] 0.6446717531650876 Centerline is valid? [False, False] Translation: X:-24.82, Y:-2.22, Z:15.91 [[ 9.99956990e-01 3.18610745e-03 -8.71012215e-03 -2.48243893e+01] [-3.19618928e-03 9.99994238e-01 -1.14381029e-03 -2.22109530e+00] [ 8.70642766e-03 1.17160030e-03 9.99961412e-01 1.59087928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879072329 meters Centerline goodness [0,1] 0.6432718903739363 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.22, Z:15.91 [[ 9.99955782e-01 4.40900440e-03 -8.30625423e-03 -2.48267416e+01] [-4.41261036e-03 9.99990178e-01 -4.15849106e-04 -2.21783248e+00] [ 8.30433917e-03 4.52482981e-04 9.99965416e-01 1.59105657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.909072329 meters Centerline goodness [0,1] 0.6454699049630412 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.21, Z:15.91 [[ 9.99957649e-01 3.63098541e-03 -8.45666872e-03 -2.48264328e+01] [-3.64975038e-03 9.99990910e-01 -2.20458056e-03 -2.21249203e+00] [ 8.44858704e-03 2.23535192e-03 9.99961812e-01 1.59106943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939072329 meters Centerline goodness [0,1] 0.6387510513036165 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.20, Z:15.91 [[ 9.99950065e-01 5.46692026e-03 -8.36537710e-03 -2.48262005e+01] [-5.48052107e-03 9.99983696e-01 -1.60378619e-03 -2.20311328e+00] [ 8.35647294e-03 1.64955273e-03 9.99963724e-01 1.59104418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.969072329 meters Centerline goodness [0,1] 0.6341693381105035 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.20, Z:15.91 [[ 9.99952074e-01 4.69653204e-03 -8.59025881e-03 -2.48253416e+01] [-4.72595159e-03 9.99983026e-01 -3.40766970e-03 -2.19681577e+00] [ 8.57410877e-03 3.44810353e-03 9.99957297e-01 1.59101342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999072329 meters Centerline goodness [0,1] 0.6362408173604661 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.19, Z:15.91 [[ 9.99945374e-01 6.68719522e-03 -8.03304501e-03 -2.48273635e+01] [-6.70071237e-03 9.99976177e-01 -1.65695811e-03 -2.19263290e+00] [ 8.02177323e-03 1.71069472e-03 9.99966362e-01 1.59111776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.029072328999998 meters Centerline goodness [0,1] 0.624850682146824 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.18, Z:15.91 [[ 9.99953665e-01 5.00334271e-03 -8.22400748e-03 -2.48260179e+01] [-5.04132220e-03 9.99976694e-01 -4.60390054e-03 -2.18366717e+00] [ 8.20078092e-03 4.64514709e-03 9.99955584e-01 1.59103069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059072329 meters Centerline goodness [0,1] 0.618845163046893 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.18, Z:15.91 [[ 9.99958108e-01 4.19470201e-03 -8.13554414e-03 -2.48262635e+01] [-4.24236168e-03 9.99973891e-01 -5.84981952e-03 -2.18027710e+00] [ 8.11079347e-03 5.88408838e-03 9.99949795e-01 1.59104638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.089072329 meters Centerline goodness [0,1] 0.6292457410652087 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.18, Z:15.91 [[ 9.99964326e-01 2.94636730e-03 -7.91620831e-03 -2.48274538e+01] [-3.00673270e-03 9.99966413e-01 -7.62449502e-03 -2.17590738e+00] [ 7.89347786e-03 7.64802495e-03 9.99939599e-01 1.59115012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119072328999998 meters Centerline goodness [0,1] 0.6155113768406819 Centerline is valid? [False, False] Translation: X:-24.83, Y:-2.17, Z:15.91 [[ 9.99974070e-01 1.95765228e-05 -7.20129950e-03 -2.48298738e+01] [-1.02351184e-04 9.99933934e-01 -1.14942172e-02 -2.16541032e+00] [ 7.20059873e-03 1.14946562e-02 9.99908008e-01 1.59128304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149072329 meters Centerline goodness [0,1] 0.6080721249606877 Centerline is valid? [False, False] Translation: X:-24.82, Y:-2.17, Z:15.91 [[ 9.99994075e-01 -2.70514069e-03 -2.12895281e-03 -2.48182845e+01] [ 2.69924444e-03 9.99992527e-01 -2.76756747e-03 -2.16595038e+00] [ 2.13642356e-03 2.76180451e-03 9.99993904e-01 1.59087605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179072329 meters Centerline goodness [0,1] 0.5990425397891908 Centerline is valid? [False, False] Translation: X:-24.82, Y:-2.16, Z:15.91 [[ 9.99992182e-01 -3.38331763e-03 -2.04690815e-03 -2.48180768e+01] [ 3.37622038e-03 9.99988312e-01 -3.46088029e-03 -2.16432380e+00] [ 2.05859349e-03 3.45394242e-03 9.99991916e-01 1.59081878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.209072328999998 meters Centerline goodness [0,1] 0.5960259324745306 Centerline is valid? [False, False] Translation: X:-24.82, Y:-2.16, Z:15.91 [[ 9.99989606e-01 -4.13812035e-03 -1.91405180e-03 -2.48181745e+01] [ 4.13040650e-03 9.99983403e-01 -4.01666453e-03 -2.16350497e+00] [ 1.93064148e-03 4.00871697e-03 9.99990101e-01 1.59078053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239072329 meters Centerline goodness [0,1] 0.5784798669725737 Centerline is valid? [False, False] Translation: X:-24.82, Y:-2.16, Z:15.91 [[ 9.99976654e-01 -6.61635083e-03 -1.70724266e-03 -2.48186188e+01] [ 6.60591590e-03 9.99959897e-01 -6.04706881e-03 -2.15996694e+00] [ 1.74718372e-03 6.03564973e-03 9.99980259e-01 1.59075698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.269072329 meters Centerline goodness [0,1] 0.5754270251987147 Centerline is valid? [False, False] Translation: X:-24.82, Y:-2.16, Z:15.91 [[ 9.99972109e-01 -7.27941695e-03 -1.67060796e-03 -2.48186740e+01] [ 7.26760645e-03 9.99949299e-01 -6.96999480e-03 -2.15713047e+00] [ 1.72126076e-03 6.95765908e-03 9.99974314e-01 1.59076004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299072329 meters Centerline goodness [0,1] 0.5677436929008466 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99972603e-01 -7.02044879e-03 2.34664841e-03 -2.47989257e+01] [ 7.02526271e-03 9.99973222e-01 -2.04949194e-03 -2.15475532e+00] [-2.33219722e-03 2.06592161e-03 9.99995146e-01 1.59063498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.329072329 meters Centerline goodness [0,1] 0.5622808675022569 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99986076e-01 -4.62151357e-03 2.54745961e-03 -2.48002842e+01] [ 4.61934745e-03 9.99988965e-01 8.55536567e-04 -2.15384295e+00] [-2.55138538e-03 -8.43757053e-04 9.99996389e-01 1.59072055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359072329 meters Centerline goodness [0,1] 0.5609359491478892 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99984251e-01 -5.01754660e-03 2.51433893e-03 -2.48002829e+01] [ 5.01730380e-03 9.99987408e-01 1.02864628e-04 -2.15177889e+00] [-2.51482339e-03 -9.02478057e-05 9.99996834e-01 1.59073467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.389072329 meters Centerline goodness [0,1] 0.557618397563793 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99983906e-01 -5.11093316e-03 2.46300726e-03 -2.47998293e+01] [ 5.11127015e-03 9.99986929e-01 -1.30544582e-04 -2.15100845e+00] [-2.46230787e-03 1.43131576e-04 9.99996958e-01 1.59068250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419072329 meters Centerline goodness [0,1] 0.5487868701459105 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99978081e-01 -6.07612719e-03 2.63024944e-03 -2.48005078e+01] [ 6.07818499e-03 9.99981227e-01 -7.75074089e-04 -2.15053304e+00] [-2.62549061e-03 7.91044242e-04 9.99996241e-01 1.59070699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.449072329 meters Centerline goodness [0,1] 0.538638985005767 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99974577e-01 -6.53318471e-03 2.85717007e-03 -2.48012117e+01] [ 6.53609296e-03 9.99978130e-01 -1.00972787e-03 -2.15016501e+00] [-2.85051085e-03 1.02837693e-03 9.99995409e-01 1.59073448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479072329 meters Centerline goodness [0,1] 0.5564466769380132 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99971479e-01 -6.91575735e-03 3.03547895e-03 -2.48016041e+01] [ 6.92002070e-03 9.99975082e-01 -1.39625603e-03 -2.14909887e+00] [-3.02574714e-03 1.41722179e-03 9.99994418e-01 1.59074006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.509072329 meters Centerline goodness [0,1] 0.530025781299126 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99970498e-01 -7.09880722e-03 2.93412933e-03 -2.48010480e+01] [ 7.10349988e-03 9.99973503e-01 -1.59202351e-03 -2.14798014e+00] [-2.92275012e-03 1.61281913e-03 9.99994428e-01 1.59069544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539072329 meters Centerline goodness [0,1] 0.5249607206452289 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99970000e-01 -7.26009575e-03 2.70003237e-03 -2.47998016e+01] [ 7.26468039e-03 9.99972180e-01 -1.69207989e-03 -2.14703682e+00] [-2.68767259e-03 1.71164400e-03 9.99994923e-01 1.59059121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.569072329 meters Centerline goodness [0,1] 0.5523419449695441 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99970752e-01 -7.16191786e-03 2.68358246e-03 -2.47996013e+01] [ 7.16548551e-03 9.99973453e-01 -1.32218534e-03 -2.14859832e+00] [-2.67404184e-03 1.34137584e-03 9.99995525e-01 1.59056141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599072329 meters Centerline goodness [0,1] 0.5362615128459123 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99970723e-01 -7.11780385e-03 2.80902578e-03 -2.48000502e+01] [ 7.12032836e-03 9.99974254e-01 -8.89738549e-04 -2.15072156e+00] [-2.80262047e-03 9.09713686e-04 9.99995659e-01 1.59057607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.629072329 meters Centerline goodness [0,1] 0.5523572265952101 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99970166e-01 -7.16701927e-03 2.88130332e-03 -2.48007201e+01] [ 7.16920479e-03 9.99974020e-01 -7.48907823e-04 -2.15175291e+00] [-2.87586103e-03 7.69542133e-04 9.99995569e-01 1.59064873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659072329 meters Centerline goodness [0,1] 0.564843684166175 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99984728e-01 -4.30248682e-03 3.46885446e-03 -2.48033172e+01] [ 4.29471723e-03 9.99988260e-01 2.24416102e-03 -2.15081991e+00] [-3.47846921e-03 -2.22922899e-03 9.99991465e-01 1.59081275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689072329 meters Centerline goodness [0,1] 0.5509691989210213 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99990444e-01 -3.32639107e-03 2.83673798e-03 -2.48009495e+01] [ 3.31884066e-03 9.99990949e-01 2.66221826e-03 -2.14777083e+00] [-2.84556789e-03 -2.65277814e-03 9.99992433e-01 1.59071254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719072329 meters Centerline goodness [0,1] 0.5563857697554833 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99996700e-01 6.22057549e-04 2.49250469e-03 -2.48005238e+01] [-6.37372379e-04 9.99980896e-01 6.14827756e-03 -2.14535286e+00] [-2.48863249e-03 -6.14984593e-03 9.99977993e-01 1.59076773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.749072329 meters Centerline goodness [0,1] 0.5643918777475403 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.15, Z:15.91 [[ 9.99997293e-01 1.08606775e-03 2.05755875e-03 -2.47992459e+01] [-1.09959888e-03 9.99977703e-01 6.58662523e-03 -2.14651468e+00] [-2.05035936e-03 -6.58886990e-03 9.99976191e-01 1.59071839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779072328999998 meters Centerline goodness [0,1] 0.5704283447911158 Centerline is valid? [False, False] Translation: X:-24.81, Y:-2.14, Z:15.91 [[ 9.99984444e-01 2.89639539e-03 -4.76685925e-03 -2.48123092e+01] [-2.90409491e-03 9.99994489e-01 -1.60909041e-03 -2.14349487e+00] [ 4.76217242e-03 1.62290879e-03 9.99987344e-01 1.59121509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809072329 meters Centerline goodness [0,1] 0.5741531695352475 Centerline is valid? [False, False] Translation: X:-24.81, Y:-2.14, Z:15.91 [[ 9.99980927e-01 3.67389866e-03 -4.96466987e-03 -2.48118102e+01] [-3.68335383e-03 9.99991418e-01 -1.89669188e-03 -2.14105204e+00] [ 4.95765901e-03 1.91494234e-03 9.99985877e-01 1.59125559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839072329 meters Centerline goodness [0,1] 0.5768826914192112 Centerline is valid? [False, False] Translation: X:-24.81, Y:-2.14, Z:15.91 [[ 9.99958549e-01 7.59181055e-03 -5.02637172e-03 -2.48117344e+01] [-7.58131633e-03 9.99969049e-01 2.10360291e-03 -2.14044335e+00] [ 5.04218630e-03 -2.06540920e-03 9.99985155e-01 1.59126981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.869072328999998 meters Centerline goodness [0,1] 0.5802218075850647 Centerline is valid? [False, False] Translation: X:-24.81, Y:-2.14, Z:15.91 [[ 9.99955152e-01 7.68181798e-03 -5.53924638e-03 -2.48103674e+01] [-7.67265954e-03 9.99969166e-01 1.67273269e-03 -2.13790864e+00] [ 5.55192521e-03 -1.63015692e-03 9.99983259e-01 1.59125093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899072329 meters Centerline goodness [0,1] 0.5856055802155993 Centerline is valid? [False, False] Translation: X:-24.81, Y:-2.14, Z:15.91 [[ 9.99948816e-01 8.14139739e-03 -6.00699344e-03 -2.48092295e+01] [-8.13107865e-03 9.99965428e-01 1.74021566e-03 -2.13773698e+00] [ 6.02095355e-03 -1.69128325e-03 9.99980444e-01 1.59124271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.929072329 meters Centerline goodness [0,1] 0.589709399538595 Centerline is valid? [False, False] Translation: X:-24.81, Y:-2.14, Z:15.91 [[ 9.99966914e-01 4.99666094e-03 -6.41907096e-03 -2.48082020e+01] [-5.01057804e-03 9.99985127e-01 -2.15383723e-03 -2.13741634e+00] [ 6.40821350e-03 2.18592922e-03 9.99977078e-01 1.59125100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959072328999998 meters Centerline goodness [0,1] 0.5843592672504971 Centerline is valid? [False, False] Translation: X:-24.81, Y:-2.14, Z:15.91 [[ 9.99965434e-01 5.30419769e-03 -6.40290666e-03 -2.48083742e+01] [-5.31401572e-03 9.99984729e-01 -1.51733301e-03 -2.14023402e+00] [ 6.39476065e-03 1.55130571e-03 9.99978350e-01 1.59125951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.989072329 meters Centerline goodness [0,1] 0.5845630680744768 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.14, Z:15.91 [[ 9.99983709e-01 8.00758534e-04 -5.65160839e-03 -2.47952370e+01] [-7.65953062e-04 9.99980746e-01 6.15798731e-03 -2.14470500e+00] [ 5.65643064e-03 -6.15355812e-03 9.99965069e-01 1.59107130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019072329 meters Centerline goodness [0,1] 0.5868492345170843 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.14, Z:15.91 [[ 9.99982404e-01 8.25226662e-04 -5.87456191e-03 -2.47943398e+01] [-7.87796722e-04 9.99979395e-01 6.37099387e-03 -2.14468392e+00] [ 5.87969837e-03 -6.36625380e-03 9.99962449e-01 1.59101312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.049072328999998 meters Centerline goodness [0,1] 0.5895162314301434 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.14, Z:15.91 [[ 9.99981228e-01 7.76899204e-04 -6.07782876e-03 -2.47935811e+01] [-7.37174140e-04 9.99978371e-01 6.53557387e-03 -2.14473148e+00] [ 6.08277478e-03 -6.53097077e-03 9.99960172e-01 1.59096733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079072329 meters Centerline goodness [0,1] 0.575373386212134 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.15, Z:15.91 [[ 9.99975924e-01 -2.60554652e-03 -6.43144743e-03 -2.47920589e+01] [ 2.63333515e-03 9.99987218e-01 4.31606169e-03 -2.15008473e+00] [ 6.42011953e-03 -4.33289393e-03 9.99970004e-01 1.59084921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.109072329 meters Centerline goodness [0,1] 0.5643281656479346 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.16, Z:15.91 [[ 9.99960280e-01 -6.20316857e-03 -6.39995280e-03 -2.47923402e+01] [ 6.21296247e-03 9.99979557e-01 1.51156300e-03 -2.15515500e+00] [ 6.39044548e-03 -1.55126563e-03 9.99978378e-01 1.59087615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139072329 meters Centerline goodness [0,1] 0.5618828106827938 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.16, Z:15.91 [[ 9.99929847e-01 -1.00579194e-02 -6.25614031e-03 -2.47933103e+01] [ 1.00490772e-02 9.99948465e-01 -1.44320315e-03 -2.16019421e+00] [ 6.27033352e-03 1.38023347e-03 9.99979389e-01 1.59096783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.169072329 meters Centerline goodness [0,1] 0.5488095489149919 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.16, Z:15.91 [[ 9.99882275e-01 -1.41205945e-02 -6.00370528e-03 -2.47944749e+01] [ 1.40916615e-02 9.99889020e-01 -4.83448304e-03 -2.16330242e+00] [ 6.07130477e-03 4.74931172e-03 9.99970291e-01 1.59107269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199072329 meters Centerline goodness [0,1] 0.5453800751958664 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.17, Z:15.91 [[ 9.99802957e-01 -1.90944292e-02 -5.42677832e-03 -2.47968593e+01] [ 1.90471175e-02 9.99781254e-01 -8.64011395e-03 -2.16541780e+00] [ 5.59056928e-03 8.53504699e-03 9.99947948e-01 1.59125524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.229072329 meters Centerline goodness [0,1] 0.5398028329568724 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.17, Z:15.91 [[ 9.99806306e-01 -1.89425190e-02 -5.34141247e-03 -2.47968576e+01] [ 1.89012383e-02 9.99791891e-01 -7.67581414e-03 -2.16845683e+00] [ 5.48570013e-03 7.57336807e-03 9.99956275e-01 1.59121740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259072329 meters Centerline goodness [0,1] 0.5358250195102403 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.17, Z:15.91 [[ 9.99815158e-01 -1.84408674e-02 -5.43919670e-03 -2.47961663e+01] [ 1.84076606e-02 9.99811998e-01 -6.09324728e-03 -2.17385370e+00] [ 5.55053888e-03 5.99199810e-03 9.99966643e-01 1.59112675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.289072329 meters Centerline goodness [0,1] 0.5358250195102403 Centerline is valid? [False, False] Translation: X:-24.80, Y:-2.17, Z:15.91 [[ 9.99815158e-01 -1.84408674e-02 -5.43919670e-03 -2.47961663e+01] [ 1.84076606e-02 9.99811998e-01 -6.09324728e-03 -2.17385370e+00] [ 5.55053888e-03 5.99199810e-03 9.99966643e-01 1.59112675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319072329 meters Centerline goodness [0,1] 0.5233850183784697 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.18, Z:15.91 [[ 9.99685470e-01 -2.43095064e-02 -6.16512117e-03 -2.47932009e+01] [ 2.42411848e-02 9.99646447e-01 -1.09245955e-02 -2.18323761e+00] [ 6.42851299e-03 1.07717096e-02 9.99921319e-01 1.59097396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.349072329 meters Centerline goodness [0,1] 0.528857106695355 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.19, Z:15.91 [[ 9.99690752e-01 -2.41065811e-02 -6.10518455e-03 -2.47931743e+01] [ 2.40486346e-02 9.99666659e-01 -9.39329002e-03 -2.18903924e+00] [ 6.32958955e-03 9.24356382e-03 9.99937244e-01 1.59092325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379072329 meters Centerline goodness [0,1] 0.517388458371165 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.19, Z:15.91 [[ 9.99689947e-01 -2.41270798e-02 -6.15579449e-03 -2.47931911e+01] [ 2.40797296e-02 9.99680744e-01 -7.65351138e-03 -2.19427196e+00] [ 6.33848610e-03 7.50290852e-03 9.99951764e-01 1.59091163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.409072329 meters Centerline goodness [0,1] 0.5552326193635349 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.20, Z:15.91 [[ 9.99757355e-01 -2.10943430e-02 -6.34511278e-03 -2.47930317e+01] [ 2.10751166e-02 9.99773145e-01 -3.08187497e-03 -2.19875725e+00] [ 6.40868348e-03 2.94740318e-03 9.99975120e-01 1.59087780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439072329 meters Centerline goodness [0,1] 0.5336038549327923 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.20, Z:15.91 [[ 9.99767789e-01 -2.05500096e-02 -6.48569806e-03 -2.47928174e+01] [ 2.05403290e-02 9.99787815e-01 -1.55571100e-03 -2.20364980e+00] [ 6.51629177e-03 1.42213137e-03 9.99977757e-01 1.59087983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.469072329 meters Centerline goodness [0,1] 0.5145871868168825 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.21, Z:15.91 [[ 9.99624250e-01 -2.64910116e-02 -7.04169122e-03 -2.47922736e+01] [ 2.64474567e-02 9.99630928e-01 -6.20808573e-03 -2.21486160e+00] [ 7.20355080e-03 6.01951822e-03 9.99955936e-01 1.59100093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499072329 meters Centerline goodness [0,1] 0.5071130939854371 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.22, Z:15.91 [[ 9.99528264e-01 -2.98649896e-02 -7.16465568e-03 -2.47925759e+01] [ 2.97992409e-02 9.99514348e-01 -9.11447244e-03 -2.21877520e+00] [ 7.43337977e-03 8.89667151e-03 9.99932795e-01 1.59111108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.529072328999998 meters Centerline goodness [0,1] 0.5379638800497335 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.22, Z:15.91 [[ 9.99537033e-01 -2.96092210e-02 -7.00103134e-03 -2.47935587e+01] [ 2.95515743e-02 9.99529631e-01 -8.19891309e-03 -2.22195810e+00] [ 7.24050170e-03 7.98822577e-03 9.99941880e-01 1.59120370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559072329 meters Centerline goodness [0,1] 0.5391163951269631 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.22, Z:15.91 [[ 9.99546770e-01 -2.92205887e-02 -7.23953194e-03 -2.47931875e+01] [ 2.91655606e-02 9.99545751e-01 -7.59349051e-03 -2.22294042e+00] [ 7.45812965e-03 7.37890391e-03 9.99944963e-01 1.59123367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589072329 meters Centerline goodness [0,1] 0.5354314122008763 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.23, Z:15.91 [[ 9.99674374e-01 -2.43603492e-02 -7.59736007e-03 -2.47913711e+01] [ 2.43519956e-02 9.99702738e-01 -1.19012727e-03 -2.22911051e+00] [ 7.62409358e-03 1.00472886e-03 9.99970431e-01 1.59102532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619072328999998 meters Centerline goodness [0,1] 0.5335186706261452 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.23, Z:15.91 [[ 9.99701849e-01 -2.30442230e-02 -8.07316272e-03 -2.47889192e+01] [ 2.30525215e-02 9.99733817e-01 9.36357213e-04 -2.23434144e+00] [ 8.04943616e-03 -1.12218479e-03 9.99966973e-01 1.59082879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.649072329 meters Centerline goodness [0,1] 0.5341270677483931 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.24, Z:15.91 [[ 9.99719334e-01 -2.21750614e-02 -8.33779856e-03 -2.47878633e+01] [ 2.21973441e-02 9.99750255e-01 2.58949988e-03 -2.23962423e+00] [ 8.27829392e-03 -2.77385008e-03 9.99961887e-01 1.59075439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679072329 meters Centerline goodness [0,1] 0.5278868978845871 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.25, Z:15.91 [[ 9.99738758e-01 -2.11424478e-02 -8.68404940e-03 -2.47877654e+01] [ 2.11817471e-02 9.99765699e-01 4.45868096e-03 -2.24684652e+00] [ 8.58774730e-03 -4.64145950e-03 9.99952353e-01 1.59084312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.709072328999998 meters Centerline goodness [0,1] 0.5276557277103875 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.25, Z:15.91 [[ 9.99743797e-01 -2.07146328e-02 -9.12388115e-03 -2.47874458e+01] [ 2.07587156e-02 9.99773166e-01 4.76366555e-03 -2.24728765e+00] [ 9.02313396e-03 -4.95184514e-03 9.99947030e-01 1.59094319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739072329 meters Centerline goodness [0,1] 0.5306299445784152 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.25, Z:15.91 [[ 9.99811361e-01 -1.72380238e-02 -8.94948507e-03 -2.47896243e+01] [ 1.73131437e-02 9.99814954e-01 8.38526533e-03 -2.24806032e+00] [ 8.80328360e-03 -8.53862726e-03 9.99924794e-01 1.59115753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.769072329 meters Centerline goodness [0,1] 0.5325751490297214 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.25, Z:15.91 [[ 9.99821841e-01 -1.62420702e-02 -9.61670248e-03 -2.47882534e+01] [ 1.63264878e-02 9.99828289e-01 8.76578369e-03 -2.24706973e+00] [ 9.47267670e-03 -8.92122897e-03 9.99915336e-01 1.59119009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799072328999998 meters Centerline goodness [0,1] 0.5383087940176177 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.25, Z:15.91 [[ 9.99979674e-01 -4.48286468e-03 -4.53373522e-03 -2.47882409e+01] [ 4.49755246e-03 9.99984654e-01 3.23467473e-03 -2.24851174e+00] [ 4.51916504e-03 -3.25499970e-03 9.99984491e-01 1.59107647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.829072329 meters Centerline goodness [0,1] 0.5448116671912706 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.25, Z:15.91 [[ 9.99982541e-01 -2.27837482e-03 -5.45220629e-03 -2.47851118e+01] [ 2.30508858e-03 9.99985346e-01 4.89836437e-03 -2.24994562e+00] [ 5.44096609e-03 -4.91084667e-03 9.99973139e-01 1.59095140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859072329 meters Centerline goodness [0,1] 0.5574635335659338 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.25, Z:15.91 [[ 9.99967297e-01 8.02306701e-03 -1.01758013e-03 -2.47936741e+01] [-8.01487507e-03 9.99937349e-01 7.81402669e-03 -2.25115538e+00] [ 1.08020883e-03 -7.80561537e-03 9.99968952e-01 1.59053993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.889072329 meters Centerline goodness [0,1] 0.5617374533562534 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.25, Z:15.91 [[ 9.99954455e-01 9.43370782e-03 -1.44665400e-03 -2.47923679e+01] [-9.42169726e-03 9.99922842e-01 8.09577149e-03 -2.24901192e+00] [ 1.52291552e-03 -8.08177283e-03 9.99966182e-01 1.59052756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919072329 meters Centerline goodness [0,1] 0.5699184599865501 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.25, Z:15.91 [[ 9.99939222e-01 1.08844061e-02 -1.75567041e-03 -2.47915140e+01] [-1.08693548e-02 9.99905929e-01 8.36606074e-03 -2.24665876e+00] [ 1.84656486e-03 -8.34646926e-03 9.99963463e-01 1.59054505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.949072329 meters Centerline goodness [0,1] 0.5830818875199062 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.24, Z:15.91 [[ 9.99858236e-01 1.66716882e-02 -2.35850102e-03 -2.47897510e+01] [-1.66398293e-02 9.99777839e-01 1.29378873e-02 -2.24497917e+00] [ 2.57367347e-03 -1.28968081e-02 9.99913521e-01 1.59055105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979072329 meters Centerline goodness [0,1] 0.5870749736008447 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.24, Z:15.91 [[ 9.99838921e-01 1.77415992e-02 -2.71430789e-03 -2.47887502e+01] [-1.77051373e-02 9.99759847e-01 1.29142019e-02 -2.24299809e+00] [ 2.94277464e-03 -1.28640645e-02 9.99912924e-01 1.59055029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.009072329 meters Centerline goodness [0,1] 0.5937308577825655 Centerline is valid? [False, False] Translation: X:-24.79, Y:-2.24, Z:15.91 [[ 9.99820621e-01 1.86874070e-02 -3.08318357e-03 -2.47879096e+01] [-1.86467740e-02 9.99745223e-01 1.27195467e-02 -2.24094019e+00] [ 3.32009339e-03 -1.26597736e-02 9.99914350e-01 1.59057841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039072329 meters Centerline goodness [0,1] 0.5976498680407188 Centerline is valid? [False, False] Translation: X:-24.78, Y:-2.24, Z:15.90 [[ 9.99731417e-01 2.31747544e-02 1.56901201e-04 -2.47769205e+01] [-2.31752782e-02 9.99713591e-01 5.97011884e-03 -2.23977154e+00] [-1.85002246e-05 -5.97215160e-03 9.99982166e-01 1.59045944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.069072329 meters Centerline goodness [0,1] 0.609715594980346 Centerline is valid? [False, False] Translation: X:-24.78, Y:-2.24, Z:15.91 [[ 9.99588313e-01 2.86888548e-02 3.91921680e-04 -2.47775277e+01] [-2.86913242e-02 9.99539771e-01 9.85159976e-03 -2.23727866e+00] [-1.09110192e-04 -9.85878874e-03 9.99951395e-01 1.59059082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099072329 meters Centerline goodness [0,1] 0.6144914073385973 Centerline is valid? [False, False] Translation: X:-24.78, Y:-2.23, Z:15.91 [[ 9.99557410e-01 2.97470286e-02 3.12846228e-04 -2.47771797e+01] [-2.97486607e-02 9.99511493e-01 9.58080754e-03 -2.23339242e+00] [-2.76928448e-05 -9.58587393e-03 9.99954054e-01 1.59061871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.129072329 meters Centerline goodness [0,1] 0.6171332351083982 Centerline is valid? [False, False] Translation: X:-24.78, Y:-2.23, Z:15.91 [[ 9.99430170e-01 3.37530647e-02 2.55337660e-04 -2.47767076e+01] [-3.37534967e-02 9.99343223e-01 1.31842181e-02 -2.23131890e+00] [ 1.89837805e-04 -1.31853238e-02 9.99913052e-01 1.59061655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159072329 meters Centerline goodness [0,1] 0.6595875068678416 Centerline is valid? [False, False] Translation: X:-24.78, Y:-2.23, Z:15.91 [[ 9.99262850e-01 3.83893980e-02 1.05381614e-04 -2.47752358e+01] [-3.83860116e-02 9.99129943e-01 1.63055776e-02 -2.22540967e+00] [ 5.20671382e-04 -1.62976031e-02 9.99867050e-01 1.59055329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.189072329 meters Centerline goodness [0,1] 0.6311873863972608 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.22, Z:15.91 [[ 9.99256973e-01 3.85407086e-02 -3.40330975e-04 -2.47739079e+01] [-3.85309088e-02 9.99138826e-01 1.53940213e-02 -2.22163618e+00] [ 9.33334380e-04 -1.53694699e-02 9.99881447e-01 1.59051981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219072329 meters Centerline goodness [0,1] 0.6406171284634761 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.22, Z:15.91 [[ 9.99251043e-01 3.86874600e-02 -7.95408774e-04 -2.47727111e+01] [-3.86717323e-02 9.99145173e-01 1.46089393e-02 -2.21864946e+00] [ 1.35991159e-03 -1.45672380e-02 9.99892967e-01 1.59050416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.249072329 meters Centerline goodness [0,1] 0.6902825927093181 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.21, Z:15.90 [[ 9.99238795e-01 3.89950362e-02 -1.10351048e-03 -2.47713442e+01] [-3.89769455e-02 9.99151595e-01 1.32998992e-02 -2.21358525e+00] [ 1.62120431e-03 -1.32467637e-02 9.99910944e-01 1.59045734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279072328999998 meters Centerline goodness [0,1] 0.6899014155712841 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.21, Z:15.90 [[ 9.99253006e-01 3.86237539e-02 -1.27892629e-03 -2.47707548e+01] [-3.86050661e-02 9.99178290e-01 1.23447977e-02 -2.21050217e+00] [ 1.75467781e-03 -1.22862032e-02 9.99922982e-01 1.59043569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.309072329 meters Centerline goodness [0,1] 0.6802746962493397 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.20, Z:15.90 [[ 9.99285631e-01 3.77735631e-02 -1.17725515e-03 -2.47707420e+01] [-3.77592101e-02 9.99232071e-01 1.04647003e-02 -2.20431576e+00] [ 1.57164012e-03 -1.04127724e-02 9.99944551e-01 1.59043631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339072329 meters Centerline goodness [0,1] 0.6802233360827359 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.20, Z:15.90 [[ 9.99302177e-01 3.73323154e-02 -1.20697302e-03 -2.47706173e+01] [-3.73190253e-02 9.99257178e-01 9.61161726e-03 -2.20183125e+00] [ 1.56490038e-03 -9.55986699e-03 9.99953079e-01 1.59043440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.369072328999998 meters Centerline goodness [0,1] 0.6744923187456416 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.20, Z:15.90 [[ 9.99319626e-01 3.68596445e-02 -1.28524211e-03 -2.47703100e+01] [-3.68471302e-02 9.99283174e-01 8.68491311e-03 -2.19903205e+00] [ 1.60444362e-03 -8.63164664e-03 9.99961459e-01 1.59042176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399072329 meters Centerline goodness [0,1] 0.6653648032426955 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.20, Z:15.90 [[ 9.99339599e-01 3.63134636e-02 -1.30324371e-03 -2.47701028e+01] [-3.63024513e-02 9.99311484e-01 7.66097783e-03 -2.19595652e+00] [ 1.58054305e-03 -7.60860757e-03 9.99969805e-01 1.59040810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.429072329 meters Centerline goodness [0,1] 0.6511490617752478 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.19, Z:15.90 [[ 9.99394977e-01 3.47572825e-02 -1.26954290e-03 -2.47700746e+01] [-3.47498724e-02 9.99381154e-01 5.45488048e-03 -2.18979595e+00] [ 1.45835407e-03 -5.40746370e-03 9.99984316e-01 1.59041656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459072328999998 meters Centerline goodness [0,1] 0.6419693062190843 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.19, Z:15.90 [[ 9.99541601e-01 3.02307835e-02 -1.63937645e-03 -2.47692285e+01] [-3.02307412e-02 9.99542945e-01 5.05772917e-05 -2.18510768e+00] [ 1.64015615e-03 -9.94542027e-07 9.99998655e-01 1.59039791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.489072329 meters Centerline goodness [0,1] 0.6345285804682557 Centerline is valid? [False, False] Translation: X:-24.77, Y:-2.18, Z:15.90 [[ 9.99637939e-01 2.68015572e-02 -2.38084683e-03 -2.47658723e+01] [-2.68104581e-02 9.99633355e-01 -3.78875656e-03 -2.18201100e+00] [ 2.27842933e-03 3.85121639e-03 9.99989988e-01 1.59016066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519072329 meters Centerline goodness [0,1] 0.6159506089309879 Centerline is valid? [False, False] Translation: X:-24.76, Y:-2.18, Z:15.90 [[ 9.99771296e-01 2.12591513e-02 -2.32474263e-03 -2.47647627e+01] [-2.12798217e-02 9.99730665e-01 -9.26101724e-03 -2.17886425e+00] [ 2.12723513e-03 9.30836932e-03 9.99954414e-01 1.58996357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.549072328999998 meters Centerline goodness [0,1] 0.6205964919686768 Centerline is valid? [False, False] Translation: X:-24.76, Y:-2.18, Z:15.90 [[ 9.99857243e-01 1.67108629e-02 -2.49799683e-03 -2.47641090e+01] [-1.67443590e-02 9.99761074e-01 -1.40506400e-02 -2.17656634e+00] [ 2.26260167e-03 1.40904615e-02 9.99898165e-01 1.58991467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579072329 meters Centerline goodness [0,1] 0.6204092838588414 Centerline is valid? [False, False] Translation: X:-24.76, Y:-2.18, Z:15.90 [[ 9.99938150e-01 1.10772462e-02 9.95376409e-04 -2.47560843e+01] [-1.10697987e-02 9.99912809e-01 -7.19962709e-03 -2.17690117e+00] [-1.07504166e-03 7.18816318e-03 9.99973587e-01 1.58993901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.609072329 meters Centerline goodness [0,1] 0.5937763002861471 Centerline is valid? [False, False] Translation: X:-24.75, Y:-2.17, Z:15.90 [[ 9.99959383e-01 4.50048060e-03 7.80888636e-03 -2.47497203e+01] [-4.48474130e-03 9.99987879e-01 -2.03190426e-03 -2.17330992e+00] [-7.81793625e-03 1.99680090e-03 9.99967446e-01 1.58979987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639072329 meters Centerline goodness [0,1] 0.5903573907738909 Centerline is valid? [False, False] Translation: X:-24.75, Y:-2.17, Z:15.90 [[ 9.99961640e-01 3.81284242e-03 7.88549658e-03 -2.47498993e+01] [-3.78941961e-03 9.99988370e-01 -2.98317669e-03 -2.17085118e+00] [-7.89677926e-03 2.95318080e-03 9.99964459e-01 1.58980767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669072329 meters Centerline goodness [0,1] 0.6018207549162495 Centerline is valid? [False, False] Translation: X:-24.75, Y:-2.17, Z:15.90 [[ 9.99962519e-01 3.29170953e-03 8.00776864e-03 -2.47501825e+01] [-3.26111250e-03 9.99987344e-01 -3.83098018e-03 -2.16870004e+00] [-8.02027777e-03 3.80472236e-03 9.99960599e-01 1.58981483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699072329 meters Centerline goodness [0,1] 0.5873347251217815 Centerline is valid? [False, False] Translation: X:-24.75, Y:-2.17, Z:15.90 [[ 9.99964046e-01 3.00007873e-03 7.93134862e-03 -2.47497749e+01] [-2.96437345e-03 9.99985437e-01 -4.50972105e-03 -2.16668017e+00] [-7.94476263e-03 4.48604742e-03 9.99958377e-01 1.58978347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729072329 meters Centerline goodness [0,1] 0.5987791575767747 Centerline is valid? [False, False] Translation: X:-24.75, Y:-2.16, Z:15.90 [[ 9.99964108e-01 3.98668437e-03 7.47595529e-03 -2.47465137e+01] [-3.95436700e-03 9.99982795e-01 -4.33265219e-03 -2.16079475e+00] [-7.49309958e-03 4.30293401e-03 9.99962668e-01 1.58950754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759072329 meters Centerline goodness [0,1] 0.5891615024661692 Centerline is valid? [False, False] Translation: X:-24.75, Y:-2.16, Z:15.89 [[ 9.99943852e-01 7.40589098e-03 7.57930975e-03 -2.47462536e+01] [-7.39864958e-03 9.99972146e-01 -9.83009969e-04 -2.15891047e+00] [-7.58637871e-03 9.26878118e-04 9.99970793e-01 1.58943857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789072329 meters Centerline goodness [0,1] 0.60338496602372 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.15, Z:15.89 [[ 9.99949030e-01 7.18757758e-03 7.09052782e-03 -2.47444178e+01] [-7.17228506e-03 9.99971903e-01 -2.17982907e-03 -2.15392127e+00] [-7.10599629e-03 2.12886268e-03 9.99972486e-01 1.58934410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819072329 meters Centerline goodness [0,1] 0.5987895147514709 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.15, Z:15.89 [[ 9.99919185e-01 1.06497869e-02 6.94300580e-03 -2.47426430e+01] [-1.06482368e-02 9.99943272e-01 -2.60189835e-04 -2.14628162e+00] [-6.94538291e-03 1.86238038e-04 9.99975863e-01 1.58920501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849072329 meters Centerline goodness [0,1] 0.6215313028764806 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.14, Z:15.89 [[ 9.99918588e-01 1.07631490e-02 6.85358926e-03 -2.47423461e+01] [-1.07521141e-02 9.99940841e-01 -1.64490432e-03 -2.14110217e+00] [-6.87088817e-03 1.57107983e-03 9.99975161e-01 1.58924595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879072329 meters Centerline goodness [0,1] 0.6124500116375025 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.14, Z:15.89 [[ 9.99916906e-01 1.09889632e-02 6.73979073e-03 -2.47418693e+01] [-1.09688507e-02 9.99935298e-01 -3.01388222e-03 -2.13586510e+00] [-6.77247410e-03 2.93970403e-03 9.99972745e-01 1.58927421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909072329 meters Centerline goodness [0,1] 0.638952474956423 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.13, Z:15.89 [[ 9.99846685e-01 1.59814504e-02 7.15534170e-03 -2.47414433e+01] [-1.59763030e-02 9.99872070e-01 -7.75960548e-04 -2.12674718e+00] [-7.16682729e-03 6.61525675e-04 9.99974099e-01 1.58928590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939072329 meters Centerline goodness [0,1] 0.6456761155854314 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.12, Z:15.89 [[ 9.99780470e-01 1.97091351e-02 7.11070256e-03 -2.47411009e+01] [-1.97241062e-02 9.99803377e-01 2.04148595e-03 -2.12229178e+00] [-7.06906851e-03 -2.18129004e-03 9.99972635e-01 1.58928853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969072329 meters Centerline goodness [0,1] 0.6830731029838811 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.11, Z:15.89 [[ 9.99598805e-01 2.75099437e-02 6.74027675e-03 -2.47378140e+01] [-2.75615358e-02 9.99590569e-01 7.68485361e-03 -2.11257280e+00] [-6.52610718e-03 -7.86754287e-03 9.99947754e-01 1.58908771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999072329 meters Centerline goodness [0,1] 0.6953265491780736 Centerline is valid? [False, False] Translation: X:-24.74, Y:-2.11, Z:15.89 [[ 9.99488654e-01 3.13213052e-02 6.43482261e-03 -2.47362001e+01] [-3.13891561e-02 9.99449656e-01 1.07287640e-02 -2.10860377e+00] [-6.09524235e-03 -1.09252615e-02 9.99921740e-01 1.58899165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029072328999998 meters Centerline goodness [0,1] 0.6984126984126984 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.11, Z:15.89 [[ 9.99359827e-01 3.52125140e-02 6.32575835e-03 -2.47348917e+01] [-3.52985814e-02 9.99278007e-01 1.40525992e-02 -2.10575244e+00] [-5.82636385e-03 -1.42668934e-02 9.99881248e-01 1.58888073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059072329 meters Centerline goodness [0,1] 0.7149826079579198 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.10, Z:15.89 [[ 9.99329521e-01 3.61604580e-02 5.73838879e-03 -2.47318009e+01] [-3.62369914e-02 9.99247297e-01 1.38462800e-02 -2.10141003e+00] [-5.23338166e-03 -1.40449383e-02 9.99887669e-01 1.58866996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089072329 meters Centerline goodness [0,1] 0.7294132513373489 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.09, Z:15.89 [[ 9.99198526e-01 3.96200053e-02 5.70619592e-03 -2.47310144e+01] [-3.97038974e-02 9.99092391e-01 1.54270885e-02 -2.09359747e+00] [-5.08979560e-03 -1.56412824e-02 9.99864713e-01 1.58868073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119072328999998 meters Centerline goodness [0,1] 0.7363480687511892 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.09, Z:15.89 [[ 9.99212099e-01 3.93095104e-02 5.47204169e-03 -2.47305032e+01] [-3.93812663e-02 9.99130483e-01 1.36891536e-02 -2.08712513e+00] [-4.92916973e-03 -1.38938638e-02 9.99891326e-01 1.58872896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.149072329 meters Centerline goodness [0,1] 0.7386268079381096 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.08, Z:15.89 [[ 9.99230998e-01 3.88628071e-02 5.20523448e-03 -2.47301336e+01] [-3.89220632e-02 9.99172427e-01 1.18124748e-02 -2.08029433e+00] [-4.74186084e-03 -1.20059894e-02 9.99916682e-01 1.58880984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179072329 meters Centerline goodness [0,1] 0.7405536770921386 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.07, Z:15.89 [[ 9.99258728e-01 3.81765481e-02 4.95443170e-03 -2.47299517e+01] [-3.82244183e-02 9.99219575e-01 9.95663119e-03 -2.07414113e+00] [-4.57045532e-03 -1.01386309e-02 9.99938158e-01 1.58888796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.209072328999998 meters Centerline goodness [0,1] 0.7405536770921386 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.07, Z:15.89 [[ 9.99258728e-01 3.81765481e-02 4.95443170e-03 -2.47299517e+01] [-3.82244183e-02 9.99219575e-01 9.95663119e-03 -2.07414113e+00] [-4.57045532e-03 -1.01386309e-02 9.99938158e-01 1.58888796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239072329 meters Centerline goodness [0,1] 0.738065525920599 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.07, Z:15.89 [[ 9.99304304e-01 3.70121410e-02 4.58362646e-03 -2.47286023e+01] [-3.70452206e-02 9.99286520e-01 7.35548920e-03 -2.06577771e+00] [-4.30811373e-03 -7.52017347e-03 9.99962443e-01 1.58884860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.269072329 meters Centerline goodness [0,1] 0.7336659088995537 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.06, Z:15.89 [[ 9.99322483e-01 3.65562057e-02 4.26846301e-03 -2.47272719e+01] [-3.65833513e-02 9.99309694e-01 6.46477532e-03 -2.06278734e+00] [-4.02918881e-03 -6.61655001e-03 9.99969993e-01 1.58876273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299072328999998 meters Centerline goodness [0,1] 0.7289347835287148 Centerline is valid? [False, False] Translation: X:-24.73, Y:-2.06, Z:15.89 [[ 9.99343379e-01 3.60152119e-02 3.96435942e-03 -2.47261199e+01] [-3.60366698e-02 9.99335436e-01 5.48130130e-03 -2.05969801e+00] [-3.76431462e-03 -5.62056448e-03 9.99977119e-01 1.58869518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.329072329 meters Centerline goodness [0,1] 0.7108143005312957 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.05, Z:15.88 [[ 9.99504646e-01 3.13188276e-02 3.09724910e-03 -2.47227447e+01] [-3.13177333e-02 9.99509399e-01 -4.01183646e-04 -2.05166570e+00] [-3.10829419e-03 3.03986097e-04 9.99995123e-01 1.58849692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359072329 meters Centerline goodness [0,1] 0.726343036578121 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.05, Z:15.88 [[ 9.99632282e-01 2.69924572e-02 2.58981469e-03 -2.47216273e+01] [-2.69771995e-02 9.99619478e-01 -5.75582100e-03 -2.04640540e+00] [-2.74419296e-03 5.68383854e-03 9.99980081e-01 1.58849828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.389072329 meters Centerline goodness [0,1] 0.6881941500635862 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.04, Z:15.89 [[ 9.99648745e-01 2.63828735e-02 2.51593027e-03 -2.47214795e+01] [-2.63655973e-02 9.99630121e-01 -6.66901754e-03 -2.04383407e+00] [-2.69094752e-03 6.60034101e-03 9.99974597e-01 1.58850570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419072329 meters Centerline goodness [0,1] 0.7064555677686649 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.04, Z:15.89 [[ 9.99685750e-01 2.49300053e-02 2.62594728e-03 -2.47224945e+01] [-2.49049956e-02 9.99647844e-01 -9.16124025e-03 -2.03597421e+00] [-2.85341230e-03 9.09296213e-03 9.99954587e-01 1.58866377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449072329 meters Centerline goodness [0,1] 0.6930768578933988 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.03, Z:15.89 [[ 9.99705398e-01 2.41322697e-02 2.59812495e-03 -2.47229185e+01] [-2.41034959e-02 9.99653392e-01 -1.05885127e-02 -2.03183831e+00] [-2.85274927e-03 1.05227694e-02 9.99940565e-01 1.58875238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479072329 meters Centerline goodness [0,1] 0.6890344390450032 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.03, Z:15.89 [[ 9.99722398e-01 2.34576392e-02 2.20601024e-03 -2.47216447e+01] [-2.34293537e-02 9.99652560e-01 -1.20758065e-02 -2.02667195e+00] [-2.48851369e-03 1.20207688e-02 9.99924651e-01 1.58872435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509072329 meters Centerline goodness [0,1] 0.6787390587339845 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.03, Z:15.89 [[ 9.99722472e-01 2.34822119e-02 1.88779995e-03 -2.47202557e+01] [-2.34576566e-02 9.99651369e-01 -1.21193275e-02 -2.02616328e+00] [-2.17173042e-03 1.20716807e-02 9.99924776e-01 1.58862024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539072329 meters Centerline goodness [0,1] 0.6770549608327527 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.03, Z:15.89 [[ 9.99723098e-01 2.34709554e-02 1.68566526e-03 -2.47190678e+01] [-2.34489167e-02 9.99652036e-01 -1.20811532e-02 -2.02630234e+00] [-1.96863492e-03 1.20382809e-02 9.99925599e-01 1.58850455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569072329 meters Centerline goodness [0,1] 0.6769503471269704 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.02, Z:15.88 [[ 9.99735655e-01 2.29371440e-02 1.58333550e-03 -2.47183533e+01] [-2.29151068e-02 9.99655977e-01 -1.27602785e-02 -2.02407225e+00] [-1.87547514e-03 1.27206231e-02 9.99917331e-01 1.58843811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599072329 meters Centerline goodness [0,1] 0.6732529205853823 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.02, Z:15.88 [[ 9.99744743e-01 2.25443422e-02 1.48384564e-03 -2.47183038e+01] [-2.25222198e-02 9.99654692e-01 -1.35368228e-02 -2.02082668e+00] [-1.78851202e-03 1.34999480e-02 9.99907272e-01 1.58848855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.629072329 meters Centerline goodness [0,1] 0.6673892911264523 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.02, Z:15.89 [[ 9.99752088e-01 2.22290622e-02 1.27735026e-03 -2.47180905e+01] [-2.22085268e-02 9.99650915e-01 -1.43118909e-02 -2.01696701e+00] [-1.59504427e-03 1.42799748e-02 9.99896764e-01 1.58855534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659072329 meters Centerline goodness [0,1] 0.667221402991363 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.01, Z:15.89 [[ 9.99756164e-01 2.20609714e-02 9.61999916e-04 -2.47174846e+01] [-2.20441056e-02 9.99644843e-01 -1.49748501e-02 -2.01379769e+00] [-1.29201799e-03 1.49499923e-02 9.99887408e-01 1.58859740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.689072329 meters Centerline goodness [0,1] 0.6659212219667081 Centerline is valid? [False, False] Translation: X:-24.72, Y:-2.01, Z:15.89 [[ 9.99752282e-01 2.22444791e-02 7.46972984e-04 -2.47163776e+01] [-2.22305993e-02 9.99637805e-01 -1.51677164e-02 -2.01287738e+00] [-1.08410038e-03 1.51473534e-02 9.99884685e-01 1.58851488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719072329 meters Centerline goodness [0,1] 0.6702053712480253 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99740010e-01 2.27967903e-02 4.68460591e-04 -2.47146601e+01] [-2.27875459e-02 9.99634094e-01 -1.45741172e-02 -2.01397279e+00] [-8.00532272e-04 1.45596530e-02 9.99893682e-01 1.58835495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.749072329 meters Centerline goodness [0,1] 0.6692779076378799 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99723822e-01 2.35006372e-02 2.67790435e-05 -2.47124327e+01] [-2.34979924e-02 9.99627159e-01 -1.39063783e-02 -2.01461536e+00] [-3.53577810e-04 1.39019084e-02 9.99903301e-01 1.58818583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779072328999998 meters Centerline goodness [0,1] 0.6771107692956025 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99709517e-01 2.40969976e-02 -4.65511850e-04 -2.47102594e+01] [-2.41010870e-02 9.99618362e-01 -1.35006386e-02 -2.01408782e+00] [ 1.40009337e-04 1.35079362e-02 9.99908754e-01 1.58805013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.809072329 meters Centerline goodness [0,1] 0.6740223404926688 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99609580e-01 2.79330111e-02 -6.58729166e-04 -2.47092449e+01] [-2.79380639e-02 9.99563247e-01 -9.63224655e-03 -2.01264359e+00] [ 3.89383814e-04 9.64688955e-03 9.99953392e-01 1.58799219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839072329 meters Centerline goodness [0,1] 0.6751059299702764 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99612424e-01 2.78234078e-02 -9.27390285e-04 -2.47087274e+01] [-2.78313935e-02 9.99561137e-01 -1.01462477e-02 -2.01011222e+00] [ 6.44680101e-04 1.01681258e-02 9.99948095e-01 1.58802671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869072328999998 meters Centerline goodness [0,1] 0.6966639339093146 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99510079e-01 3.12878189e-02 -8.20731368e-04 -2.47096599e+01] [-3.12927176e-02 9.99486756e-01 -6.85489785e-03 -2.00813594e+00] [ 6.05835330e-04 6.87722241e-03 9.99976168e-01 1.58816584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899072329 meters Centerline goodness [0,1] 0.7010885616640647 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99518487e-01 3.10113266e-02 -1.04456386e-03 -2.47098079e+01] [-3.10183964e-02 9.99489791e-01 -7.61690509e-03 -2.00617068e+00] [ 8.07820587e-04 7.64563815e-03 9.99970445e-01 1.58827340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929072329 meters Centerline goodness [0,1] 0.7168395311577704 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99519599e-01 3.09655842e-02 -1.30504135e-03 -2.47095951e+01] [-3.09750633e-02 9.99488078e-01 -8.00790146e-03 -2.00535294e+00] [ 1.05640392e-03 8.04447820e-03 9.99967085e-01 1.58833315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959072328999998 meters Centerline goodness [0,1] 0.7125683060109289 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99512999e-01 3.11620079e-02 -1.64158026e-03 -2.47088135e+01] [-3.11741276e-02 9.99482248e-01 -7.96303429e-03 -2.00568483e+00] [ 1.39258619e-03 8.01033111e-03 9.99966947e-01 1.58833073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989072329 meters Centerline goodness [0,1] 0.743188698284561 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99501064e-01 3.15325013e-02 -1.82330757e-03 -2.47077199e+01] [-3.15457067e-02 9.99472380e-01 -7.73499120e-03 -2.00677078e+00] [ 1.57844194e-03 7.78864946e-03 9.99968422e-01 1.58822596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019072329 meters Centerline goodness [0,1] 0.7490079989922529 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.01, Z:15.88 [[ 9.99493952e-01 3.17335285e-02 -2.19618860e-03 -2.47064805e+01] [-3.17496452e-02 9.99465880e-01 -7.74040932e-03 -2.00606588e+00] [ 1.94938507e-03 7.80622051e-03 9.99967631e-01 1.58817263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049072328999998 meters Centerline goodness [0,1] 0.7714279709109252 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.00, Z:15.88 [[ 9.99492145e-01 3.17632139e-02 -2.55950378e-03 -2.47056311e+01] [-3.17830292e-02 9.99461858e-01 -8.11377318e-03 -2.00395844e+00] [ 2.30040690e-03 8.19100134e-03 9.99963807e-01 1.58818660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079072329 meters Centerline goodness [0,1] 0.7687975454965746 Centerline is valid? [False, False] Translation: X:-24.71, Y:-2.00, Z:15.88 [[ 9.99364803e-01 3.55436812e-02 -2.57640206e-03 -2.47054084e+01] [-3.55546716e-02 9.99358250e-01 -4.35346456e-03 -2.00240528e+00] [ 2.42001049e-03 4.44230238e-03 9.99987205e-01 1.58820639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.109072329 meters Centerline goodness [0,1] 0.774393186061636 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.00, Z:15.88 [[ 9.99355540e-01 3.57700478e-02 -3.00132394e-03 -2.47042947e+01] [-3.57826282e-02 9.99350567e-01 -4.24818564e-03 -2.00217428e+00] [ 2.84741698e-03 4.35284311e-03 9.99986472e-01 1.58818600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139072328999998 meters Centerline goodness [0,1] 0.7788695725203661 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.00, Z:15.88 [[ 9.99344757e-01 3.60424295e-02 -3.31672235e-03 -2.47033666e+01] [-3.60558100e-02 9.99341502e-01 -4.06695047e-03 -2.00261549e+00] [ 3.16795552e-03 4.18387274e-03 9.99986230e-01 1.58815556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.169072329 meters Centerline goodness [0,1] 0.7910454012397387 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.00, Z:15.88 [[ 9.99326422e-01 3.65145458e-02 -3.65933210e-03 -2.47020554e+01] [-3.65282018e-02 9.99325635e-01 -3.73714669e-03 -2.00325585e+00] [ 3.52040416e-03 3.86829825e-03 9.99986321e-01 1.58808409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199072329 meters Centerline goodness [0,1] 0.8044655223066269 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.00, Z:15.88 [[ 9.99288075e-01 3.75143517e-02 -4.00207538e-03 -2.47004788e+01] [-3.75284938e-02 9.99289361e-01 -3.51912054e-03 -2.00307787e+00] [ 3.86721382e-03 3.66680705e-03 9.99985799e-01 1.58801710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.229072329 meters Centerline goodness [0,1] 0.8081944123273561 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.00, Z:15.88 [[ 9.99276359e-01 3.77856986e-02 -4.35883489e-03 -2.46995077e+01] [-3.78017673e-02 9.99278537e-01 -3.66491664e-03 -2.00208485e+00] [ 4.21720872e-03 3.82703621e-03 9.99983784e-01 1.58800687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259072329 meters Centerline goodness [0,1] 0.8172617550917778 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.00, Z:15.88 [[ 9.99255537e-01 3.82687144e-02 -4.88640207e-03 -2.46978946e+01] [-3.82873041e-02 9.99259664e-01 -3.76923010e-03 -2.00029431e+00] [ 4.73854089e-03 3.95351121e-03 9.99980958e-01 1.58797415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.289072329 meters Centerline goodness [0,1] 0.8225972335915035 Centerline is valid? [False, False] Translation: X:-24.70, Y:-2.00, Z:15.88 [[ 9.99064466e-01 4.29267339e-02 -5.24294789e-03 -2.46961116e+01] [-4.29281855e-02 9.99078147e-01 -1.64586929e-04 -1.99647868e+00] [ 5.23104949e-03 3.89503192e-04 9.99986242e-01 1.58794348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319072329 meters Centerline goodness [0,1] 0.8286288633888935 Centerline is valid? [False, False] Translation: X:-24.69, Y:-1.99, Z:15.88 [[ 9.99017708e-01 4.39278233e-02 -5.82801263e-03 -2.46933987e+01] [-4.39281526e-02 9.99034690e-01 7.15660083e-05 -1.99423749e+00] [ 5.82553053e-03 1.84518118e-04 9.99983014e-01 1.58780567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.349072329 meters Centerline goodness [0,1] 0.831801644550062 Centerline is valid? [False, False] Translation: X:-24.69, Y:-1.99, Z:15.88 [[ 9.98995505e-01 4.43665969e-02 -6.29177300e-03 -2.46916377e+01] [-4.43676067e-02 9.99015273e-01 -2.09392130e-05 -1.99297510e+00] [ 6.28464832e-03 3.00069090e-04 9.99980206e-01 1.58771955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379072329 meters Centerline goodness [0,1] 0.8381887204010151 Centerline is valid? [False, False] Translation: X:-24.69, Y:-1.99, Z:15.88 [[ 9.98926028e-01 4.58295947e-02 -6.81453285e-03 -2.46885844e+01] [-4.58265935e-02 9.98949232e-01 5.95979758e-04 -1.99303226e+00] [ 6.83468587e-03 -2.83052865e-04 9.99976603e-01 1.58751600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.409072329 meters Centerline goodness [0,1] 0.8425168709399373 Centerline is valid? [False, False] Translation: X:-24.69, Y:-1.99, Z:15.88 [[ 9.98912476e-01 4.60747881e-02 -7.13994273e-03 -2.46880385e+01] [-4.60735277e-02 9.98937993e-01 3.41005614e-04 -1.99219674e+00] [ 7.14807182e-03 -1.16724132e-05 9.99974452e-01 1.58755607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439072329 meters Centerline goodness [0,1] 0.8457262716308338 Centerline is valid? [False, False] Translation: X:-24.69, Y:-1.99, Z:15.88 [[ 9.98900979e-01 4.62639565e-02 -7.51533646e-03 -2.46873615e+01] [-4.62667850e-02 9.98929098e-01 -2.02848815e-04 -1.99007086e+00] [ 7.49790368e-03 5.50336336e-04 9.99971739e-01 1.58761084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.469072329 meters Centerline goodness [0,1] 0.8418696538534289 Centerline is valid? [False, False] Translation: X:-24.69, Y:-1.99, Z:15.88 [[ 9.98694109e-01 5.05260010e-02 -7.56305840e-03 -2.46870383e+01] [-5.05041025e-02 9.98719169e-01 3.05908291e-03 -1.98648370e+00] [ 7.70793462e-03 -2.67312261e-03 9.99966721e-01 1.58769374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499072329 meters Centerline goodness [0,1] 0.8423188527692502 Centerline is valid? [False, False] Translation: X:-24.69, Y:-1.98, Z:15.88 [[ 9.98674530e-01 5.08358483e-02 -8.05598220e-03 -2.46858188e+01] [-5.08169203e-02 9.98704763e-01 2.53722608e-03 -1.98350105e+00] [ 8.17452983e-03 -2.12448286e-03 9.99964331e-01 1.58771119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.529072328999998 meters Centerline goodness [0,1] 0.838778214864211 Centerline is valid? [False, False] Translation: X:-24.68, Y:-1.98, Z:15.88 [[ 9.98659953e-01 5.10530292e-02 -8.47855972e-03 -2.46844434e+01] [-5.10362927e-02 9.98694422e-01 2.17888697e-03 -1.98157544e+00] [ 8.57872908e-03 -1.74325290e-03 9.99961683e-01 1.58766882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559072329 meters Centerline goodness [0,1] 0.837969782416565 Centerline is valid? [False, False] Translation: X:-24.68, Y:-1.98, Z:15.88 [[ 9.98641008e-01 5.13548238e-02 -8.87798421e-03 -2.46828880e+01] [-5.13371661e-02 9.98678943e-01 2.20565920e-03 -1.98111958e+00] [ 8.97952712e-03 -1.74689118e-03 9.99958157e-01 1.58758581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.589072329 meters Centerline goodness [0,1] 0.8379301619433198 Centerline is valid? [False, False] Translation: X:-24.68, Y:-1.98, Z:15.87 [[ 9.98577586e-01 5.24680292e-02 -9.48213797e-03 -2.46795311e+01] [-5.24405489e-02 9.98619161e-01 3.12403672e-03 -1.98230969e+00] [ 9.63295671e-03 -2.62234452e-03 9.99950163e-01 1.58731944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619072328999998 meters Centerline goodness [0,1] 0.8409637030479322 Centerline is valid? [False, False] Translation: X:-24.68, Y:-1.98, Z:15.87 [[ 9.98556190e-01 5.27977672e-02 -9.89599785e-03 -2.46780471e+01] [-5.27674537e-02 9.98601375e-01 3.29986551e-03 -1.98222709e+00] [ 1.00563826e-02 -2.77291453e-03 9.99945589e-01 1.58724492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.649072329 meters Centerline goodness [0,1] 0.8417629601565954 Centerline is valid? [False, False] Translation: X:-24.68, Y:-1.98, Z:15.87 [[ 9.98544896e-01 5.29243870e-02 -1.03489566e-02 -2.46768936e+01] [-5.28991649e-02 9.98596219e-01 2.69609097e-03 -1.97925407e+00] [ 1.04771179e-02 -2.14471671e-03 9.99942813e-01 1.58726144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679072329 meters Centerline goodness [0,1] 0.8379235064444351 Centerline is valid? [False, False] Translation: X:-24.68, Y:-1.98, Z:15.87 [[ 9.98539276e-01 5.29635451e-02 -1.06853929e-02 -2.46762696e+01] [-5.29411573e-02 9.98594827e-01 2.36747143e-03 -1.97771324e+00] [ 1.07957677e-02 -1.79831615e-03 9.99940107e-01 1.58729622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.709072328999998 meters Centerline goodness [0,1] 0.8388199544188402 Centerline is valid? [False, False] Translation: X:-24.68, Y:-1.98, Z:15.87 [[ 9.98546736e-01 5.27920172e-02 -1.08360423e-02 -2.46764438e+01] [-5.27738551e-02 9.98604575e-01 1.95543270e-03 -1.97677685e+00] [ 1.09241527e-02 -1.38073121e-03 9.99939376e-01 1.58737163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739072329 meters Centerline goodness [0,1] 0.8460954469727324 Centerline is valid? [False, False] Translation: X:-24.68, Y:-1.98, Z:15.87 [[ 9.98540328e-01 5.28774236e-02 -1.10086992e-02 -2.46760774e+01] [-5.28588320e-02 9.98600045e-01 1.97318346e-03 -1.97692772e+00] [ 1.10976244e-02 -1.38839628e-03 9.99937456e-01 1.58737729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.769072329 meters Centerline goodness [0,1] 0.8451107554956624 Centerline is valid? [False, False] Translation: X:-24.68, Y:-1.98, Z:15.87 [[ 9.98530316e-01 5.30365026e-02 -1.11506578e-02 -2.46755693e+01] [-5.30164175e-02 9.98591455e-01 2.08939754e-03 -1.97732251e+00] [ 1.12457660e-02 -1.49515886e-03 9.99935647e-01 1.58735456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799072328999998 meters Centerline goodness [0,1] 0.8436405821556634 Centerline is valid? [False, False] Translation: X:-24.67, Y:-1.98, Z:15.87 [[ 9.98524705e-01 5.30899062e-02 -1.13962945e-02 -2.46748048e+01] [-5.30732044e-02 9.98589068e-01 1.76322364e-03 -1.97615882e+00] [ 1.14738245e-02 -1.15578449e-03 9.99933506e-01 1.58733756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.829072329 meters Centerline goodness [0,1] 0.8465853967182688 Centerline is valid? [False, False] Translation: X:-24.67, Y:-1.98, Z:15.87 [[ 9.98527705e-01 5.29915328e-02 -1.15896258e-02 -2.46743621e+01] [-5.29777758e-02 9.98594578e-01 1.49102897e-03 -1.97517074e+00] [ 1.16523494e-02 -8.74841142e-04 9.99931726e-01 1.58734085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859072329 meters Centerline goodness [0,1] 0.8473348538604494 Centerline is valid? [False, False] Translation: X:-24.67, Y:-1.97, Z:15.87 [[ 9.98536600e-01 5.28023775e-02 -1.16862101e-02 -2.46745253e+01] [-5.27922132e-02 9.98604825e-01 1.17676306e-03 -1.97454439e+00] [ 1.17320417e-02 -5.58100087e-04 9.99931021e-01 1.58739457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.889072328999998 meters Centerline goodness [0,1] 0.8510029858278313 Centerline is valid? [False, False] Translation: X:-24.66, Y:-1.98, Z:15.87 [[ 9.98659011e-01 5.12933245e-02 -7.01246490e-03 -2.46563139e+01] [-5.12541099e-02 9.98669594e-01 5.66202956e-03 -1.97628625e+00] [ 7.29355980e-03 -5.29501919e-03 9.99959383e-01 1.58726668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919072329 meters Centerline goodness [0,1] 0.8543855208201494 Centerline is valid? [False, False] Translation: X:-24.66, Y:-1.97, Z:15.87 [[ 9.98849646e-01 4.73671211e-02 -7.46600414e-03 -2.46560366e+01] [-4.73613289e-02 9.98877370e-01 9.50812098e-04 -1.97342019e+00] [ 7.50265981e-03 -5.96118449e-04 9.99971677e-01 1.58735767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.949072329 meters Centerline goodness [0,1] 0.8562150764364787 Centerline is valid? [False, False] Translation: X:-24.66, Y:-1.97, Z:15.87 [[ 9.98866019e-01 4.70061959e-02 -7.55608288e-03 -2.46562573e+01] [-4.70026045e-02 9.98894554e-01 6.52275730e-04 -1.97304791e+00] [ 7.57839104e-03 -2.96380486e-04 9.99971240e-01 1.58740988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979072329 meters Centerline goodness [0,1] 0.8648591756830716 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.98981826e-01 4.42895218e-02 -8.58778736e-03 -2.46538536e+01] [-4.43072380e-02 9.99016176e-01 -1.88370495e-03 -1.97102984e+00] [ 8.49591010e-03 2.26228815e-03 9.99961350e-01 1.58734680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009072329 meters Centerline goodness [0,1] 0.866756308170683 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99101104e-01 4.13421525e-02 -9.37072713e-03 -2.46509447e+01] [-4.13915817e-02 9.99129761e-01 -5.14367811e-03 -1.96968773e+00] [ 9.14992164e-03 5.52692369e-03 9.99942864e-01 1.58718209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039072329 meters Centerline goodness [0,1] 0.8685649154653101 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99119395e-01 4.09160473e-02 -9.29036601e-03 -2.46513897e+01] [-4.09662163e-02 9.99146605e-01 -5.27552944e-03 -1.97041967e+00] [ 9.06658384e-03 5.65147493e-03 9.99942927e-01 1.58720435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.069072329 meters Centerline goodness [0,1] 0.8697789216099907 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99127366e-01 4.06804034e-02 -9.46627772e-03 -2.46512070e+01] [-4.07310344e-02 9.99156519e-01 -5.21862181e-03 -1.97127866e+00] [ 9.24599745e-03 5.59963915e-03 9.99941576e-01 1.58721707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099072329 meters Centerline goodness [0,1] 0.8697789216099907 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99127366e-01 4.06804034e-02 -9.46627772e-03 -2.46512070e+01] [-4.07310344e-02 9.99156519e-01 -5.21862181e-03 -1.97127866e+00] [ 9.24599745e-03 5.59963915e-03 9.99941576e-01 1.58721707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.129072329 meters Centerline goodness [0,1] 0.8677764415469333 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99160882e-01 3.98085999e-02 -9.63368133e-03 -2.46514632e+01] [-3.98648877e-02 9.99188690e-01 -5.72299554e-03 -1.97095501e+00] [ 9.39804099e-03 6.10223890e-03 9.99937218e-01 1.58727167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159072329 meters Centerline goodness [0,1] 0.8671697158755586 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99164321e-01 3.96672316e-02 -9.85748150e-03 -2.46507062e+01] [-3.97250307e-02 9.99194171e-01 -5.73845557e-03 -1.97097297e+00] [ 9.62190941e-03 6.12524882e-03 9.99934948e-01 1.58722708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.189072329 meters Centerline goodness [0,1] 0.8634966095270185 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99287250e-01 3.62416783e-02 -1.05608744e-02 -2.46480340e+01] [-3.63422334e-02 9.99294339e-01 -9.49035635e-03 -1.96868882e+00] [ 1.02094756e-02 9.86739787e-03 9.99899195e-01 1.58706525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219072329 meters Centerline goodness [0,1] 0.8639411455596426 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99281252e-01 3.63623228e-02 -1.07126414e-02 -2.46472587e+01] [-3.64617613e-02 9.99292349e-01 -9.23801047e-03 -1.96922115e+00] [ 1.03691451e-02 9.62197244e-03 9.99899944e-01 1.58699996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.249072329 meters Centerline goodness [0,1] 0.8603872163819074 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99280019e-01 3.63547907e-02 -1.08522861e-02 -2.46467608e+01] [-3.64552459e-02 9.99292874e-01 -9.20686460e-03 -1.96941435e+00] [ 1.05098986e-02 9.59585860e-03 9.99898726e-01 1.58697108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279072328999998 meters Centerline goodness [0,1] 0.8646841086901658 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99266472e-01 3.66266727e-02 -1.11805939e-02 -2.46454938e+01] [-3.67273791e-02 9.99285343e-01 -8.93882341e-03 -1.96960920e+00] [ 1.08452042e-02 9.34290044e-03 9.99897541e-01 1.58689856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.309072329 meters Centerline goodness [0,1] 0.8617695525415134 Centerline is valid? [False, False] Translation: X:-24.65, Y:-1.97, Z:15.87 [[ 9.99268902e-01 3.65110629e-02 -1.13403885e-02 -2.46451859e+01] [-3.66172717e-02 9.99286056e-01 -9.30346079e-03 -1.96824195e+00] [ 1.09926129e-02 9.71191313e-03 9.99892415e-01 1.58691497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339072329 meters Centerline goodness [0,1] 0.8639442901624169 Centerline is valid? [False, False] Translation: X:-24.63, Y:-1.97, Z:15.86 [[ 9.99312850e-01 3.67789102e-02 -4.59787122e-03 -2.46331100e+01] [-3.67750176e-02 9.99323139e-01 9.28330511e-04 -1.96798237e+00] [ 4.62890209e-03 -7.58605813e-04 9.99988999e-01 1.58649231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.369072328999998 meters Centerline goodness [0,1] 0.8628201354136003 Centerline is valid? [False, False] Translation: X:-24.63, Y:-1.97, Z:15.87 [[ 9.99319828e-01 3.65608880e-02 -4.81478344e-03 -2.46332539e+01] [-3.65596713e-02 9.99331414e-01 3.40482219e-04 -1.96652023e+00] [ 4.82401268e-03 -1.64223733e-04 9.99988351e-01 1.58659648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399072329 meters Centerline goodness [0,1] 0.8621619344510911 Centerline is valid? [False, False] Translation: X:-24.63, Y:-1.96, Z:15.87 [[ 9.99437307e-01 3.31450109e-02 -5.14560469e-03 -2.46324560e+01] [-3.31667048e-02 9.99441053e-01 -4.18950069e-03 -1.96362436e+00] [ 5.00386752e-03 4.35780604e-03 9.99977985e-01 1.58662662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.429072329 meters Centerline goodness [0,1] 0.8613773779678513 Centerline is valid? [False, False] Translation: X:-24.63, Y:-1.96, Z:15.87 [[ 9.99432759e-01 3.32539372e-02 -5.32315355e-03 -2.46319430e+01] [-3.32790015e-02 9.99435090e-01 -4.69130836e-03 -1.96249362e+00] [ 5.16414198e-03 4.86579649e-03 9.99974828e-01 1.58663362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459072328999998 meters Centerline goodness [0,1] 0.865275902801215 Centerline is valid? [False, False] Translation: X:-24.63, Y:-1.96, Z:15.87 [[ 9.99432827e-01 3.32160398e-02 -5.54240641e-03 -2.46313443e+01] [-3.32447994e-02 9.99433814e-01 -5.18013847e-03 -1.96045420e+00] [ 5.36720469e-03 5.36145663e-03 9.99971224e-01 1.58663297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.489072329 meters Centerline goodness [0,1] 0.8658224126344086 Centerline is valid? [False, False] Translation: X:-24.63, Y:-1.96, Z:15.86 [[ 9.99403201e-01 3.39856068e-02 -6.18233691e-03 -2.46285805e+01] [-3.40161090e-02 9.99409286e-01 -4.89738086e-03 -1.95828583e+00] [ 6.01224446e-03 5.10475715e-03 9.99968897e-01 1.58648083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519072329 meters Centerline goodness [0,1] 0.8650345525029496 Centerline is valid? [False, False] Translation: X:-24.63, Y:-1.96, Z:15.86 [[ 9.99399033e-01 3.40374958e-02 -6.55904141e-03 -2.46271791e+01] [-3.40730770e-02 9.99404801e-01 -5.39155950e-03 -1.95563576e+00] [ 6.37162230e-03 5.61180608e-03 9.99963954e-01 1.58642171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.549072328999998 meters Centerline goodness [0,1] 0.8643488533997173 Centerline is valid? [False, False] Translation: X:-24.63, Y:-1.95, Z:15.86 [[ 9.99393441e-01 3.41190063e-02 -6.97455034e-03 -2.46257074e+01] [-3.41582248e-02 9.99400841e-01 -5.58347293e-03 -1.95434980e+00] [ 6.77986893e-03 5.81832448e-03 9.99960089e-01 1.58634739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579072329 meters Centerline goodness [0,1] 0.8631672259861964 Centerline is valid? [False, False] Translation: X:-24.62, Y:-1.95, Z:15.86 [[ 9.99460764e-01 3.19451213e-02 -7.59543045e-03 -2.46225470e+01] [-3.20092790e-02 9.99451590e-01 -8.48091014e-03 -1.95411796e+00] [ 7.32034134e-03 8.71946118e-03 9.99935190e-01 1.58613816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.609072329 meters Centerline goodness [0,1] 0.8623238769191888 Centerline is valid? [False, False] Translation: X:-24.62, Y:-1.96, Z:15.86 [[ 9.99442617e-01 3.24390870e-02 -7.88415904e-03 -2.46216032e+01] [-3.25013669e-02 9.99440438e-01 -7.90392945e-03 -1.95579895e+00] [ 7.62335111e-03 8.15576988e-03 9.99937682e-01 1.58609842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639072328999998 meters Centerline goodness [0,1] 0.8590278656043169 Centerline is valid? [False, False] Translation: X:-24.62, Y:-1.96, Z:15.86 [[ 9.99432673e-01 3.26806826e-02 -8.14279144e-03 -2.46213555e+01] [-3.27430589e-02 9.99434536e-01 -7.64849135e-03 -1.95699116e+00] [ 7.88822907e-03 7.91077206e-03 9.99937596e-01 1.58614582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.669072329 meters Centerline goodness [0,1] 0.8583580114674564 Centerline is valid? [False, False] Translation: X:-24.61, Y:-1.96, Z:15.86 [[ 9.99427837e-01 3.37524434e-02 -2.18434589e-03 -2.46066171e+01] [-3.37539038e-02 9.99429973e-01 -6.35174782e-04 -1.96001017e+00] [ 2.16166205e-03 7.08541559e-04 9.99997413e-01 1.58621652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699072329 meters Centerline goodness [0,1] 0.853608116944755 Centerline is valid? [False, False] Translation: X:-24.61, Y:-1.96, Z:15.86 [[ 9.99432511e-01 3.36098424e-02 -2.24391137e-03 -2.46075708e+01] [-3.36126184e-02 9.99434203e-01 -1.21108514e-03 -1.95834563e+00] [ 2.20193739e-03 1.28582160e-03 9.99996749e-01 1.58639694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.729072329 meters Centerline goodness [0,1] 0.8470339877559637 Centerline is valid? [False, False] Translation: X:-24.61, Y:-1.96, Z:15.86 [[ 9.99426743e-01 3.37657675e-02 -2.46148098e-03 -2.46076067e+01] [-3.37694463e-02 9.99428571e-01 -1.46863002e-03 -1.95689370e+00] [ 2.41048500e-03 1.55091097e-03 9.99995892e-01 1.58649629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759072329 meters Centerline goodness [0,1] 0.820430039458969 Centerline is valid? [False, False] Translation: X:-24.60, Y:-1.96, Z:15.86 [[ 9.99367954e-01 3.54230414e-02 -2.98354403e-03 -2.46045381e+01] [-3.54238377e-02 9.99372356e-01 -2.14455364e-04 -1.95782997e+00] [ 2.97407477e-03 3.20008398e-04 9.99995526e-01 1.58627106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.789072329 meters Centerline goodness [0,1] 0.7902111202688138 Centerline is valid? [False, False] Translation: X:-24.60, Y:-1.96, Z:15.86 [[ 9.99445804e-01 3.30771820e-02 -3.73955476e-03 -2.46011786e+01] [-3.30891769e-02 9.99447304e-01 -3.19251226e-03 -1.95829925e+00] [ 3.63188862e-03 3.31448177e-03 9.99987912e-01 1.58604574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819072329 meters Centerline goodness [0,1] 0.8070005066711704 Centerline is valid? [False, False] Translation: X:-24.60, Y:-1.96, Z:15.86 [[ 9.99521673e-01 3.05968103e-02 -4.50115314e-03 -2.45978370e+01] [-3.06238941e-02 9.99512508e-01 -6.07651430e-03 -1.95972852e+00] [ 4.31303690e-03 6.21145058e-03 9.99971407e-01 1.58581207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.849072329 meters Centerline goodness [0,1] 0.7515202702702702 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.96, Z:15.86 [[ 9.99588384e-01 2.82267535e-02 -5.12956999e-03 -2.45949283e+01] [-2.82703577e-02 9.99563001e-01 -8.63674072e-03 -1.96166664e+00] [ 4.88354123e-03 8.77820048e-03 9.99949546e-01 1.58560226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879072329 meters Centerline goodness [0,1] 0.7776071037791432 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.97, Z:15.86 [[ 9.99562454e-01 2.91084218e-02 -5.25363161e-03 -2.45945610e+01] [-2.91448664e-02 9.99550693e-01 -6.99914912e-03 -1.96616639e+00] [ 5.04753694e-03 7.14920306e-03 9.99961705e-01 1.58557899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.909072329 meters Centerline goodness [0,1] 0.7809600134975536 Centerline is valid? [False, False] Translation: X:-24.60, Y:-1.97, Z:15.86 [[ 9.99556856e-01 2.92868979e-02 -5.32627595e-03 -2.45950927e+01] [-2.93225634e-02 9.99547236e-01 -6.74606601e-03 -1.96675557e+00] [ 5.12629306e-03 6.89925659e-03 9.99963060e-01 1.58569032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939072329 meters Centerline goodness [0,1] 0.7680230965376267 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.97, Z:15.86 [[ 9.99540685e-01 2.97963239e-02 -5.53159341e-03 -2.45949571e+01] [-2.98296107e-02 9.99536774e-01 -6.03588832e-03 -1.96845637e+00] [ 5.34918374e-03 6.19812122e-03 9.99966484e-01 1.58574139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.969072329 meters Centerline goodness [0,1] 0.7528099365260117 Centerline is valid? [False, False] Translation: X:-24.60, Y:-1.97, Z:15.86 [[ 9.99529625e-01 3.01594803e-02 -5.56190244e-03 -2.45951273e+01] [-3.01887421e-02 9.99530405e-01 -5.25439280e-03 -1.97147492e+00] [ 5.40082084e-03 5.41982810e-03 9.99970728e-01 1.58576291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999072329 meters Centerline goodness [0,1] 0.7393689986282579 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.98, Z:15.86 [[ 9.99588424e-01 2.80244426e-02 -6.13292923e-03 -2.45923207e+01] [-2.80657854e-02 9.99583205e-01 -6.76217518e-03 -1.97783002e+00] [ 5.94086687e-03 6.93151750e-03 9.99958329e-01 1.58551901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.029072328999998 meters Centerline goodness [0,1] 0.7485210851009887 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.98, Z:15.85 [[ 9.99566696e-01 2.87380642e-02 -6.36743241e-03 -2.45908013e+01] [-2.87725689e-02 9.99571423e-01 -5.39524305e-03 -1.98169158e+00] [ 6.20965463e-03 5.57611266e-03 9.99965173e-01 1.58535485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059072329 meters Centerline goodness [0,1] 0.7258322798145806 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.99, Z:15.85 [[ 9.99536336e-01 2.96891486e-02 -6.75776147e-03 -2.45886541e+01] [-2.97160126e-02 9.99550734e-01 -3.91017245e-03 -1.98507413e+00] [ 6.63863574e-03 4.10917317e-03 9.99969521e-01 1.58516673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.089072329 meters Centerline goodness [0,1] 0.7182111047943908 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.99, Z:15.85 [[ 9.99500963e-01 3.07743505e-02 -7.12495192e-03 -2.45871636e+01] [-3.07895201e-02 9.99523830e-01 -2.02925047e-03 -1.99086184e+00] [ 7.05911037e-03 2.24761165e-03 9.99972558e-01 1.58505489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119072328999998 meters Centerline goodness [0,1] 0.6907491952620395 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.99, Z:15.85 [[ 9.99482707e-01 3.13196945e-02 -7.30713851e-03 -2.45866320e+01] [-3.13287905e-02 9.99508490e-01 -1.13366659e-03 -1.99367927e+00] [ 7.26804089e-03 1.36200397e-03 9.99972660e-01 1.58503242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.149072329 meters Centerline goodness [0,1] 0.7037864261783855 Centerline is valid? [False, False] Translation: X:-24.59, Y:-1.99, Z:15.85 [[ 9.99567273e-01 2.84781934e-02 -7.36606380e-03 -2.45862883e+01] [-2.85122646e-02 9.99583030e-01 -4.56249591e-03 -1.99383744e+00] [ 7.23306074e-03 4.77054475e-03 9.99962462e-01 1.58503169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179072329 meters Centerline goodness [0,1] 0.6926784098322706 Centerline is valid? [False, False] Translation: X:-24.59, Y:-2.00, Z:15.85 [[ 9.99539605e-01 2.93996635e-02 -7.49922532e-03 -2.45860207e+01] [-2.94208355e-02 9.99563389e-01 -2.72867916e-03 -2.00062265e+00] [ 7.41572882e-03 2.94805636e-03 9.99968157e-01 1.58501028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.209072328999998 meters Centerline goodness [0,1] 0.692239561366512 Centerline is valid? [False, False] Translation: X:-24.59, Y:-2.00, Z:15.85 [[ 9.99631624e-01 2.60243727e-02 -7.70374689e-03 -2.45858329e+01] [-2.60726930e-02 9.99640575e-01 -6.23975980e-03 -2.00165938e+00] [ 7.53859214e-03 6.43831865e-03 9.99950858e-01 1.58504361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239072329 meters Centerline goodness [0,1] 0.695472560655944 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.01, Z:15.85 [[ 9.99717442e-01 2.37089717e-02 -1.70891224e-03 -2.45714388e+01] [-2.37070377e-02 9.99718295e-01 1.14325954e-03 -2.00723652e+00] [ 1.73553634e-03 -1.10242325e-03 9.99997886e-01 1.58452770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.269072329 meters Centerline goodness [0,1] 0.7274594068209242 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.01, Z:15.85 [[ 9.99797273e-01 2.00514362e-02 -1.83085198e-03 -2.45716097e+01] [-2.00541680e-02 9.99797790e-01 -1.48613516e-03 -2.01262769e+00] [ 1.80068262e-03 1.52255009e-03 9.99997220e-01 1.58454597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299072328999998 meters Centerline goodness [0,1] 0.7358941798941798 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.01, Z:15.85 [[ 9.99861874e-01 1.64754428e-02 -2.18924863e-03 -2.45706642e+01] [-1.64861686e-02 9.99851716e-01 -4.97507109e-03 -2.01333047e+00] [ 2.10695750e-03 5.01047622e-03 9.99985228e-01 1.58451212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.329072329 meters Centerline goodness [0,1] 0.7285783682176272 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.02, Z:15.84 [[ 9.99860498e-01 1.65369648e-02 -2.34807692e-03 -2.45702258e+01] [-1.65463714e-02 9.99854918e-01 -4.04484786e-03 -2.01648655e+00] [ 2.28084675e-03 4.08313575e-03 9.99989063e-01 1.58447440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359072329 meters Centerline goodness [0,1] 0.768645068758964 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.02, Z:15.84 [[ 9.99915070e-01 1.27516884e-02 -2.69210533e-03 -2.45695392e+01] [-1.27696479e-02 9.99895595e-01 -6.76285348e-03 -2.02085766e+00] [ 2.60558645e-03 6.79665634e-03 9.99973508e-01 1.58444123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389072328999998 meters Centerline goodness [0,1] 0.7708095540054957 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.02, Z:15.84 [[ 9.99953680e-01 9.16314182e-03 -2.94516744e-03 -2.45687548e+01] [-9.19227587e-03 9.99907389e-01 -1.00357180e-02 -2.02310625e+00] [ 2.85293598e-03 1.00623259e-02 9.99945304e-01 1.58439671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419072329 meters Centerline goodness [0,1] 0.7783203331430867 Centerline is valid? [False, False] Translation: X:-24.57, Y:-2.03, Z:15.84 [[ 9.99979537e-01 5.56712828e-03 -3.15150991e-03 -2.45679988e+01] [-5.60848967e-03 9.99896204e-01 -1.32712503e-02 -2.02562262e+00] [ 3.07730004e-03 1.32886540e-02 9.99906967e-01 1.58434354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449072329 meters Centerline goodness [0,1] 0.7908196583177097 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99994861e-01 2.14399334e-03 2.38347287e-03 -2.45538124e+01] [-2.12916880e-03 9.99978482e-01 -6.20495873e-03 -2.03138392e+00] [-2.39672498e-03 6.19985202e-03 9.99977909e-01 1.58377920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479072329 meters Centerline goodness [0,1] 0.8055831449039539 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.04, Z:15.84 [[ 9.99995030e-01 1.95939328e-03 2.46982656e-03 -2.45538401e+01] [-1.94704648e-03 9.99985646e-01 -4.99158705e-03 -2.03651873e+00] [-2.47957159e-03 4.98675338e-03 9.99984492e-01 1.58370789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509072329 meters Centerline goodness [0,1] 0.8033725672505969 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.04, Z:15.84 [[ 9.99995210e-01 2.14342557e-03 2.23269247e-03 -2.45532647e+01] [-2.13277235e-03 9.99986383e-01 -4.76296909e-03 -2.03610332e+00] [-2.24287114e-03 4.75818445e-03 9.99986165e-01 1.58370465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539072329 meters Centerline goodness [0,1] 0.8014035977762276 Centerline is valid? [False, False] Translation: X:-24.56, Y:-2.04, Z:15.84 [[ 9.99982513e-01 5.39452980e-03 2.42341176e-03 -2.45550133e+01] [-5.39127595e-03 9.99984559e-01 -1.34720400e-03 -2.03511401e+00] [-2.43064187e-03 1.33411516e-03 9.99996156e-01 1.58388996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.569072329 meters Centerline goodness [0,1] 0.7926723865337184 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99982014e-01 5.61695974e-03 2.10261955e-03 -2.45541956e+01] [-5.61418349e-03 9.99983364e-01 -1.32395538e-03 -2.03469069e+00] [-2.11002117e-03 1.31212707e-03 9.99996913e-01 1.58387650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599072329 meters Centerline goodness [0,1] 0.7826243158139436 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.04, Z:15.84 [[ 9.99981519e-01 5.77823477e-03 1.89037555e-03 -2.45534145e+01] [-5.77601763e-03 9.99982627e-01 -1.17622400e-03 -2.03544465e+00] [-1.89713920e-03 1.16528342e-03 9.99997521e-01 1.58382182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.629072329 meters Centerline goodness [0,1] 0.7799476417683571 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.04, Z:15.84 [[ 9.99980657e-01 5.98869644e-03 1.67957499e-03 -2.45524263e+01] [-5.98723680e-03 9.99981695e-01 -8.72735091e-04 -2.03678942e+00] [-1.68477079e-03 8.62662197e-04 9.99998209e-01 1.58373608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659072329 meters Centerline goodness [0,1] 0.7711866196439507 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.04, Z:15.84 [[ 9.99981439e-01 5.84663280e-03 1.71403872e-03 -2.45524189e+01] [-5.84507976e-03 9.99982504e-01 -9.09684062e-04 -2.03803193e+00] [-1.71932732e-03 8.99648485e-04 9.99998117e-01 1.58371073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.689072329 meters Centerline goodness [0,1] 0.778718999535257 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.04, Z:15.84 [[ 9.99983597e-01 5.48387570e-03 1.65302776e-03 -2.45527761e+01] [-5.48141972e-03 9.99983872e-01 -1.48663612e-03 -2.03649432e+00] [-1.66115363e-03 1.47755080e-03 9.99997529e-01 1.58378407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719072329 meters Centerline goodness [0,1] 0.7803022297368699 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99986674e-01 4.91224700e-03 1.58776650e-03 -2.45534143e+01] [-4.90840962e-03 9.99985045e-01 -2.41176897e-03 -2.03371890e+00] [-1.59958996e-03 2.40394343e-03 9.99995831e-01 1.58390163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.749072329 meters Centerline goodness [0,1] 0.7898067744580644 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99987615e-01 4.80047383e-03 1.31349112e-03 -2.45530718e+01] [-4.79682389e-03 9.99984664e-01 -2.76799115e-03 -2.03171518e+00] [-1.32675864e-03 2.76165628e-03 9.99995306e-01 1.58395094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779072328999998 meters Centerline goodness [0,1] 0.7973898926862178 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99991643e-01 3.90072597e-03 1.22422960e-03 -2.45536521e+01] [-3.89623217e-03 9.99985741e-01 -3.65188573e-03 -2.03025438e+00] [-1.23845715e-03 3.64708532e-03 9.99992582e-01 1.58405221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.809072329 meters Centerline goodness [0,1] 0.808250845890339 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99992724e-01 3.69737208e-03 9.39031145e-04 -2.45526205e+01] [-3.69417655e-03 9.99987457e-01 -3.38224592e-03 -2.03182436e+00] [-9.51524788e-04 3.37875236e-03 9.99993839e-01 1.58397305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839072329 meters Centerline goodness [0,1] 0.8127260804264591 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99994642e-01 3.11587075e-03 1.00368280e-03 -2.45526132e+01] [-3.11238425e-03 9.99989182e-01 -3.45674086e-03 -2.03321074e+00] [-1.01444270e-03 3.45359849e-03 9.99993522e-01 1.58392435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869072328999998 meters Centerline goodness [0,1] 0.8149328044895462 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99998604e-01 -1.45052112e-03 8.29925967e-04 -2.45518703e+01] [ 1.45723381e-03 9.99965762e-01 -8.14569106e-03 -2.03107900e+00] [-8.18082054e-04 8.14688908e-03 9.99966479e-01 1.58387049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899072329 meters Centerline goodness [0,1] 0.815470662726889 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99999305e-01 1.02230763e-03 5.86904714e-04 -2.45520485e+01] [-1.01955865e-03 9.99988598e-01 -4.66520110e-03 -2.03217200e+00] [-5.91667293e-04 4.66459947e-03 9.99988946e-01 1.58390056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929072329 meters Centerline goodness [0,1] 0.8165777768408626 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99999675e-01 6.49007132e-04 4.77630073e-04 -2.45521060e+01] [-6.46563239e-04 9.99986790e-01 -5.09919714e-03 -2.03067681e+00] [-4.80933178e-04 5.09888667e-03 9.99986885e-01 1.58394682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959072328999998 meters Centerline goodness [0,1] 0.8152116708418415 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99999898e-01 3.49817927e-04 2.84647511e-04 -2.45519139e+01] [-3.48263276e-04 9.99985123e-01 -5.44351145e-03 -2.02937691e+00] [-2.86547514e-04 5.44341177e-03 9.99985143e-01 1.58398217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.989072329 meters Centerline goodness [0,1] 0.8129789422854863 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99999909e-01 -4.12692553e-04 1.08674391e-04 -2.45519209e+01] [ 4.13391711e-04 9.99978698e-01 -6.51405723e-03 -2.02602604e+00] [-1.05983773e-04 6.51410156e-03 9.99978777e-01 1.58403994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019072329 meters Centerline goodness [0,1] 0.8129789422854863 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99999909e-01 -4.12692553e-04 1.08674391e-04 -2.45519209e+01] [ 4.13391711e-04 9.99978698e-01 -6.51405723e-03 -2.02602604e+00] [-1.05983773e-04 6.51410156e-03 9.99978777e-01 1.58403994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.049072328999998 meters Centerline goodness [0,1] 0.8125223990724149 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.03, Z:15.84 [[ 9.99997893e-01 2.01536848e-03 3.89203827e-04 -2.45537901e+01] [-2.01390719e-03 9.99991056e-01 -3.71914989e-03 -2.02589844e+00] [-3.96695803e-04 3.71835823e-03 9.99993008e-01 1.58417178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079072329 meters Centerline goodness [0,1] 0.813460485874279 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.02, Z:15.84 [[ 9.99998185e-01 1.90442642e-03 4.77526746e-05 -2.45527166e+01] [-1.90419859e-03 9.99988563e-01 -4.38735144e-03 -2.02282011e+00] [-5.61075164e-05 4.38725255e-03 9.99990374e-01 1.58413126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.109072329 meters Centerline goodness [0,1] 0.8141140319491508 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.02, Z:15.84 [[ 9.99998153e-01 1.90215433e-03 -2.75923041e-04 -2.45515764e+01] [-1.90354870e-03 9.99984955e-01 -5.14445072e-03 -2.01922917e+00] [ 2.66133351e-04 5.14496645e-03 9.99986729e-01 1.58408658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139072328999998 meters Centerline goodness [0,1] 0.8118511015446949 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.01, Z:15.84 [[ 9.99987607e-01 4.97316700e-03 -2.33239485e-04 -2.45519094e+01] [-4.97387041e-03 9.99982766e-01 -3.11895783e-03 -2.01354771e+00] [ 2.17724367e-04 3.12007928e-03 9.99995109e-01 1.58413389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.169072329 meters Centerline goodness [0,1] 0.8128074675188159 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.01, Z:15.84 [[ 9.99983385e-01 5.68727155e-03 -9.40371554e-04 -2.45493592e+01] [-5.69040183e-03 9.99978164e-01 -3.36029430e-03 -2.00907870e+00] [ 9.21240113e-04 3.36558956e-03 9.99993912e-01 1.58403475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199072329 meters Centerline goodness [0,1] 0.812292008930452 Centerline is valid? [False, False] Translation: X:-24.55, Y:-2.00, Z:15.84 [[ 9.99983396e-01 5.65884912e-03 -1.08877108e-03 -2.45489614e+01] [-5.66399037e-03 9.99972543e-01 -4.77839901e-03 -2.00338949e+00] [ 1.06170095e-03 4.78448646e-03 9.99987991e-01 1.58407502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.229072329 meters Centerline goodness [0,1] 0.8117356835624525 Centerline is valid? [False, False] Translation: X:-24.55, Y:-1.99, Z:15.84 [[ 9.99950231e-01 9.87121068e-03 -1.44764312e-03 -2.45474235e+01] [-9.87495509e-03 9.99947854e-01 -2.60263167e-03 -1.99356016e+00] [ 1.42187651e-03 2.61679755e-03 9.99995565e-01 1.58405454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259072329 meters Centerline goodness [0,1] 0.810203089667998 Centerline is valid? [False, False] Translation: X:-24.55, Y:-1.99, Z:15.84 [[ 9.99906634e-01 1.35658990e-02 -1.63997166e-03 -2.45465947e+01] [-1.35652981e-02 9.99907916e-01 3.77002004e-04 -1.98934043e+00] [ 1.64493502e-03 -3.54720101e-04 9.99998584e-01 1.58401522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.289072329 meters Centerline goodness [0,1] 0.8095167881366643 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.98, Z:15.84 [[ 9.99893712e-01 1.43895121e-02 -2.34649211e-03 -2.45436743e+01] [-1.43895249e-02 9.99896465e-01 1.14362721e-05 -1.98277419e+00] [ 2.34641373e-03 2.23298500e-05 9.99997247e-01 1.58387107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319072329 meters Centerline goodness [0,1] 0.806289573659772 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.97, Z:15.84 [[ 9.99853185e-01 1.69467903e-02 -2.53254494e-03 -2.45430045e+01] [-1.69445797e-02 9.99856033e-01 8.91777786e-04 -1.97295718e+00] [ 2.54729310e-03 -8.48733951e-04 9.99996395e-01 1.58389083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.349072329 meters Centerline goodness [0,1] 0.8049218419940853 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.97, Z:15.84 [[ 9.99863916e-01 1.62632760e-02 -2.76688959e-03 -2.45428869e+01] [-1.62655874e-02 9.99867374e-01 -8.14912372e-04 -1.96791580e+00] [ 2.75326949e-03 8.59806560e-04 9.99995840e-01 1.58396524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379072329 meters Centerline goodness [0,1] 0.8035279418927217 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.96, Z:15.84 [[ 9.99877811e-01 1.53780885e-02 -2.80667847e-03 -2.45434589e+01] [-1.53853409e-02 9.99878308e-01 -2.58093530e-03 -1.96326276e+00] [ 2.76664707e-03 2.62380165e-03 9.99992731e-01 1.58407374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.409072329 meters Centerline goodness [0,1] 0.8055667351564321 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.96, Z:15.84 [[ 9.99891129e-01 1.44719422e-02 -2.87960027e-03 -2.45439769e+01] [-1.44841766e-02 9.99885964e-01 -4.27417650e-03 -1.95863411e+00] [ 2.81741626e-03 4.31541981e-03 9.99986720e-01 1.58418282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439072329 meters Centerline goodness [0,1] 0.8087451345405314 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.95, Z:15.84 [[ 9.99917094e-01 1.25494564e-02 -2.88378155e-03 -2.45449421e+01] [-1.25705407e-02 9.99893506e-01 -7.41336954e-03 -1.94816642e+00] [ 2.79044069e-03 7.44900562e-03 9.99968362e-01 1.58433938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469072329 meters Centerline goodness [0,1] 0.809332515804385 Centerline is valid? [False, False] Translation: X:-24.55, Y:-1.94, Z:15.84 [[ 9.99926533e-01 1.17517301e-02 -2.97083070e-03 -2.45451281e+01] [-1.17773899e-02 9.99892162e-01 -8.77256466e-03 -1.94363192e+00] [ 2.86741752e-03 8.80690880e-03 9.99957107e-01 1.58440522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499072329 meters Centerline goodness [0,1] 0.8069124132255818 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.94, Z:15.84 [[ 9.99933612e-01 1.10852267e-02 -3.14464744e-03 -2.45449877e+01] [-1.11158764e-02 9.99889182e-01 -9.90260826e-03 -1.93990143e+00] [ 3.03452630e-03 9.93690636e-03 9.99946023e-01 1.58444810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.529072328999998 meters Centerline goodness [0,1] 0.8069720359357206 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.94, Z:15.84 [[ 9.99939088e-01 1.04987261e-02 -3.40533317e-03 -2.45445597e+01] [-1.05356297e-02 9.99883923e-01 -1.10064287e-02 -1.93624320e+00] [ 3.28938441e-03 1.10416356e-02 9.99933629e-01 1.58447926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559072329 meters Centerline goodness [0,1] 0.8034967692892436 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.93, Z:15.84 [[ 9.99944271e-01 9.75451633e-03 -4.03792716e-03 -2.45421818e+01] [-9.80574852e-03 9.99869115e-01 -1.28685930e-02 -1.92691690e+00] [ 3.91187176e-03 1.29074708e-02 9.99909043e-01 1.58437076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.589072329 meters Centerline goodness [0,1] 0.8044523522060537 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.92, Z:15.84 [[ 9.99939532e-01 9.94871110e-03 -4.68572729e-03 -2.45396019e+01] [-1.00109242e-02 9.99859479e-01 -1.34463128e-02 -1.92135133e+00] [ 4.55129537e-03 1.34924082e-02 9.99898615e-01 1.58423679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619072328999998 meters Centerline goodness [0,1] 0.805105194090505 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.92, Z:15.84 [[ 9.99931407e-01 1.04023997e-02 -5.38255087e-03 -2.45370072e+01] [-1.04761519e-02 9.99849060e-01 -1.38603062e-02 -1.91566832e+00] [ 5.23755798e-03 1.39157439e-02 9.99889454e-01 1.58412122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.649072329 meters Centerline goodness [0,1] 0.8089728403418225 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.91, Z:15.84 [[ 9.99888420e-01 1.38306184e-02 -5.64459487e-03 -2.45362149e+01] [-1.38988430e-02 9.99828586e-01 -1.22319814e-02 -1.90563829e+00] [ 5.47445144e-03 1.23090699e-02 9.99909254e-01 1.58417189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679072329 meters Centerline goodness [0,1] 0.8108045395097667 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.90, Z:15.84 [[ 9.99830305e-01 1.75124642e-02 -5.71617891e-03 -2.45358469e+01] [-1.75652536e-02 9.99802286e-01 -9.31935749e-03 -1.90133706e+00] [ 5.55184383e-03 9.41818217e-03 9.99940236e-01 1.58417341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.709072328999998 meters Centerline goodness [0,1] 0.8138428353916427 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.90, Z:15.84 [[ 9.99766613e-01 2.08474384e-02 -5.66604195e-03 -2.45360779e+01] [-2.08868588e-02 9.99757413e-01 -6.98954429e-03 -1.89585669e+00] [ 5.51895335e-03 7.10625884e-03 9.99959520e-01 1.58423397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739072329 meters Centerline goodness [0,1] 0.813001960412319 Centerline is valid? [False, False] Translation: X:-24.54, Y:-1.89, Z:15.84 [[ 9.99683052e-01 2.45011602e-02 -5.78689429e-03 -2.45353430e+01] [-2.45258769e-02 9.99690206e-01 -4.23951433e-03 -1.89089881e+00] [ 5.68122853e-03 4.38009929e-03 9.99974269e-01 1.58421015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.769072329 meters Centerline goodness [0,1] 0.812909221475943 Centerline is valid? [False, False] Translation: X:-24.53, Y:-1.88, Z:15.84 [[ 9.99589171e-01 2.79623815e-02 -6.29244197e-03 -2.45322987e+01] [-2.79833951e-02 9.99603018e-01 -3.27659953e-03 -1.87918422e+00] [ 6.19832246e-03 3.45133730e-03 9.99974834e-01 1.58407626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799072328999998 meters Centerline goodness [0,1] 0.8106704936369584 Centerline is valid? [False, False] Translation: X:-24.53, Y:-1.87, Z:15.84 [[ 9.99585038e-01 2.79961360e-02 -6.77994463e-03 -2.45306926e+01] [-2.80284669e-02 9.99595975e-01 -4.72147357e-03 -1.87234066e+00] [ 6.64502234e-03 4.90954580e-03 9.99965869e-01 1.58406929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.829072329 meters Centerline goodness [0,1] 0.8087038988408851 Centerline is valid? [False, False] Translation: X:-24.53, Y:-1.87, Z:15.84 [[ 9.99582057e-01 2.79856913e-02 -7.24660628e-03 -2.45294794e+01] [-2.80308452e-02 9.99587792e-01 -6.20628806e-03 -1.86502590e+00] [ 7.06993191e-03 6.40682268e-03 9.99954483e-01 1.58411474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859072329 meters Centerline goodness [0,1] 0.8089127686472819 Centerline is valid? [False, False] Translation: X:-24.53, Y:-1.86, Z:15.84 [[ 9.99571578e-01 2.81965113e-02 -7.84970140e-03 -2.45279940e+01] [-2.82541331e-02 9.99573903e-01 -7.32912830e-03 -1.85788649e+00] [ 7.63970082e-03 7.54777485e-03 9.99942331e-01 1.58416203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889072328999998 meters Centerline goodness [0,1] 0.8005766964135377 Centerline is valid? [False, False] Translation: X:-24.53, Y:-1.85, Z:15.84 [[ 9.99477070e-01 3.12745905e-02 -8.21502446e-03 -2.45275660e+01] [-3.13267655e-02 9.99489334e-01 -6.30116155e-03 -1.84739892e+00] [ 8.01376308e-03 6.55521663e-03 9.99946403e-01 1.58435349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919072329 meters Centerline goodness [0,1] 0.8055795710941949 Centerline is valid? [False, False] Translation: X:-24.53, Y:-1.84, Z:15.84 [[ 9.99493939e-01 3.06732611e-02 -8.42710360e-03 -2.45272477e+01] [-3.07393589e-02 9.99496771e-01 -7.82919916e-03 -1.84208477e+00] [ 8.18271577e-03 8.08428088e-03 9.99933842e-01 1.58440831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.949072329 meters Centerline goodness [0,1] 0.8084579745710719 Centerline is valid? [False, False] Translation: X:-24.53, Y:-1.83, Z:15.84 [[ 9.99517055e-01 2.97939108e-02 -8.83060196e-03 -2.45257117e+01] [-2.98793694e-02 9.99506358e-01 -9.70896317e-03 -1.83427604e+00] [ 8.53697482e-03 9.96812710e-03 9.99913875e-01 1.58434622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979072329 meters Centerline goodness [0,1] 0.8131900672617285 Centerline is valid? [False, False] Translation: X:-24.51, Y:-1.83, Z:15.84 [[ 9.99662365e-01 2.57772336e-02 -3.26960484e-03 -2.45117654e+01] [-2.57871577e-02 9.99662863e-01 -3.03032552e-03 -1.83242999e+00] [ 3.19038912e-03 3.11361619e-03 9.99990063e-01 1.58374140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009072329 meters Centerline goodness [0,1] 0.8174816444848818 Centerline is valid? [False, False] Translation: X:-24.51, Y:-1.83, Z:15.84 [[ 9.99685014e-01 2.48744422e-02 -3.33692457e-03 -2.45120632e+01] [-2.48879856e-02 9.99681918e-01 -4.08045096e-03 -1.82958178e+00] [ 3.23436422e-03 4.16221501e-03 9.99986107e-01 1.58379028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039072329 meters Centerline goodness [0,1] 0.8163461538461538 Centerline is valid? [False, False] Translation: X:-24.51, Y:-1.82, Z:15.84 [[ 9.99826929e-01 1.83903050e-02 -2.81231690e-03 -2.45147765e+01] [-1.84204416e-02 9.99768775e-01 -1.10943397e-02 -1.82102481e+00] [ 2.60763833e-03 1.11442237e-02 9.99934501e-01 1.58395885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069072329 meters Centerline goodness [0,1] 0.8152701947465715 Centerline is valid? [False, False] Translation: X:-24.50, Y:-1.82, Z:15.84 [[ 9.99934861e-01 1.11226287e-02 -2.56133267e-03 -2.45048299e+01] [-1.11336762e-02 9.99928600e-01 -4.34008020e-03 -1.81854084e+00] [ 2.51287669e-03 4.36831454e-03 9.99987302e-01 1.58385931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099072329 meters Centerline goodness [0,1] 0.812246483127643 Centerline is valid? [False, False] Translation: X:-24.50, Y:-1.81, Z:15.84 [[ 9.99956724e-01 8.52701152e-03 -3.72014587e-03 -2.45021803e+01] [-8.55224078e-03 9.99940175e-01 -6.81943198e-03 -1.81472952e+00] [ 3.66177394e-03 6.85095245e-03 9.99969827e-01 1.58376844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.129072329 meters Centerline goodness [0,1] 0.8105224349938193 Centerline is valid? [False, False] Translation: X:-24.49, Y:-1.81, Z:15.83 [[ 9.99988110e-01 4.41505390e-03 2.07069763e-03 -2.44889201e+01] [-4.41544971e-03 9.99990234e-01 1.86617061e-04 -1.81303751e+00] [-2.06985348e-03 -1.95757904e-04 9.99997839e-01 1.58316589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159072329 meters Centerline goodness [0,1] 0.8070881645154233 Centerline is valid? [False, False] Translation: X:-24.49, Y:-1.80, Z:15.83 [[ 9.99994429e-01 1.99477806e-03 2.67631565e-03 -2.44922711e+01] [-1.98692087e-03 9.99993718e-01 -2.93527754e-03 -1.80355911e+00] [-2.68215406e-03 2.92994356e-03 9.99992111e-01 1.58343435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189072329 meters Centerline goodness [0,1] 0.8070629524018424 Centerline is valid? [False, False] Translation: X:-24.49, Y:-1.80, Z:15.84 [[ 9.99995532e-01 1.29661557e-03 2.69337021e-03 -2.44927886e+01] [-1.28522471e-03 9.99990242e-01 -4.22665658e-03 -1.79902738e+00] [-2.69882428e-03 4.22317611e-03 9.99987440e-01 1.58352267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219072329 meters Centerline goodness [0,1] 0.8005793127846814 Centerline is valid? [False, False] Translation: X:-24.49, Y:-1.79, Z:15.84 [[ 9.99996417e-01 7.15490285e-04 2.57948963e-03 -2.44928870e+01] [-7.01475849e-04 9.99985012e-01 -5.42984363e-03 -1.79482671e+00] [-2.58333597e-03 5.42801473e-03 9.99981931e-01 1.58359401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.249072329 meters Centerline goodness [0,1] 0.7913588286811435 Centerline is valid? [False, False] Translation: X:-24.49, Y:-1.79, Z:15.83 [[ 9.99997046e-01 -4.49992979e-04 2.38875747e-03 -2.44906001e+01] [ 4.68239183e-04 9.99970680e-01 -7.64331031e-03 -1.78686114e+00] [-2.38524799e-03 7.64440624e-03 9.99967936e-01 1.58337713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279072328999998 meters Centerline goodness [0,1] 0.7866736004341142 Centerline is valid? [False, False] Translation: X:-24.49, Y:-1.78, Z:15.83 [[ 9.99998175e-01 -3.17749478e-05 1.91038864e-03 -2.44875754e+01] [ 4.64462137e-05 9.99970506e-01 -7.68017462e-03 -1.78357568e+00] [-1.91008826e-03 7.68024933e-03 9.99968682e-01 1.58310430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.309072329 meters Centerline goodness [0,1] 0.7872156111795012 Centerline is valid? [False, False] Translation: X:-24.48, Y:-1.78, Z:15.83 [[ 9.99999017e-01 3.26037464e-04 1.36338688e-03 -2.44848013e+01] [-3.15112541e-04 9.99967905e-01 -8.00562790e-03 -1.77896467e+00] [-1.36595326e-03 8.00519041e-03 9.99967025e-01 1.58290464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339072329 meters Centerline goodness [0,1] 0.7817199085302474 Centerline is valid? [False, False] Translation: X:-24.47, Y:-1.77, Z:15.82 [[ 9.99968550e-01 2.04865807e-03 7.66175655e-03 -2.44726431e+01] [-2.08042726e-03 9.99989263e-01 4.14079462e-03 -1.77036921e+00] [-7.65319121e-03 -4.15660412e-03 9.99962075e-01 1.58233928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.369072328999998 meters Centerline goodness [0,1] 0.7863703288228283 Centerline is valid? [False, False] Translation: X:-24.47, Y:-1.76, Z:15.83 [[ 9.99973818e-01 1.82605420e-03 7.00208775e-03 -2.44718741e+01] [-1.84099106e-03 9.99996043e-01 2.12734890e-03 -1.76139641e+00] [-6.99817538e-03 -2.14018398e-03 9.99973222e-01 1.58253911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399072329 meters Centerline goodness [0,1] 0.7833981537884822 Centerline is valid? [False, False] Translation: X:-24.47, Y:-1.75, Z:15.83 [[ 9.99978405e-01 2.17974004e-03 6.19980647e-03 -2.44696162e+01] [-2.18578642e-03 9.99997142e-01 9.68643382e-04 -1.75445944e+00] [-6.19767736e-03 -9.82173917e-04 9.99980312e-01 1.58255875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.429072329 meters Centerline goodness [0,1] 0.784786773575534 Centerline is valid? [False, False] Translation: X:-24.47, Y:-1.74, Z:15.82 [[ 9.99976719e-01 3.69215977e-03 5.73841761e-03 -2.44660022e+01] [-3.69476696e-03 9.99993076e-01 4.43804126e-04 -1.74454146e+00] [-5.73673928e-03 -4.64995909e-04 9.99983437e-01 1.58232164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459072328999998 meters Centerline goodness [0,1] 0.7875464861256793 Centerline is valid? [False, False] Translation: X:-24.46, Y:-1.74, Z:15.82 [[ 9.99978754e-01 3.92615223e-03 5.20349582e-03 -2.44637600e+01] [-3.92451119e-03 9.99992246e-01 -3.25545800e-04 -1.73981377e+00] [-5.20473362e-03 3.05117706e-04 9.99986409e-01 1.58221363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.489072329 meters Centerline goodness [0,1] 0.7836253111238751 Centerline is valid? [False, False] Translation: X:-24.46, Y:-1.73, Z:15.82 [[ 9.99980407e-01 4.22902419e-03 4.61539941e-03 -2.44614777e+01] [-4.22408176e-03 9.99990495e-01 -1.08007804e-03 -1.73446620e+00] [-4.61992322e-03 1.06056105e-03 9.99988766e-01 1.58212274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519072329 meters Centerline goodness [0,1] 0.7840345043612356 Centerline is valid? [False, False] Translation: X:-24.46, Y:-1.73, Z:15.82 [[ 9.99982018e-01 4.46801156e-03 4.00000229e-03 -2.44594847e+01] [-4.46028292e-03 9.99988173e-01 -1.93899791e-03 -1.72855317e+00] [-4.00861845e-03 1.92112190e-03 9.99990120e-01 1.58209566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.549072328999998 meters Centerline goodness [0,1] 0.7818496152722314 Centerline is valid? [False, False] Translation: X:-24.46, Y:-1.72, Z:15.82 [[ 9.99961227e-01 7.98766542e-03 3.70685970e-03 -2.44591836e+01] [-7.98701285e-03 9.99968085e-01 -1.90813314e-04 -1.71825608e+00] [-3.70826555e-03 1.61199180e-04 9.99993111e-01 1.58226045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579072329 meters Centerline goodness [0,1] 0.7797923029932804 Centerline is valid? [False, False] Translation: X:-24.46, Y:-1.71, Z:15.82 [[ 9.99959879e-01 8.50428704e-03 2.81371433e-03 -2.44564844e+01] [-8.50131438e-03 9.99963294e-01 -1.06677111e-03 -1.71187025e+00] [-2.82268317e-03 1.04280804e-03 9.99995472e-01 1.58225828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.609072329 meters Centerline goodness [0,1] 0.779170755642787 Centerline is valid? [False, False] Translation: X:-24.45, Y:-1.71, Z:15.82 [[ 9.99947193e-01 1.01109224e-02 1.83858619e-03 -2.44524342e+01] [-1.01098736e-02 9.99948726e-01 -5.78865229e-04 -1.70622831e+00] [-1.84434478e-03 5.60246787e-04 9.99998142e-01 1.58208782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639072328999998 meters Centerline goodness [0,1] 0.7803854368449809 Centerline is valid? [False, False] Translation: X:-24.45, Y:-1.70, Z:15.82 [[ 9.99891831e-01 1.46567054e-02 1.22777137e-03 -2.44481102e+01] [-1.46596703e-02 9.99889560e-01 2.44170152e-03 -1.69885458e+00] [-1.19184848e-03 -2.45943612e-03 9.99996265e-01 1.58177916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.669072329 meters Centerline goodness [0,1] 0.7782073024740622 Centerline is valid? [False, False] Translation: X:-24.45, Y:-1.70, Z:15.82 [[ 9.99885036e-01 1.51479162e-02 6.74566207e-04 -2.44455130e+01] [-1.51492120e-02 9.99883325e-01 1.95908316e-03 -1.69544752e+00] [-6.44811474e-04 -1.96907708e-03 9.99997853e-01 1.58164909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699072329 meters Centerline goodness [0,1] 0.7798013659219973 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.69, Z:15.82 [[ 9.99882043e-01 1.53558076e-02 3.15038363e-04 -2.44440795e+01] [-1.53561427e-02 9.99881493e-01 1.09045004e-03 -1.69174719e+00] [-2.98256288e-04 -1.09515919e-03 9.99999356e-01 1.58163798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.729072328999997 meters Centerline goodness [0,1] 0.7805355976485957 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.69, Z:15.82 [[ 9.99881905e-01 1.53679686e-02 -3.01283074e-05 -2.44433139e+01] [-1.53679774e-02 9.99881856e-01 -3.14528129e-04 -1.68693059e+00] [ 2.52910895e-05 3.14953996e-04 9.99999950e-01 1.58175916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759072329 meters Centerline goodness [0,1] 0.7893052203734282 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.68, Z:15.82 [[ 9.99815582e-01 1.92040796e-02 -7.06319601e-05 -2.44435888e+01] [-1.92039486e-02 9.99814410e-01 1.53441879e-03 -1.67977668e+00] [ 1.00085952e-04 -1.53277941e-03 9.99998820e-01 1.58201356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.789072329 meters Centerline goodness [0,1] 0.7937292888095845 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.68, Z:15.82 [[ 9.99810895e-01 1.94334032e-02 -7.19165026e-04 -2.44421882e+01] [-1.94330897e-02 9.99811063e-01 4.40312495e-04 -1.67564677e+00] [ 7.27585920e-04 -4.26253631e-04 9.99999644e-01 1.58213418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819072329 meters Centerline goodness [0,1] 0.796228150873965 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.67, Z:15.82 [[ 9.99801300e-01 1.98810096e-02 -1.45086760e-03 -2.44400632e+01] [-1.98813534e-02 9.99802321e-01 -2.22964677e-04 -1.67236858e+00] [ 1.44614803e-03 2.51765585e-04 9.99998923e-01 1.58215937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.849072329 meters Centerline goodness [0,1] 0.7984392989637968 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.67, Z:15.82 [[ 9.99778685e-01 2.09380506e-02 -2.04431285e-03 -2.44373020e+01] [-2.09392868e-02 9.99780578e-01 -5.85151233e-04 -1.66935321e+00] [ 2.03161236e-03 6.27828183e-04 9.99997739e-01 1.58210671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879072329 meters Centerline goodness [0,1] 0.8003672813528196 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.67, Z:15.82 [[ 9.99770757e-01 2.12864187e-02 -2.30675632e-03 -2.44364920e+01] [-2.12882571e-02 9.99773079e-01 -7.75336492e-04 -1.66862168e+00] [ 2.28972873e-03 8.24265573e-04 9.99997039e-01 1.58213106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.909072329 meters Centerline goodness [0,1] 0.8003672813528196 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.67, Z:15.82 [[ 9.99770757e-01 2.12864187e-02 -2.30675632e-03 -2.44364920e+01] [-2.12882571e-02 9.99773079e-01 -7.75336492e-04 -1.66862168e+00] [ 2.28972873e-03 8.24265573e-04 9.99997039e-01 1.58213106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939072329 meters Centerline goodness [0,1] 0.7997599468818632 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.67, Z:15.82 [[ 9.99767400e-01 2.14140931e-02 -2.56557009e-03 -2.44361951e+01] [-2.14173552e-02 9.99769840e-01 -1.25082641e-03 -1.66746655e+00] [ 2.53819428e-03 1.30548320e-03 9.99995927e-01 1.58222998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.969072329 meters Centerline goodness [0,1] 0.7944883298821485 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.67, Z:15.83 [[ 9.99761713e-01 2.16811324e-02 -2.53886783e-03 -2.44370741e+01] [-2.16866407e-02 9.99762478e-01 -2.16250467e-03 -1.66616230e+00] [ 2.49137924e-03 2.21704888e-03 9.99994439e-01 1.58250984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999072329 meters Centerline goodness [0,1] 0.7960959428425619 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.67, Z:15.83 [[ 9.99758533e-01 2.18189714e-02 -2.60931106e-03 -2.44374721e+01] [-2.18247966e-02 9.99759334e-01 -2.22524499e-03 -1.66697144e+00] [ 2.56013054e-03 2.28165535e-03 9.99994120e-01 1.58262615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.029072328999998 meters Centerline goodness [0,1] 0.7950713359273671 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.67, Z:15.83 [[ 9.99754712e-01 2.19871441e-02 -2.66090132e-03 -2.44378997e+01] [-2.19926267e-02 9.99756033e-01 -2.04901799e-03 -1.66884927e+00] [ 2.61520009e-03 2.10703560e-03 9.99994361e-01 1.58272486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059072329 meters Centerline goodness [0,1] 0.7872933073358487 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.67, Z:15.83 [[ 9.99752816e-01 2.20782114e-02 -2.61897697e-03 -2.44385418e+01] [-2.20825823e-02 9.99754785e-01 -1.65192786e-03 -1.67179338e+00] [ 2.58186315e-03 1.70935331e-03 9.99995206e-01 1.58280363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.089072329 meters Centerline goodness [0,1] 0.7916677180852406 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.67, Z:15.83 [[ 9.99827491e-01 1.83046690e-02 -3.15069747e-03 -2.44381332e+01] [-1.83228873e-02 9.99814984e-01 -5.85395440e-03 -1.67256131e+00] [ 3.04295984e-03 5.91067441e-03 9.99977902e-01 1.58296153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119072328999998 meters Centerline goodness [0,1] 0.8039303594111933 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.68, Z:15.83 [[ 9.99890410e-01 1.44799370e-02 -3.08211123e-03 -2.44393244e+01] [-1.45057830e-02 9.99858354e-01 -8.53547165e-03 -1.68032509e+00] [ 2.95808157e-03 8.57924469e-03 9.99958822e-01 1.58305322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.149072329 meters Centerline goodness [0,1] 0.8034046956221823 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.68, Z:15.83 [[ 9.99932244e-01 1.10828021e-02 -3.56081966e-03 -2.44382407e+01] [-1.11235534e-02 9.99870427e-01 -1.16359934e-02 -1.68386698e+00] [ 3.43139886e-03 1.16748139e-02 9.99925959e-01 1.58305220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179072329 meters Centerline goodness [0,1] 0.8097922921090528 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.69, Z:15.83 [[ 9.99935351e-01 1.09774615e-02 -2.96478176e-03 -2.44398150e+01] [-1.10070656e-02 9.99887796e-01 -1.01606832e-02 -1.69158894e+00] [ 2.85291059e-03 1.01926599e-02 9.99943984e-01 1.58298492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209072328999998 meters Centerline goodness [0,1] 0.8161659513590844 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.70, Z:15.83 [[ 9.99985928e-01 4.32300694e-03 -3.07494407e-03 -2.44404402e+01] [-4.36858650e-03 9.99878341e-01 -1.49739356e-02 -1.70471777e+00] [ 3.00983755e-03 1.49871580e-02 9.99883156e-01 1.58301846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239072329 meters Centerline goodness [0,1] 0.8216461255135288 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.71, Z:15.83 [[ 9.99995129e-01 7.64871841e-04 -3.02601901e-03 -2.44406875e+01] [-8.17085519e-04 9.99850158e-01 -1.72914672e-02 -1.71192776e+00] [ 3.01233983e-03 1.72938555e-02 9.99845912e-01 1.58299424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.269072329 meters Centerline goodness [0,1] 0.8284700499556469 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.72, Z:15.83 [[ 9.99996317e-01 6.43629602e-04 -2.63663613e-03 -2.44415330e+01] [-6.80834244e-04 9.99899876e-01 -1.41341373e-02 -1.72262291e+00] [ 2.62727499e-03 1.41358804e-02 9.99896632e-01 1.58269323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299072328999998 meters Centerline goodness [0,1] 0.8333179935572941 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.74, Z:15.82 [[ 9.99977308e-01 -6.21147612e-03 -2.60771248e-03 -2.44421529e+01] [ 6.16620075e-03 9.99836046e-01 -1.70252271e-02 -1.73808940e+00] [ 2.71303673e-03 1.70087611e-02 9.99851660e-01 1.58247659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.329072329 meters Centerline goodness [0,1] 0.832101516839879 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.75, Z:15.82 [[ 9.99951200e-01 -9.54850174e-03 -2.53451535e-03 -2.44418133e+01] [ 9.49952781e-03 9.99780413e-01 -1.86784363e-02 -1.74622723e+00] [ 2.71230989e-03 1.86534481e-02 9.99822330e-01 1.58234545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359072329 meters Centerline goodness [0,1] 0.8343747190506159 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.76, Z:15.82 [[ 9.99916264e-01 -1.26950275e-02 -2.51039346e-03 -2.44411003e+01] [ 1.26422212e-02 9.99719302e-01 -2.00372718e-02 -1.75527341e+00] [ 2.76406251e-03 2.00038570e-02 9.99796082e-01 1.58217116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.389072328999998 meters Centerline goodness [0,1] 0.8362176073837415 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.76, Z:15.82 [[ 9.99871177e-01 -1.58572462e-02 -2.48557697e-03 -2.44403019e+01] [ 1.58008296e-02 9.99648775e-01 -2.12758221e-02 -1.76447292e+00] [ 2.82207992e-03 2.12338071e-02 9.99770554e-01 1.58197296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419072329 meters Centerline goodness [0,1] 0.8369914812239221 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.78, Z:15.81 [[ 9.99755189e-01 -2.18921319e-02 -3.20890271e-03 -2.44378663e+01] [ 2.18140770e-02 9.99506133e-01 -2.26193805e-02 -1.78221930e+00] [ 3.70250440e-03 2.25438437e-02 9.99738999e-01 1.58147223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.449072329 meters Centerline goodness [0,1] 0.8339477031192739 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.79, Z:15.81 [[ 9.99770910e-01 -2.11584992e-02 -3.23178623e-03 -2.44368143e+01] [ 2.10948416e-02 9.99604396e-01 -1.86026500e-02 -1.79325696e+00] [ 3.62411188e-03 1.85302143e-02 9.99821733e-01 1.58105401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479072328999997 meters Centerline goodness [0,1] 0.8305545448708345 Centerline is valid? [False, False] Translation: X:-24.44, Y:-1.80, Z:15.81 [[ 9.99790932e-01 -2.01630497e-02 -3.39746493e-03 -2.44352598e+01] [ 2.01108780e-02 9.99688979e-01 -1.47477840e-02 -1.80378808e+00] [ 3.69376855e-03 1.46763747e-02 9.99885473e-01 1.58067272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.509072329 meters Centerline goodness [0,1] 0.8191841467271003 Centerline is valid? [False, False] Translation: X:-24.43, Y:-1.82, Z:15.80 [[ 9.99754296e-01 -2.17620330e-02 -4.21440130e-03 -2.44319449e+01] [ 2.17129726e-02 9.99699742e-01 -1.13565839e-02 -1.82218762e+00] [ 4.46027825e-03 1.12622864e-02 9.99926631e-01 1.58000648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539072329 meters Centerline goodness [0,1] 0.8179572008878093 Centerline is valid? [False, False] Translation: X:-24.43, Y:-1.83, Z:15.80 [[ 9.99779400e-01 -2.05286778e-02 -4.44117734e-03 -2.44301091e+01] [ 2.04926290e-02 9.99757871e-01 -8.01565103e-03 -1.83209217e+00] [ 4.60465273e-03 7.92287138e-03 9.99958012e-01 1.57971684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569072329 meters Centerline goodness [0,1] 0.8212405777571904 Centerline is valid? [False, False] Translation: X:-24.43, Y:-1.84, Z:15.79 [[ 9.99801304e-01 -1.94464270e-02 -4.38057067e-03 -2.44290754e+01] [ 1.94244645e-02 9.99798817e-01 -5.00157174e-03 -1.84159858e+00] [ 4.47695207e-03 4.91548771e-03 9.99977897e-01 1.57947589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599072329 meters Centerline goodness [0,1] 0.8172720377549301 Centerline is valid? [False, False] Translation: X:-24.43, Y:-1.86, Z:15.79 [[ 9.99772594e-01 -2.06650878e-02 -5.26454080e-03 -2.44250421e+01] [ 2.06548262e-02 9.99784674e-01 -1.99616067e-03 -1.85886664e+00] [ 5.30465804e-03 1.88696856e-03 9.99984150e-01 1.57887171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.629072329 meters Centerline goodness [0,1] 0.8118569741946365 Centerline is valid? [False, False] Translation: X:-24.42, Y:-1.87, Z:15.79 [[ 9.99788611e-01 -1.98827892e-02 -5.23523369e-03 -2.44242695e+01] [ 1.98871714e-02 9.99801921e-01 7.86314570e-04 -1.86872102e+00] [ 5.21856257e-03 -8.90262341e-04 9.99985987e-01 1.57867558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659072329 meters Centerline goodness [0,1] 0.8066449951450163 Centerline is valid? [False, False] Translation: X:-24.42, Y:-1.88, Z:15.79 [[ 9.99795892e-01 -1.95137033e-02 -5.23343678e-03 -2.44238768e+01] [ 1.95292948e-02 9.99804948e-01 2.94482808e-03 -1.87856939e+00] [ 5.17495149e-03 -3.04643235e-03 9.99981969e-01 1.57856539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.689072329 meters Centerline goodness [0,1] 0.7966545577426714 Centerline is valid? [False, False] Translation: X:-24.42, Y:-1.90, Z:15.78 [[ 9.99750075e-01 -2.15369168e-02 -5.99577525e-03 -2.44208399e+01] [ 2.15685748e-02 9.99753500e-01 5.26642937e-03 -1.89622594e+00] [ 5.88087464e-03 -5.39443349e-03 9.99968157e-01 1.57809836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719072329 meters Centerline goodness [0,1] 0.7855952406067382 Centerline is valid? [False, False] Translation: X:-24.42, Y:-1.90, Z:15.78 [[ 9.99768795e-01 -2.05497273e-02 -6.32973286e-03 -2.44190828e+01] [ 2.06006078e-02 9.99755128e-01 8.08084053e-03 -1.90499278e+00] [ 6.16212381e-03 -8.20936855e-03 9.99947316e-01 1.57789745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.749072329 meters Centerline goodness [0,1] 0.7791328199177128 Centerline is valid? [False, False] Translation: X:-24.42, Y:-1.91, Z:15.78 [[ 9.99783069e-01 -1.98080341e-02 -6.43865782e-03 -2.44180158e+01] [ 1.98736963e-02 9.99749449e-01 1.02993344e-02 -1.91287512e+00] [ 6.23303504e-03 -1.04250601e-02 9.99926231e-01 1.57775027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779072328999998 meters Centerline goodness [0,1] 0.7725853411536352 Centerline is valid? [False, False] Translation: X:-24.41, Y:-1.93, Z:15.77 [[ 9.99751332e-01 -2.09666743e-02 -7.59422810e-03 -2.44128044e+01] [ 2.10516067e-02 9.99714732e-01 1.12820707e-02 -1.92745737e+00] [ 7.35551420e-03 -1.14391359e-02 9.99907517e-01 1.57738283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809072329 meters Centerline goodness [0,1] 0.7796746080313997 Centerline is valid? [False, False] Translation: X:-24.41, Y:-1.93, Z:15.77 [[ 9.99687459e-01 -2.36875855e-02 -7.99263667e-03 -2.44104874e+01] [ 2.37625633e-02 9.99673248e-01 9.42004741e-03 -1.93329558e+00] [ 7.76688688e-03 -9.60702879e-03 9.99923687e-01 1.57721546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839072329 meters Centerline goodness [0,1] 0.7767098981876558 Centerline is valid? [False, False] Translation: X:-24.41, Y:-1.94, Z:15.77 [[ 9.99611863e-01 -2.65802181e-02 -8.34354361e-03 -2.44085202e+01] [ 2.66419234e-02 9.99617846e-01 7.37364487e-03 -1.93892134e+00] [ 8.14436200e-03 -7.59307094e-03 9.99938005e-01 1.57708590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869072328999998 meters Centerline goodness [0,1] 0.771949538852963 Centerline is valid? [False, False] Translation: X:-24.41, Y:-1.94, Z:15.77 [[ 9.99526384e-01 -2.95298991e-02 -8.65985564e-03 -2.44066700e+01] [ 2.95756261e-02 9.99549016e-01 5.20066412e-03 -1.94433587e+00] [ 8.50237510e-03 -5.45432166e-03 9.99948979e-01 1.57696345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899072329 meters Centerline goodness [0,1] 0.7660833544678333 Centerline is valid? [False, False] Translation: X:-24.40, Y:-1.96, Z:15.77 [[ 9.99478298e-01 -3.07394870e-02 -9.91039148e-03 -2.44012747e+01] [ 3.07980232e-02 9.99508748e-01 5.80901563e-03 -1.95794106e+00] [ 9.72695682e-03 -6.11120552e-03 9.99934018e-01 1.57662632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.929072329 meters Centerline goodness [0,1] 0.7659452820599695 Centerline is valid? [False, False] Translation: X:-24.40, Y:-1.96, Z:15.77 [[ 9.99502273e-01 -2.99121847e-02 -1.00233748e-02 -2.44002134e+01] [ 2.99905963e-02 9.99520011e-01 7.76604062e-03 -1.96452659e+00] [ 9.78626446e-03 -8.06278224e-03 9.99919607e-01 1.57650214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959072328999998 meters Centerline goodness [0,1] 0.7660744500846024 Centerline is valid? [False, False] Translation: X:-24.40, Y:-1.97, Z:15.76 [[ 9.99531235e-01 -2.88403466e-02 -1.02735375e-02 -2.43986359e+01] [ 2.89416240e-02 9.99532574e-01 9.84970077e-03 -1.97049711e+00] [ 9.98466661e-03 -1.01424164e-02 9.99898714e-01 1.57634963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.989072329 meters Centerline goodness [0,1] 0.7734396480615893 Centerline is valid? [False, False] Translation: X:-24.40, Y:-1.98, Z:15.76 [[ 9.99580308e-01 -2.68841800e-02 -1.07911424e-02 -2.43957302e+01] [ 2.70238564e-02 9.99550079e-01 1.30134935e-02 -1.97931634e+00] [ 1.04364301e-02 -1.32996501e-02 9.99857090e-01 1.57610747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019072329 meters Centerline goodness [0,1] 0.7796681992499523 Centerline is valid? [False, False] Translation: X:-24.39, Y:-1.98, Z:15.76 [[ 9.99594670e-01 -2.62330833e-02 -1.10598681e-02 -2.43945421e+01] [ 2.63870072e-02 9.99553637e-01 1.40090194e-02 -1.98175648e+00] [ 1.06874316e-02 -1.42951780e-02 9.99840701e-01 1.57602154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.049072328999998 meters Centerline goodness [0,1] 0.7846362845195389 Centerline is valid? [False, False] Translation: X:-24.39, Y:-1.98, Z:15.76 [[ 9.99607609e-01 -2.55579460e-02 -1.14637987e-02 -2.43930318e+01] [ 2.57269909e-02 9.99558714e-01 1.48491990e-02 -1.98334325e+00] [ 1.10792248e-02 -1.51383013e-02 9.99824026e-01 1.57593740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079072329 meters Centerline goodness [0,1] 0.7880954907161803 Centerline is valid? [False, False] Translation: X:-24.39, Y:-1.98, Z:15.76 [[ 9.99620873e-01 -2.48140582e-02 -1.19320127e-02 -2.43912457e+01] [ 2.49993568e-02 9.99565123e-01 1.56395845e-02 -1.98428816e+00] [ 1.15387422e-02 -1.59319477e-02 9.99806497e-01 1.57583701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.109072329 meters Centerline goodness [0,1] 0.7976802759963595 Centerline is valid? [False, False] Translation: X:-24.39, Y:-1.99, Z:15.76 [[ 9.99650719e-01 -2.31753226e-02 -1.27021220e-02 -2.43878098e+01] [ 2.33925326e-02 9.99577918e-01 1.72271441e-02 -1.98619688e+00] [ 1.22975161e-02 -1.75182618e-02 9.99770915e-01 1.57561251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139072328999998 meters Centerline goodness [0,1] 0.806149619611158 Centerline is valid? [False, False] Translation: X:-24.39, Y:-1.99, Z:15.75 [[ 9.99659420e-01 -2.26183366e-02 -1.30175013e-02 -2.43862589e+01] [ 2.28486923e-02 9.99579964e-01 1.78278766e-02 -1.98757202e+00] [ 1.26087966e-02 -1.81192377e-02 9.99756326e-01 1.57549562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.169072329 meters Centerline goodness [0,1] 0.8130664972469293 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.99, Z:15.75 [[ 9.99597295e-01 -2.48887217e-02 -1.36308157e-02 -2.43826090e+01] [ 2.50901851e-02 9.99575424e-01 1.48139787e-02 -1.98708399e+00] [ 1.32563274e-02 -1.51500128e-02 9.99797353e-01 1.57525852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199072329 meters Centerline goodness [0,1] 0.8175423728813559 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.99, Z:15.75 [[ 9.99531693e-01 -2.71062531e-02 -1.42002065e-02 -2.43788157e+01] [ 2.72765468e-02 9.99556625e-01 1.19391318e-02 -1.98650299e+00] [ 1.38702854e-02 -1.23208732e-02 9.99827891e-01 1.57498594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.229072328999997 meters Centerline goodness [0,1] 0.8221000317225335 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.99, Z:15.75 [[ 9.99545969e-01 -2.62652927e-02 -1.47644697e-02 -2.43758263e+01] [ 2.64508428e-02 9.99571763e-01 1.25157478e-02 -1.98568105e+00] [ 1.44294172e-02 -1.29005980e-02 9.99812666e-01 1.57474881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259072329 meters Centerline goodness [0,1] 0.821905326948341 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.98, Z:15.75 [[ 9.99539144e-01 -2.64390678e-02 -1.49156073e-02 -2.43753334e+01] [ 2.66194713e-02 9.99573264e-01 1.20288980e-02 -1.98349349e+00] [ 1.45912094e-02 -1.24204000e-02 9.99816398e-01 1.57472760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.289072329 meters Centerline goodness [0,1] 0.8183184136456945 Centerline is valid? [False, False] Translation: X:-24.37, Y:-1.98, Z:15.75 [[ 9.99534972e-01 -2.64180375e-02 -1.52291828e-02 -2.43743560e+01] [ 2.65996999e-02 9.99575903e-01 1.18520200e-02 -1.98207088e+00] [ 1.49096170e-02 -1.22516001e-02 9.99813783e-01 1.57468830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319072329 meters Centerline goodness [0,1] 0.8167481636713871 Centerline is valid? [False, False] Translation: X:-24.37, Y:-1.98, Z:15.75 [[ 9.99525236e-01 -2.66820712e-02 -1.54068211e-02 -2.43740888e+01] [ 2.68600523e-02 9.99573477e-01 1.14630648e-02 -1.98082599e+00] [ 1.50943914e-02 -1.18714505e-02 9.99815597e-01 1.57470314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.349072329 meters Centerline goodness [0,1] 0.8118085872928411 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.98, Z:15.75 [[ 9.99498874e-01 -2.78305475e-02 -1.50818594e-02 -2.43759516e+01] [ 2.79900352e-02 9.99553380e-01 1.04689237e-02 -1.98036552e+00] [ 1.47837676e-02 -1.08858192e-02 9.99831455e-01 1.57484595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379072329 meters Centerline goodness [0,1] 0.8072432134607641 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.98, Z:15.75 [[ 9.99494660e-01 -2.79494626e-02 -1.51410969e-02 -2.43756710e+01] [ 2.81118208e-02 9.99548385e-01 1.06184204e-02 -1.98175860e+00] [ 1.48374798e-02 -1.10386983e-02 9.99828984e-01 1.57482037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.409072329 meters Centerline goodness [0,1] 0.8071640525646461 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.98, Z:15.75 [[ 9.99489118e-01 -2.81357881e-02 -1.51618079e-02 -2.43754868e+01] [ 2.83008811e-02 9.99541251e-01 1.07864382e-02 -1.98347682e+00] [ 1.48513675e-02 -1.12100202e-02 9.99826871e-01 1.57479325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439072329 meters Centerline goodness [0,1] 0.79736328125 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.98, Z:15.75 [[ 9.99479048e-01 -2.85347047e-02 -1.50799179e-02 -2.43757641e+01] [ 2.86988787e-02 9.99529919e-01 1.07849994e-02 -1.98491056e+00] [ 1.47650823e-02 -1.12121577e-02 9.99828125e-01 1.57479465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.469072329 meters Centerline goodness [0,1] 0.7525914956632114 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.98, Z:15.75 [[ 9.99333247e-01 -3.32422071e-02 -1.51002481e-02 -2.43758523e+01] [ 3.33380226e-02 9.99425283e-01 6.13845274e-03 -1.98269350e+00] [ 1.48875140e-02 -6.63777232e-03 9.99867142e-01 1.57485620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499072329 meters Centerline goodness [0,1] 0.7461225527587083 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.98, Z:15.75 [[ 9.99317387e-01 -3.37765864e-02 -1.49633810e-02 -2.43765664e+01] [ 3.38735199e-02 9.99406443e-01 6.27259867e-03 -1.98376824e+00] [ 1.47426325e-02 -6.77517930e-03 9.99868367e-01 1.57489835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.529072328999998 meters Centerline goodness [0,1] 0.7190716191605608 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.99, Z:15.75 [[ 9.99297108e-01 -3.44250693e-02 -1.48392833e-02 -2.43772151e+01] [ 3.45251136e-02 9.99382437e-01 6.53916080e-03 -1.98587119e+00] [ 1.46050081e-02 -7.04689242e-03 9.99868509e-01 1.57492709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559072329 meters Centerline goodness [0,1] 0.6886788454202517 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.99, Z:15.75 [[ 9.99259559e-01 -3.56408559e-02 -1.44935793e-02 -2.43791191e+01] [ 3.57349576e-02 9.99341531e-01 6.28626498e-03 -1.98819120e+00] [ 1.42599878e-02 -6.79953781e-03 9.99875202e-01 1.57505306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589072329 meters Centerline goodness [0,1] 0.6613827349121466 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.99, Z:15.75 [[ 9.99015489e-01 -4.20119830e-02 -1.42494396e-02 -2.43812829e+01] [ 4.20355042e-02 9.99115199e-01 1.35507682e-03 -1.99158393e+00] [ 1.41799022e-02 -1.95272511e-03 9.99897553e-01 1.57527308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619072328999998 meters Centerline goodness [0,1] 0.6600313413239591 Centerline is valid? [False, False] Translation: X:-24.38, Y:-1.99, Z:15.75 [[ 9.98840475e-01 -4.59944009e-02 -1.42204461e-02 -2.43805403e+01] [ 4.59728926e-02 9.98941001e-01 -1.83587828e-03 -1.99482157e+00] [ 1.42898267e-02 1.17999449e-03 9.99897199e-01 1.57521237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.649072329 meters Centerline goodness [0,1] 0.6413832632785632 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.00, Z:15.75 [[ 9.98650084e-01 -5.00128935e-02 -1.40257034e-02 -2.43801626e+01] [ 4.99486887e-02 9.98739807e-01 -4.89140840e-03 -1.99907978e+00] [ 1.42526618e-02 4.18423991e-03 9.99889671e-01 1.57515131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679072329 meters Centerline goodness [0,1] 0.6200381679389313 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.00, Z:15.75 [[ 9.98177842e-01 -5.88295429e-02 -1.34194011e-02 -2.43809220e+01] [ 5.86657120e-02 9.98202002e-01 -1.22921731e-02 -2.00319264e+00] [ 1.41184159e-02 1.14825161e-02 9.99834397e-01 1.57519696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709072328999998 meters Centerline goodness [0,1] 0.6063625018507943 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.01, Z:15.75 [[ 9.98158922e-01 -5.91855153e-02 -1.32605501e-02 -2.43815748e+01] [ 5.90294077e-02 9.98185670e-01 -1.18700416e-02 -2.00505503e+00] [ 1.39390257e-02 1.10654255e-02 9.99841617e-01 1.57523115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739072329 meters Centerline goodness [0,1] 0.6208176861222499 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.01, Z:15.75 [[ 9.98142761e-01 -5.94612105e-02 -1.32435754e-02 -2.43821153e+01] [ 5.93071913e-02 9.98170811e-01 -1.17340699e-02 -2.00582206e+00] [ 1.39170724e-02 1.09268377e-02 9.99843447e-01 1.57530064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.769072329 meters Centerline goodness [0,1] 0.6174074936001861 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.01, Z:15.75 [[ 9.98134314e-01 -5.96014448e-02 -1.32498548e-02 -2.43828599e+01] [ 5.94589747e-02 9.98171252e-01 -1.08986749e-02 -2.00999918e+00] [ 1.38752010e-02 1.00905186e-02 9.99852819e-01 1.57539683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799072328999998 meters Centerline goodness [0,1] 0.6142963198642486 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.01, Z:15.75 [[ 9.98153975e-01 -5.92675869e-02 -1.32663222e-02 -2.43828733e+01] [ 5.91366876e-02 9.98199291e-01 -1.00512681e-02 -2.01311479e+00] [ 1.38381479e-02 9.24818682e-03 9.99861479e-01 1.57540180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.829072329 meters Centerline goodness [0,1] 0.6142963198642486 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.01, Z:15.75 [[ 9.98153975e-01 -5.92675869e-02 -1.32663222e-02 -2.43828733e+01] [ 5.91366876e-02 9.98199291e-01 -1.00512681e-02 -2.01311479e+00] [ 1.38381479e-02 9.24818682e-03 9.99861479e-01 1.57540180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859072329 meters Centerline goodness [0,1] 0.6077030693573003 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.02, Z:15.75 [[ 9.98173304e-01 -5.89143144e-02 -1.33849821e-02 -2.43824983e+01] [ 5.87955630e-02 9.98228575e-01 -9.09905965e-03 -2.01640579e+00] [ 1.38973364e-02 8.29546088e-03 9.99869016e-01 1.57538155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.889072328999998 meters Centerline goodness [0,1] 0.6150210863161464 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.02, Z:15.75 [[ 9.98199884e-01 -5.84134207e-02 -1.35964287e-02 -2.43815881e+01] [ 5.83092272e-02 9.98267010e-01 -7.93788934e-03 -2.02013538e+00] [ 1.40365455e-02 7.13080297e-03 9.99876056e-01 1.57531777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919072329 meters Centerline goodness [0,1] 0.5669902089602848 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.02, Z:15.75 [[ 9.98233217e-01 -5.77695188e-02 -1.38970454e-02 -2.43801992e+01] [ 5.76822788e-02 9.98313182e-01 -6.59891833e-03 -2.02408492e+00] [ 1.42548199e-02 5.78564623e-03 9.99881656e-01 1.57521541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.949072329 meters Centerline goodness [0,1] 0.595392505934215 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.03, Z:15.75 [[ 9.98261310e-01 -5.72422981e-02 -1.40597578e-02 -2.43794518e+01] [ 5.71757465e-02 9.98351148e-01 -5.09101862e-03 -2.02927784e+00] [ 1.43279970e-02 4.27828977e-03 9.99888196e-01 1.57515303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979072328999997 meters Centerline goodness [0,1] 0.6161475184503795 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.03, Z:15.75 [[ 9.98275389e-01 -5.69563281e-02 -1.42205311e-02 -2.43792513e+01] [ 5.68960081e-02 9.98369461e-01 -4.61121980e-03 -2.03067035e+00] [ 1.44599821e-02 3.79417579e-03 9.99888250e-01 1.57518043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.009072329 meters Centerline goodness [0,1] 0.6121787401741636 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.03, Z:15.75 [[ 9.98443667e-01 -5.39680936e-02 -1.40601492e-02 -2.43814802e+01] [ 5.39613020e-02 9.98542655e-01 -8.62233450e-04 -2.03381738e+00] [ 1.40861918e-02 1.02187572e-04 9.99900779e-01 1.57535147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039072329 meters Centerline goodness [0,1] 0.6187632359169843 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98618815e-01 -5.06773614e-02 -1.38660765e-02 -2.43838426e+01] [ 5.07244378e-02 9.98707986e-01 3.06448540e-03 -2.03728236e+00] [ 1.36928613e-02 -3.76360171e-03 9.99899165e-01 1.57555020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.069072329 meters Centerline goodness [0,1] 0.6154916805499905 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98637388e-01 -5.02194035e-02 -1.41908122e-02 -2.43830089e+01] [ 5.02747017e-02 9.98729058e-01 3.56703928e-03 -2.03833089e+00] [ 1.39936419e-02 -4.27561764e-03 9.99892943e-01 1.57554766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099072329 meters Centerline goodness [0,1] 0.613736997097519 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98645825e-01 -5.00264049e-02 -1.42784667e-02 -2.43829952e+01] [ 5.00854353e-02 9.98737682e-01 3.80679813e-03 -2.03911542e+00] [ 1.40700024e-02 -4.51678628e-03 9.99890811e-01 1.57558069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.129072329 meters Centerline goodness [0,1] 0.6137813067533894 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98658317e-01 -4.96961380e-02 -1.45554053e-02 -2.43823099e+01] [ 4.97624748e-02 9.98752118e-01 4.23115637e-03 -2.04020122e+00] [ 1.43269697e-02 -4.94979249e-03 9.99885112e-01 1.57558263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159072329 meters Centerline goodness [0,1] 0.6097540377916183 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98674414e-01 -4.92549821e-02 -1.49453110e-02 -2.43814292e+01] [ 4.93291886e-02 9.98771807e-01 4.63764092e-03 -2.04087964e+00] [ 1.46985284e-02 -5.36873339e-03 9.99877557e-01 1.57559804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.189072329 meters Centerline goodness [0,1] 0.6246428042249645 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98671406e-01 -4.92465403e-02 -1.51724087e-02 -2.43812073e+01] [ 4.93210327e-02 9.98772499e-01 4.57507798e-03 -2.04069195e+00] [ 1.49284778e-02 -5.31731842e-03 9.99874425e-01 1.57564748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219072329 meters Centerline goodness [0,1] 0.6289618644067796 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98667595e-01 -4.92985956e-02 -1.52539829e-02 -2.43813223e+01] [ 4.93738783e-02 9.98769780e-01 4.59845354e-03 -2.04107469e+00] [ 1.50085199e-02 -5.34547483e-03 9.99873077e-01 1.57569814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.249072329 meters Centerline goodness [0,1] 0.628150905092201 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98461992e-01 -5.32663702e-02 -1.53734727e-02 -2.43813171e+01] [ 5.32784464e-02 9.98579624e-01 3.76744726e-04 -2.04062283e+00] [ 1.53315687e-02 -1.19524003e-03 9.99881750e-01 1.57583713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279072328999998 meters Centerline goodness [0,1] 0.6241667548407576 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98459780e-01 -5.33491201e-02 -1.52295160e-02 -2.43818881e+01] [ 5.33637874e-02 9.98574982e-01 5.58050617e-04 -2.04139698e+00] [ 1.51780421e-02 -1.36989575e-03 9.99883868e-01 1.57587750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.309072329 meters Centerline goodness [0,1] 0.6099824535441727 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98461705e-01 -5.33406139e-02 -1.51328363e-02 -2.43819989e+01] [ 5.33593764e-02 9.98575022e-01 8.38527934e-04 -2.04193110e+00] [ 1.50665448e-02 -1.64471674e-03 9.99885140e-01 1.57586819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339072329 meters Centerline goodness [0,1] 0.5875318978425459 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98466929e-01 -5.32388205e-02 -1.51466048e-02 -2.43815030e+01] [ 5.32638550e-02 9.98579686e-01 1.25395010e-03 -2.04275897e+00] [ 1.50583330e-02 -2.05879427e-03 9.99884497e-01 1.57580618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.369072328999998 meters Centerline goodness [0,1] 0.59145880574452 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98256193e-01 -5.69795263e-02 -1.54242183e-02 -2.43794012e+01] [ 5.69499851e-02 9.98374271e-01 -2.34810723e-03 -2.04333833e+00] [ 1.55329367e-02 1.46560358e-03 9.99878283e-01 1.57569161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399072329 meters Centerline goodness [0,1] 0.5897841635546553 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.05, Z:15.76 [[ 9.98256631e-01 -5.69699509e-02 -1.54312398e-02 -2.43789042e+01] [ 5.69472617e-02 9.98375368e-01 -1.90613800e-03 -2.04532520e+00] [ 1.55147623e-02 1.02404805e-03 9.99879114e-01 1.57562336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.429072329 meters Centerline goodness [0,1] 0.5842853516120843 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.05, Z:15.76 [[ 9.98256759e-01 -5.69661709e-02 -1.54369205e-02 -2.43783919e+01] [ 5.69498771e-02 9.98375922e-01 -1.49341339e-03 -2.04691431e+00] [ 1.54969238e-02 6.11679281e-04 9.99879728e-01 1.57555085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459072328999998 meters Centerline goodness [0,1] 0.5579693381842653 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.05, Z:15.76 [[ 9.98242354e-01 -5.71707001e-02 -1.56113621e-02 -2.43777299e+01] [ 5.71533898e-02 9.98364201e-01 -1.55309762e-03 -2.04650747e+00] [ 1.56746168e-02 6.58125562e-04 9.99876929e-01 1.57552086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.489072329 meters Centerline goodness [0,1] 0.5717001859050195 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.05, Z:15.76 [[ 9.98408346e-01 -5.43105979e-02 -1.52030789e-02 -2.43802323e+01] [ 5.43424067e-02 9.98520935e-01 1.68672210e-03 -2.04629855e+00] [ 1.50889857e-02 -2.51020932e-03 9.99883004e-01 1.57565505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519072329 meters Centerline goodness [0,1] 0.5872734561259152 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.05, Z:15.76 [[ 9.98574595e-01 -5.12406498e-02 -1.49390067e-02 -2.43823146e+01] [ 5.13202551e-02 9.98669757e-01 4.99468463e-03 -2.04557807e+00] [ 1.46632033e-02 -5.75423881e-03 9.99875932e-01 1.57578715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.549072328999998 meters Centerline goodness [0,1] 0.5620013892689498 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98559446e-01 -5.14630913e-02 -1.51849543e-02 -2.43822588e+01] [ 5.15317095e-02 9.98662684e-01 4.16243906e-03 -2.04234876e+00] [ 1.49504353e-02 -4.93894950e-03 9.99876038e-01 1.57587658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579072329 meters Centerline goodness [0,1] 0.5799413390728198 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98533729e-01 -5.19749405e-02 -1.51326707e-02 -2.43828396e+01] [ 5.20253242e-02 9.98641395e-01 2.95479088e-03 -2.03865582e+00] [ 1.49585363e-02 -3.73774046e-03 9.99881129e-01 1.57596321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.609072329 meters Centerline goodness [0,1] 0.5911978891820581 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98533258e-01 -5.19422606e-02 -1.52752590e-02 -2.43821914e+01] [ 5.19923773e-02 9.98643265e-01 2.90202225e-03 -2.03861060e+00] [ 1.51037970e-02 -3.69196276e-03 9.99879115e-01 1.57592040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639072328999998 meters Centerline goodness [0,1] 0.5692359517443206 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98544897e-01 -5.16726354e-02 -1.54281206e-02 -2.43809031e+01] [ 5.17294985e-02 9.98655650e-01 3.30937541e-03 -2.03956981e+00] [ 1.52363756e-02 -4.10264887e-03 9.99875503e-01 1.57579397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.669072329 meters Centerline goodness [0,1] 0.5807719120349832 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98542496e-01 -5.17067440e-02 -1.54692104e-02 -2.43803779e+01] [ 5.17640495e-02 9.98653801e-01 3.32704821e-03 -2.03976072e+00] [ 1.52763549e-02 -4.12294800e-03 9.99874809e-01 1.57573243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699072329 meters Centerline goodness [0,1] 0.5734585130677493 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98516697e-01 -5.22512269e-02 -1.53040721e-02 -2.43807734e+01] [ 5.22997082e-02 9.98627551e-01 2.78469538e-03 -2.03797123e+00] [ 1.51375643e-02 -3.58096334e-03 9.99879008e-01 1.57573664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.729072328999997 meters Centerline goodness [0,1] 0.5813605413495795 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98501629e-01 -5.25082779e-02 -1.54070392e-02 -2.43807033e+01] [ 5.25521060e-02 9.98615169e-01 2.45346483e-03 -2.03634219e+00] [ 1.52568759e-02 -3.25946099e-03 9.99878294e-01 1.57576947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759072329 meters Centerline goodness [0,1] 0.5420740334058323 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.03, Z:15.76 [[ 9.98627433e-01 -5.02198383e-02 -1.48734045e-02 -2.43841871e+01] [ 5.03017586e-02 9.98720602e-01 5.18569265e-03 -2.03495688e+00] [ 1.45939509e-02 -5.92673334e-03 9.99875938e-01 1.57600032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.789072329 meters Centerline goodness [0,1] 0.5413711086320487 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98642432e-01 -4.98569422e-02 -1.50857009e-02 -2.43832923e+01] [ 4.99450865e-02 9.98736692e-01 5.52345553e-03 -2.03542363e+00] [ 1.47912605e-02 -6.26941370e-03 9.99870948e-01 1.57595527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819072328999997 meters Centerline goodness [0,1] 0.569259721311822 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98652350e-01 -4.96013369e-02 -1.52705892e-02 -2.43826892e+01] [ 4.96937061e-02 9.98748069e-01 5.72976807e-03 -2.03624707e+00] [ 1.49672673e-02 -6.48089852e-03 9.99866981e-01 1.57593617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.849072329 meters Centerline goodness [0,1] 0.5757319879251018 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98670507e-01 -4.92135504e-02 -1.53376822e-02 -2.43820493e+01] [ 4.93139733e-02 9.98763838e-01 6.23928666e-03 -2.03752006e+00] [ 1.50116649e-02 -6.98735362e-03 9.99862904e-01 1.57587333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879072329 meters Centerline goodness [0,1] 0.5311974082800404 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98679958e-01 -4.89729974e-02 -1.54914860e-02 -2.43813062e+01] [ 4.90792960e-02 9.98773359e-01 6.55741587e-03 -2.03788227e+00] [ 1.51513472e-02 -7.30907104e-03 9.99858497e-01 1.57582533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.909072329 meters Centerline goodness [0,1] 0.5488191975622143 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98679090e-01 -4.89266978e-02 -1.56924363e-02 -2.43805362e+01] [ 4.90329845e-02 9.98776261e-01 6.46120838e-03 -2.03625755e+00] [ 1.53571073e-02 -7.22212070e-03 9.99855990e-01 1.57578632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939072329 meters Centerline goodness [0,1] 0.5305466912999663 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98701551e-01 -4.83173752e-02 -1.61444737e-02 -2.43784318e+01] [ 4.84362308e-02 9.98801370e-01 7.05369682e-03 -2.03637814e+00] [ 1.57843064e-02 -7.82651540e-03 9.99844789e-01 1.57565024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.969072329 meters Centerline goodness [0,1] 0.5751410280788489 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98712090e-01 -4.80294148e-02 -1.63504250e-02 -2.43773568e+01] [ 4.81560738e-02 9.98812093e-01 7.44279158e-03 -2.03722566e+00] [ 1.59735293e-02 -8.22057821e-03 9.99838621e-01 1.57556787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999072329 meters Centerline goodness [0,1] 0.5767834529337272 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.75 [[ 9.98727689e-01 -4.76736729e-02 -1.64385080e-02 -2.43764273e+01] [ 4.78097166e-02 9.98824549e-01 7.98448448e-03 -2.03884158e+00] [ 1.60385356e-02 -8.76024614e-03 9.99832998e-01 1.57547072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.029072328999998 meters Centerline goodness [0,1] 0.5703689655899025 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.04, Z:15.75 [[ 9.98580947e-01 -5.05414154e-02 -1.67826409e-02 -2.43745813e+01] [ 5.06165038e-02 9.98709831e-01 4.07968597e-03 -2.03805236e+00] [ 1.65547954e-02 -4.92337528e-03 9.99850838e-01 1.57546964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059072329 meters Centerline goodness [0,1] 0.5457457795013383 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.04, Z:15.76 [[ 9.98578188e-01 -5.05955194e-02 -1.67838069e-02 -2.43750175e+01] [ 5.06659298e-02 9.98708441e-01 3.79651856e-03 -2.03724228e+00] [ 1.65700428e-02 -4.64148780e-03 9.99851934e-01 1.57554814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.089072329 meters Centerline goodness [0,1] 0.567424609613723 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.03, Z:15.76 [[ 9.98570844e-01 -5.07091659e-02 -1.68775264e-02 -2.43759827e+01] [ 5.07580898e-02 9.98707891e-01 2.48285467e-03 -2.03238346e+00] [ 1.67298153e-02 -3.33597729e-03 9.99854482e-01 1.57578322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119072328999998 meters Centerline goodness [0,1] 0.5778689386767645 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.03, Z:15.76 [[ 9.98760333e-01 -4.68108887e-02 -1.69274051e-02 -2.43765451e+01] [ 4.69274114e-02 9.98876807e-01 6.55303832e-03 -2.03289557e+00] [ 1.66016388e-02 -7.33927404e-03 9.99835247e-01 1.57581008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.149072329 meters Centerline goodness [0,1] 0.5866697621409426 Centerline is valid? [False, False] Translation: X:-24.38, Y:-2.03, Z:15.76 [[ 9.98771764e-01 -4.64525389e-02 -1.72373069e-02 -2.43756434e+01] [ 4.65688191e-02 9.98894539e-01 6.40669405e-03 -2.03154436e+00] [ 1.69206445e-02 -7.20154615e-03 9.99830900e-01 1.57580330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179072329 meters Centerline goodness [0,1] 0.598083700905388 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.98782679e-01 -4.60948645e-02 -1.75620114e-02 -2.43748470e+01] [ 4.62104410e-02 9.98912282e-01 6.23287196e-03 -2.03067043e+00] [ 1.72556055e-02 -7.03683285e-03 9.99826348e-01 1.57582176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.209072328999998 meters Centerline goodness [0,1] 0.587133790088689 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.98840635e-01 -4.46438830e-02 -1.80086119e-02 -2.43731957e+01] [ 4.47602538e-02 9.98979065e-01 6.11128924e-03 -2.02879949e+00] [ 1.77173946e-02 -6.91027406e-03 9.99819155e-01 1.57584270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239072329 meters Centerline goodness [0,1] 0.6095201892211521 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.99015767e-01 -4.05674013e-02 -1.79383232e-02 -2.43741170e+01] [ 4.07521499e-02 9.99118679e-01 1.00562285e-02 -2.02915497e+00] [ 1.75145587e-02 -1.07773561e-02 9.99788522e-01 1.57589886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.269072329 meters Centerline goodness [0,1] 0.6111591969431485 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.99034816e-01 -3.98591726e-02 -1.84576201e-02 -2.43728771e+01] [ 4.00427894e-02 9.99151003e-01 9.68751167e-03 -2.02650755e+00] [ 1.80558134e-02 -1.04172560e-02 9.99782711e-01 1.57594394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299072328999998 meters Centerline goodness [0,1] 0.5866137599462535 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.02, Z:15.76 [[ 9.99055650e-01 -3.90858064e-02 -1.89764914e-02 -2.43715419e+01] [ 3.92727184e-02 9.99182616e-01 9.57884821e-03 -2.02436588e+00] [ 1.85865833e-02 -1.03150608e-02 9.99774044e-01 1.57596742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.329072329 meters Centerline goodness [0,1] 0.6233473684210526 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.99217186e-01 -3.46364271e-02 -1.91137013e-02 -2.43720733e+01] [ 3.49029151e-02 9.99295573e-01 1.37892900e-02 -2.02528757e+00] [ 1.86226254e-02 -1.44456194e-02 9.99722222e-01 1.57605697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359072329 meters Centerline goodness [0,1] 0.6240166589541879 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.99232343e-01 -3.39380276e-02 -1.95687158e-02 -2.43705694e+01] [ 3.42211232e-02 9.99311718e-01 1.43179787e-02 -2.02602257e+00] [ 1.90693231e-02 -1.49766508e-02 9.99705987e-01 1.57600405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.389072328999998 meters Centerline goodness [0,1] 0.599807014599765 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.99249964e-01 -3.30728513e-02 -2.01419150e-02 -2.43687217e+01] [ 3.33780109e-02 9.99330117e-01 1.50075022e-02 -2.02677902e+00] [ 1.96320814e-02 -1.56685431e-02 9.99684489e-01 1.57594310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419072329 meters Centerline goodness [0,1] 0.6355153966047433 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.99281325e-01 -3.19954471e-02 -2.03254940e-02 -2.43679914e+01] [ 3.23194046e-02 9.99352461e-01 1.58150458e-02 -2.02785345e+00] [ 1.98063230e-02 -1.64605878e-02 9.99668324e-01 1.57594055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.449072329 meters Centerline goodness [0,1] 0.6318406920617674 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.99201906e-01 -3.40690979e-02 -2.08530104e-02 -2.43650597e+01] [ 3.43478077e-02 9.99323340e-01 1.31563859e-02 -2.02737145e+00] [ 2.03906738e-02 -1.38621411e-02 9.99695985e-01 1.57581250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479072328999997 meters Centerline goodness [0,1] 0.627621052631579 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.99209233e-01 -3.39073637e-02 -2.07653559e-02 -2.43653590e+01] [ 3.41948850e-02 9.99321947e-01 1.36512010e-02 -2.02941664e+00] [ 2.02883997e-02 -1.43504750e-02 9.99691175e-01 1.57583125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.509072329 meters Centerline goodness [0,1] 0.6222788327929597 Centerline is valid? [False, False] Translation: X:-24.37, Y:-2.03, Z:15.76 [[ 9.99215474e-01 -3.37834866e-02 -2.06666807e-02 -2.43655805e+01] [ 3.40834633e-02 9.99316120e-01 1.43390808e-02 -2.03240095e+00] [ 2.01681230e-02 -1.50322234e-02 9.99683589e-01 1.57582807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539072329 meters Centerline goodness [0,1] 0.632701073371563 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.04, Z:15.76 [[ 9.99110891e-01 -3.66034614e-02 -2.09192384e-02 -2.43634762e+01] [ 3.68666799e-02 9.99244019e-01 1.23384741e-02 -2.03836684e+00] [ 2.04517930e-02 -1.30987267e-02 9.99705030e-01 1.57568141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.569072328999997 meters Centerline goodness [0,1] 0.6018998995647807 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.04, Z:15.76 [[ 9.98983696e-01 -3.96859288e-02 -2.13682339e-02 -2.43610730e+01] [ 3.98955360e-02 9.99158943e-01 9.47384420e-03 -2.04044431e+00] [ 2.09742837e-02 -1.03167130e-02 9.99726785e-01 1.57556050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599072329 meters Centerline goodness [0,1] 0.5939577670917834 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.04, Z:15.76 [[ 9.98988340e-01 -3.95933986e-02 -2.13227241e-02 -2.43610125e+01] [ 3.98230426e-02 9.99152049e-01 1.04550366e-02 -2.04424006e+00] [ 2.08906930e-02 -1.12935954e-02 9.99717977e-01 1.57553036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.629072329 meters Centerline goodness [0,1] 0.6144836722249091 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.05, Z:15.76 [[ 9.98988821e-01 -3.96496450e-02 -2.11953248e-02 -2.43613134e+01] [ 3.98929027e-02 9.99141415e-01 1.11798933e-02 -2.04749752e+00] [ 2.07338480e-02 -1.20141314e-02 9.99712843e-01 1.57552191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659072329 meters Centerline goodness [0,1] 0.6239523227898749 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.05, Z:15.75 [[ 9.98838148e-01 -4.32029064e-02 -2.13509581e-02 -2.43603227e+01] [ 4.33977973e-02 9.99019551e-01 8.75029931e-03 -2.05277874e+00] [ 2.09519862e-02 -9.66671730e-03 9.99733749e-01 1.57548577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.689072329 meters Centerline goodness [0,1] 0.609994545378257 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.06, Z:15.75 [[ 9.98688906e-01 -4.63580557e-02 -2.17117440e-02 -2.43581575e+01] [ 4.64970220e-02 9.98900769e-01 5.93976055e-03 -2.05547851e+00] [ 2.14125220e-02 -6.94150441e-03 9.99746628e-01 1.57537610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719072329 meters Centerline goodness [0,1] 0.609994545378257 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.06, Z:15.75 [[ 9.98688906e-01 -4.63580557e-02 -2.17117440e-02 -2.43581575e+01] [ 4.64970220e-02 9.98900769e-01 5.93976055e-03 -2.05547851e+00] [ 2.14125220e-02 -6.94150441e-03 9.99746628e-01 1.57537610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.749072329 meters Centerline goodness [0,1] 0.6001013791792511 Centerline is valid? [False, False] Translation: X:-24.36, Y:-2.06, Z:15.75 [[ 9.98520817e-01 -4.97656032e-02 -2.18989297e-02 -2.43567403e+01] [ 4.98395270e-02 9.98753193e-01 2.84260918e-03 -2.05810980e+00] [ 2.17301618e-02 -3.92983674e-03 9.99756148e-01 1.57531493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779072328999998 meters Centerline goodness [0,1] 0.5908091238506168 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.06, Z:15.75 [[ 9.98379996e-01 -5.22460641e-02 -2.25329167e-02 -2.43526731e+01] [ 5.22936383e-02 9.98630584e-01 1.52687139e-03 -2.06465104e+00] [ 2.24222867e-02 -2.70272605e-03 9.99744936e-01 1.57500493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.809072329 meters Centerline goodness [0,1] 0.6030588877917603 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.07, Z:15.75 [[ 9.98407792e-01 -5.16525351e-02 -2.26692844e-02 -2.43512860e+01] [ 5.17309710e-02 9.98656884e-01 2.88693719e-03 -2.06819120e+00] [ 2.24897193e-02 -4.05504468e-03 9.99738850e-01 1.57484534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839072329 meters Centerline goodness [0,1] 0.5904341769212909 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.07, Z:15.75 [[ 9.98431582e-01 -5.11864866e-02 -2.26786168e-02 -2.43504007e+01] [ 5.12930270e-02 9.98675061e-01 4.14092250e-03 -2.07187228e+00] [ 2.24366097e-02 -5.29768270e-03 9.99734231e-01 1.57471642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.869072328999998 meters Centerline goodness [0,1] 0.5887460484720759 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.08, Z:15.74 [[ 9.98292015e-01 -5.35753805e-02 -2.32965764e-02 -2.43466266e+01] [ 5.36536645e-02 9.98555824e-01 2.74789714e-03 -2.07784227e+00] [ 2.31157124e-02 -3.99315047e-03 9.99724821e-01 1.57445748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899072329 meters Centerline goodness [0,1] 0.5811488416375754 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.08, Z:15.74 [[ 9.98312624e-01 -5.31897889e-02 -2.32969994e-02 -2.43461911e+01] [ 5.32946860e-02 9.98571194e-01 3.90465819e-03 -2.08184644e+00] [ 2.30560245e-02 -5.13967583e-03 9.99720963e-01 1.57439759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.929072329 meters Centerline goodness [0,1] 0.577786722026861 Centerline is valid? [False, False] Translation: X:-24.35, Y:-2.09, Z:15.74 [[ 9.98337698e-01 -5.26902777e-02 -2.33575602e-02 -2.43455018e+01] [ 5.28240819e-02 9.98590561e-01 5.14858573e-03 -2.08579797e+00] [ 2.30533587e-02 -6.37386890e-03 9.99713917e-01 1.57431837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959072328999998 meters Centerline goodness [0,1] 0.5864396768137038 Centerline is valid? [False, False] Translation: X:-24.34, Y:-2.09, Z:15.74 [[ 9.98376547e-01 -5.17645974e-02 -2.37633428e-02 -2.43436392e+01] [ 5.19393186e-02 9.98627127e-01 6.79476736e-03 -2.09033900e+00] [ 2.33789903e-02 -8.01798821e-03 9.99694521e-01 1.57418802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.989072329 meters Centerline goodness [0,1] 0.5878080195950084 Centerline is valid? [False, False] Translation: X:-24.34, Y:-2.10, Z:15.74 [[ 9.98435947e-01 -5.03332397e-02 -2.43356818e-02 -2.43410578e+01] [ 5.05656443e-02 9.98679912e-01 9.03042549e-03 -2.09787376e+00] [ 2.38490260e-02 -1.02468509e-02 9.99663056e-01 1.57402500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019072329 meters Centerline goodness [0,1] 0.5932303786756928 Centerline is valid? [False, False] Translation: X:-24.34, Y:-2.10, Z:15.74 [[ 9.98463695e-01 -4.96097705e-02 -2.46803758e-02 -2.43396367e+01] [ 4.98713694e-02 9.98704590e-01 1.00989627e-02 -2.10067050e+00] [ 2.41473973e-02 -1.13142918e-02 9.99644382e-01 1.57393957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.049072328999998 meters Centerline goodness [0,1] 0.5845858312927468 Centerline is valid? [False, False] Translation: X:-24.34, Y:-2.10, Z:15.74 [[ 9.98497950e-01 -4.86474094e-02 -2.52046377e-02 -2.43375891e+01] [ 4.89427041e-02 9.98738407e-01 1.12341836e-02 -2.10274099e+00] [ 2.46263257e-02 -1.24508924e-02 9.99619187e-01 1.57383064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079072329 meters Centerline goodness [0,1] 0.5966961701768099 Centerline is valid? [False, False] Translation: X:-24.34, Y:-2.10, Z:15.74 [[ 9.98514580e-01 -4.81261962e-02 -2.55441465e-02 -2.43365956e+01] [ 4.84367673e-02 9.98757938e-01 1.16816553e-02 -2.10331364e+00] [ 2.49502255e-02 -1.29015790e-02 9.99605440e-01 1.57380923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.109072329 meters Centerline goodness [0,1] 0.6075799780535156 Centerline is valid? [False, False] Translation: X:-24.33, Y:-2.11, Z:15.74 [[ 9.98597726e-01 -4.57514438e-02 -2.66343147e-02 -2.43325774e+01] [ 4.61262580e-02 9.98842595e-01 1.36322447e-02 -2.10505148e+00] [ 2.59797931e-02 -1.48416698e-02 9.99552287e-01 1.57364242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139072328999998 meters Centerline goodness [0,1] 0.6079069079850479 Centerline is valid? [False, False] Translation: X:-24.33, Y:-2.11, Z:15.73 [[ 9.98638214e-01 -4.42820224e-02 -2.75829744e-02 -2.43289584e+01] [ 4.47041478e-02 9.98889451e-01 1.48796615e-02 -2.10626836e+00] [ 2.68934407e-02 -1.60924720e-02 9.99508767e-01 1.57345916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.169072329 meters Centerline goodness [0,1] 0.6292256206049309 Centerline is valid? [False, False] Translation: X:-24.33, Y:-2.11, Z:15.73 [[ 9.98664943e-01 -4.32252110e-02 -2.82827201e-02 -2.43262462e+01] [ 4.36810937e-02 9.98922088e-01 1.57042499e-02 -2.10707840e+00] [ 2.75734143e-02 -1.69187040e-02 9.99476595e-01 1.57331835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199072329 meters Centerline goodness [0,1] 0.6244227917814023 Centerline is valid? [False, False] Translation: X:-24.32, Y:-2.11, Z:15.73 [[ 9.98724890e-01 -4.10390845e-02 -2.94004859e-02 -2.43213408e+01] [ 4.15638412e-02 9.98983189e-01 1.74652641e-02 -2.10829690e+00] [ 2.86538327e-02 -1.86649911e-02 9.99415117e-01 1.57302349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.229072328999997 meters Centerline goodness [0,1] 0.6383037283255351 Centerline is valid? [False, False] Translation: X:-24.32, Y:-2.11, Z:15.73 [[ 9.98731366e-01 -4.05853185e-02 -2.98075450e-02 -2.43200683e+01] [ 4.11227021e-02 9.98998339e-01 1.76420669e-02 -2.10804242e+00] [ 2.90616790e-02 -1.88454524e-02 9.99399954e-01 1.57298549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259072329 meters Centerline goodness [0,1] 0.6419596126544191 Centerline is valid? [False, False] Translation: X:-24.32, Y:-2.11, Z:15.73 [[ 9.98731198e-01 -4.03482434e-02 -3.01332534e-02 -2.43192538e+01] [ 4.08876592e-02 9.99010407e-01 1.75044418e-02 -2.10706006e+00] [ 2.93971603e-02 -1.87143103e-02 9.99392606e-01 1.57298997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.289072329 meters Centerline goodness [0,1] 0.6420216147488875 Centerline is valid? [False, False] Translation: X:-24.32, Y:-2.11, Z:15.73 [[ 9.98728154e-01 -4.01049593e-02 -3.05559588e-02 -2.43184677e+01] [ 4.06466425e-02 9.99023503e-01 1.73173859e-02 -2.10598988e+00] [ 2.98316080e-02 -1.85373580e-02 9.99383030e-01 1.57302749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319072328999997 meters Centerline goodness [0,1] 0.6421686746987951 Centerline is valid? [False, False] Translation: X:-24.32, Y:-2.10, Z:15.73 [[ 9.98729489e-01 -3.97195856e-02 -3.10122771e-02 -2.43170737e+01] [ 4.02511139e-02 9.99049909e-01 1.67071274e-02 -2.10226060e+00] [ 3.03192125e-02 -1.79341796e-02 9.99379363e-01 1.57300857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.349072329 meters Centerline goodness [0,1] 0.6202018495840547 Centerline is valid? [False, False] Translation: X:-24.32, Y:-2.10, Z:15.73 [[ 9.98722739e-01 -3.94350799e-02 -3.15874257e-02 -2.43152944e+01] [ 3.99682996e-02 9.99065845e-01 1.64308475e-02 -2.09972215e+00] [ 3.09099663e-02 -1.76723567e-02 9.99365930e-01 1.57295141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379072329 meters Centerline goodness [0,1] 0.6411177054512429 Centerline is valid? [False, False] Translation: X:-24.31, Y:-2.10, Z:15.73 [[ 9.98703455e-01 -3.97306439e-02 -3.18258657e-02 -2.43144460e+01] [ 4.02404197e-02 9.99069170e-01 1.55403390e-02 -2.09616517e+00] [ 3.11788136e-02 -1.68008764e-02 9.99372609e-01 1.57291604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.409072329 meters Centerline goodness [0,1] 0.6247031382527566 Centerline is valid? [False, False] Translation: X:-24.31, Y:-2.09, Z:15.73 [[ 9.98665943e-01 -4.06034822e-02 -3.19012625e-02 -2.43133652e+01] [ 4.10687565e-02 9.99057290e-01 1.40672661e-02 -2.09051119e+00] [ 3.13000089e-02 -1.53586447e-02 9.99392026e-01 1.57278971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439072329 meters Centerline goodness [0,1] 0.6189833653096076 Centerline is valid? [False, False] Translation: X:-24.31, Y:-2.09, Z:15.73 [[ 9.98514487e-01 -4.36456578e-02 -3.26171143e-02 -2.43098006e+01] [ 4.40033526e-02 9.98977976e-01 1.03299823e-02 -2.08686169e+00] [ 3.21329199e-02 -1.17498994e-02 9.99414536e-01 1.57261399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.469072329 meters Centerline goodness [0,1] 0.616673382393485 Centerline is valid? [False, False] Translation: X:-24.31, Y:-2.08, Z:15.73 [[ 9.98488667e-01 -4.42857922e-02 -3.25445822e-02 -2.43101141e+01] [ 4.46148199e-02 9.98959528e-01 9.45404873e-03 -2.08498925e+00] [ 3.20920405e-02 -1.08917312e-02 9.99425571e-01 1.57263802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499072329 meters Centerline goodness [0,1] 0.6004025850195995 Centerline is valid? [False, False] Translation: X:-24.30, Y:-2.08, Z:15.72 [[ 9.98625957e-01 -4.71941656e-02 -2.27795652e-02 -2.43015732e+01] [ 4.72258751e-02 9.98883869e-01 8.55766992e-04 -2.07585296e+00] [ 2.27137530e-02 -1.93037603e-03 9.99740146e-01 1.57227810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.529072328999998 meters Centerline goodness [0,1] 0.6134918616480163 Centerline is valid? [False, False] Translation: X:-24.30, Y:-2.07, Z:15.72 [[ 9.98589401e-01 -4.80039550e-02 -2.26898459e-02 -2.43019122e+01] [ 4.80049340e-02 9.98846972e-01 -5.01847626e-04 -2.07151569e+00] [ 2.26877746e-02 -5.88084835e-04 9.99742426e-01 1.57230890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559072329 meters Centerline goodness [0,1] 0.5950315789473684 Centerline is valid? [False, False] Translation: X:-24.28, Y:-2.07, Z:15.72 [[ 9.98596997e-01 -4.99434886e-02 -1.75978886e-02 -2.42839060e+01] [ 4.99892160e-02 9.98747405e-01 2.16795081e-03 -2.06778342e+00] [ 1.74675706e-02 -3.04461382e-03 9.99842795e-01 1.57229786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.589072329 meters Centerline goodness [0,1] 0.6019671577525434 Centerline is valid? [False, False] Translation: X:-24.29, Y:-2.06, Z:15.72 [[ 9.98685001e-01 -4.82768914e-02 -1.72513940e-02 -2.42858932e+01] [ 4.83530384e-02 9.98822201e-01 4.02420932e-03 -2.06389113e+00] [ 1.70367990e-02 -4.85307480e-03 9.99843085e-01 1.57237163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619072328999998 meters Centerline goodness [0,1] 0.5833209988793268 Centerline is valid? [False, False] Translation: X:-24.28, Y:-2.05, Z:15.72 [[ 9.98588743e-01 -5.02311270e-02 -1.72440269e-02 -2.42845401e+01] [ 5.02494895e-02 9.98736496e-01 6.32959734e-04 -2.05129579e+00] [ 1.71904447e-02 -1.49857001e-03 9.99851110e-01 1.57220629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.649072329 meters Centerline goodness [0,1] 0.5852932483215809 Centerline is valid? [False, False] Translation: X:-24.28, Y:-2.05, Z:15.72 [[ 9.98579309e-01 -5.02529505e-02 -1.77201961e-02 -2.42821596e+01] [ 5.02549603e-02 9.98736366e-01 -3.32146694e-04 -2.04536985e+00] [ 1.77144956e-02 -5.58852934e-04 9.99842930e-01 1.57204296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679072329 meters Centerline goodness [0,1] 0.5932544729924532 Centerline is valid? [False, False] Translation: X:-24.28, Y:-2.04, Z:15.72 [[ 9.98722998e-01 -4.73790688e-02 -1.75384655e-02 -2.42830596e+01] [ 4.74196299e-02 9.98873242e-01 1.90386231e-03 -2.04040927e+00] [ 1.74285007e-02 -2.73309862e-03 9.99844377e-01 1.57204802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.709072328999998 meters Centerline goodness [0,1] 0.5949739594359995 Centerline is valid? [False, False] Translation: X:-24.28, Y:-2.03, Z:15.72 [[ 9.98853308e-01 -4.45956012e-02 -1.74155394e-02 -2.42842174e+01] [ 4.46656291e-02 9.98995315e-01 3.65275568e-03 -2.03394759e+00] [ 1.72351455e-02 -4.42644312e-03 9.99841666e-01 1.57212958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739072329 meters Centerline goodness [0,1] 0.5868873194898282 Centerline is valid? [False, False] Translation: X:-24.28, Y:-2.01, Z:15.72 [[ 9.99218195e-01 -3.88772324e-02 -7.18045151e-03 -2.42787961e+01] [ 3.89072989e-02 9.99234429e-01 4.09609641e-03 -2.01448335e+00] [ 7.01570948e-03 -4.37226604e-03 9.99965831e-01 1.57193802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.769072329 meters Centerline goodness [0,1] 0.6036586655387544 Centerline is valid? [False, False] Translation: X:-24.28, Y:-2.00, Z:15.72 [[ 9.99338691e-01 -3.56152807e-02 -7.33027606e-03 -2.42789008e+01] [ 3.56563846e-02 9.99348669e-01 5.55522411e-03 -2.00423599e+00] [ 7.12765076e-03 -5.81292154e-03 9.99957702e-01 1.57200182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799072328999998 meters Centerline goodness [0,1] 0.5879059350503919 Centerline is valid? [False, False] Translation: X:-24.28, Y:-1.99, Z:15.72 [[ 9.99460050e-01 -3.19042476e-02 -7.85668699e-03 -2.42774018e+01] [ 3.19622532e-02 9.99461893e-01 7.37149659e-03 -1.99406469e+00] [ 7.61727719e-03 -7.61863377e-03 9.99941965e-01 1.57196755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.829072329 meters Centerline goodness [0,1] 0.6281913208742478 Centerline is valid? [False, False] Translation: X:-24.27, Y:-1.97, Z:15.72 [[ 9.99648484e-01 -2.43481631e-02 -1.04916405e-02 -2.42709384e+01] [ 2.44264266e-02 9.99674263e-01 7.39715695e-03 -1.97235835e+00] [ 1.03081158e-02 -7.65083003e-03 9.99917600e-01 1.57197750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859072329 meters Centerline goodness [0,1] 0.6321444371879411 Centerline is valid? [False, False] Translation: X:-24.27, Y:-1.96, Z:15.72 [[ 9.99718839e-01 -2.10342418e-02 -1.09454386e-02 -2.42692759e+01] [ 2.11338417e-02 9.99735558e-01 9.06498435e-03 -1.96381761e+00] [ 1.07518691e-02 -9.29375480e-03 9.99899007e-01 1.57190802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.889072328999998 meters Centerline goodness [0,1] 0.6555515691281684 Centerline is valid? [False, False] Translation: X:-24.27, Y:-1.95, Z:15.72 [[ 9.99773579e-01 -1.81698390e-02 -1.10746103e-02 -2.42690152e+01] [ 1.82826294e-02 9.99781135e-01 1.01698902e-02 -1.95463561e+00] [ 1.08874012e-02 -1.03700605e-02 9.99886957e-01 1.57194005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919072329 meters Centerline goodness [0,1] 0.6679179231953436 Centerline is valid? [False, False] Translation: X:-24.27, Y:-1.94, Z:15.72 [[ 9.99817327e-01 -1.53745190e-02 -1.13550343e-02 -2.42684557e+01] [ 1.55007788e-02 9.99818061e-01 1.11162469e-02 -1.94450752e+00] [ 1.11820614e-02 -1.12902282e-02 9.99873738e-01 1.57198426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.949072329 meters Centerline goodness [0,1] 0.6759584815883108 Centerline is valid? [False, False] Translation: X:-24.27, Y:-1.92, Z:15.72 [[ 9.99882577e-01 -1.08335277e-02 -1.08382526e-02 -2.42699440e+01] [ 1.09449536e-02 9.99887311e-01 1.02748631e-02 -1.91984411e+00] [ 1.07257182e-02 -1.03922807e-02 9.99888474e-01 1.57236364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979072328999997 meters Centerline goodness [0,1] 0.679160609316731 Centerline is valid? [False, False] Translation: X:-24.27, Y:-1.91, Z:15.73 [[ 9.99906241e-01 -8.48553166e-03 -1.07473209e-02 -2.42709062e+01] [ 8.59772323e-03 9.99908578e-01 1.04362025e-02 -1.90839727e+00] [ 1.06577816e-02 -1.05276265e-02 9.99887784e-01 1.57255171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.009072329 meters Centerline goodness [0,1] 0.6773160920750585 Centerline is valid? [False, False] Translation: X:-24.27, Y:-1.90, Z:15.73 [[ 9.99923313e-01 -6.01470934e-03 -1.08254650e-02 -2.42711947e+01] [ 6.13332002e-03 9.99921160e-01 1.09569922e-02 -1.89749395e+00] [ 1.07587084e-02 -1.10225480e-02 9.99881370e-01 1.57267735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039072329 meters Centerline goodness [0,1] 0.6925514385905616 Centerline is valid? [False, False] Translation: X:-24.27, Y:-1.87, Z:15.73 [[ 9.99924340e-01 -4.00729733e-03 -1.16299532e-02 -2.42678431e+01] [ 4.09564110e-03 9.99962866e-01 7.58237765e-03 -1.87368842e+00] [ 1.15991365e-02 -7.62943608e-03 9.99903621e-01 1.57271345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.069072328999997 meters Centerline goodness [0,1] 0.6876252769279461 Centerline is valid? [False, False] Translation: X:-24.26, Y:-1.86, Z:15.72 [[ 9.99925585e-01 -1.30548699e-03 -1.21292932e-02 -2.42645412e+01] [ 1.41199707e-03 9.99960486e-01 8.77681746e-03 -1.86363667e+00] [ 1.21173559e-02 -8.79329086e-03 9.99887918e-01 1.57246982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099072329 meters Centerline goodness [0,1] 0.6882069230440906 Centerline is valid? [False, False] Translation: X:-24.26, Y:-1.85, Z:15.72 [[ 9.99924314e-01 1.39182910e-03 -1.22241023e-02 -2.42633561e+01] [-1.27314366e-03 9.99952031e-01 9.71155454e-03 -1.85257362e+00] [ 1.22370327e-02 -9.69525648e-03 9.99878121e-01 1.57240319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.129072329 meters Centerline goodness [0,1] 0.7010960029399684 Centerline is valid? [False, False] Translation: X:-24.25, Y:-1.84, Z:15.72 [[ 9.99966946e-01 4.84593096e-03 -6.52865759e-03 -2.42528429e+01] [-4.81871242e-03 9.99979660e-01 4.17838621e-03 -1.83900322e+00] [ 6.54877297e-03 -4.14678838e-03 9.99969958e-01 1.57215016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159072329 meters Centerline goodness [0,1] 0.7172276350752879 Centerline is valid? [False, False] Translation: X:-24.24, Y:-1.81, Z:15.72 [[ 9.99947384e-01 1.00784948e-02 1.91155180e-03 -2.42428623e+01] [-1.00871311e-02 9.99938710e-01 4.56346011e-03 -1.81344509e+00] [-1.86544183e-03 -4.58250207e-03 9.99987760e-01 1.57184605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.189072329 meters Centerline goodness [0,1] 0.7186987486239357 Centerline is valid? [False, False] Translation: X:-24.24, Y:-1.80, Z:15.72 [[ 9.99907978e-01 1.34864411e-02 1.46696048e-03 -2.42409424e+01] [-1.34950256e-02 9.99890885e-01 6.00847573e-03 -1.80302810e+00] [-1.38576746e-03 -6.02771948e-03 9.99980873e-01 1.57184802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219072329 meters Centerline goodness [0,1] 0.7165293394637411 Centerline is valid? [False, False] Translation: X:-24.24, Y:-1.79, Z:15.72 [[ 9.99862543e-01 1.65202187e-02 1.40635638e-03 -2.42400151e+01] [-1.65300361e-02 9.99836855e-01 7.28150938e-03 -1.79275774e+00] [-1.28583482e-03 -7.30375561e-03 9.99972501e-01 1.57185410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249072329 meters Centerline goodness [0,1] 0.7345455395330358 Centerline is valid? [False, False] Translation: X:-24.23, Y:-1.77, Z:15.72 [[ 9.99843863e-01 1.68359367e-02 -5.36666713e-03 -2.42260125e+01] [-1.67811374e-02 9.99808198e-01 1.00975652e-02 -1.76963818e+00] [ 5.53563976e-03 -1.00059298e-02 9.99934617e-01 1.57216257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279072328999998 meters Centerline goodness [0,1] 0.7360200676810942 Centerline is valid? [False, False] Translation: X:-24.22, Y:-1.76, Z:15.72 [[ 9.99787475e-01 1.99107033e-02 -5.34492138e-03 -2.42239223e+01] [-1.98454452e-02 9.99731083e-01 1.19966934e-02 -1.76047622e+00] [ 5.58234664e-03 -1.18880715e-02 9.99913752e-01 1.57194640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.309072329 meters Centerline goodness [0,1] 0.7323785117237085 Centerline is valid? [False, False] Translation: X:-24.22, Y:-1.75, Z:15.72 [[ 9.99719045e-01 2.30666864e-02 -5.45522533e-03 -2.42217072e+01] [-2.29880874e-02 9.99636913e-01 1.40566780e-02 -1.75165431e+00] [ 5.77748559e-03 -1.39273235e-02 9.99886319e-01 1.57174741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339072329 meters Centerline goodness [0,1] 0.7288189052795031 Centerline is valid? [False, False] Translation: X:-24.22, Y:-1.74, Z:15.72 [[ 9.99725837e-01 2.25151300e-02 -6.42808560e-03 -2.42191627e+01] [-2.24451384e-02 9.99690166e-01 1.07604866e-02 -1.73892450e+00] [ 6.66836772e-03 -1.06132572e-02 9.99921443e-01 1.57190743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.369072328999998 meters Centerline goodness [0,1] 0.7263131752142059 Centerline is valid? [False, False] Translation: X:-24.22, Y:-1.72, Z:15.72 [[ 9.99677394e-01 2.45028723e-02 -6.68713426e-03 -2.42178190e+01] [-2.44388088e-02 9.99656194e-01 9.49935272e-03 -1.71867245e+00] [ 6.91759662e-03 -9.33286258e-03 9.99932520e-01 1.57205994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399072329 meters Centerline goodness [0,1] 0.7249246231155779 Centerline is valid? [False, False] Translation: X:-24.22, Y:-1.71, Z:15.72 [[ 9.99692772e-01 2.37397732e-02 -7.12628745e-03 -2.42166570e+01] [-2.36945307e-02 9.99698968e-01 6.36736806e-03 -1.70764372e+00] [ 7.27530208e-03 -6.19655780e-03 9.99954335e-01 1.57222859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.429072329 meters Centerline goodness [0,1] 0.7283060501873044 Centerline is valid? [False, False] Translation: X:-24.21, Y:-1.69, Z:15.72 [[ 9.99627336e-01 2.62505282e-02 -7.48986833e-03 -2.42142653e+01] [-2.62091627e-02 9.99640971e-01 5.56858576e-03 -1.68843322e+00] [ 7.63335757e-03 -5.37020738e-03 9.99956445e-01 1.57229599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459072328999998 meters Centerline goodness [0,1] 0.7422002857513963 Centerline is valid? [False, False] Translation: X:-24.21, Y:-1.68, Z:15.72 [[ 9.99631121e-01 2.58508256e-02 -8.32806708e-03 -2.42121166e+01] [-2.58281270e-02 9.99662416e-01 2.82169075e-03 -1.67641408e+00] [ 8.39819869e-03 -2.60555151e-03 9.99961340e-01 1.57245854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.489072329 meters Centerline goodness [0,1] 0.7344332930481845 Centerline is valid? [False, False] Translation: X:-24.21, Y:-1.67, Z:15.73 [[ 9.99629112e-01 2.56710163e-02 -9.09048811e-03 -2.42100764e+01] [-2.56661322e-02 9.99670357e-01 6.53546559e-04 -1.66511585e+00] [ 9.10426869e-03 -4.19986497e-04 9.99958467e-01 1.57257425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519072329 meters Centerline goodness [0,1] 0.7303957783641162 Centerline is valid? [False, False] Translation: X:-24.21, Y:-1.66, Z:15.73 [[ 9.99545877e-01 2.88510606e-02 -8.69804049e-03 -2.42103662e+01] [-2.88252237e-02 9.99579718e-01 3.08132216e-03 -1.65797332e+00] [ 8.78328427e-03 -2.82919990e-03 9.99957424e-01 1.57254707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.549072328999998 meters Centerline goodness [0,1] 0.7258261933904528 Centerline is valid? [False, False] Translation: X:-24.21, Y:-1.65, Z:15.73 [[ 9.99556644e-01 2.83399133e-02 -9.13041038e-03 -2.42093510e+01] [-2.83323974e-02 9.99598104e-01 9.51491770e-04 -1.64772547e+00] [ 9.15370610e-03 -6.92383505e-04 9.99957864e-01 1.57267881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579072329 meters Centerline goodness [0,1] 0.7255956747357839 Centerline is valid? [False, False] Translation: X:-24.21, Y:-1.63, Z:15.73 [[ 9.99526195e-01 2.96822198e-02 -8.14563554e-03 -2.42127260e+01] [-2.96819277e-02 9.99559382e-01 1.56774849e-04 -1.62898178e+00] [ 8.14669985e-03 8.50775974e-05 9.99966811e-01 1.57298151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.609072329 meters Centerline goodness [0,1] 0.7193188651396709 Centerline is valid? [False, False] Translation: X:-24.21, Y:-1.62, Z:15.73 [[ 9.99536178e-01 2.92120866e-02 -8.60719081e-03 -2.42113571e+01] [-2.92270517e-02 9.99571489e-01 -1.61802511e-03 -1.61940143e+00] [ 8.55623664e-03 1.86883744e-03 9.99961648e-01 1.57303731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639072328999998 meters Centerline goodness [0,1] 0.7193188651396709 Centerline is valid? [False, False] Translation: X:-24.21, Y:-1.62, Z:15.73 [[ 9.99536178e-01 2.92120866e-02 -8.60719081e-03 -2.42113571e+01] [-2.92270517e-02 9.99571489e-01 -1.61802511e-03 -1.61940143e+00] [ 8.55623664e-03 1.86883744e-03 9.99961648e-01 1.57303731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669072329 meters Centerline goodness [0,1] 0.7047768855037668 Centerline is valid? [False, False] Translation: X:-24.21, Y:-1.61, Z:15.73 [[ 9.99547560e-01 2.87010776e-02 -8.99577591e-03 -2.42098864e+01] [-2.87318053e-02 9.99581692e-01 -3.30534715e-03 -1.60987361e+00] [ 8.89714587e-03 3.56231655e-03 9.99954074e-01 1.57303517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699072329 meters Centerline goodness [0,1] 0.6876990277582077 Centerline is valid? [False, False] Translation: X:-24.20, Y:-1.59, Z:15.73 [[ 9.99580189e-01 2.46481537e-02 -1.52287632e-02 -2.41997623e+01] [-2.46641507e-02 9.99695421e-01 -8.63497057e-04 -1.59106225e+00] [ 1.52028412e-02 1.23873906e-03 9.99883663e-01 1.57323744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.729072328999997 meters Centerline goodness [0,1] 0.6770765252479327 Centerline is valid? [False, False] Translation: X:-24.20, Y:-1.58, Z:15.73 [[ 9.99587370e-01 2.41358836e-02 -1.55739949e-02 -2.41982766e+01] [-2.41805543e-02 9.99703998e-01 -2.68635311e-03 -1.58274959e+00] [ 1.55045475e-02 3.06183247e-03 9.99875109e-01 1.57324909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759072329 meters Centerline goodness [0,1] 0.6710141604081867 Centerline is valid? [False, False] Translation: X:-24.20, Y:-1.57, Z:15.73 [[ 9.99596092e-01 2.35548260e-02 -1.59003999e-02 -2.41970124e+01] [-2.36293161e-02 9.99710601e-01 -4.51326528e-03 -1.57373519e+00] [ 1.57894891e-02 4.88715792e-03 9.99863395e-01 1.57327482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.789072329 meters Centerline goodness [0,1] 0.7758651339179901 Centerline is valid? [False, False] Translation: X:-24.19, Y:-1.56, Z:15.73 [[ 9.99077354e-01 3.98895766e-02 -1.59141963e-02 -2.41912538e+01] [-3.97712334e-02 9.99179259e-01 7.68489554e-03 -1.55500271e+00] [ 1.62076821e-02 -7.04487789e-03 9.99843828e-01 1.57307078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819072328999997 meters Centerline goodness [0,1] 0.788611027417897 Centerline is valid? [False, False] Translation: X:-24.19, Y:-1.55, Z:15.73 [[ 9.98690245e-01 4.85845987e-02 -1.60415680e-02 -2.41880487e+01] [-4.83499265e-02 9.98722184e-01 1.47065796e-02 -1.54672549e+00] [ 1.67355831e-02 -1.39117090e-02 9.99763164e-01 1.57294321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.849072329 meters Centerline goodness [0,1] 0.7893519223159112 Centerline is valid? [False, False] Translation: X:-24.18, Y:-1.54, Z:15.73 [[ 9.98639039e-01 4.92061037e-02 -1.72866707e-02 -2.41847904e+01] [-4.90006258e-02 9.98725261e-01 1.21157450e-02 -1.53941170e+00] [ 1.78608033e-02 -1.12521983e-02 9.99777165e-01 1.57336770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879072329 meters Centerline goodness [0,1] 0.7875197953465709 Centerline is valid? [False, False] Translation: X:-24.19, Y:-1.54, Z:15.74 [[ 9.98682688e-01 4.83203940e-02 -1.72635137e-02 -2.41875223e+01] [-4.81331641e-02 9.98779234e-01 1.11013574e-02 -1.53913632e+00] [ 1.77788609e-02 -1.02557859e-02 9.99789343e-01 1.57375575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.909072329 meters Centerline goodness [0,1] 0.7851777818159792 Centerline is valid? [False, False] Translation: X:-24.18, Y:-1.54, Z:15.74 [[ 9.98972848e-01 4.14389167e-02 -1.83320974e-02 -2.41846793e+01] [-4.14199665e-02 9.99140827e-01 1.41236099e-03 -1.53743581e+00] [ 1.83748737e-02 -6.51595415e-04 9.99830955e-01 1.57414247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939072329 meters Centerline goodness [0,1] 0.7846454914948066 Centerline is valid? [False, False] Translation: X:-24.18, Y:-1.54, Z:15.74 [[ 9.99046476e-01 3.90623892e-02 -1.95004502e-02 -2.41792314e+01] [-3.91100451e-02 9.99232769e-01 -2.06832921e-03 -1.53921437e+00] [ 1.94046949e-02 2.82902050e-03 9.99807709e-01 1.57396081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.969072329 meters Centerline goodness [0,1] 0.7850254567235699 Centerline is valid? [False, False] Translation: X:-24.17, Y:-1.54, Z:15.74 [[ 9.99121564e-01 3.65099401e-02 -2.05700061e-02 -2.41740726e+01] [-3.66340690e-02 9.99312547e-01 -5.69018140e-03 -1.54020840e+00] [ 2.03481170e-02 6.43874597e-03 9.99772222e-01 1.57376846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999072329 meters Centerline goodness [0,1] 0.7839500642116894 Centerline is valid? [False, False] Translation: X:-24.17, Y:-1.54, Z:15.74 [[ 9.99201316e-01 3.35586081e-02 -2.16921595e-02 -2.41700859e+01] [-3.37691476e-02 9.99385328e-01 -9.41336565e-03 -1.54082892e+00] [ 2.13629265e-02 1.01383731e-02 9.99720380e-01 1.57370777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.029072328999995 meters Centerline goodness [0,1] 0.7812388006211922 Centerline is valid? [False, False] Translation: X:-24.17, Y:-1.54, Z:15.74 [[ 9.99196935e-01 3.34539845e-02 -2.20525712e-02 -2.41699896e+01] [-3.36797908e-02 9.99383157e-01 -9.94873098e-03 -1.53894647e+00] [ 2.17061435e-02 1.06834675e-02 9.99707311e-01 1.57387196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059072328999996 meters Centerline goodness [0,1] 0.7800965953133385 Centerline is valid? [False, False] Translation: X:-24.15, Y:-1.54, Z:15.73 [[ 9.99309258e-01 3.31276000e-02 -1.68395277e-02 -2.41548345e+01] [-3.31217537e-02 9.99451128e-01 6.26034952e-04 -1.54040800e+00] [ 1.68510239e-02 -6.78478368e-05 9.99858009e-01 1.57343696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089072329 meters Centerline goodness [0,1] 0.7849825238037845 Centerline is valid? [False, False] Translation: X:-24.16, Y:-1.54, Z:15.74 [[ 9.99219551e-01 3.59988311e-02 -1.62595424e-02 -2.41581715e+01] [-3.59580820e-02 9.99349400e-01 2.79169303e-03 -1.53548790e+00] [ 1.63494617e-02 -2.20485230e-03 9.99863908e-01 1.57379892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119072329 meters Centerline goodness [0,1] 0.7859229587687859 Centerline is valid? [False, False] Translation: X:-24.16, Y:-1.53, Z:15.74 [[ 9.99190457e-01 3.65512394e-02 -1.68059006e-02 -2.41562085e+01] [-3.65151140e-02 9.99330094e-01 2.45152025e-03 -1.53446603e+00] [ 1.68842483e-02 -1.83586626e-03 9.99855765e-01 1.57385233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.14907232899999 meters Centerline goodness [0,1] 0.7854386493819716 Centerline is valid? [False, False] Translation: X:-24.15, Y:-1.53, Z:15.74 [[ 9.99274301e-01 3.35181459e-02 -1.80943677e-02 -2.41524324e+01] [-3.35620626e-02 9.99434368e-01 -2.12882602e-03 -1.53254015e+00] [ 1.80127787e-02 2.73456544e-03 9.99834017e-01 1.57397176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17907232899999 meters Centerline goodness [0,1] 0.7869462191427458 Centerline is valid? [False, False] Translation: X:-24.15, Y:-1.53, Z:15.74 [[ 9.99342291e-01 3.08384176e-02 -1.90781893e-02 -2.41482065e+01] [-3.09526465e-02 9.99504477e-01 -5.72130623e-03 -1.53370317e+00] [ 1.88922996e-02 6.30806373e-03 9.99801625e-01 1.57386850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.209072328999994 meters Centerline goodness [0,1] 0.786841553619022 Centerline is valid? [False, False] Translation: X:-24.15, Y:-1.54, Z:15.74 [[ 9.99326640e-01 3.13008675e-02 -1.91447561e-02 -2.41474130e+01] [-3.14075881e-02 9.99492612e-01 -5.29929085e-03 -1.53545734e+00] [ 1.89691699e-02 5.89701313e-03 9.99802678e-01 1.57381956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239072328999995 meters Centerline goodness [0,1] 0.7860008382731574 Centerline is valid? [False, False] Translation: X:-24.15, Y:-1.54, Z:15.74 [[ 9.99311828e-01 3.17120670e-02 -1.92409847e-02 -2.41467078e+01] [-3.18140429e-02 9.99481213e-01 -5.01710950e-03 -1.53673903e+00] [ 1.90718998e-02 5.62579038e-03 9.99802287e-01 1.57380138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.269072329 meters Centerline goodness [0,1] 0.7862391649920518 Centerline is valid? [False, False] Translation: X:-24.15, Y:-1.54, Z:15.74 [[ 9.99308558e-01 3.18016491e-02 -1.92629389e-02 -2.41467819e+01] [-3.19073049e-02 9.99477292e-01 -5.20256354e-03 -1.53693946e+00] [ 1.90874199e-02 5.81359473e-03 9.99800916e-01 1.57387318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299072329 meters Centerline goodness [0,1] 0.7882684410874322 Centerline is valid? [False, False] Translation: X:-24.15, Y:-1.54, Z:15.74 [[ 9.99300475e-01 3.19216359e-02 -1.94825707e-02 -2.41464823e+01] [-3.20357691e-02 9.99471178e-01 -5.57443043e-03 -1.53653090e+00] [ 1.92943229e-02 6.19467011e-03 9.99794657e-01 1.57399143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.329072329 meters Centerline goodness [0,1] 0.7875191539224229 Centerline is valid? [False, False] Translation: X:-24.15, Y:-1.54, Z:15.74 [[ 9.99301823e-01 3.18040145e-02 -1.96053894e-02 -2.41468111e+01] [-3.19306019e-02 9.99470996e-01 -6.17782033e-03 -1.53502149e+00] [ 1.93985386e-02 6.79951900e-03 9.99788709e-01 1.57415926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35907232899999 meters Centerline goodness [0,1] 0.7889053120569516 Centerline is valid? [False, False] Translation: X:-24.14, Y:-1.53, Z:15.74 [[ 9.99274420e-01 3.23710953e-02 -2.00685405e-02 -2.41447795e+01] [-3.24991982e-02 9.99453206e-01 -6.09025409e-03 -1.53434147e+00] [ 1.98604189e-02 6.73804659e-03 9.99780057e-01 1.57411225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.389072328999994 meters Centerline goodness [0,1] 0.7901167689900084 Centerline is valid? [False, False] Translation: X:-24.14, Y:-1.54, Z:15.74 [[ 9.99246345e-01 3.31603565e-02 -2.01775264e-02 -2.41429780e+01] [-3.32788989e-02 9.99430595e-01 -5.56773871e-03 -1.53540360e+00] [ 1.99814090e-02 6.23502842e-03 9.99780910e-01 1.57396980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419072328999995 meters Centerline goodness [0,1] 0.7914531975167259 Centerline is valid? [False, False] Translation: X:-24.14, Y:-1.54, Z:15.74 [[ 9.99224079e-01 3.36674793e-02 -2.04387119e-02 -2.41415589e+01] [-3.37858003e-02 9.99414119e-01 -5.47152822e-03 -1.53556640e+00] [ 2.02425247e-02 6.15782098e-03 9.99776136e-01 1.57393870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.449072328999996 meters Centerline goodness [0,1] 0.7902836451418226 Centerline is valid? [False, False] Translation: X:-24.14, Y:-1.54, Z:15.74 [[ 9.99206836e-01 3.40269298e-02 -2.06849504e-02 -2.41405906e+01] [-3.41493634e-02 9.99401081e-01 -5.59474227e-03 -1.53526751e+00] [ 2.04821899e-02 6.29668261e-03 9.99770389e-01 1.57397272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479072329 meters Centerline goodness [0,1] 0.7899661917411254 Centerline is valid? [False, False] Translation: X:-24.14, Y:-1.54, Z:15.74 [[ 9.99193563e-01 3.43051562e-02 -2.08657601e-02 -2.41399843e+01] [-3.44316058e-02 9.99390623e-01 -5.73127853e-03 -1.53542545e+00] [ 2.06564325e-02 6.44509824e-03 9.99765859e-01 1.57403253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.509072329 meters Centerline goodness [0,1] 0.7894356441606938 Centerline is valid? [False, False] Translation: X:-24.14, Y:-1.54, Z:15.74 [[ 9.99167403e-01 3.49324160e-02 -2.10766956e-02 -2.41384096e+01] [-3.50487325e-02 9.99372207e-01 -5.17468904e-03 -1.53667419e+00] [ 2.08826994e-02 5.90909208e-03 9.99764470e-01 1.57392744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53907232899999 meters Centerline goodness [0,1] 0.7870870870870871 Centerline is valid? [False, False] Translation: X:-24.14, Y:-1.54, Z:15.74 [[ 9.99140209e-01 3.55647204e-02 -2.13071358e-02 -2.41367202e+01] [-3.56711843e-02 9.99352821e-01 -4.63745402e-03 -1.53759049e+00] [ 2.11284165e-02 5.39351754e-03 9.99762222e-01 1.57381652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.569072328999994 meters Centerline goodness [0,1] 0.7864033901361465 Centerline is valid? [False, False] Translation: X:-24.14, Y:-1.54, Z:15.74 [[ 9.99115299e-01 3.60998284e-02 -2.15736388e-02 -2.41350926e+01] [-3.62031008e-02 9.99334698e-01 -4.41561030e-03 -1.53785768e+00] [ 2.13998830e-02 5.19273643e-03 9.99757511e-01 1.57374599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599072328999995 meters Centerline goodness [0,1] 0.7878678678678679 Centerline is valid? [False, False] Translation: X:-24.13, Y:-1.54, Z:15.74 [[ 9.99100066e-01 3.64814944e-02 -2.16369688e-02 -2.41342446e+01] [-3.65764184e-02 9.99322823e-01 -4.00759091e-03 -1.53872943e+00] [ 2.14761138e-02 4.79538717e-03 9.99757861e-01 1.57366762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.629072328999996 meters Centerline goodness [0,1] 0.7834626865671641 Centerline is valid? [False, False] Translation: X:-24.13, Y:-1.54, Z:15.74 [[ 9.99081375e-01 3.69347101e-02 -2.17309351e-02 -2.41331013e+01] [-3.70162570e-02 9.99309007e-01 -3.36223164e-03 -1.54005738e+00] [ 2.15917361e-02 4.16354088e-03 9.99758202e-01 1.57354611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659072329 meters Centerline goodness [0,1] 0.7845757430488974 Centerline is valid? [False, False] Translation: X:-24.13, Y:-1.54, Z:15.74 [[ 9.99079190e-01 3.69170778e-02 -2.18609717e-02 -2.41328492e+01] [-3.70071839e-02 9.99308033e-01 -3.73152895e-03 -1.53901481e+00] [ 2.17080875e-02 4.53710592e-03 9.99754057e-01 1.57360227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.689072329 meters Centerline goodness [0,1] 0.7834192542860569 Centerline is valid? [False, False] Translation: X:-24.13, Y:-1.54, Z:15.74 [[ 9.99059292e-01 3.72508135e-02 -2.22015532e-02 -2.41316519e+01] [-3.73415376e-02 9.99295764e-01 -3.68577946e-03 -1.53875341e+00] [ 2.20486198e-02 4.51135235e-03 9.99746721e-01 1.57360582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71907232899999 meters Centerline goodness [0,1] 0.7834364446038435 Centerline is valid? [False, False] Translation: X:-24.13, Y:-1.54, Z:15.73 [[ 9.99002648e-01 3.83657688e-02 -2.28424485e-02 -2.41279544e+01] [-3.84378098e-02 9.99257284e-01 -2.72299245e-03 -1.53976281e+00] [ 2.27210133e-02 3.59829035e-03 9.99735369e-01 1.57336085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.74907232899999 meters Centerline goodness [0,1] 0.7808804204993429 Centerline is valid? [False, False] Translation: X:-24.12, Y:-1.54, Z:15.73 [[ 9.99095493e-01 3.51635109e-02 -2.39107320e-02 -2.41244050e+01] [-3.53405763e-02 9.99350647e-01 -7.02333804e-03 -1.53856073e+00] [ 2.36482403e-02 7.86200443e-03 9.99689427e-01 1.57336920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779072328999995 meters Centerline goodness [0,1] 0.7796287482151356 Centerline is valid? [False, False] Translation: X:-24.12, Y:-1.54, Z:15.73 [[ 9.99152990e-01 3.24792200e-02 -2.52666294e-02 -2.41193970e+01] [-3.27583190e-02 9.99405900e-01 -1.07116878e-02 -1.53882183e+00] [ 2.49037113e-02 1.15303072e-02 9.99623358e-01 1.57328602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.809072328999996 meters Centerline goodness [0,1] 0.7772202262537486 Centerline is valid? [False, False] Translation: X:-24.11, Y:-1.54, Z:15.73 [[ 9.99207577e-01 2.96901614e-02 -2.65087321e-02 -2.41147782e+01] [-3.00779638e-02 9.99444510e-01 -1.43522717e-02 -1.53891688e+00] [ 2.60678855e-02 1.51382273e-02 9.99545546e-01 1.57319651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839072329 meters Centerline goodness [0,1] 0.7757858181710249 Centerline is valid? [False, False] Translation: X:-24.11, Y:-1.54, Z:15.73 [[ 9.99182064e-01 3.03565296e-02 -2.67148704e-02 -2.41128524e+01] [-3.07148940e-02 9.99442235e-01 -1.31078075e-02 -1.54134108e+00] [ 2.63020623e-02 1.39176306e-02 9.99557152e-01 1.57294798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.869072329 meters Centerline goodness [0,1] 0.7771692216103587 Centerline is valid? [False, False] Translation: X:-24.11, Y:-1.54, Z:15.73 [[ 9.99170478e-01 3.04575903e-02 -2.70312858e-02 -2.41122760e+01] [-3.08251950e-02 9.99436456e-01 -1.32882571e-02 -1.54030333e+00] [ 2.66113241e-02 1.41104788e-02 9.99546263e-01 1.57301727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89907232899999 meters Centerline goodness [0,1] 0.7767208112716504 Centerline is valid? [False, False] Translation: X:-24.11, Y:-1.54, Z:15.73 [[ 9.99158629e-01 3.05178157e-02 -2.73988603e-02 -2.41115818e+01] [-3.08971658e-02 9.99430984e-01 -1.35304609e-02 -1.53884533e+00] [ 2.69703498e-02 1.43656239e-02 9.99533005e-01 1.57308761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.92907232899999 meters Centerline goodness [0,1] 0.776830326421925 Centerline is valid? [False, False] Translation: X:-24.11, Y:-1.54, Z:15.73 [[ 9.99113267e-01 3.14687872e-02 -2.79713298e-02 -2.41084786e+01] [-3.18266856e-02 9.99415942e-01 -1.24433191e-02 -1.54006866e+00] [ 2.75634167e-02 1.33225199e-02 9.99531274e-01 1.57285798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959072328999994 meters Centerline goodness [0,1] 0.7740300020876204 Centerline is valid? [False, False] Translation: X:-24.10, Y:-1.54, Z:15.73 [[ 9.99153098e-01 2.88658049e-02 -2.93232172e-02 -2.41031381e+01] [-2.93444621e-02 9.99440873e-01 -1.60263802e-02 -1.53995630e+00] [ 2.88442074e-02 1.68732814e-02 9.99441496e-01 1.57272850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.989072328999995 meters Centerline goodness [0,1] 0.7732542544630883 Centerline is valid? [False, False] Translation: X:-24.10, Y:-1.54, Z:15.72 [[ 9.99107818e-01 3.00587574e-02 -2.96654422e-02 -2.40998645e+01] [-3.04931844e-02 9.99432648e-01 -1.43020100e-02 -1.54362483e+00] [ 2.92187108e-02 1.51938438e-02 9.99457560e-01 1.57236553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019072329 meters Centerline goodness [0,1] 0.7725131202290076 Centerline is valid? [False, False] Translation: X:-24.10, Y:-1.55, Z:15.72 [[ 9.99071758e-01 3.09230221e-02 -2.99898109e-02 -2.40974585e+01] [-3.13265816e-02 9.99423597e-01 -1.30812740e-02 -1.54635503e+00] [ 2.95680122e-02 1.40086097e-02 9.99464602e-01 1.57213070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.049072329 meters Centerline goodness [0,1] 0.7691346268301393 Centerline is valid? [False, False] Translation: X:-24.08, Y:-1.55, Z:15.71 [[ 9.99193050e-01 3.06606297e-02 -2.59455982e-02 -2.40792595e+01] [-3.06694025e-02 9.99529581e-01 5.98375651e-05 -1.55388214e+00] [ 2.59352276e-02 7.35946715e-04 9.99663355e-01 1.57108269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079072329 meters Centerline goodness [0,1] 0.7724203575359172 Centerline is valid? [False, False] Translation: X:-24.08, Y:-1.55, Z:15.71 [[ 9.99264087e-01 2.72010361e-02 -2.70441769e-02 -2.40764894e+01] [-2.73338234e-02 9.99615995e-01 -4.55245330e-03 -1.55130837e+00] [ 2.69099603e-02 5.28832384e-03 9.99623873e-01 1.57121577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10907232899999 meters Centerline goodness [0,1] 0.7717171717171717 Centerline is valid? [False, False] Translation: X:-24.07, Y:-1.55, Z:15.71 [[ 9.99242666e-01 2.76527783e-02 -2.73754886e-02 -2.40747948e+01] [-2.77607178e-02 9.99608220e-01 -3.57067966e-03 -1.55271999e+00] [ 2.72660242e-02 4.32793868e-03 9.99618844e-01 1.57103434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139072328999994 meters Centerline goodness [0,1] 0.7723598898658851 Centerline is valid? [False, False] Translation: X:-24.07, Y:-1.55, Z:15.71 [[ 9.99231440e-01 2.58252602e-02 -2.94887404e-02 -2.40665898e+01] [-2.60128764e-02 9.99643623e-01 -5.99643376e-03 -1.55476020e+00] [ 2.93233718e-02 6.75891210e-03 9.99547126e-01 1.57076533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.169072328999995 meters Centerline goodness [0,1] 0.771363542313263 Centerline is valid? [False, False] Translation: X:-24.06, Y:-1.56, Z:15.70 [[ 9.99199503e-01 2.66738495e-02 -2.98137380e-02 -2.40638726e+01] [-2.68087311e-02 9.99632035e-01 -4.13354265e-03 -1.55837602e+00] [ 2.96925101e-02 4.92950225e-03 9.99546925e-01 1.57039506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199072328999996 meters Centerline goodness [0,1] 0.7690692378220105 Centerline is valid? [False, False] Translation: X:-24.06, Y:-1.56, Z:15.70 [[ 9.99221267e-01 2.39836170e-02 -3.13312215e-02 -2.40583081e+01] [-2.42301590e-02 9.99678175e-01 -7.51300610e-03 -1.55882081e+00] [ 3.11409493e-02 8.26631595e-03 9.99480820e-01 1.57025780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.229072329 meters Centerline goodness [0,1] 0.7687505521363998 Centerline is valid? [False, False] Translation: X:-24.06, Y:-1.56, Z:15.70 [[ 9.99185305e-01 2.50855056e-02 -3.16139736e-02 -2.40551213e+01] [-2.52526683e-02 9.99669094e-01 -4.89942800e-03 -1.56403439e+00] [ 3.14806077e-02 5.69377365e-03 9.99488145e-01 1.56974266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259072329 meters Centerline goodness [0,1] 0.7685470386341635 Centerline is valid? [False, False] Translation: X:-24.05, Y:-1.57, Z:15.69 [[ 9.99164346e-01 2.35817290e-02 -3.33843105e-02 -2.40467655e+01] [-2.37970591e-02 9.99698398e-01 -6.06741073e-03 -1.56997365e+00] [ 3.32311617e-02 6.85678888e-03 9.99424171e-01 1.56921572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.28907232899999 meters Centerline goodness [0,1] 0.768250255810554 Centerline is valid? [False, False] Translation: X:-24.04, Y:-1.57, Z:15.69 [[ 9.99122284e-01 2.46655015e-02 -3.38566889e-02 -2.40437692e+01] [-2.48303187e-02 9.99681748e-01 -4.45622675e-03 -1.57376166e+00] [ 3.37359988e-02 5.29298782e-03 9.99416763e-01 1.56893705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319072328999994 meters Centerline goodness [0,1] 0.7685309383565638 Centerline is valid? [False, False] Translation: X:-24.04, Y:-1.58, Z:15.69 [[ 9.99062193e-01 2.60767810e-02 -3.45649653e-02 -2.40401647e+01] [-2.61887726e-02 9.99653119e-01 -2.79118247e-03 -1.57778321e+00] [ 3.44801904e-02 3.69377889e-03 9.99398555e-01 1.56871061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.349072328999995 meters Centerline goodness [0,1] 0.7698017640380752 Centerline is valid? [False, False] Translation: X:-24.04, Y:-1.58, Z:15.69 [[ 9.99024937e-01 2.69275512e-02 -3.49868738e-02 -2.40384559e+01] [-2.70074707e-02 9.99633587e-01 -1.81359974e-03 -1.58136617e+00] [ 3.49252183e-02 2.75673834e-03 9.99386126e-01 1.56865314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379072328999996 meters Centerline goodness [0,1] 0.7741135058714907 Centerline is valid? [False, False] Translation: X:-24.03, Y:-1.59, Z:15.69 [[ 9.99023172e-01 2.48683558e-02 -3.65276219e-02 -2.40334307e+01] [-2.50395987e-02 9.99677477e-01 -4.23800060e-03 -1.58735744e+00] [ 3.64104488e-02 5.14849780e-03 9.99323657e-01 1.56862619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.409072329 meters Centerline goodness [0,1] 0.7752381497268073 Centerline is valid? [False, False] Translation: X:-24.03, Y:-1.59, Z:15.69 [[ 9.99031496e-01 2.22486943e-02 -3.79613609e-02 -2.40287464e+01] [-2.25484434e-02 9.99717721e-01 -7.48632691e-03 -1.59012066e+00] [ 3.77840843e-02 8.33504597e-03 9.99251165e-01 1.56860025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439072329 meters Centerline goodness [0,1] 0.7759716312056737 Centerline is valid? [False, False] Translation: X:-24.03, Y:-1.60, Z:15.68 [[ 9.98996377e-01 2.34388078e-02 -3.81688445e-02 -2.40266209e+01] [-2.36583243e-02 9.99706002e-01 -5.30965573e-03 -1.59740593e+00] [ 3.80331709e-02 6.20733773e-03 9.99257198e-01 1.56832452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46907232899999 meters Centerline goodness [0,1] 0.7777437837236469 Centerline is valid? [False, False] Translation: X:-24.02, Y:-1.61, Z:15.68 [[ 9.99005287e-01 2.12845204e-02 -3.91842485e-02 -2.40226954e+01] [-2.15459921e-02 9.99748243e-01 -6.26267222e-03 -1.60794938e+00] [ 3.90410856e-02 7.10070617e-03 9.99212377e-01 1.56807992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.49907232899999 meters Centerline goodness [0,1] 0.7763125155511321 Centerline is valid? [False, False] Translation: X:-24.00, Y:-1.62, Z:15.68 [[ 9.99200906e-01 1.91087901e-02 -3.51056170e-02 -2.40027262e+01] [-1.90558470e-02 9.99816724e-01 1.84210837e-03 -1.61653972e+00] [ 3.51343834e-02 -1.17166909e-03 9.99381910e-01 1.56752411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.529072328999995 meters Centerline goodness [0,1] 0.7763125155511321 Centerline is valid? [False, False] Translation: X:-24.00, Y:-1.62, Z:15.68 [[ 9.99200906e-01 1.91087901e-02 -3.51056170e-02 -2.40027262e+01] [-1.90558470e-02 9.99816724e-01 1.84210837e-03 -1.61653972e+00] [ 3.51343834e-02 -1.17166909e-03 9.99381910e-01 1.56752411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559072328999996 meters Centerline goodness [0,1] 0.7754917290757962 Centerline is valid? [False, False] Translation: X:-24.00, Y:-1.62, Z:15.68 [[ 9.99197897e-01 1.64884208e-02 -3.64923826e-02 -2.39985406e+01] [-1.65326842e-02 9.99862910e-01 -9.11502739e-04 -1.62075256e+00] [ 3.64723506e-02 1.51408866e-03 9.99333515e-01 1.56750879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589072329 meters Centerline goodness [0,1] 0.7757785654373766 Centerline is valid? [False, False] Translation: X:-24.00, Y:-1.63, Z:15.67 [[ 9.99215490e-01 1.35549366e-02 -3.72111349e-02 -2.39964762e+01] [-1.36275725e-02 9.99905697e-01 -1.69904046e-03 -1.63340885e+00] [ 3.71845954e-02 2.20480499e-03 9.99305982e-01 1.56730376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619072329 meters Centerline goodness [0,1] 0.7752410625553974 Centerline is valid? [False, False] Translation: X:-23.99, Y:-1.64, Z:15.67 [[ 9.99211021e-01 1.07754378e-02 -3.82259886e-02 -2.39927684e+01] [-1.09342370e-02 9.99932427e-01 -3.94758773e-03 -1.63907013e+00] [ 3.81808686e-02 4.36244519e-03 9.99261322e-01 1.56715544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64907232899999 meters Centerline goodness [0,1] 0.7717889908256881 Centerline is valid? [False, False] Translation: X:-23.99, Y:-1.64, Z:15.67 [[ 9.99201622e-01 7.79686456e-03 -3.91832444e-02 -2.39892298e+01] [-8.04819516e-03 9.99948014e-01 -6.26059505e-03 -1.64402075e+00] [ 3.91323944e-02 6.57095113e-03 9.99212429e-01 1.56697350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67907232899999 meters Centerline goodness [0,1] 0.774387987098821 Centerline is valid? [False, False] Translation: X:-23.98, Y:-1.65, Z:15.67 [[ 9.99166779e-01 5.22369699e-03 -4.04779118e-02 -2.39844874e+01] [-5.57804343e-03 9.99947064e-01 -8.64607889e-03 -1.64891291e+00] [ 4.04306045e-02 8.86466234e-03 9.99143025e-01 1.56682071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.709072328999994 meters Centerline goodness [0,1] 0.7750419111483655 Centerline is valid? [False, False] Translation: X:-23.98, Y:-1.65, Z:15.67 [[ 9.99127414e-01 2.58222083e-03 -4.16862352e-02 -2.39800803e+01] [-3.05260217e-03 9.99932348e-01 -1.12241457e-02 -1.65343478e+00] [ 4.16544318e-02 1.13416031e-02 9.99067704e-01 1.56669747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739072328999995 meters Centerline goodness [0,1] 0.7793526988157861 Centerline is valid? [False, False] Translation: X:-23.97, Y:-1.66, Z:15.66 [[ 9.99074282e-01 8.13547166e-04 -4.30106751e-02 -2.39746576e+01] [-1.34057845e-03 9.99924360e-01 -1.22260769e-02 -1.66384451e+00] [ 4.29974753e-02 1.22724182e-02 9.98999802e-01 1.56644142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.769072329 meters Centerline goodness [0,1] 0.7800536580332267 Centerline is valid? [False, False] Translation: X:-23.96, Y:-1.67, Z:15.66 [[ 9.99270514e-01 -4.34880536e-04 -3.81870567e-02 -2.39564832e+01] [ 3.03042792e-04 9.99993975e-01 -3.45814003e-03 -1.67009674e+00] [ 3.81883305e-02 3.44404505e-03 9.99264625e-01 1.56590501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799072329 meters Centerline goodness [0,1] 0.787712364625571 Centerline is valid? [False, False] Translation: X:-23.96, Y:-1.68, Z:15.66 [[ 9.99251081e-01 4.54283798e-03 -3.84270793e-02 -2.39565711e+01] [-4.46376227e-03 9.99987740e-01 2.14335860e-03 -1.67594565e+00] [ 3.84363452e-02 -1.97022405e-03 9.99259108e-01 1.56598090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.829072329 meters Centerline goodness [0,1] 0.7911322735068991 Centerline is valid? [False, False] Translation: X:-23.94, Y:-1.68, Z:15.66 [[ 9.99455390e-01 4.59393061e-03 -3.26775155e-02 -2.39414968e+01] [-4.20582715e-03 9.99919923e-01 1.19356113e-02 -1.68005607e+00] [ 3.27297301e-02 -1.17916751e-02 9.99394677e-01 1.56563985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85907232899999 meters Centerline goodness [0,1] 0.7931157390905851 Centerline is valid? [False, False] Translation: X:-23.94, Y:-1.68, Z:15.66 [[ 9.99445655e-01 4.76123319e-03 -3.29501572e-02 -2.39418342e+01] [-4.37354006e-03 9.99920481e-01 1.18281368e-02 -1.68102057e+00] [ 3.30038536e-02 -1.16774711e-02 9.99387003e-01 1.56583694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.889072328999994 meters Centerline goodness [0,1] 0.7947384443655183 Centerline is valid? [False, False] Translation: X:-23.94, Y:-1.68, Z:15.66 [[ 9.99437625e-01 5.02229898e-03 -3.31543311e-02 -2.39420753e+01] [-4.62555201e-03 9.99916908e-01 1.20325440e-02 -1.68339543e+00] [ 3.32120072e-02 -1.18724201e-02 9.99377811e-01 1.56598080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919072328999995 meters Centerline goodness [0,1] 0.8024678997822441 Centerline is valid? [False, False] Translation: X:-23.94, Y:-1.69, Z:15.66 [[ 9.99407829e-01 2.89191341e-03 -3.42874224e-02 -2.39376051e+01] [-2.54711748e-03 9.99945795e-01 1.00954659e-02 -1.69143382e+00] [ 3.43147591e-02 -1.00021535e-02 9.99361023e-01 1.56583965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.949072328999996 meters Centerline goodness [0,1] 0.8045240292291194 Centerline is valid? [False, False] Translation: X:-23.93, Y:-1.69, Z:15.66 [[ 9.99383923e-01 -3.06376091e-04 -3.50953067e-02 -2.39344704e+01] [ 5.50949429e-04 9.99975631e-01 6.95937433e-03 -1.69381116e+00] [ 3.50923193e-02 -6.97442256e-03 9.99359738e-01 1.56571513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979072329 meters Centerline goodness [0,1] 0.8037065522117746 Centerline is valid? [False, False] Translation: X:-23.93, Y:-1.69, Z:15.66 [[ 9.99343303e-01 -3.23288664e-03 -3.60903256e-02 -2.39307240e+01] [ 3.37618635e-03 9.99986655e-01 3.91034769e-03 -1.69442925e+00] [ 3.60772023e-02 -4.02962744e-03 9.99340882e-01 1.56559307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.009072329 meters Centerline goodness [0,1] 0.8057063533377953 Centerline is valid? [False, False] Translation: X:-23.93, Y:-1.70, Z:15.66 [[ 9.99331947e-01 -2.86599288e-03 -3.64341332e-02 -2.39296425e+01] [ 3.03996917e-03 9.99984237e-01 4.72059004e-03 -1.69588164e+00] [ 3.64200297e-02 -4.82819508e-03 9.99324907e-01 1.56554055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03907232899999 meters Centerline goodness [0,1] 0.8036552235119783 Centerline is valid? [False, False] Translation: X:-23.93, Y:-1.70, Z:15.66 [[ 9.99320691e-01 -2.64565206e-03 -3.67580886e-02 -2.39292650e+01] [ 2.86879398e-03 9.99977770e-01 6.01913592e-03 -1.70050154e+00] [ 3.67413469e-02 -6.12049845e-03 9.99306066e-01 1.56553619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.069072328999994 meters Centerline goodness [0,1] 0.8055439407728067 Centerline is valid? [False, False] Translation: X:-23.93, Y:-1.70, Z:15.65 [[ 9.99270605e-01 -5.72821288e-03 -3.77550833e-02 -2.39256508e+01] [ 5.83505101e-03 9.99979276e-01 2.72018408e-03 -1.70146418e+00] [ 3.77387191e-02 -2.93850282e-03 9.99283320e-01 1.56543780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099072328999995 meters Centerline goodness [0,1] 0.8041292727183561 Centerline is valid? [False, False] Translation: X:-23.92, Y:-1.70, Z:15.65 [[ 9.99209674e-01 -8.51469800e-03 -3.88268994e-02 -2.39213624e+01] [ 8.50635324e-03 9.99963748e-01 -3.80120141e-04 -1.70214861e+00] [ 3.88287284e-02 4.95444008e-05 9.99245879e-01 1.56528232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.129072328999996 meters Centerline goodness [0,1] 0.8102196916008895 Centerline is valid? [False, False] Translation: X:-23.92, Y:-1.70, Z:15.65 [[ 9.99140379e-01 -1.11515852e-02 -3.99267465e-02 -2.39165764e+01] [ 1.10244974e-02 9.99933442e-01 -3.40178982e-03 -1.70349460e+00] [ 3.99620244e-02 2.95869326e-03 9.99196819e-01 1.56509053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159072329 meters Centerline goodness [0,1] 0.8120245578846954 Centerline is valid? [False, False] Translation: X:-23.91, Y:-1.70, Z:15.65 [[ 9.99133552e-01 -1.05555600e-02 -4.02582260e-02 -2.39146306e+01] [ 1.04514767e-02 9.99941476e-01 -2.79498704e-03 -1.70401612e+00] [ 4.02853726e-02 2.37180742e-03 9.99185400e-01 1.56494028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.189072329 meters Centerline goodness [0,1] 0.811807755593212 Centerline is valid? [False, False] Translation: X:-23.91, Y:-1.70, Z:15.65 [[ 9.99121469e-01 -1.01116464e-02 -4.06699605e-02 -2.39128636e+01] [ 1.00121506e-02 9.99946367e-01 -2.64936257e-03 -1.70275250e+00] [ 4.06945687e-02 2.23984125e-03 9.99169122e-01 1.56485944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21907232899999 meters Centerline goodness [0,1] 0.8121353846153846 Centerline is valid? [False, False] Translation: X:-23.91, Y:-1.70, Z:15.64 [[ 9.99613171e-01 -7.49578958e-03 -2.67828747e-02 -2.39088067e+01] [ 7.51921378e-03 9.99971431e-01 7.73990664e-04 -1.70355195e+00] [ 2.67763078e-02 -9.75077422e-04 9.99640975e-01 1.56389766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.24907232899999 meters Centerline goodness [0,1] 0.8141106572595618 Centerline is valid? [False, False] Translation: X:-23.91, Y:-1.70, Z:15.64 [[ 9.99601366e-01 -6.91456943e-03 -2.73732955e-02 -2.39063830e+01] [ 6.93692595e-03 9.99975679e-01 7.21849193e-04 -1.70097055e+00] [ 2.73676385e-02 -9.11447963e-04 9.99625021e-01 1.56380478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279072328999995 meters Centerline goodness [0,1] 0.8138004403869468 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.70, Z:15.64 [[ 9.99592105e-01 -6.64440729e-03 -2.77754618e-02 -2.39049929e+01] [ 6.66264944e-03 9.99977645e-01 5.64275533e-04 -1.69946719e+00] [ 2.77710916e-02 -7.49103533e-04 9.99614028e-01 1.56377577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.309072328999996 meters Centerline goodness [0,1] 0.8137014162760126 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.70, Z:15.63 [[ 9.99897035e-01 -4.12567484e-03 -1.37440289e-02 -2.39015613e+01] [ 4.16413091e-03 9.99987492e-01 2.77057879e-03 -1.69893222e+00] [ 1.37324265e-02 -2.82752545e-03 9.99901708e-01 1.56290322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339072329 meters Centerline goodness [0,1] 0.8110200819262664 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.69, Z:15.63 [[ 9.99890091e-01 -4.35397537e-03 -1.41720948e-02 -2.39011216e+01] [ 4.37545970e-03 9.99989325e-01 1.48530721e-03 -1.69291737e+00] [ 1.41654765e-02 -1.54715339e-03 9.99898468e-01 1.56306602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.369072329 meters Centerline goodness [0,1] 0.8056635481200933 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.69, Z:15.63 [[ 9.99887531e-01 -4.43205469e-03 -1.43276640e-02 -2.39008129e+01] [ 4.44918623e-03 9.99989425e-01 1.16404246e-03 -1.69116907e+00] [ 1.43223534e-02 -1.22765799e-03 9.99896676e-01 1.56308851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39907232899999 meters Centerline goodness [0,1] 0.8035144973013681 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.69, Z:15.63 [[ 9.99885363e-01 -4.46547184e-03 -1.44679327e-02 -2.39003909e+01] [ 4.48127405e-03 9.99989397e-01 1.05998769e-03 -1.69015314e+00] [ 1.44630460e-02 -1.12470094e-03 9.99894772e-01 1.56307709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42907232899999 meters Centerline goodness [0,1] 0.797993547086106 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.69, Z:15.63 [[ 9.99883906e-01 -4.62511796e-03 -1.45183810e-02 -2.38997212e+01] [ 4.63996971e-03 9.99988746e-01 9.89444014e-04 -1.68862292e+00] [ 1.45136414e-02 -1.05669399e-03 9.99894113e-01 1.56297197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459072328999994 meters Centerline goodness [0,1] 0.7966457553374482 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.69, Z:15.63 [[ 9.99881828e-01 -4.75694604e-03 -1.46185423e-02 -2.38993918e+01] [ 4.76934873e-03 9.99988296e-01 8.13676179e-04 -1.68713055e+00] [ 1.46145005e-02 -8.83300951e-04 9.99892812e-01 1.56295152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.489072328999995 meters Centerline goodness [0,1] 0.794424378084143 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.68, Z:15.63 [[ 9.99876284e-01 -4.89351959e-03 -1.49489147e-02 -2.38986473e+01] [ 4.89882961e-03 9.99987950e-01 3.18613430e-04 -1.68399975e+00] [ 1.49471754e-02 -3.91806198e-04 9.99888208e-01 1.56296702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519072329 meters Centerline goodness [0,1] 0.791255937484039 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.68, Z:15.63 [[ 9.99868958e-01 -4.82441555e-03 -1.54528785e-02 -2.38970904e+01] [ 4.82377428e-03 9.99988362e-01 -7.87708956e-05 -1.68061328e+00] [ 1.54530787e-02 4.21937540e-06 9.99880594e-01 1.56293721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.549072329 meters Centerline goodness [0,1] 0.787410099760266 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.68, Z:15.63 [[ 9.99864385e-01 -5.09398300e-03 -1.56608777e-02 -2.38958926e+01] [ 5.08287305e-03 9.99986802e-01 -7.49129890e-04 -1.67609337e+00] [ 1.56644870e-02 6.69426043e-04 9.99877080e-01 1.56283038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579072329 meters Centerline goodness [0,1] 0.7854528583947626 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.68, Z:15.63 [[ 9.99863213e-01 -5.10600299e-03 -1.57316109e-02 -2.38950472e+01] [ 5.09555531e-03 9.99986770e-01 -7.04131951e-04 -1.67535935e+00] [ 1.57349981e-02 6.23874342e-04 9.99876003e-01 1.56271572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60907232899999 meters Centerline goodness [0,1] 0.7799870884441575 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.68, Z:15.63 [[ 9.99864258e-01 -5.04504684e-03 -1.56848255e-02 -2.38942599e+01] [ 5.03811447e-03 9.99987193e-01 -4.81461580e-04 -1.67506565e+00] [ 1.56870536e-02 4.02374280e-04 9.99876870e-01 1.56256402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639072328999994 meters Centerline goodness [0,1] 0.7613344739093242 Centerline is valid? [False, False] Translation: X:-23.88, Y:-1.67, Z:15.62 [[ 9.99897947e-01 -1.05329968e-02 -9.65152185e-03 -2.38806562e+01] [ 1.05765008e-02 9.99934087e-01 4.46757507e-03 -1.67295315e+00] [ 9.60382874e-03 -4.56919847e-03 9.99943443e-01 1.56211892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669072328999995 meters Centerline goodness [0,1] 0.7460602745435128 Centerline is valid? [False, False] Translation: X:-23.88, Y:-1.67, Z:15.62 [[ 9.99889639e-01 -1.15605298e-02 -9.33083068e-03 -2.38830740e+01] [ 1.15927630e-02 9.99926995e-01 3.40782019e-03 -1.67070832e+00] [ 9.29075328e-03 -3.51561421e-03 9.99950660e-01 1.56234273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699072328999996 meters Centerline goodness [0,1] 0.7274933458587756 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.67, Z:15.63 [[ 9.99880361e-01 -1.26316092e-02 -8.92778686e-03 -2.38859296e+01] [ 1.26533641e-02 9.99917100e-01 2.38449519e-03 -1.66896889e+00] [ 8.89692673e-03 -2.49717645e-03 9.99957303e-01 1.56260439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.729072329 meters Centerline goodness [0,1] 0.7053847362631607 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.67, Z:15.63 [[ 9.99871244e-01 -1.36732656e-02 -8.39868547e-03 -2.38887122e+01] [ 1.36894597e-02 9.99904539e-01 1.87371411e-03 -1.66862897e+00] [ 8.37226394e-03 -1.98844632e-03 9.99962975e-01 1.56276066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759072329 meters Centerline goodness [0,1] 0.6924892478757998 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.67, Z:15.63 [[ 9.99861365e-01 -1.45952111e-02 -8.01443603e-03 -2.38907095e+01] [ 1.46115789e-02 9.99891270e-01 1.98754731e-03 -1.67029360e+00] [ 7.98455595e-03 -2.10437533e-03 9.99965909e-01 1.56280141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78907232899999 meters Centerline goodness [0,1] 0.6555570100798533 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.67, Z:15.63 [[ 9.99747973e-01 -2.10442808e-02 -7.81847975e-03 -2.38935098e+01] [ 2.10267954e-02 9.99776239e-01 -2.31193169e-03 -1.67263708e+00] [ 7.86538322e-03 2.14695144e-03 9.99966763e-01 1.56286211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819072328999994 meters Centerline goodness [0,1] 0.6410464355788097 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.68, Z:15.63 [[ 9.99720594e-01 -2.23392911e-02 -7.72592578e-03 -2.38947356e+01] [ 2.23258810e-02 9.99749094e-01 -1.81764543e-03 -1.67596942e+00] [ 7.76459221e-03 1.64464947e-03 9.99968503e-01 1.56277803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.849072328999995 meters Centerline goodness [0,1] 0.6337107444499648 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.68, Z:15.63 [[ 9.99698814e-01 -2.33386180e-02 -7.58883216e-03 -2.38958517e+01] [ 2.33297555e-02 9.99727037e-01 -1.25428216e-03 -1.67879920e+00] [ 7.61603390e-03 1.07685879e-03 9.99970418e-01 1.56269641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879072328999996 meters Centerline goodness [0,1] 0.6204623914635422 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.68, Z:15.63 [[ 9.99665728e-01 -2.48143317e-02 -7.25814343e-03 -2.38977254e+01] [ 2.48056069e-02 9.99691462e-01 -1.28964200e-03 -1.67938342e+00] [ 7.28790562e-03 1.10916825e-03 9.99972828e-01 1.56264405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.909072329 meters Centerline goodness [0,1] 0.6126854541172777 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.68, Z:15.63 [[ 9.99664749e-01 -2.47746717e-02 -7.52362383e-03 -2.38969933e+01] [ 2.47644600e-02 9.99692266e-01 -1.44743463e-03 -1.67799457e+00] [ 7.55716827e-03 1.26063090e-03 9.99970650e-01 1.56264448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939072329 meters Centerline goodness [0,1] 0.6097714240829472 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.68, Z:15.63 [[ 9.99751114e-01 -2.11010194e-02 -7.24266575e-03 -2.38981266e+01] [ 2.11210874e-02 9.99773264e-01 2.70558070e-03 -1.67889204e+00] [ 7.18393307e-03 -2.85788030e-03 9.99970111e-01 1.56261097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.96907232899999 meters Centerline goodness [0,1] 0.6253458771444382 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.67, Z:15.63 [[ 9.99819161e-01 -1.75643630e-02 -7.28955967e-03 -2.38996635e+01] [ 1.75984403e-02 9.99834382e-01 4.63728340e-03 -1.67418609e+00] [ 7.20690146e-03 -4.76472968e-03 9.99962678e-01 1.56297447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.99907232899999 meters Centerline goodness [0,1] 0.6310095197687677 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.67, Z:15.63 [[ 9.99877527e-01 -1.39902389e-02 -7.01453372e-03 -2.39016408e+01] [ 1.40438030e-02 9.99872147e-01 7.64594945e-03 -1.67202982e+00] [ 6.90666824e-03 -7.74352376e-03 9.99946166e-01 1.56318302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.029072328999995 meters Centerline goodness [0,1] 0.6359500944374983 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.66, Z:15.64 [[ 9.99882218e-01 -1.31142204e-02 -7.97288146e-03 -2.38993992e+01] [ 1.31474995e-02 9.99905014e-01 4.13604558e-03 -1.66470849e+00] [ 7.91788314e-03 -4.24038189e-03 9.99959662e-01 1.56384558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059072328999996 meters Centerline goodness [0,1] 0.6469407956339122 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.66, Z:15.64 [[ 9.99924083e-01 -9.43989487e-03 -7.91940593e-03 -2.39007600e+01] [ 9.49231401e-03 9.99933114e-01 6.60780626e-03 -1.66043697e+00] [ 7.85649923e-03 -6.68247810e-03 9.99946809e-01 1.56410799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.089072329 meters Centerline goodness [0,1] 0.665867586058288 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.66, Z:15.64 [[ 9.99952473e-01 -5.48466869e-03 -8.06042087e-03 -2.39010565e+01] [ 5.56040175e-03 9.99940326e-01 9.40348981e-03 -1.65658639e+00] [ 8.00836485e-03 -9.44786207e-03 9.99923299e-01 1.56428215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119072329 meters Centerline goodness [0,1] 0.694097278580317 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.65, Z:15.64 [[ 9.99957295e-01 4.18021776e-04 -9.23217955e-03 -2.38950023e+01] [-2.96309112e-04 9.99913083e-01 1.31809594e-02 -1.65100905e+00] [ 9.23688705e-03 -1.31776610e-02 9.99870506e-01 1.56403533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.14907232899999 meters Centerline goodness [0,1] 0.6984498232254555 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.65, Z:15.64 [[ 9.99948655e-01 1.36987987e-03 -1.00404087e-02 -2.38909026e+01] [-1.23616151e-03 9.99910625e-01 1.33121473e-02 -1.64906215e+00] [ 1.00577474e-02 -1.32990522e-02 9.99860979e-01 1.56380487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17907232899999 meters Centerline goodness [0,1] 0.711429350791053 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.65, Z:15.64 [[ 9.99940202e-01 2.06889982e-03 -1.07383170e-02 -2.38874227e+01] [-1.92390653e-03 9.99907084e-01 1.34952340e-02 -1.64722276e+00] [ 1.07652395e-02 -1.34737675e-02 9.99851273e-01 1.56359010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.209072328999994 meters Centerline goodness [0,1] 0.7031486319263027 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.64 [[ 9.99937618e-01 1.30677791e-03 -1.10928996e-02 -2.38869369e+01] [-1.18165393e-03 9.99935695e-01 1.12787152e-02 -1.63814861e+00] [ 1.11069251e-02 -1.12649037e-02 9.99874861e-01 1.56373254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239072328999995 meters Centerline goodness [0,1] 0.6962367072565981 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.63, Z:15.64 [[ 9.99936031e-01 6.55682388e-04 -1.12917713e-02 -2.38872540e+01] [-5.46411982e-04 9.99953024e-01 9.67736197e-03 -1.63291218e+00] [ 1.12975861e-02 -9.67057296e-03 9.99889416e-01 1.56391529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.269072329 meters Centerline goodness [0,1] 0.6818458980044346 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.63, Z:15.64 [[ 9.99935425e-01 -3.85245042e-04 -1.13576605e-02 -2.38877635e+01] [ 4.72547622e-04 9.99970358e-01 7.68498803e-03 -1.62555075e+00] [ 1.13543633e-02 -7.68985881e-03 9.99905968e-01 1.56405469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299072329 meters Centerline goodness [0,1] 0.6740237691001698 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.62, Z:15.64 [[ 9.99938864e-01 -1.15912678e-03 -1.09965923e-02 -2.38890158e+01] [ 1.23447578e-03 9.99975792e-01 6.84772048e-03 -1.62326919e+00] [ 1.09883888e-02 -6.86087686e-03 9.99916088e-01 1.56408784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32907232899999 meters Centerline goodness [0,1] 0.6634195218347296 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.62, Z:15.64 [[ 9.99919193e-01 -5.46855294e-03 -1.14761704e-02 -2.38878906e+01] [ 5.48783549e-03 9.99983581e-01 1.64940750e-03 -1.61828563e+00] [ 1.14669621e-02 -1.71225355e-03 9.99932786e-01 1.56417706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35907232899999 meters Centerline goodness [0,1] 0.652048097994044 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.62, Z:15.64 [[ 9.99920465e-01 -7.07000456e-03 -1.04440297e-02 -2.38917393e+01] [ 7.07804833e-03 9.99974681e-01 7.33416844e-04 -1.61654395e+00] [ 1.04385800e-02 -8.07281859e-04 9.99945191e-01 1.56424328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.389072328999994 meters Centerline goodness [0,1] 0.6224862375014044 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99854911e-01 -1.48011368e-02 -8.43109061e-03 -2.39004354e+01] [ 1.47541313e-02 9.99875412e-01 -5.61042842e-03 -1.61141092e+00] [ 8.51308091e-03 5.48522099e-03 9.99948719e-01 1.56449519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419072328999995 meters Centerline goodness [0,1] 0.6253850030800246 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99857763e-01 -1.43539993e-02 -8.85534943e-03 -2.38985753e+01] [ 1.43067142e-02 9.99883179e-01 -5.38016398e-03 -1.61106622e+00] [ 8.93154181e-03 5.25270776e-03 9.99946317e-01 1.56440498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.449072328999996 meters Centerline goodness [0,1] 0.6253850030800246 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99857763e-01 -1.43539993e-02 -8.85534943e-03 -2.38985753e+01] [ 1.43067142e-02 9.99883179e-01 -5.38016398e-03 -1.61106622e+00] [ 8.93154181e-03 5.25270776e-03 9.99946317e-01 1.56440498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479072329 meters Centerline goodness [0,1] 0.6345709617443236 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99913330e-01 -1.00960229e-02 -8.45002598e-03 -2.38988381e+01] [ 1.00895528e-02 9.99948773e-01 -8.07976333e-04 -1.61186270e+00] [ 8.45775046e-03 7.22649323e-04 9.99963971e-01 1.56424071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509072329 meters Centerline goodness [0,1] 0.6377497815732364 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99913035e-01 -9.92844543e-03 -8.68032096e-03 -2.38982017e+01] [ 9.91594543e-03 9.99949738e-01 -1.48189298e-03 -1.60863047e+00] [ 8.69459756e-03 1.39569052e-03 9.99961227e-01 1.56432065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53907232899999 meters Centerline goodness [0,1] 0.6346827009936766 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99912813e-01 -9.69733806e-03 -8.96262862e-03 -2.38972993e+01] [ 9.68397043e-03 9.99951933e-01 -1.53368241e-03 -1.60779762e+00] [ 8.97707045e-03 1.44675486e-03 9.99958659e-01 1.56432201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569072328999994 meters Centerline goodness [0,1] 0.6364124142215696 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99913353e-01 -9.27545190e-03 -9.34085484e-03 -2.38960767e+01] [ 9.26268651e-03 9.99956108e-01 -1.40895546e-03 -1.60744715e+00] [ 9.35351355e-03 1.32231197e-03 9.99955381e-01 1.56431839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599072328999995 meters Centerline goodness [0,1] 0.645989727380482 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99942224e-01 -6.12604332e-03 -8.83291480e-03 -2.38988013e+01] [ 6.14914852e-03 9.99977737e-01 2.59102602e-03 -1.60891166e+00] [ 8.81684542e-03 -2.64519122e-03 9.99957632e-01 1.56439547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.629072328999996 meters Centerline goodness [0,1] 0.6403983973816376 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99939977e-01 -6.14983277e-03 -9.06759063e-03 -2.38985243e+01] [ 6.17346109e-03 9.99977615e-01 2.58011552e-03 -1.60871973e+00] [ 9.05152038e-03 -2.63593907e-03 9.99955560e-01 1.56443771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659072329 meters Centerline goodness [0,1] 0.640081337550836 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99939092e-01 -5.94408175e-03 -9.29944885e-03 -2.38976348e+01] [ 5.97057752e-03 9.99978188e-01 2.82401341e-03 -1.60935205e+00] [ 9.28245984e-03 -2.87936448e-03 9.99952771e-01 1.56440010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689072329 meters Centerline goodness [0,1] 0.64187662411027 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99940462e-01 -5.83028875e-03 -9.22394464e-03 -2.38973539e+01] [ 5.86217418e-03 9.99976923e-01 3.43355867e-03 -1.61231622e+00] [ 9.20371314e-03 -3.48742661e-03 9.99951564e-01 1.56429032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71907232899999 meters Centerline goodness [0,1] 0.6310247747747748 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.64 [[ 9.99941901e-01 -5.52844764e-03 -9.25366021e-03 -2.38967916e+01] [ 5.56448801e-03 9.99977016e-01 3.87351050e-03 -1.61414990e+00] [ 9.23203302e-03 -3.92477734e-03 9.99949682e-01 1.56423126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.74907232899999 meters Centerline goodness [0,1] 0.6393073982460085 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.62, Z:15.64 [[ 9.99941579e-01 -5.38939330e-03 -9.36981303e-03 -2.38966102e+01] [ 5.42539918e-03 9.99977980e-01 3.82159122e-03 -1.61507129e+00] [ 9.34901065e-03 -3.87220294e-03 9.99948800e-01 1.56428781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779072328999995 meters Centerline goodness [0,1] 0.6436791311443122 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.62, Z:15.64 [[ 9.99941809e-01 -5.50218536e-03 -9.27930146e-03 -2.38971691e+01] [ 5.53516183e-03 9.99978444e-01 3.53183586e-03 -1.61511450e+00] [ 9.25966862e-03 -3.58299278e-03 9.99950709e-01 1.56436755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809072328999996 meters Centerline goodness [0,1] 0.6435112359550561 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.65 [[ 9.99939626e-01 -5.27491011e-03 -9.63949290e-03 -2.38967052e+01] [ 5.30471258e-03 9.99981221e-01 3.06875670e-03 -1.61405714e+00] [ 9.62312447e-03 -3.11970616e-03 9.99948830e-01 1.56453214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839072329 meters Centerline goodness [0,1] 0.642879243903125 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.65 [[ 9.99936966e-01 -5.22869070e-03 -9.93605381e-03 -2.38964127e+01] [ 5.25541863e-03 9.99982637e-01 2.66579067e-03 -1.61283616e+00] [ 9.92194269e-03 -2.71784076e-03 9.99947083e-01 1.56464826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869072329 meters Centerline goodness [0,1] 0.646590525486666 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.65 [[ 9.99934706e-01 -5.22501853e-03 -1.01628209e-02 -2.38962571e+01] [ 5.24833275e-03 9.99983654e-01 2.26875463e-03 -1.61177981e+00] [ 1.01508005e-02 -2.32194436e-03 9.99945783e-01 1.56475577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89907232899999 meters Centerline goodness [0,1] 0.6474223907852226 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.65 [[ 9.99933400e-01 -4.97508383e-03 -1.04136454e-02 -2.38956217e+01] [ 4.99918396e-03 9.99984883e-01 2.28953344e-03 -1.61192808e+00] [ 1.04020973e-02 -2.34144069e-03 9.99943155e-01 1.56480065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92907232899999 meters Centerline goodness [0,1] 0.6513126424491404 Centerline is valid? [False, False] Translation: X:-23.90, Y:-1.61, Z:15.65 [[ 9.99934373e-01 -4.75792592e-03 -1.04216526e-02 -2.38951401e+01] [ 4.78659897e-03 9.99984823e-01 2.72808328e-03 -1.61323557e+00] [ 1.04085144e-02 -2.77778852e-03 9.99941972e-01 1.56472262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959072328999994 meters Centerline goodness [0,1] 0.6451766551791769 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.61, Z:15.65 [[ 9.99902875e-01 -7.67783989e-03 -1.16314767e-02 -2.38909380e+01] [ 7.66275763e-03 9.99969742e-01 -1.34068855e-03 -1.61173893e+00] [ 1.16414184e-02 1.25142915e-03 9.99931453e-01 1.56472230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.989072328999995 meters Centerline goodness [0,1] 0.6369428539351072 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.61, Z:15.65 [[ 9.99905104e-01 -7.56740973e-03 -1.15115949e-02 -2.38907927e+01] [ 7.55743479e-03 9.99971028e-01 -9.09767349e-04 -1.61286654e+00] [ 1.15181460e-02 8.22682888e-04 9.99933326e-01 1.56463381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019072329 meters Centerline goodness [0,1] 0.6441235143716109 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.62, Z:15.64 [[ 9.99906257e-01 -6.91220561e-03 -1.18194164e-02 -2.38889531e+01] [ 6.91576684e-03 9.99976052e-01 2.60457469e-04 -1.61579193e+00] [ 1.18173330e-02 -3.42173380e-04 9.99930114e-01 1.56443585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.049072329 meters Centerline goodness [0,1] 0.6448897120727395 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.62, Z:15.64 [[ 9.99908389e-01 -6.26930490e-03 -1.19962012e-02 -2.38872889e+01] [ 6.28775690e-03 9.99979105e-01 1.50105665e-03 -1.61871115e+00] [ 1.19865400e-02 -1.57634834e-03 9.99926916e-01 1.56421908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07907232899999 meters Centerline goodness [0,1] 0.6399361380314827 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.62, Z:15.64 [[ 9.99909475e-01 -6.05031225e-03 -1.20181297e-02 -2.38866472e+01] [ 6.07951256e-03 9.99978652e-01 2.39464278e-03 -1.62171023e+00] [ 1.20033848e-02 -2.46749037e-03 9.99924912e-01 1.56408010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10907232899999 meters Centerline goodness [0,1] 0.6361754503748461 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.63, Z:15.64 [[ 9.99911986e-01 -5.85747348e-03 -1.19042485e-02 -2.38864389e+01] [ 5.89840146e-03 9.99976804e-01 3.40590155e-03 -1.62508867e+00] [ 1.18840224e-02 -3.47581782e-03 9.99923341e-01 1.56394162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139072328999994 meters Centerline goodness [0,1] 0.6325602165843311 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.63, Z:15.64 [[ 9.99912873e-01 -6.89360961e-03 -1.12572114e-02 -2.38902076e+01] [ 6.92696287e-03 9.99971726e-01 2.92653747e-03 -1.62680916e+00] [ 1.12367187e-02 -3.00426077e-03 9.99932353e-01 1.56421179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.169072328999995 meters Centerline goodness [0,1] 0.6330420747996438 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.63, Z:15.64 [[ 9.99910838e-01 -6.97476211e-03 -1.13872455e-02 -2.38908468e+01] [ 7.00271853e-03 9.99972560e-01 2.41704075e-03 -1.62655390e+00] [ 1.13700747e-02 -2.49656691e-03 9.99932242e-01 1.56442145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199072328999996 meters Centerline goodness [0,1] 0.6402981753449043 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.63, Z:15.65 [[ 9.99911392e-01 -7.18034589e-03 -1.12094434e-02 -2.38924427e+01] [ 7.20214015e-03 9.99972249e-01 1.90512184e-03 -1.62725992e+00] [ 1.11954529e-02 -1.98568501e-03 9.99935357e-01 1.56464972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.229072329 meters Centerline goodness [0,1] 0.6379161922745828 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.63, Z:15.65 [[ 9.99912766e-01 -6.83840462e-03 -1.13003144e-02 -2.38920671e+01] [ 6.86491786e-03 9.99973770e-01 2.30911730e-03 -1.62904047e+00] [ 1.12842273e-02 -2.38649159e-03 9.99933483e-01 1.56465020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259072329 meters Centerline goodness [0,1] 0.6375805514838067 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.63, Z:15.65 [[ 9.99914148e-01 -6.68435839e-03 -1.12701068e-02 -2.38921820e+01] [ 6.71414470e-03 9.99974061e-01 2.60718712e-03 -1.63073324e+00] [ 1.12523871e-02 -2.68263242e-03 9.99933091e-01 1.56466713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28907232899999 meters Centerline goodness [0,1] 0.6390776028721348 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.63, Z:15.65 [[ 9.99915587e-01 -6.64010816e-03 -1.11681455e-02 -2.38925119e+01] [ 6.67305616e-03 9.99973485e-01 2.91550389e-03 -1.63266021e+00] [ 1.11484901e-02 -2.98978344e-03 9.99933384e-01 1.56467204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319072328999994 meters Centerline goodness [0,1] 0.6325167647461338 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99917433e-01 -6.59216337e-03 -1.10304292e-02 -2.38928974e+01] [ 6.63605791e-03 9.99970189e-01 3.94754679e-03 -1.63788657e+00] [ 1.10040775e-02 -4.02041942e-03 9.99931371e-01 1.56460819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.349072328999995 meters Centerline goodness [0,1] 0.6307296794661416 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99917847e-01 -6.61462508e-03 -1.09793442e-02 -2.38931479e+01] [ 6.66286330e-03 9.99968286e-01 4.36279456e-03 -1.63987572e+00] [ 1.09501378e-02 -4.43559002e-03 9.99930208e-01 1.56459744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379072328999996 meters Centerline goodness [0,1] 0.6298082161926555 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99917595e-01 -6.44088189e-03 -1.11048752e-02 -2.38927843e+01] [ 6.49399344e-03 9.99967616e-01 4.75331671e-03 -1.64120776e+00] [ 1.10739000e-02 -4.82504000e-03 9.99927041e-01 1.56458656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.409072329 meters Centerline goodness [0,1] 0.6262372862869141 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99915598e-01 -6.49234175e-03 -1.12537242e-02 -2.38928097e+01] [ 6.54437245e-03 9.99968038e-01 4.59277666e-03 -1.64132271e+00] [ 1.12235466e-02 -4.66603759e-03 9.99926127e-01 1.56466599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439072329 meters Centerline goodness [0,1] 0.6305544953928357 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99912260e-01 -5.72748248e-03 -1.19443761e-02 -2.38907861e+01] [ 5.78019833e-03 9.99973686e-01 4.38360339e-03 -1.64083982e+00] [ 1.19189547e-02 -4.45225963e-03 9.99919055e-01 1.56475236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46907232899999 meters Centerline goodness [0,1] 0.63051540769021 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99910586e-01 -5.68547781e-03 -1.21034932e-02 -2.38905483e+01] [ 5.73479662e-03 9.99975379e-01 4.04395812e-03 -1.64034924e+00] [ 1.20802033e-02 -4.11300761e-03 9.99918573e-01 1.56481884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.49907232899999 meters Centerline goodness [0,1] 0.6279095210743688 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99910702e-01 -5.70442685e-03 -1.20849786e-02 -2.38905996e+01] [ 5.75170261e-03 9.99975928e-01 3.88080675e-03 -1.64013360e+00] [ 1.20625500e-02 -3.94996940e-03 9.99919443e-01 1.56484170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.529072328999995 meters Centerline goodness [0,1] 0.6199403377213388 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99911184e-01 -5.92531533e-03 -1.19379224e-02 -2.38909116e+01] [ 5.97145610e-03 9.99974824e-01 3.83312802e-03 -1.64002326e+00] [ 1.19149094e-02 -3.90407436e-03 9.99921393e-01 1.56481155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559072328999996 meters Centerline goodness [0,1] 0.6175150519978105 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99912937e-01 -5.74620572e-03 -1.18784985e-02 -2.38906142e+01] [ 5.79666046e-03 9.99974305e-01 4.21751189e-03 -1.64142337e+00] [ 1.18539586e-02 -4.28600033e-03 9.99920554e-01 1.56474584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.589072329 meters Centerline goodness [0,1] 0.6122699052390808 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99876707e-01 -9.05266458e-03 -1.28304084e-02 -2.38875611e+01] [ 9.05305274e-03 9.99959020e-01 -2.78278081e-05 -1.64016896e+00] [ 1.28301345e-02 -8.83299869e-05 9.99917687e-01 1.56478704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619072329 meters Centerline goodness [0,1] 0.6027628674967984 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99880303e-01 -8.90398957e-03 -1.26530432e-02 -2.38874763e+01] [ 8.91474891e-03 9.99959947e-01 7.94188214e-04 -1.64266582e+00] [ 1.26454650e-02 -9.06891855e-04 9.99919632e-01 1.56465560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.64907232899999 meters Centerline goodness [0,1] 0.5927540179787524 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99878672e-01 -9.23654342e-03 -1.25430438e-02 -2.38878746e+01] [ 9.25467104e-03 9.99956211e-01 1.38795869e-03 -1.64398230e+00] [ 1.25296746e-02 -1.50387204e-03 9.99920370e-01 1.56455985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67907232899999 meters Centerline goodness [0,1] 0.5887480190174326 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.65 [[ 9.99877050e-01 -9.35672858e-03 -1.25831896e-02 -2.38877113e+01] [ 9.37592425e-03 9.99954968e-01 1.46737397e-03 -1.64343484e+00] [ 1.25688932e-02 -1.58517259e-03 9.99919752e-01 1.56452693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.709072328999994 meters Centerline goodness [0,1] 0.5888679090386668 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.64, Z:15.64 [[ 9.99877154e-01 -8.94756255e-03 -1.28692603e-02 -2.38861993e+01] [ 8.97420005e-03 9.99957704e-01 2.01359703e-03 -1.64385740e+00] [ 1.28506991e-02 -2.12884098e-03 9.99915160e-01 1.56440555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739072328999995 meters Centerline goodness [0,1] 0.6053690173220589 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.65, Z:15.64 [[ 9.99880613e-01 -8.73374183e-03 -1.27468609e-02 -2.38856201e+01] [ 8.76936478e-03 9.99957791e-01 2.74143110e-03 -1.64559085e+00] [ 1.27223799e-02 -2.85288568e-03 9.99914997e-01 1.56424170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.769072329 meters Centerline goodness [0,1] 0.5898888646764 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.65, Z:15.64 [[ 9.99840967e-01 -1.26298402e-02 -1.25908108e-02 -2.38854391e+01] [ 1.26213761e-02 9.99920065e-01 -7.51476879e-04 -1.64845242e+00] [ 1.25992954e-02 5.92444010e-04 9.99920450e-01 1.56417097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799072329 meters Centerline goodness [0,1] 0.5854024147611131 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.65, Z:15.64 [[ 9.99842465e-01 -1.31966506e-02 -1.18698917e-02 -2.38877354e+01] [ 1.31914487e-02 9.99912856e-01 -5.16429392e-04 -1.65054085e+00] [ 1.18756724e-02 3.59766969e-04 9.99929417e-01 1.56417726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82907232899999 meters Centerline goodness [0,1] 0.5811416008468366 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.65, Z:15.64 [[ 9.99838387e-01 -1.37734278e-02 -1.15539160e-02 -2.38896283e+01] [ 1.37670111e-02 9.99905029e-01 -6.34726571e-04 -1.65154616e+00] [ 1.15615611e-02 4.75561101e-04 9.99933050e-01 1.56429564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85907232899999 meters Centerline goodness [0,1] 0.5725622350255463 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.65, Z:15.65 [[ 9.99828459e-01 -1.48488403e-02 -1.10708773e-02 -2.38928277e+01] [ 1.48382137e-02 9.99889365e-01 -1.04139257e-03 -1.65162907e+00] [ 1.10851159e-02 8.76941886e-04 9.99938174e-01 1.56450545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.889072328999994 meters Centerline goodness [0,1] 0.5777001408298126 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.65, Z:15.64 [[ 9.99830567e-01 -1.45619812e-02 -1.12598866e-02 -2.38921065e+01] [ 1.45584076e-02 9.99893941e-01 -3.99283146e-04 -1.65328084e+00] [ 1.12645067e-02 2.35289477e-04 9.99936526e-01 1.56444314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919072328999995 meters Centerline goodness [0,1] 0.5761660825020221 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.66, Z:15.64 [[ 9.99837674e-01 -1.40463242e-02 -1.12839310e-02 -2.38908801e+01] [ 1.40585283e-02 9.99900671e-01 1.00294988e-03 -1.65738729e+00] [ 1.12687224e-02 -1.16142254e-03 9.99935831e-01 1.56420018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.949072328999996 meters Centerline goodness [0,1] 0.5706054976711628 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.66, Z:15.64 [[ 9.99839567e-01 -1.37769869e-02 -1.14470437e-02 -2.38901382e+01] [ 1.37923019e-02 9.99904088e-01 1.26003285e-03 -1.65819536e+00] [ 1.14285863e-02 -1.41771178e-03 9.99933687e-01 1.56416332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979072329 meters Centerline goodness [0,1] 0.5787415378806269 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.66, Z:15.64 [[ 9.99837954e-01 -1.37241858e-02 -1.16495795e-02 -2.38898780e+01] [ 1.37353752e-02 9.99905277e-01 8.81029127e-04 -1.65706167e+00] [ 1.16363847e-02 -1.04089771e-03 9.99931753e-01 1.56424279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.009072329 meters Centerline goodness [0,1] 0.5796292281006071 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.65, Z:15.64 [[ 9.99883917e-01 -9.65332309e-03 -1.17883449e-02 -2.38901930e+01] [ 9.70396309e-03 9.99943900e-01 4.24615010e-03 -1.65468193e+00] [ 1.17466941e-02 -4.36005086e-03 9.99921499e-01 1.56437431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03907232899999 meters Centerline goodness [0,1] 0.5836417065737919 Centerline is valid? [False, False] Translation: X:-23.89, Y:-1.65, Z:15.64 [[ 9.99881892e-01 -8.59279490e-03 -1.27422537e-02 -2.38866050e+01] [ 8.64858381e-03 9.99953227e-01 4.32963851e-03 -1.65266694e+00] [ 1.27044540e-02 -4.43932959e-03 9.99909441e-01 1.56429644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.069072328999994 meters Centerline goodness [0,1] 0.5925198996837858 Centerline is valid? [False, False] Translation: X:-23.88, Y:-1.65, Z:15.64 [[ 9.99878313e-01 -7.48195028e-03 -1.36886325e-02 -2.38827197e+01] [ 7.54557233e-03 9.99960942e-01 4.60207354e-03 -1.65141467e+00] [ 1.36536654e-02 -4.70480210e-03 9.99895716e-01 1.56415924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099072328999995 meters Centerline goodness [0,1] 0.6003115520209887 Centerline is valid? [False, False] Translation: X:-23.88, Y:-1.65, Z:15.64 [[ 9.99877943e-01 -5.36346176e-03 -1.46742237e-02 -2.38769927e+01] [ 5.44333895e-03 9.99970557e-01 5.40885238e-03 -1.65003353e+00] [ 1.46447815e-02 -5.48806896e-03 9.99877698e-01 1.56386337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.129072328999996 meters Centerline goodness [0,1] 0.6085577580314423 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.65, Z:15.64 [[ 9.99868761e-01 -4.76165627e-03 -1.54850665e-02 -2.38743645e+01] [ 4.84092541e-03 9.99975351e-01 5.08562214e-03 -1.64771859e+00] [ 1.54604688e-02 -5.15991676e-03 9.99867166e-01 1.56386428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159072329 meters Centerline goodness [0,1] 0.614728148657949 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.64, Z:15.64 [[ 9.99861661e-01 -4.96533344e-03 -1.58746682e-02 -2.38739587e+01] [ 5.02905318e-03 9.99979448e-01 3.97652842e-03 -1.64342939e+00] [ 1.58545971e-02 -4.05581286e-03 9.99866082e-01 1.56400860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.189072329 meters Centerline goodness [0,1] 0.6167666325769092 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.64, Z:15.64 [[ 9.99849836e-01 -4.98622814e-03 -1.65964660e-02 -2.38727597e+01] [ 5.03296415e-03 9.99983483e-01 2.77544616e-03 -1.63849944e+00] [ 1.65823528e-02 -2.85855880e-03 9.99858417e-01 1.56418935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21907232899999 meters Centerline goodness [0,1] 0.6406302008210363 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.63, Z:15.64 [[ 9.99835963e-01 -5.07407109e-03 -1.73868079e-02 -2.38710319e+01] [ 5.09570852e-03 9.99986296e-01 1.20039761e-03 -1.63161231e+00] [ 1.73804788e-02 -1.28879880e-03 9.99848117e-01 1.56434176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.24907232899999 meters Centerline goodness [0,1] 0.6440098886142052 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.63, Z:15.64 [[ 9.99839160e-01 -5.07567276e-03 -1.72015075e-02 -2.38707358e+01] [ 5.09952881e-03 9.99986095e-01 1.34327876e-03 -1.63152150e+00] [ 1.71944502e-02 -1.43078229e-03 9.99851141e-01 1.56421823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279072328999995 meters Centerline goodness [0,1] 0.6236702497014137 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.63, Z:15.64 [[ 9.99844920e-01 -5.29356567e-03 -1.67962731e-02 -2.38711341e+01] [ 5.32030529e-03 9.99984649e-01 1.54771251e-03 -1.63228778e+00] [ 1.67878224e-02 -1.63683379e-03 9.99857735e-01 1.56408606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.309072328999996 meters Centerline goodness [0,1] 0.6249618384169188 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.63, Z:15.64 [[ 9.99852615e-01 -5.72886406e-03 -1.61841889e-02 -2.38722655e+01] [ 5.75611949e-03 9.99982092e-01 1.63799783e-03 -1.63293852e+00] [ 1.61745152e-02 -1.73091454e-03 9.99867686e-01 1.56397668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339072329 meters Centerline goodness [0,1] 0.6249618384169188 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.63, Z:15.64 [[ 9.99852615e-01 -5.72886406e-03 -1.61841889e-02 -2.38722655e+01] [ 5.75611949e-03 9.99982092e-01 1.63799783e-03 -1.63293852e+00] [ 1.61745152e-02 -1.73091454e-03 9.99867686e-01 1.56397668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.369072329 meters Centerline goodness [0,1] 0.6081171361763724 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.63, Z:15.64 [[ 9.99855286e-01 -6.96116144e-03 -1.55225420e-02 -2.38743785e+01] [ 6.98318891e-03 9.99974685e-01 1.36531320e-03 -1.63205989e+00] [ 1.55126449e-02 -1.47351246e-03 9.99878586e-01 1.56388923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39907232899999 meters Centerline goodness [0,1] 0.5903523910259979 Centerline is valid? [False, False] Translation: X:-23.88, Y:-1.63, Z:15.64 [[ 9.99855902e-01 -7.47458397e-03 -1.52416125e-02 -2.38753948e+01] [ 7.49265951e-03 9.99971292e-01 1.12917434e-03 -1.63121991e+00] [ 1.52327348e-02 -1.24321184e-03 9.99883202e-01 1.56389459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42907232899999 meters Centerline goodness [0,1] 0.5866845024106122 Centerline is valid? [False, False] Translation: X:-23.88, Y:-1.63, Z:15.64 [[ 9.99856995e-01 -8.13980210e-03 -1.48233784e-02 -2.38769746e+01] [ 8.15386808e-03 9.99966362e-01 8.88714259e-04 -1.63045624e+00] [ 1.48156458e-02 -1.00945504e-03 9.99889733e-01 1.56391015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459072328999994 meters Centerline goodness [0,1] 0.5885140786172289 Centerline is valid? [False, False] Translation: X:-23.88, Y:-1.63, Z:15.64 [[ 9.99846904e-01 -8.14542633e-03 -1.54861679e-02 -2.38761302e+01] [ 8.13264928e-03 9.99966535e-01 -8.87859692e-04 -1.62505930e+00] [ 1.54928816e-02 7.61780192e-04 9.99879688e-01 1.56423204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489072328999995 meters Centerline goodness [0,1] 0.585429242119383 Centerline is valid? [False, False] Translation: X:-23.88, Y:-1.62, Z:15.64 [[ 9.99844984e-01 -8.31486039e-03 -1.55200368e-02 -2.38761731e+01] [ 8.29659227e-03 9.99964813e-01 -1.24108270e-03 -1.62357412e+00] [ 1.55298101e-02 1.11212690e-03 9.99878787e-01 1.56425691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519072329 meters Centerline goodness [0,1] 0.5846983843014479 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.62, Z:15.64 [[ 9.99842937e-01 -7.79458962e-03 -1.59168582e-02 -2.38740873e+01] [ 7.78340615e-03 9.99969417e-01 -7.64445863e-04 -1.62324923e+00] [ 1.59223299e-02 6.40438425e-04 9.99873027e-01 1.56410465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549072329 meters Centerline goodness [0,1] 0.5846472680426806 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.62, Z:15.64 [[ 9.99841462e-01 -7.22762157e-03 -1.62730291e-02 -2.38719494e+01] [ 7.22560225e-03 9.99973878e-01 -1.82882618e-04 -1.62341943e+00] [ 1.62739258e-02 6.52711890e-05 9.99867569e-01 1.56392398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57907232899999 meters Centerline goodness [0,1] 0.6026688300788899 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.62, Z:15.64 [[ 9.99835433e-01 -5.83471043e-03 -1.71774062e-02 -2.38671423e+01] [ 5.84966874e-03 9.99982554e-01 8.20696730e-04 -1.62368498e+00] [ 1.71723180e-02 -9.21043807e-04 9.99852121e-01 1.56361925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60907232899999 meters Centerline goodness [0,1] 0.5984973788231336 Centerline is valid? [False, False] Translation: X:-23.87, Y:-1.62, Z:15.64 [[ 9.99833611e-01 -5.63824344e-03 -1.73482220e-02 -2.38662341e+01] [ 5.65497231e-03 9.99983592e-01 9.15393750e-04 -1.62368408e+00] [ 1.73427761e-02 -1.01334515e-03 9.99849089e-01 1.56356344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639072328999994 meters Centerline goodness [0,1] 0.5957369335051257 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.63 [[ 9.99829852e-01 -5.23077151e-03 -1.76891727e-02 -2.38646509e+01] [ 5.25261776e-03 9.99985498e-01 1.18877117e-03 -1.62352913e+00] [ 1.76826980e-02 -1.28148336e-03 9.99842828e-01 1.56347862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669072328999995 meters Centerline goodness [0,1] 0.5943369778525371 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.63 [[ 9.99825166e-01 -5.00611060e-03 -1.80160245e-02 -2.38635539e+01] [ 5.02649236e-03 9.99986777e-01 1.08620808e-03 -1.62282758e+00] [ 1.80103486e-02 -1.17657558e-03 9.99837108e-01 1.56348082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699072328999996 meters Centerline goodness [0,1] 0.5871952249563601 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.63 [[ 9.99822434e-01 -4.89178953e-03 -1.81980974e-02 -2.38629168e+01] [ 4.91348168e-03 9.99987270e-01 1.14748052e-03 -1.62188383e+00] [ 1.81922526e-02 -1.23669278e-03 9.99833742e-01 1.56345523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729072329 meters Centerline goodness [0,1] 0.5960397153545411 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.63 [[ 9.99819708e-01 -4.57882194e-03 -1.84278626e-02 -2.38619492e+01] [ 4.60435315e-03 9.99988498e-01 1.34327787e-03 -1.62230912e+00] [ 1.84215000e-02 -1.42788408e-03 9.99829290e-01 1.56342946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759072329 meters Centerline goodness [0,1] 0.5975547918192574 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.63 [[ 9.99817128e-01 -4.32747965e-03 -1.86274794e-02 -2.38608712e+01] [ 4.35342446e-03 9.99989609e-01 1.35249936e-03 -1.62150760e+00] [ 1.86214330e-02 -1.43334535e-03 9.99825579e-01 1.56336991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78907232899999 meters Centerline goodness [0,1] 0.6114568958233588 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.63 [[ 9.99813838e-01 -4.00154670e-03 -1.88752851e-02 -2.38598413e+01] [ 4.03010468e-03 9.99990791e-01 1.47518693e-03 -1.62153101e+00] [ 1.88692082e-02 -1.55098168e-03 9.99820758e-01 1.56334896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819072328999994 meters Centerline goodness [0,1] 0.6099268841394825 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.63 [[ 9.99810535e-01 -3.80594159e-03 -1.90894801e-02 -2.38592440e+01] [ 3.83453144e-03 9.99991580e-01 1.46129606e-03 -1.62142538e+00] [ 1.90837578e-02 -1.53421841e-03 9.99816711e-01 1.56337269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.849072328999995 meters Centerline goodness [0,1] 0.6098123610993895 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.64 [[ 9.99808262e-01 -4.15207483e-03 -1.91363490e-02 -2.38598325e+01] [ 4.16689395e-03 9.99991049e-01 7.34588445e-04 -1.61952418e+00] [ 1.91331276e-02 -8.14186733e-04 9.99816613e-01 1.56350245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879072328999996 meters Centerline goodness [0,1] 0.6082781923131071 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.64 [[ 9.99795258e-01 -4.41495091e-03 -1.97471559e-02 -2.38593987e+01] [ 4.40381405e-03 9.99990119e-01 -6.07422748e-04 -1.61529959e+00] [ 1.97496425e-02 5.20335581e-04 9.99804821e-01 1.56375988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.909072329 meters Centerline goodness [0,1] 0.6083746618575293 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.64 [[ 9.99794483e-01 -4.30003248e-03 -1.98116285e-02 -2.38587042e+01] [ 4.29325862e-03 9.99990710e-01 -3.84433527e-04 -1.61536242e+00] [ 1.98130975e-02 2.99298074e-04 9.99803657e-01 1.56367719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939072329 meters Centerline goodness [0,1] 0.6080833685396423 Centerline is valid? [False, False] Translation: X:-23.86, Y:-1.62, Z:15.63 [[ 9.99790634e-01 -3.57293823e-03 -2.01474970e-02 -2.38563290e+01] [ 3.58233818e-03 9.99993491e-01 4.30484826e-04 -1.61684921e+00] [ 2.01458277e-02 -5.02569845e-04 9.99796926e-01 1.56346574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96907232899999 meters Centerline goodness [0,1] 0.6131504070766544 Centerline is valid? [False, False] Translation: X:-23.85, Y:-1.62, Z:15.63 [[ 9.99788439e-01 -2.77191309e-03 -2.03811947e-02 -2.38537915e+01] [ 2.80527660e-03 9.99994771e-01 1.60856695e-03 -1.61926321e+00] [ 2.03766293e-02 -1.66540153e-03 9.99790988e-01 1.56316863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99907232899999 meters Centerline goodness [0,1] 0.6167681472544123 Centerline is valid? [False, False] Translation: X:-23.85, Y:-1.62, Z:15.63 [[ 9.99784894e-01 -2.12124579e-03 -2.06316615e-02 -2.38515083e+01] [ 2.17313409e-03 9.99994531e-01 2.49288958e-03 -1.62072238e+00] [ 2.06262607e-02 -2.53718871e-03 9.99784037e-01 1.56292556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.029072328999995 meters Centerline goodness [0,1] 0.6210135553180719 Centerline is valid? [False, False] Translation: X:-23.85, Y:-1.62, Z:15.63 [[ 9.99780964e-01 -2.57115344e-03 -2.07704920e-02 -2.38523822e+01] [ 2.60153043e-03 9.99995586e-01 1.43561900e-03 -1.61823314e+00] [ 2.07667091e-02 -1.48933961e-03 9.99783239e-01 1.56315713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059072328999996 meters Centerline goodness [0,1] 0.6145141312915212 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.63 [[ 9.99882730e-01 -3.23774086e-03 -1.49680890e-02 -2.38375364e+01] [ 3.39305902e-03 9.99940547e-01 1.03628962e-02 -1.62008211e+00] [ 1.49336467e-02 -1.04124685e-02 9.99834270e-01 1.56288334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.089072329 meters Centerline goodness [0,1] 0.6153024510906229 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.63 [[ 9.99883472e-01 -4.46516452e-03 -1.45981043e-02 -2.38411848e+01] [ 4.58330044e-03 9.99956940e-01 8.06913723e-03 -1.61665065e+00] [ 1.45614457e-02 -8.13510445e-03 9.99860883e-01 1.56341241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119072329 meters Centerline goodness [0,1] 0.6054973527092486 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.63 [[ 9.99884472e-01 -4.41104938e-03 -1.45459534e-02 -2.38410600e+01] [ 4.52911658e-03 9.99956987e-01 8.09391384e-03 -1.61735865e+00] [ 1.45096250e-02 -8.15885908e-03 9.99861442e-01 1.56339584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14907232899999 meters Centerline goodness [0,1] 0.6146740046049306 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.63 [[ 9.99886380e-01 -4.00732806e-03 -1.45316488e-02 -2.38399229e+01] [ 4.13457219e-03 9.99953285e-01 8.73689947e-03 -1.61915782e+00] [ 1.44959583e-02 -8.79598893e-03 9.99856239e-01 1.56322240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17907232899999 meters Centerline goodness [0,1] 0.6085715085519133 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.63 [[ 9.99857302e-01 -6.66211289e-03 -1.55238849e-02 -2.38350517e+01] [ 6.74591019e-03 9.99962924e-01 5.35186138e-03 -1.61945827e+00] [ 1.54876547e-02 -5.45582042e-03 9.99865174e-01 1.56302095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.209072328999994 meters Centerline goodness [0,1] 0.6115043505021962 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.62, Z:15.63 [[ 9.99857545e-01 -6.41118973e-03 -1.56136727e-02 -2.38343128e+01] [ 6.50241024e-03 9.99962047e-01 5.79860585e-03 -1.62095752e+00] [ 1.55759042e-02 -5.89930632e-03 9.99861285e-01 1.56295441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239072328999995 meters Centerline goodness [0,1] 0.6066633098355152 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.63 [[ 9.99856331e-01 -6.95209080e-03 -1.54591965e-02 -2.38355374e+01] [ 7.04288556e-03 9.99958224e-01 5.82652141e-03 -1.62177679e+00] [ 1.54180442e-02 -5.93456167e-03 9.99863523e-01 1.56301578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.269072329 meters Centerline goodness [0,1] 0.6045080821075004 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.63 [[ 9.99855759e-01 -7.12062007e-03 -1.54193704e-02 -2.38359803e+01] [ 7.21044021e-03 9.99957315e-01 5.77741193e-03 -1.62218122e+00] [ 1.53775735e-02 -5.88775904e-03 9.99864423e-01 1.56305912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299072329 meters Centerline goodness [0,1] 0.6006542526421741 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.63 [[ 9.99854718e-01 -7.09284081e-03 -1.54995155e-02 -2.38359491e+01] [ 7.18224732e-03 9.99957846e-01 5.72031110e-03 -1.62267044e+00] [ 1.54582889e-02 -5.83080139e-03 9.99863512e-01 1.56311259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32907232899999 meters Centerline goodness [0,1] 0.5941660851360782 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.63 [[ 9.99852802e-01 -7.13261543e-03 -1.56045173e-02 -2.38359544e+01] [ 7.21580984e-03 9.99960017e-01 5.28163952e-03 -1.62199277e+00] [ 1.55662215e-02 -5.39346130e-03 9.99864292e-01 1.56320737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35907232899999 meters Centerline goodness [0,1] 0.5928200547149796 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.64 [[ 9.99850018e-01 -7.55805641e-03 -1.55825656e-02 -2.38371735e+01] [ 7.61705129e-03 9.99964033e-01 3.73008567e-03 -1.61950817e+00] [ 1.55538130e-02 -3.84821943e-03 9.99871627e-01 1.56351807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.389072328999994 meters Centerline goodness [0,1] 0.6041660849412225 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.64 [[ 9.99852532e-01 -7.65386242e-03 -1.53731076e-02 -2.38377889e+01] [ 7.71040452e-03 9.99963714e-01 3.62209050e-03 -1.62024696e+00] [ 1.53448268e-02 -3.74008924e-03 9.99875266e-01 1.56354801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419072328999995 meters Centerline goodness [0,1] 0.5890376638922139 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.62, Z:15.63 [[ 9.99853976e-01 -7.28736193e-03 -1.54570803e-02 -2.38370184e+01] [ 7.35062012e-03 9.99964824e-01 4.03964783e-03 -1.62234822e+00] [ 1.54270982e-02 -4.15267707e-03 9.99872372e-01 1.56349869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.449072328999996 meters Centerline goodness [0,1] 0.6052792442345096 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.63, Z:15.63 [[ 9.99858196e-01 -7.65126198e-03 -1.50015682e-02 -2.38383951e+01] [ 7.72008645e-03 9.99959915e-01 4.53528793e-03 -1.62540660e+00] [ 1.49662662e-02 -4.65045821e-03 9.99877185e-01 1.56345651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479072329 meters Centerline goodness [0,1] 0.5969975625969421 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.63, Z:15.64 [[ 9.99854929e-01 -7.74107789e-03 -1.51722658e-02 -2.38383758e+01] [ 7.80912937e-03 9.99959690e-01 4.43115343e-03 -1.62567339e+00] [ 1.51373523e-02 -4.54899278e-03 9.99875076e-01 1.56352560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.509072329 meters Centerline goodness [0,1] 0.5819535965446592 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.63, Z:15.64 [[ 9.99853806e-01 -7.85599557e-03 -1.51871642e-02 -2.38386797e+01] [ 7.92411322e-03 9.99958790e-01 4.43025033e-03 -1.62616855e+00] [ 1.51517344e-02 -4.54994746e-03 9.99874854e-01 1.56357009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53907232899999 meters Centerline goodness [0,1] 0.5963044677330391 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.63, Z:15.64 [[ 9.99855116e-01 -8.26997183e-03 -1.48780103e-02 -2.38402121e+01] [ 8.33924714e-03 9.99954646e-01 4.60022247e-03 -1.62876605e+00] [ 1.48392918e-02 -4.72362737e-03 9.99878734e-01 1.56363657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.569072328999994 meters Centerline goodness [0,1] 0.5928150311311918 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.63, Z:15.64 [[ 9.99858795e-01 -8.39830597e-03 -1.45553876e-02 -2.38409994e+01] [ 8.47120900e-03 9.99951846e-01 4.95426611e-03 -1.63114648e+00] [ 1.45130793e-02 -5.07686827e-03 9.99881791e-01 1.56360862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599072328999995 meters Centerline goodness [0,1] 0.5986064247112721 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.63, Z:15.64 [[ 9.99862378e-01 -8.44610045e-03 -1.42789825e-02 -2.38413883e+01] [ 8.52653701e-03 9.99948070e-01 5.58175104e-03 -1.63416869e+00] [ 1.42310970e-02 -5.70273314e-03 9.99882470e-01 1.56351801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.629072328999996 meters Centerline goodness [0,1] 0.592292587137948 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.64, Z:15.63 [[ 9.99817471e-01 -1.16408255e-02 -1.51497648e-02 -2.38377878e+01] [ 1.16752721e-02 9.99929449e-01 2.18728262e-03 -1.63532987e+00] [ 1.51232342e-02 -2.36376101e-03 9.99882843e-01 1.56339202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659072329 meters Centerline goodness [0,1] 0.5943290669432089 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.64, Z:15.63 [[ 9.99818719e-01 -1.13726301e-02 -1.52706466e-02 -2.38370222e+01] [ 1.14120274e-02 9.99931767e-01 2.49527906e-03 -1.63594415e+00] [ 1.52412267e-02 -2.66909575e-03 9.99880283e-01 1.56333898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.689072329 meters Centerline goodness [0,1] 0.6047146876451146 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.64, Z:15.63 [[ 9.99818183e-01 -1.13615877e-02 -1.53138710e-02 -2.38370982e+01] [ 1.13996771e-02 9.99932136e-01 2.40225653e-03 -1.63603511e+00] [ 1.52855383e-02 -2.57639295e-03 9.99879850e-01 1.56338767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71907232899999 meters Centerline goodness [0,1] 0.5923813681883919 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.64, Z:15.64 [[ 9.99818179e-01 -1.16556771e-02 -1.50914960e-02 -2.38387246e+01] [ 1.16849304e-02 9.99930014e-01 1.85167410e-03 -1.63649127e+00] [ 1.50688573e-02 -2.02768051e-03 9.99884402e-01 1.56359991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.74907232899999 meters Centerline goodness [0,1] 0.5954958385464831 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.64, Z:15.64 [[ 9.99817563e-01 -1.14842436e-02 -1.52627756e-02 -2.38384439e+01] [ 1.15134297e-02 9.99932051e-01 1.82574734e-03 -1.63719899e+00] [ 1.52407712e-02 -2.00114115e-03 9.99881850e-01 1.56367098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779072328999995 meters Centerline goodness [0,1] 0.597700212037188 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.64, Z:15.64 [[ 9.99816210e-01 -1.13163429e-02 -1.54753862e-02 -2.38380124e+01] [ 1.13460819e-02 9.99933947e-01 1.83524354e-03 -1.63743926e+00] [ 1.54535958e-02 -2.01049124e-03 9.99878565e-01 1.56371863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809072328999996 meters Centerline goodness [0,1] 0.5949308378577469 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.64, Z:15.64 [[ 9.99857269e-01 -7.54444077e-03 -1.51169527e-02 -2.38391327e+01] [ 7.63883804e-03 9.99951625e-01 6.19648270e-03 -1.63834697e+00] [ 1.50694724e-02 -6.31107422e-03 9.99866532e-01 1.56365932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839072329 meters Centerline goodness [0,1] 0.6005514906628808 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.64, Z:15.64 [[ 9.99853004e-01 -7.00090733e-03 -1.56511215e-02 -2.38370150e+01] [ 7.10215289e-03 9.99954153e-01 6.42270582e-03 -1.63807292e+00] [ 1.56054392e-02 -6.53291836e-03 9.99856885e-01 1.56359345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.869072329 meters Centerline goodness [0,1] 0.6028421023920574 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.64, Z:15.63 [[ 9.99853780e-01 -6.64304481e-03 -1.57571595e-02 -2.38358755e+01] [ 6.75273529e-03 9.99953267e-01 6.91834971e-03 -1.63931252e+00] [ 1.57104642e-02 -7.02374204e-03 9.99851913e-01 1.56347294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89907232899999 meters Centerline goodness [0,1] 0.5957817864733773 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.64, Z:15.63 [[ 9.99858119e-01 -6.45940869e-03 -1.55569340e-02 -2.38356347e+01] [ 6.57728432e-03 9.99949959e-01 7.53784008e-03 -1.64217747e+00] [ 1.55074656e-02 -7.63909298e-03 9.99850570e-01 1.56335629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.92907232899999 meters Centerline goodness [0,1] 0.59098193671058 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.65, Z:15.63 [[ 9.99825561e-01 -1.03919404e-02 -1.55194934e-02 -2.38352634e+01] [ 1.04528874e-02 9.99937951e-01 3.85118380e-03 -1.64512096e+00] [ 1.54785092e-02 -4.01273552e-03 9.99872149e-01 1.56332371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959072328999994 meters Centerline goodness [0,1] 0.5888606362259251 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.65, Z:15.63 [[ 9.99826659e-01 -1.05002061e-02 -1.53752353e-02 -2.38358477e+01] [ 1.05640072e-02 9.99935899e-01 4.07427484e-03 -1.64672625e+00] [ 1.53314690e-02 -4.23599270e-03 9.99873493e-01 1.56334568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.989072328999995 meters Centerline goodness [0,1] 0.5883625351503352 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.65, Z:15.63 [[ 9.99824492e-01 -1.06801343e-02 -1.53922005e-02 -2.38363110e+01] [ 1.07420476e-02 9.99934519e-01 3.94532951e-03 -1.64687563e+00] [ 1.53490559e-02 -4.10998083e-03 9.99873749e-01 1.56342364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019072329 meters Centerline goodness [0,1] 0.5908216617451847 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.65, Z:15.64 [[ 9.99819273e-01 -1.08309018e-02 -1.56241109e-02 -2.38364614e+01] [ 1.08872197e-02 9.99934523e-01 3.52401102e-03 -1.64594266e+00] [ 1.55849197e-02 -3.69347727e-03 9.99871726e-01 1.56356474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.049072329 meters Centerline goodness [0,1] 0.6043210210372614 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.65, Z:15.64 [[ 9.99812232e-01 -1.12283133e-02 -1.57931908e-02 -2.38374992e+01] [ 1.12754310e-02 9.99932232e-01 2.89754719e-03 -1.64545618e+00] [ 1.57595859e-02 -3.07507816e-03 9.99871081e-01 1.56381806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07907232899999 meters Centerline goodness [0,1] 0.5996488384656942 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.65, Z:15.64 [[ 9.99813172e-01 -1.09695236e-02 -1.59150914e-02 -2.38369632e+01] [ 1.10229333e-02 9.99933892e-01 3.27208160e-03 -1.64716118e+00] [ 1.58781461e-02 -3.44690127e-03 9.99867993e-01 1.56380194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10907232899999 meters Centerline goodness [0,1] 0.595189299967641 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.65, Z:15.64 [[ 9.99818401e-01 -1.06591272e-02 -1.57971091e-02 -2.38365184e+01] [ 1.07230849e-02 9.99934627e-01 3.96953620e-03 -1.64995078e+00] [ 1.57537646e-02 -4.13820908e-03 9.99867338e-01 1.56369259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139072328999994 meters Centerline goodness [0,1] 0.5753556788039547 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.65, Z:15.63 [[ 9.99774439e-01 -1.39357190e-02 -1.60270560e-02 -2.38341025e+01] [ 1.39539090e-02 9.99902115e-01 1.02368205e-03 -1.65387353e+00] [ 1.60112215e-02 -1.24709123e-03 9.99871034e-01 1.56347207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.169072328999995 meters Centerline goodness [0,1] 0.587615071719118 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.66, Z:15.63 [[ 9.99781651e-01 -1.37717748e-02 -1.57158933e-02 -2.38342556e+01] [ 1.38031711e-02 9.99902944e-01 1.89101401e-03 -1.65744590e+00] [ 1.56883254e-02 -2.10753028e-03 9.99874710e-01 1.56334244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199072328999996 meters Centerline goodness [0,1] 0.5876514221676716 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.66, Z:15.63 [[ 9.99786413e-01 -1.31670292e-02 -1.59297612e-02 -2.38329641e+01] [ 1.32135958e-02 9.99908716e-01 2.82153437e-03 -1.66064522e+00] [ 1.58911558e-02 -3.03142116e-03 9.99869132e-01 1.56324276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229072329 meters Centerline goodness [0,1] 0.5823671433498714 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.66, Z:15.63 [[ 9.99786635e-01 -1.30566269e-02 -1.60065118e-02 -2.38335750e+01] [ 1.31095391e-02 9.99908929e-01 3.20520533e-03 -1.66382519e+00] [ 1.59632049e-02 -3.41435945e-03 9.99866750e-01 1.56337403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259072329 meters Centerline goodness [0,1] 0.5823671433498714 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.66, Z:15.63 [[ 9.99786635e-01 -1.30566269e-02 -1.60065118e-02 -2.38335750e+01] [ 1.31095391e-02 9.99908929e-01 3.20520533e-03 -1.66382519e+00] [ 1.59632049e-02 -3.41435945e-03 9.99866750e-01 1.56337403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28907232899999 meters Centerline goodness [0,1] 0.5855547598206945 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.66, Z:15.64 [[ 9.99779836e-01 -1.30089271e-02 -1.64635106e-02 -2.38332802e+01] [ 1.30560652e-02 9.99910960e-01 2.75894106e-03 -1.66305502e+00] [ 1.64261539e-02 -2.97328231e-03 9.99860661e-01 1.56356718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319072328999994 meters Centerline goodness [0,1] 0.5985011560232799 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.66, Z:15.64 [[ 9.99772172e-01 -1.30375515e-02 -1.69004555e-02 -2.38331387e+01] [ 1.30787987e-02 9.99911749e-01 2.33237055e-03 -1.66214037e+00] [ 1.68685556e-02 -2.55287683e-03 9.99854457e-01 1.56375152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.349072328999995 meters Centerline goodness [0,1] 0.5871445246179966 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.66, Z:15.64 [[ 9.99768970e-01 -1.27234484e-02 -1.73239820e-02 -2.38321403e+01] [ 1.27672600e-02 9.99915565e-01 2.42070576e-03 -1.66245759e+00] [ 1.72917196e-02 -2.64132628e-03 9.99846998e-01 1.56380516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379072328999996 meters Centerline goodness [0,1] 0.5985579471954194 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.66, Z:15.64 [[ 9.99772782e-01 -1.21252743e-02 -1.75317435e-02 -2.38307481e+01] [ 1.21835482e-02 9.99920590e-01 3.22092556e-03 -1.66491626e+00] [ 1.74912967e-02 -3.43379255e-03 9.99841119e-01 1.56369664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.409072329 meters Centerline goodness [0,1] 0.5980379264090897 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.67, Z:15.63 [[ 9.99916887e-01 -8.49140642e-03 -9.70131365e-03 -2.38383177e+01] [ 8.47242274e-03 9.99962116e-01 -1.99624107e-03 -1.67325542e+00] [ 9.71789702e-03 1.91388153e-03 9.99950949e-01 1.56282146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439072329 meters Centerline goodness [0,1] 0.595833442657361 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.68, Z:15.63 [[ 9.99922911e-01 -7.55547305e-03 -9.85325153e-03 -2.38365573e+01] [ 7.54953971e-03 9.99971298e-01 -6.39227281e-04 -1.67730667e+00] [ 9.85779838e-03 5.64790490e-04 9.99951251e-01 1.56261797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46907232899999 meters Centerline goodness [0,1] 0.6111038297203072 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.68, Z:15.63 [[ 9.99947341e-01 -3.00563598e-03 -9.81234614e-03 -2.38368384e+01] [ 3.04818781e-03 9.99986004e-01 4.32448885e-03 -1.68142430e+00] [ 9.79921096e-03 -4.35417100e-03 9.99942507e-01 1.56262252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49907232899999 meters Centerline goodness [0,1] 0.6014551758556381 Centerline is valid? [False, False] Translation: X:-23.84, Y:-1.68, Z:15.63 [[ 9.99939495e-01 -2.45489648e-03 -1.07228274e-02 -2.38350110e+01] [ 2.49634457e-03 9.99989458e-01 3.85373471e-03 -1.67969691e+00] [ 1.07132538e-02 -3.88026941e-03 9.99935083e-01 1.56280719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.529072328999995 meters Centerline goodness [0,1] 0.6253161222339305 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.68, Z:15.63 [[ 9.99930020e-01 -1.86009617e-03 -1.16831033e-02 -2.38330913e+01] [ 1.90015851e-03 9.99992350e-01 3.41892043e-03 -1.67805839e+00] [ 1.16766545e-02 -3.44088092e-03 9.99925905e-01 1.56299335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559072328999996 meters Centerline goodness [0,1] 0.6301434901878034 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.68, Z:15.63 [[ 9.99920510e-01 -1.23174988e-03 -1.25481591e-02 -2.38311605e+01] [ 1.27139100e-03 9.99994225e-01 3.15163121e-03 -1.67727246e+00] [ 1.25442047e-02 -3.16733431e-03 9.99916302e-01 1.56313662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.589072329 meters Centerline goodness [0,1] 0.6481720656843881 Centerline is valid? [False, False] Translation: X:-23.83, Y:-1.68, Z:15.63 [[ 9.99901122e-01 1.13400139e-03 -1.40164102e-02 -2.38258973e+01] [-1.07823237e-03 9.99991476e-01 3.98575404e-03 -1.67910012e+00] [ 1.40208106e-02 -3.97024699e-03 9.99893821e-01 1.56315186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619072329 meters Centerline goodness [0,1] 0.6587896710144162 Centerline is valid? [False, False] Translation: X:-23.82, Y:-1.68, Z:15.63 [[ 9.99884357e-01 2.35724694e-03 -1.50238431e-02 -2.38222102e+01] [-2.29120546e-03 9.99987645e-01 4.41147546e-03 -1.67944202e+00] [ 1.50340564e-02 -4.37654259e-03 9.99877404e-01 1.56308667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64907232899999 meters Centerline goodness [0,1] 0.6702602721627692 Centerline is valid? [False, False] Translation: X:-23.82, Y:-1.68, Z:15.63 [[ 9.99861999e-01 3.84658744e-03 -1.61612535e-02 -2.38176053e+01] [-3.76561497e-03 9.99980221e-01 5.03773028e-03 -1.67931311e+00] [ 1.61803119e-02 -4.97617801e-03 9.99856707e-01 1.56293432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67907232899999 meters Centerline goodness [0,1] 0.7017724867724868 Centerline is valid? [False, False] Translation: X:-23.81, Y:-1.68, Z:15.63 [[ 9.99793664e-01 9.36084506e-03 -1.80278485e-02 -2.38061223e+01] [-9.22934181e-03 9.99930294e-01 7.36388901e-03 -1.68048903e+00] [ 1.80955241e-02 -7.19598440e-03 9.99810367e-01 1.56257427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.709072328999994 meters Centerline goodness [0,1] 0.7264063534083389 Centerline is valid? [False, False] Translation: X:-23.80, Y:-1.68, Z:15.63 [[ 9.99762685e-01 1.05949175e-02 -1.90347626e-02 -2.38023547e+01] [-1.04508819e-02 9.99916120e-01 7.65058300e-03 -1.68055033e+00] [ 1.91142233e-02 -7.44983734e-03 9.99789551e-01 1.56251222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739072328999995 meters Centerline goodness [0,1] 0.7697080582292578 Centerline is valid? [False, False] Translation: X:-23.80, Y:-1.68, Z:15.62 [[ 9.99694904e-01 1.37909946e-02 -2.04916318e-02 -2.37957820e+01] [-1.36193046e-02 9.99871170e-01 8.49461364e-03 -1.68206325e+00] [ 2.06061410e-02 -8.21294019e-03 9.99753937e-01 1.56248472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.769072329 meters Centerline goodness [0,1] 0.7879671349059104 Centerline is valid? [False, False] Translation: X:-23.79, Y:-1.68, Z:15.63 [[ 9.99663781e-01 1.45246932e-02 -2.14792509e-02 -2.37938290e+01] [-1.43629557e-02 9.99867467e-01 7.66514624e-03 -1.68020973e+00] [ 2.15877380e-02 -7.35406354e-03 9.99739910e-01 1.56274675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799072329 meters Centerline goodness [0,1] 0.7985487214927436 Centerline is valid? [False, False] Translation: X:-23.79, Y:-1.68, Z:15.63 [[ 9.99632979e-01 1.50109838e-02 -2.25516750e-02 -2.37922981e+01] [-1.48786845e-02 9.99871166e-01 6.02288780e-03 -1.67631653e+00] [ 2.26391790e-02 -5.68513802e-03 9.99727536e-01 1.56316837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82907232899999 meters Centerline goodness [0,1] 0.8029681338591069 Centerline is valid? [False, False] Translation: X:-23.79, Y:-1.67, Z:15.63 [[ 9.99605656e-01 1.53877077e-02 -2.34893761e-02 -2.37910156e+01] [-1.52782754e-02 9.99871609e-01 4.83118546e-03 -1.67285114e+00] [ 2.35607011e-02 -4.47040316e-03 9.99712413e-01 1.56349376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85907232899999 meters Centerline goodness [0,1] 0.8103190295516486 Centerline is valid? [False, False] Translation: X:-23.79, Y:-1.67, Z:15.64 [[ 9.99548764e-01 1.73208131e-02 -2.45409290e-02 -2.37872239e+01] [-1.72132893e-02 9.99841323e-01 4.58591743e-03 -1.67031956e+00] [ 2.46164668e-02 -4.16141799e-03 9.99688308e-01 1.56364030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.889072328999994 meters Centerline goodness [0,1] 0.8119457206966556 Centerline is valid? [False, False] Translation: X:-23.78, Y:-1.67, Z:15.64 [[ 9.99561354e-01 1.58524161e-02 -2.50160140e-02 -2.37831198e+01] [-1.58252663e-02 9.99873950e-01 1.28290886e-03 -1.66809700e+00] [ 2.50331979e-02 -8.86461035e-04 9.99686227e-01 1.56353552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919072328999995 meters Centerline goodness [0,1] 0.8147891268973244 Centerline is valid? [False, False] Translation: X:-23.78, Y:-1.67, Z:15.63 [[ 9.99548407e-01 1.43515172e-02 -2.64010764e-02 -2.37762771e+01] [-1.43973011e-02 9.99895160e-01 -1.54489186e-03 -1.67009555e+00] [ 2.63761369e-02 1.92429844e-03 9.99650237e-01 1.56327554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.949072328999996 meters Centerline goodness [0,1] 0.8098617657963032 Centerline is valid? [False, False] Translation: X:-23.77, Y:-1.67, Z:15.63 [[ 9.99549140e-01 1.15263374e-02 -2.77247216e-02 -2.37717211e+01] [-1.16762954e-02 9.99918032e-01 -5.25301824e-03 -1.66982105e+00] [ 2.76619010e-02 5.57437190e-03 9.99601794e-01 1.56320605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979072329 meters Centerline goodness [0,1] 0.8054689564068692 Centerline is valid? [False, False] Translation: X:-23.77, Y:-1.67, Z:15.62 [[ 9.99814643e-01 1.28299939e-02 -1.43551725e-02 -2.37654746e+01] [-1.28370181e-02 9.99917523e-01 -3.97277893e-04 -1.67477807e+00] [ 1.43488914e-02 5.81481864e-04 9.99896880e-01 1.56207445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009072329 meters Centerline goodness [0,1] 0.8115377529804985 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.68, Z:15.62 [[ 9.99904000e-01 1.03823828e-02 -9.17593283e-03 -2.37490155e+01] [-1.03145830e-02 9.99919380e-01 7.40557465e-03 -1.67792129e+00] [ 9.25208058e-03 -7.31021779e-03 9.99930477e-01 1.56157621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03907232899999 meters Centerline goodness [0,1] 0.807517174216303 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.67, Z:15.62 [[ 9.99936900e-01 5.47802596e-03 -9.80747044e-03 -2.37506270e+01] [-5.46784759e-03 9.99984485e-01 1.06433118e-03 -1.67377245e+00] [ 9.81314871e-03 -1.01063827e-03 9.99951339e-01 1.56221499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.069072328999994 meters Centerline goodness [0,1] 0.8061735188533397 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.67, Z:15.62 [[ 9.99944497e-01 1.57800073e-03 -1.04169576e-02 -2.37496944e+01] [-1.61349696e-03 9.99992918e-01 -3.40001861e-03 -1.67212942e+00] [ 1.04115186e-02 3.41663763e-03 9.99939962e-01 1.56236265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099072328999995 meters Centerline goodness [0,1] 0.8049666554220619 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.68, Z:15.62 [[ 9.99943841e-01 -2.47134840e-03 -1.03057168e-02 -2.37501177e+01] [ 2.40296735e-03 9.99975052e-01 -6.64236526e-03 -1.67744452e+00] [ 1.03218753e-02 6.61722793e-03 9.99924833e-01 1.56235306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.129072328999996 meters Centerline goodness [0,1] 0.8049666554220619 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.68, Z:15.62 [[ 9.99943841e-01 -2.47134840e-03 -1.03057168e-02 -2.37501177e+01] [ 2.40296735e-03 9.99975052e-01 -6.64236526e-03 -1.67744452e+00] [ 1.03218753e-02 6.61722793e-03 9.99924833e-01 1.56235306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159072329 meters Centerline goodness [0,1] 0.8011862578955476 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.68, Z:15.62 [[ 9.99927841e-01 -6.59908444e-03 -1.00381367e-02 -2.37505130e+01] [ 6.50589268e-03 9.99935699e-01 -9.28826665e-03 -1.68311226e+00] [ 1.00987853e-02 9.22228938e-03 9.99906478e-01 1.56221047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189072329 meters Centerline goodness [0,1] 0.7951179654785007 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.69, Z:15.62 [[ 9.99928124e-01 -6.74694990e-03 -9.91090617e-03 -2.37509254e+01] [ 6.66428939e-03 9.99942932e-01 -8.34983965e-03 -1.68666103e+00] [ 9.96667652e-03 8.28319035e-03 9.99916024e-01 1.56213330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21907232899999 meters Centerline goodness [0,1] 0.7893181123229028 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.69, Z:15.62 [[ 9.99929465e-01 -6.92165083e-03 -9.65169451e-03 -2.37517475e+01] [ 6.85029093e-03 9.99949103e-01 -7.40707120e-03 -1.69027667e+00] [ 9.70247243e-03 7.34043183e-03 9.99925987e-01 1.56207363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.24907232899999 meters Centerline goodness [0,1] 0.7747954752045247 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.70, Z:15.62 [[ 9.99890802e-01 -1.13610475e-02 -9.45040989e-03 -2.37532531e+01] [ 1.12589192e-02 9.99878392e-01 -1.07906602e-02 -1.69509355e+00] [ 9.57185385e-03 1.06830805e-02 9.99897120e-01 1.56217836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279072328999995 meters Centerline goodness [0,1] 0.7677377181073063 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.70, Z:15.62 [[ 9.99890822e-01 -1.16871926e-02 -9.04177126e-03 -2.37546187e+01] [ 1.15980079e-02 9.99884186e-01 -9.85397907e-03 -1.70037491e+00] [ 9.15588945e-03 9.74803670e-03 9.99910569e-01 1.56214118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.309072328999996 meters Centerline goodness [0,1] 0.7420284046790071 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.71, Z:15.62 [[ 9.99891426e-01 -1.19365295e-02 -8.64032231e-03 -2.37558885e+01] [ 1.18605611e-02 9.99891019e-01 -8.79079251e-03 -1.70561068e+00] [ 8.74431223e-03 8.68735899e-03 9.99924031e-01 1.56208910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339072329 meters Centerline goodness [0,1] 0.7198143943133577 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.71, Z:15.62 [[ 9.99828719e-01 -1.65304806e-02 -8.32325248e-03 -2.37578242e+01] [ 1.64286454e-02 9.99791116e-01 -1.21582490e-02 -1.71036545e+00] [ 8.52249559e-03 1.20194268e-02 9.99891444e-01 1.56220746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.369072329 meters Centerline goodness [0,1] 0.7068647465381115 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.71, Z:15.62 [[ 9.99830693e-01 -1.65582310e-02 -8.02554579e-03 -2.37584990e+01] [ 1.64696948e-02 9.99804129e-01 -1.09751259e-02 -1.71455587e+00] [ 8.20570249e-03 1.08410895e-02 9.99907564e-01 1.56211786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39907232899999 meters Centerline goodness [0,1] 0.692906256882081 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.72, Z:15.62 [[ 9.99835458e-01 -1.63347092e-02 -7.88889761e-03 -2.37584914e+01] [ 1.62584203e-02 9.99821355e-01 -9.63961512e-03 -1.71896782e+00] [ 8.04494861e-03 9.50976798e-03 9.99922419e-01 1.56199824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.42907232899999 meters Centerline goodness [0,1] 0.6831668767574905 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.73, Z:15.62 [[ 9.99824125e-01 -1.69241573e-02 -8.08032688e-03 -2.37583828e+01] [ 1.68673480e-02 9.99832897e-01 -7.04770531e-03 -1.72853634e+00] [ 8.19825311e-03 6.91017211e-03 9.99942517e-01 1.56167462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459072328999994 meters Centerline goodness [0,1] 0.6802228412256268 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.73, Z:15.62 [[ 9.99830485e-01 -1.65370888e-02 -8.09486858e-03 -2.37579146e+01] [ 1.64926651e-02 9.99848726e-01 -5.52421964e-03 -1.73412910e+00] [ 8.18499855e-03 5.38977724e-03 9.99951977e-01 1.56154749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.489072328999995 meters Centerline goodness [0,1] 0.6710790115703278 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.74, Z:15.61 [[ 9.99835994e-01 -1.62963700e-02 -7.90026387e-03 -2.37581434e+01] [ 1.62635437e-02 9.99858912e-01 -4.20168084e-03 -1.73917886e+00] [ 7.96762138e-03 4.07250545e-03 9.99959965e-01 1.56145528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519072329 meters Centerline goodness [0,1] 0.661445610001437 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.75, Z:15.61 [[ 9.99829133e-01 -1.68412088e-02 -7.62095847e-03 -2.37599611e+01] [ 1.68196910e-02 9.99854395e-01 -2.87884378e-03 -1.74693505e+00] [ 7.66833203e-03 2.75016972e-03 9.99966816e-01 1.56147503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.549072329 meters Centerline goodness [0,1] 0.6578225286917516 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.75, Z:15.61 [[ 9.99836310e-01 -1.64223963e-02 -7.59335891e-03 -2.37595816e+01] [ 1.64099853e-02 9.99863912e-01 -1.69388024e-03 -1.75083357e+00] [ 7.62014312e-03 1.56899606e-03 9.99969735e-01 1.56138192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57907232899999 meters Centerline goodness [0,1] 0.6622168284789645 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.75, Z:15.61 [[ 9.99845783e-01 -1.58042884e-02 -7.65728730e-03 -2.37587833e+01] [ 1.58015479e-02 9.99875060e-01 -4.18254977e-04 -1.75477430e+00] [ 7.66294082e-03 2.97193482e-04 9.99970595e-01 1.56127268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60907232899999 meters Centerline goodness [0,1] 0.6698844904058252 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.76, Z:15.61 [[ 9.99856072e-01 -1.50169398e-02 -7.89476646e-03 -2.37578201e+01] [ 1.50267605e-02 9.99886388e-01 1.18611155e-03 -1.76011155e+00] [ 7.87605776e-03 -1.30457360e-03 9.99968132e-01 1.56118590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639072328999994 meters Centerline goodness [0,1] 0.6667376541018906 Centerline is valid? [False, False] Translation: X:-23.76, Y:-1.76, Z:15.61 [[ 9.99863791e-01 -1.43353230e-02 -8.17912567e-03 -2.37564997e+01] [ 1.43539526e-02 9.99894504e-01 2.22356296e-03 -1.76293362e+00] [ 8.14638732e-03 -2.34066287e-03 9.99964078e-01 1.56109372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.669072328999995 meters Centerline goodness [0,1] 0.6682625409778071 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.77, Z:15.61 [[ 9.99872736e-01 -1.34207362e-02 -8.62526493e-03 -2.37543784e+01] [ 1.34509850e-02 9.99903550e-01 3.45860970e-03 -1.76595063e+00] [ 8.57801594e-03 -3.57418786e-03 9.99956820e-01 1.56094609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699072328999996 meters Centerline goodness [0,1] 0.6814157208119437 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.77, Z:15.61 [[ 9.99879026e-01 -1.28378351e-02 -8.78201721e-03 -2.37533224e+01] [ 1.28778234e-02 9.99906897e-01 4.51213030e-03 -1.76916897e+00] [ 8.72327359e-03 -4.62467771e-03 9.99951257e-01 1.56083768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.729072329 meters Centerline goodness [0,1] 0.682324001405646 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.78, Z:15.61 [[ 9.99886954e-01 -1.19803697e-02 -9.08573980e-03 -2.37522677e+01] [ 1.20351356e-02 9.99909591e-01 5.99714979e-03 -1.77509337e+00] [ 9.01307030e-03 -6.10581994e-03 9.99940740e-01 1.56079182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759072329 meters Centerline goodness [0,1] 0.6809972792944929 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.78, Z:15.61 [[ 9.99887345e-01 -1.19278416e-02 -9.11176509e-03 -2.37526892e+01] [ 1.19851245e-02 9.99908592e-01 6.25816836e-03 -1.77685328e+00] [ 9.03628576e-03 -6.36666898e-03 9.99938904e-01 1.56086324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78907232899999 meters Centerline goodness [0,1] 0.678306804104434 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.78, Z:15.61 [[ 9.99888979e-01 -1.15814044e-02 -9.37559092e-03 -2.37523496e+01] [ 1.16435866e-02 9.99910395e-01 6.60515629e-03 -1.77848396e+00] [ 9.29825383e-03 -6.71358848e-03 9.99934233e-01 1.56093100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819072328999994 meters Centerline goodness [0,1] 0.6826772938078258 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.78, Z:15.61 [[ 9.99890538e-01 -1.13053095e-02 -9.54469617e-03 -2.37525902e+01] [ 1.13722505e-02 9.99910912e-01 6.98853241e-03 -1.78135946e+00] [ 9.46483833e-03 -7.09631211e-03 9.99930027e-01 1.56105195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.849072328999995 meters Centerline goodness [0,1] 0.6873044046896165 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.78, Z:15.61 [[ 9.99892743e-01 -1.10429786e-02 -9.62058404e-03 -2.37523493e+01] [ 1.11141001e-02 9.99911070e-01 7.37080047e-03 -1.78306539e+00] [ 9.53833289e-03 -7.47693403e-03 9.99926555e-01 1.56105189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879072328999996 meters Centerline goodness [0,1] 0.6912413358538122 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.78, Z:15.61 [[ 9.99893127e-01 -1.09257643e-02 -9.71406516e-03 -2.37522063e+01] [ 1.09986358e-02 9.99911535e-01 7.48014384e-03 -1.78386107e+00] [ 9.63147951e-03 -7.58618588e-03 9.99924839e-01 1.56107265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909072329 meters Centerline goodness [0,1] 0.6931036893746941 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.78, Z:15.61 [[ 9.99893002e-01 -1.03913697e-02 -1.02958084e-02 -2.37504085e+01] [ 1.04712450e-02 9.99915260e-01 7.73473928e-03 -1.78392012e+00] [ 1.02145614e-02 -7.84172161e-03 9.99917082e-01 1.56104262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939072329 meters Centerline goodness [0,1] 0.7004490807877626 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.78, Z:15.61 [[ 9.99890444e-01 -1.00457822e-02 -1.08711778e-02 -2.37491509e+01] [ 1.01213697e-02 9.99924830e-01 6.92048019e-03 -1.78018077e+00] [ 1.08008390e-02 -7.02975322e-03 9.99916959e-01 1.56115160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96907232899999 meters Centerline goodness [0,1] 0.7209177355669261 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.78, Z:15.61 [[ 9.99886064e-01 -9.88953358e-03 -1.14042187e-02 -2.37482160e+01] [ 9.96198981e-03 9.99930442e-01 6.31425053e-03 -1.77842219e+00] [ 1.13409804e-02 -6.42713982e-03 9.99915033e-01 1.56125564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.99907232899999 meters Centerline goodness [0,1] 0.7416799102552117 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.78, Z:15.61 [[ 9.99884288e-01 -9.62197039e-03 -1.17825169e-02 -2.37471983e+01] [ 9.68825227e-03 9.99937491e-01 5.58134518e-03 -1.77647078e+00] [ 1.17280768e-02 -5.69485135e-03 9.99915007e-01 1.56131719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.029072328999995 meters Centerline goodness [0,1] 0.7475485033583749 Centerline is valid? [False, False] Translation: X:-23.75, Y:-1.77, Z:15.61 [[ 9.99883193e-01 -9.33119502e-03 -1.21048979e-02 -2.37457553e+01] [ 9.39669843e-03 9.99941454e-01 5.36577161e-03 -1.77496737e+00] [ 1.20541202e-02 -5.47889093e-03 9.99912336e-01 1.56124505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059072328999996 meters Centerline goodness [0,1] 0.7563362433117432 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.77, Z:15.61 [[ 9.99881652e-01 -8.89175315e-03 -1.25546193e-02 -2.37437882e+01] [ 8.95612498e-03 9.99946987e-01 5.08046233e-03 -1.77222379e+00] [ 1.25087795e-02 -5.19230181e-03 9.99908281e-01 1.56115907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089072329 meters Centerline goodness [0,1] 0.7644897670803796 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.77, Z:15.61 [[ 9.99875936e-01 -8.59550901e-03 -1.31995901e-02 -2.37418439e+01] [ 8.65420713e-03 9.99952887e-01 4.39630330e-03 -1.76760494e+00] [ 1.31611798e-02 -4.50998986e-03 9.99903217e-01 1.56114791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119072329 meters Centerline goodness [0,1] 0.7682323856613102 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.76, Z:15.61 [[ 9.99897752e-01 -5.07472567e-03 -1.33691050e-02 -2.37418913e+01] [ 5.16372576e-03 9.99964682e-01 6.63106024e-03 -1.76014600e+00] [ 1.33349820e-02 -6.69941662e-03 9.99888642e-01 1.56125684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.14907232899999 meters Centerline goodness [0,1] 0.7682323856613102 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.76, Z:15.61 [[ 9.99897752e-01 -5.07472567e-03 -1.33691050e-02 -2.37418913e+01] [ 5.16372576e-03 9.99964682e-01 6.63106024e-03 -1.76014600e+00] [ 1.33349820e-02 -6.69941662e-03 9.99888642e-01 1.56125684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17907232899999 meters Centerline goodness [0,1] 0.7674573370727765 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.76, Z:15.61 [[ 9.99890854e-01 -5.07311587e-03 -1.38759728e-02 -2.37407932e+01] [ 5.15361250e-03 9.99970064e-01 5.77155899e-03 -1.75672425e+00] [ 1.38462776e-02 -5.84244044e-03 9.99887067e-01 1.56132529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.209072328999994 meters Centerline goodness [0,1] 0.7719895287958115 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.75, Z:15.61 [[ 9.99887443e-01 -5.04818379e-03 -1.41286206e-02 -2.37398649e+01] [ 5.12450819e-03 9.99972445e-01 5.37113337e-03 -1.75486634e+00] [ 1.41011168e-02 -5.44293104e-03 9.99885760e-01 1.56130454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239072328999995 meters Centerline goodness [0,1] 0.7542281396185678 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.75, Z:15.61 [[ 9.99886511e-01 -5.97108818e-03 -1.38315507e-02 -2.37406355e+01] [ 6.02703740e-03 9.99973809e-01 4.00689730e-03 -1.75004532e+00] [ 1.38072629e-02 -4.08980583e-03 9.99896311e-01 1.56130883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.269072329 meters Centerline goodness [0,1] 0.7445733262742456 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.75, Z:15.61 [[ 9.99883629e-01 -6.40695611e-03 -1.38448187e-02 -2.37406673e+01] [ 6.45223553e-03 9.99973973e-01 3.22830672e-03 -1.74637657e+00] [ 1.38237747e-02 -3.31726107e-03 9.99898944e-01 1.56132308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299072329 meters Centerline goodness [0,1] 0.7293745319256879 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.74, Z:15.61 [[ 9.99879501e-01 -7.00838539e-03 -1.38515813e-02 -2.37408742e+01] [ 7.04120988e-03 9.99972514e-01 2.32238264e-03 -1.74230825e+00] [ 1.38349244e-02 -2.41963469e-03 9.99901365e-01 1.56135335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32907232899999 meters Centerline goodness [0,1] 0.6970679275634307 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.74, Z:15.61 [[ 9.99872432e-01 -9.09905483e-03 -1.31273680e-02 -2.37428042e+01] [ 9.11634443e-03 9.99957654e-01 1.25782609e-03 -1.73882113e+00] [ 1.31153671e-02 -1.37733924e-03 9.99913041e-01 1.56119675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35907232899999 meters Centerline goodness [0,1] 0.6812496958489465 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.74, Z:15.61 [[ 9.99872474e-01 -9.53937787e-03 -1.28076384e-02 -2.37426088e+01] [ 9.56146728e-03 9.99952903e-01 1.66458088e-03 -1.74030981e+00] [ 1.27911561e-02 -1.78682842e-03 9.99916593e-01 1.56097095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.389072328999994 meters Centerline goodness [0,1] 0.6748505186089079 Centerline is valid? [False, False] Translation: X:-23.74, Y:-1.74, Z:15.61 [[ 9.99873774e-01 -9.94635490e-03 -1.23897469e-02 -2.37428159e+01] [ 9.97130498e-03 9.99948377e-01 1.95362385e-03 -1.74110816e+00] [ 1.23696759e-02 -2.07691919e-03 9.99921336e-01 1.56078550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419072328999995 meters Centerline goodness [0,1] 0.657251161653216 Centerline is valid? [False, False] Translation: X:-23.73, Y:-1.74, Z:15.60 [[ 9.99869784e-01 -1.47641120e-02 -6.51429663e-03 -2.37292090e+01] [ 1.48142051e-02 9.99860540e-01 7.70966200e-03 -1.73678597e+00] [ 6.39956184e-03 -7.80516220e-03 9.99949061e-01 1.56031321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.449072328999996 meters Centerline goodness [0,1] 0.6478415138971023 Centerline is valid? [False, False] Translation: X:-23.73, Y:-1.73, Z:15.61 [[ 9.99854193e-01 -1.58279654e-02 -6.40849867e-03 -2.37308558e+01] [ 1.58666858e-02 9.99855891e-01 6.03697101e-03 -1.73072649e+00] [ 6.31202218e-03 -6.13777241e-03 9.99961242e-01 1.56052407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479072329 meters Centerline goodness [0,1] 0.6388771685984462 Centerline is valid? [False, False] Translation: X:-23.73, Y:-1.73, Z:15.61 [[ 9.99839747e-01 -1.67119745e-02 -6.41795794e-03 -2.37319361e+01] [ 1.67421819e-02 9.99848877e-01 4.68216661e-03 -1.72555964e+00] [ 6.33873979e-03 -4.78886690e-03 9.99968443e-01 1.56068884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.509072329 meters Centerline goodness [0,1] 0.6225134274915456 Centerline is valid? [False, False] Translation: X:-23.73, Y:-1.72, Z:15.60 [[ 9.99822513e-01 -1.78185633e-02 -6.11889971e-03 -2.37323510e+01] [ 1.78464956e-02 9.99830426e-01 4.54107130e-03 -1.72458651e+00] [ 6.03694673e-03 -4.64946623e-03 9.99970968e-01 1.56048359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53907232899999 meters Centerline goodness [0,1] 0.6137884872824633 Centerline is valid? [False, False] Translation: X:-23.73, Y:-1.72, Z:15.60 [[ 9.99747464e-01 -2.15192739e-02 -6.47531728e-03 -2.37300702e+01] [ 2.15240944e-02 9.99768102e-01 6.75678015e-04 -1.72423662e+00] [ 6.45927557e-03 -8.14882723e-04 9.99978807e-01 1.56033109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.569072328999994 meters Centerline goodness [0,1] 0.605938425545683 Centerline is valid? [False, False] Translation: X:-23.73, Y:-1.72, Z:15.60 [[ 9.99735954e-01 -2.22113297e-02 -5.88889958e-03 -2.37315697e+01] [ 2.22151276e-02 9.99753045e-01 5.80288955e-04 -1.72480556e+00] [ 5.87455630e-03 -7.10958388e-04 9.99982492e-01 1.56028040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599072328999995 meters Centerline goodness [0,1] 0.5931805114616404 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.72, Z:15.61 [[ 9.99681895e-01 -2.52110839e-02 7.14838669e-04 -2.37214168e+01] [ 2.52066688e-02 9.99666416e-01 5.62858598e-03 -1.71822242e+00] [-8.56502964e-04 -5.60877679e-03 9.99983904e-01 1.56052185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.629072328999996 meters Centerline goodness [0,1] 0.6093604137757033 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.71, Z:15.61 [[ 9.99749739e-01 -2.23334449e-02 1.29485686e-03 -2.37243343e+01] [ 2.23220050e-02 9.99716689e-01 8.26260328e-03 -1.71381029e+00] [-1.47902241e-03 -8.23163167e-03 9.99965026e-01 1.56069309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659072329 meters Centerline goodness [0,1] 0.6172142151523594 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.71, Z:15.61 [[ 9.99763320e-01 -2.17543169e-02 2.29666222e-04 -2.37210645e+01] [ 2.17520356e-02 9.99736254e-01 7.36693714e-03 -1.70799337e+00] [-3.89868333e-04 -7.36019783e-03 9.99972837e-01 1.56070424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.689072329 meters Centerline goodness [0,1] 0.6011180029098706 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.70, Z:15.60 [[ 9.99867726e-01 -1.51625836e-02 5.88436012e-03 -2.37227026e+01] [ 1.51491377e-02 9.99882547e-01 2.32290502e-03 -1.70393279e+00] [-5.91889023e-03 -2.23345478e-03 9.99979989e-01 1.55952641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71907232899999 meters Centerline goodness [0,1] 0.6138038693827413 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.70, Z:15.59 [[ 9.99883059e-01 -1.42592985e-02 5.52639608e-03 -2.37192650e+01] [ 1.42411637e-02 9.99893121e-01 3.30706311e-03 -1.70481122e+00] [-5.57296182e-03 -3.22797407e-03 9.99979261e-01 1.55913885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.74907232899999 meters Centerline goodness [0,1] 0.6293284768891396 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.71, Z:15.59 [[ 9.99894979e-01 -1.35513058e-02 5.13736000e-03 -2.37165684e+01] [ 1.35306683e-02 9.99900332e-01 4.03083405e-03 -1.70531717e+00] [-5.19147104e-03 -3.96089882e-03 9.99978680e-01 1.55887645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779072328999995 meters Centerline goodness [0,1] 0.6281447354798633 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.70, Z:15.59 [[ 9.99929244e-01 -1.05441016e-02 5.50721429e-03 -2.37188412e+01] [ 1.05092404e-02 9.99924797e-01 6.32114013e-03 -1.69918540e+00] [-5.57345088e-03 -6.26281623e-03 9.99964856e-01 1.55909748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.809072328999996 meters Centerline goodness [0,1] 0.6379175365344467 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.69, Z:15.59 [[ 9.99955852e-01 -7.57793489e-03 5.55598860e-03 -2.37210989e+01] [ 7.53186654e-03 9.99937468e-01 8.26621685e-03 -1.69314313e+00] [-5.61828203e-03 -8.22400494e-03 9.99950399e-01 1.55946304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839072329 meters Centerline goodness [0,1] 0.6452783548531307 Centerline is valid? [False, False] Translation: X:-23.72, Y:-1.69, Z:15.60 [[ 9.99966408e-01 -7.03254952e-03 4.21016723e-03 -2.37181167e+01] [ 7.00628786e-03 9.99956109e-01 6.22026320e-03 -1.68544905e+00] [-4.25372675e-03 -6.19055661e-03 9.99971791e-01 1.55978570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.869072329 meters Centerline goodness [0,1] 0.6422339948867979 Centerline is valid? [False, False] Translation: X:-23.71, Y:-1.68, Z:15.60 [[ 9.99975768e-01 -6.21185442e-03 3.14267176e-03 -2.37141607e+01] [ 6.19332182e-03 9.99963576e-01 5.87284337e-03 -1.68173504e+00] [-3.17903854e-03 -5.85323748e-03 9.99977816e-01 1.55969489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89907232899999 meters Centerline goodness [0,1] 0.6510459365826567 Centerline is valid? [False, False] Translation: X:-23.71, Y:-1.68, Z:15.59 [[ 9.99987838e-01 -4.44156376e-03 2.14401512e-03 -2.37073925e+01] [ 4.42626263e-03 9.99965073e-01 7.08942796e-03 -1.68190441e+00] [-2.17542838e-03 -7.07985176e-03 9.99972571e-01 1.55912961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.92907232899999 meters Centerline goodness [0,1] 0.647476298924845 Centerline is valid? [False, False] Translation: X:-23.71, Y:-1.68, Z:15.59 [[ 9.99989577e-01 -4.09900725e-03 2.01101090e-03 -2.37060228e+01] [ 4.08468136e-03 9.99966616e-01 7.07685062e-03 -1.68157631e+00] [-2.03995183e-03 -7.06856252e-03 9.99972937e-01 1.55902431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959072328999994 meters Centerline goodness [0,1] 0.6475353417694711 Centerline is valid? [False, False] Translation: X:-23.71, Y:-1.68, Z:15.59 [[ 9.99989318e-01 -4.19733073e-03 1.93569560e-03 -2.37058922e+01] [ 4.18494696e-03 9.99971031e-01 6.35786127e-03 -1.67976126e+00] [-1.96232557e-03 -6.34969257e-03 9.99977915e-01 1.55909626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.989072328999995 meters Centerline goodness [0,1] 0.650214993456721 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.67, Z:15.59 [[ 9.99989719e-01 -4.35489279e-03 1.26330507e-03 -2.37048158e+01] [ 4.34971533e-03 9.99982247e-01 4.07254045e-03 -1.67213078e+00] [-1.28101812e-03 -4.06700356e-03 9.99990909e-01 1.55940216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019072329 meters Centerline goodness [0,1] 0.6452859558251255 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.67, Z:15.59 [[ 9.99991099e-01 -4.18192192e-03 5.59194458e-04 -2.37030195e+01] [ 4.18013230e-03 9.99986257e-01 3.16411552e-03 -1.66761471e+00] [-5.72418857e-04 -3.16174985e-03 9.99994838e-01 1.55948849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.049072329 meters Centerline goodness [0,1] 0.641921279412162 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.66, Z:15.60 [[ 9.99992618e-01 -3.83754588e-03 -1.90815232e-04 -2.37009059e+01] [ 3.83800557e-03 9.99989584e-01 2.47007737e-03 -1.66320792e+00] [ 1.81334209e-04 -2.47079149e-03 9.99996931e-01 1.55954457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07907232899999 meters Centerline goodness [0,1] 0.6454478966329875 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.65, Z:15.60 [[ 9.99993406e-01 -3.41440704e-03 -1.23649543e-03 -2.36981101e+01] [ 3.41434964e-03 9.99994170e-01 -4.85264082e-05 -1.65375228e+00] [ 1.23665391e-03 4.43042605e-05 9.99999234e-01 1.55986168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.10907232899999 meters Centerline goodness [0,1] 0.6533968686181075 Centerline is valid? [False, False] Translation: X:-23.70, Y:-1.65, Z:15.60 [[ 9.99994067e-01 -2.89787779e-03 -1.86212089e-03 -2.36956236e+01] [ 2.89721509e-03 9.99995739e-01 -3.58485684e-04 -1.65083889e+00] [ 1.86315180e-03 3.53088592e-04 9.99998202e-01 1.55980727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139072328999994 meters Centerline goodness [0,1] 0.6519169197931205 Centerline is valid? [False, False] Translation: X:-23.69, Y:-1.65, Z:15.60 [[ 9.99994311e-01 -1.93980635e-03 -2.75972245e-03 -2.36907564e+01] [ 1.93798205e-03 9.99997902e-01 -6.63563722e-04 -1.64557931e+00] [ 2.76100384e-03 6.58211654e-04 9.99995972e-01 1.55953461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.169072328999995 meters Centerline goodness [0,1] 0.6533373503875544 Centerline is valid? [False, False] Translation: X:-23.69, Y:-1.64, Z:15.59 [[ 9.99993447e-01 -1.29566284e-03 -3.38027093e-03 -2.36875966e+01] [ 1.29336165e-03 9.99998930e-01 -6.82866454e-04 -1.64325571e+00] [ 3.38115208e-03 6.78490067e-04 9.99994054e-01 1.55936582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199072328999996 meters Centerline goodness [0,1] 0.6577562212362554 Centerline is valid? [False, False] Translation: X:-23.69, Y:-1.64, Z:15.59 [[ 9.99992269e-01 -1.11484646e-03 -3.77089623e-03 -2.36856141e+01] [ 1.11077677e-03 9.99998799e-01 -1.08115758e-03 -1.63976845e+00] [ 3.77209703e-03 1.07696060e-03 9.99992306e-01 1.55925451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.229072329 meters Centerline goodness [0,1] 0.6762281478203143 Centerline is valid? [False, False] Translation: X:-23.68, Y:-1.64, Z:15.59 [[ 9.99987623e-01 -1.84521038e-04 -4.97198540e-03 -2.36812255e+01] [ 1.76731132e-04 9.99998756e-01 -1.56715339e-03 -1.63504585e+00] [ 4.97226839e-03 1.56625529e-03 9.99986412e-01 1.55919725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25907232899999 meters Centerline goodness [0,1] 0.6955887714181552 Centerline is valid? [False, False] Translation: X:-23.68, Y:-1.63, Z:15.59 [[ 9.99948442e-01 8.56381576e-03 -5.45662482e-03 -2.36780708e+01] [-8.53076023e-03 9.99945294e-01 6.05261993e-03 -1.62881370e+00] [ 5.50815983e-03 -6.00575871e-03 9.99966795e-01 1.55900841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.28907232899999 meters Centerline goodness [0,1] 0.7107847274978194 Centerline is valid? [False, False] Translation: X:-23.68, Y:-1.62, Z:15.59 [[ 9.99938192e-01 9.15079521e-03 -6.31463087e-03 -2.36756494e+01] [-9.12908268e-03 9.99952347e-01 3.45874765e-03 -1.62052114e+00] [ 6.34598025e-03 -3.40088709e-03 9.99974081e-01 1.55938696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319072328999994 meters Centerline goodness [0,1] 0.7182045596679743 Centerline is valid? [False, False] Translation: X:-23.67, Y:-1.61, Z:15.60 [[ 9.99926842e-01 1.01996998e-02 -6.50202637e-03 -2.36739255e+01] [-1.01912425e-02 9.99947180e-01 1.33252613e-03 -1.61224836e+00] [ 6.51527430e-03 -1.26616492e-03 9.99977974e-01 1.55967335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.349072328999995 meters Centerline goodness [0,1] 0.7801249028693125 Centerline is valid? [False, False] Translation: X:-23.67, Y:-1.60, Z:15.60 [[ 9.99853537e-01 1.55720849e-02 -7.10028565e-03 -2.36699113e+01] [-1.55487758e-02 9.99873578e-01 3.32631675e-03 -1.60317580e+00] [ 7.15118571e-03 -3.21542882e-03 9.99969260e-01 1.55977224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379072328999996 meters Centerline goodness [0,1] 0.7888028209723106 Centerline is valid? [False, False] Translation: X:-23.67, Y:-1.60, Z:15.60 [[ 9.99836602e-01 1.62519086e-02 -7.91482677e-03 -2.36668457e+01] [-1.62348492e-02 9.99865753e-01 2.21487127e-03 -1.59889576e+00] [ 7.94976011e-03 -2.08601334e-03 9.99966224e-01 1.55984150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.409072329 meters Centerline goodness [0,1] 0.7955461478238177 Centerline is valid? [False, False] Translation: X:-23.66, Y:-1.60, Z:15.60 [[ 9.99817035e-01 1.69622899e-02 -8.84173545e-03 -2.36635758e+01] [-1.69508681e-02 9.99855392e-01 1.36515669e-03 -1.59505081e+00] [ 8.86361304e-03 -1.21503183e-03 9.99959979e-01 1.55988946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439072329 meters Centerline goodness [0,1] 0.8023286352096647 Centerline is valid? [False, False] Translation: X:-23.66, Y:-1.59, Z:15.60 [[ 9.99801889e-01 1.74397967e-02 -9.59360046e-03 -2.36610826e+01] [-1.74327040e-02 9.99847701e-01 8.22449062e-04 -1.59227550e+00] [ 9.60648271e-03 -6.55043729e-04 9.99953642e-01 1.55991868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.46907232899999 meters Centerline goodness [0,1] 0.7981447990198938 Centerline is valid? [False, False] Translation: X:-23.66, Y:-1.59, Z:15.60 [[ 9.99788659e-01 1.78938277e-02 -1.01217168e-02 -2.36589948e+01] [-1.78755847e-02 9.99838433e-01 1.88997155e-03 -1.59444961e+00] [ 1.01539003e-02 -1.70864052e-03 9.99946988e-01 1.55974371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49907232899999 meters Centerline goodness [0,1] 0.8006145741878841 Centerline is valid? [False, False] Translation: X:-23.66, Y:-1.59, Z:15.60 [[ 9.99827594e-01 1.47727508e-02 -1.12493958e-02 -2.36553208e+01] [-1.48058188e-02 9.99886292e-01 -2.86194433e-03 -1.59105463e+00] [ 1.12058378e-02 3.02800743e-03 9.99932628e-01 1.55983235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.529072328999995 meters Centerline goodness [0,1] 0.7943529549170755 Centerline is valid? [False, False] Translation: X:-23.65, Y:-1.59, Z:15.60 [[ 9.99854095e-01 1.16932932e-02 -1.24521452e-02 -2.36512275e+01] [-1.17823801e-02 9.99905342e-01 -7.10517295e-03 -1.58977867e+00] [ 1.23678837e-02 7.25085218e-03 9.99897225e-01 1.55983290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559072328999996 meters Centerline goodness [0,1] 0.7958412098298677 Centerline is valid? [False, False] Translation: X:-23.65, Y:-1.59, Z:15.59 [[ 9.99844587e-01 1.25206709e-02 -1.24110427e-02 -2.36494657e+01] [-1.25848529e-02 9.99907767e-01 -5.10682194e-03 -1.59495597e+00] [ 1.23459572e-02 5.26221942e-03 9.99909939e-01 1.55945185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589072329 meters Centerline goodness [0,1] 0.7865948949470394 Centerline is valid? [False, False] Translation: X:-23.65, Y:-1.60, Z:15.59 [[ 9.99884064e-01 8.70968425e-03 -1.24899824e-02 -2.36492531e+01] [-8.81628830e-03 9.99924961e-01 -8.50565573e-03 -1.59915197e+00] [ 1.24149635e-02 8.61478491e-03 9.99885821e-01 1.55944102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619072329 meters Centerline goodness [0,1] 0.7776201916119135 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.60, Z:15.59 [[ 9.99953510e-01 6.81077453e-03 -6.82579628e-03 -2.36355297e+01] [-6.80242365e-03 9.99976087e-01 1.24590046e-03 -1.60393626e+00] [ 6.83411861e-03 -1.19941058e-03 9.99975928e-01 1.55896767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64907232899999 meters Centerline goodness [0,1] 0.767590556648536 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.60, Z:15.59 [[ 9.99962059e-01 5.78560575e-03 -6.51213083e-03 -2.36388009e+01] [-5.78596577e-03 9.99983260e-01 -3.64461178e-05 -1.60298096e+00] [ 6.51181096e-03 7.41237010e-05 9.99978795e-01 1.55936982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67907232899999 meters Centerline goodness [0,1] 0.7430975848752089 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.60, Z:15.60 [[ 9.99976579e-01 1.11864806e-03 -6.75204928e-03 -2.36409132e+01] [-1.15584289e-03 9.99984167e-01 -5.50728676e-03 -1.60268178e+00] [ 6.74578166e-03 5.51496208e-03 9.99962039e-01 1.55992501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.709072328999994 meters Centerline goodness [0,1] 0.7282499353318197 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.61, Z:15.60 [[ 9.99980238e-01 9.66681219e-04 -6.21202666e-03 -2.36420157e+01] [-9.89063718e-04 9.99993027e-01 -3.60102976e-03 -1.60875030e+00] [ 6.20850229e-03 3.60710268e-03 9.99974221e-01 1.55964824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739072328999995 meters Centerline goodness [0,1] 0.7203059645906148 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.61, Z:15.59 [[ 9.99980800e-01 1.37691312e-03 -6.04187802e-03 -2.36413361e+01] [-1.38498884e-03 9.99998153e-01 -1.33264358e-03 -1.61479488e+00] [ 6.04003193e-03 1.34098592e-03 9.99980860e-01 1.55928036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769072329 meters Centerline goodness [0,1] 0.6992348104157149 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.62, Z:15.59 [[ 9.99978045e-01 -2.38506193e-03 -6.18230838e-03 -2.36404756e+01] [ 2.36332550e-03 9.99991009e-01 -3.52083174e-03 -1.62078456e+00] [ 6.19065019e-03 3.50614363e-03 9.99974691e-01 1.55905170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799072329 meters Centerline goodness [0,1] 0.6902016472593013 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.63, Z:15.59 [[ 9.99978800e-01 -2.12803927e-03 -6.15390288e-03 -2.36399656e+01] [ 2.11704927e-03 9.99996154e-01 -1.79182128e-03 -1.62587117e+00] [ 6.15769227e-03 1.77875518e-03 9.99979459e-01 1.55881715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82907232899999 meters Centerline goodness [0,1] 0.6664316136857248 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.63, Z:15.59 [[ 9.99961230e-01 -6.41569031e-03 -6.03135705e-03 -2.36407643e+01] [ 6.39018598e-03 9.99970600e-01 -4.23842479e-03 -1.63213669e+00] [ 6.05837215e-03 4.19971897e-03 9.99972829e-01 1.55870327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85907232899999 meters Centerline goodness [0,1] 0.6568608150293894 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.64, Z:15.59 [[ 9.99962050e-01 -6.72830920e-03 -5.53437838e-03 -2.36425685e+01] [ 6.71036809e-03 9.99972191e-01 -3.25396308e-03 -1.63671137e+00] [ 5.55611814e-03 3.21670188e-03 9.99979391e-01 1.55866536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.889072328999994 meters Centerline goodness [0,1] 0.6456110877782444 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.64, Z:15.59 [[ 9.99962409e-01 -6.97366043e-03 -5.15257325e-03 -2.36443200e+01] [ 6.96000131e-03 9.99972230e-01 -2.66412376e-03 -1.64064557e+00] [ 5.17100886e-03 2.62816170e-03 9.99983177e-01 1.55872912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919072328999995 meters Centerline goodness [0,1] 0.6301896249269067 Centerline is valid? [False, False] Translation: X:-23.65, Y:-1.65, Z:15.59 [[ 9.99960578e-01 -7.46177683e-03 -4.81299217e-03 -2.36469312e+01] [ 7.45078569e-03 9.99969603e-01 -2.29754216e-03 -1.64537611e+00] [ 4.82998962e-03 2.26159101e-03 9.99985778e-01 1.55893714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.949072328999996 meters Centerline goodness [0,1] 0.624687656171914 Centerline is valid? [False, False] Translation: X:-23.65, Y:-1.65, Z:15.59 [[ 9.99964325e-01 -6.67204299e-03 -5.18007842e-03 -2.36451067e+01] [ 6.66674867e-03 9.99977238e-01 -1.03864869e-03 -1.64887824e+00] [ 5.18689042e-03 1.00407735e-03 9.99986044e-01 1.55878941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979072329 meters Centerline goodness [0,1] 0.6571230598669623 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.65, Z:15.59 [[ 9.99968572e-01 -5.58496823e-03 -5.62694074e-03 -2.36422976e+01] [ 5.58898810e-03 9.99984137e-01 6.98925869e-04 -1.65333158e+00] [ 5.62294801e-03 -7.30352809e-04 9.99983924e-01 1.55850909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00907232899999 meters Centerline goodness [0,1] 0.6282650156167943 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.66, Z:15.58 [[ 9.99970879e-01 -4.55908753e-03 -6.12012622e-03 -2.36393947e+01] [ 4.57392766e-03 9.99986628e-01 2.41300508e-03 -1.65790016e+00] [ 6.10904328e-03 -2.44092782e-03 9.99978360e-01 1.55823109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03907232899999 meters Centerline goodness [0,1] 0.6624538796189218 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.66, Z:15.58 [[ 9.99970979e-01 -3.32382104e-03 -6.85515307e-03 -2.36358199e+01] [ 3.35736657e-03 9.99982419e-01 4.88778806e-03 -1.66407580e+00] [ 6.83878642e-03 -4.91066147e-03 9.99964558e-01 1.55785887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.069072328999994 meters Centerline goodness [0,1] 0.6624538796189218 Centerline is valid? [False, False] Translation: X:-23.64, Y:-1.66, Z:15.58 [[ 9.99970979e-01 -3.32382104e-03 -6.85515307e-03 -2.36358199e+01] [ 3.35736657e-03 9.99982419e-01 4.88778806e-03 -1.66407580e+00] [ 6.83878642e-03 -4.91066147e-03 9.99964558e-01 1.55785887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099072328999995 meters Centerline goodness [0,1] 0.6735786871738534 Centerline is valid? [False, False] Translation: X:-23.63, Y:-1.67, Z:15.58 [[ 9.99969128e-01 -2.59887333e-03 -7.41545819e-03 -2.36339327e+01] [ 2.63865713e-03 9.99982152e-01 5.36025236e-03 -1.66585135e+00] [ 7.40139522e-03 -5.37965373e-03 9.99958138e-01 1.55785523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.129072328999996 meters Centerline goodness [0,1] 0.6830083260297984 Centerline is valid? [False, False] Translation: X:-23.63, Y:-1.67, Z:15.58 [[ 9.99962645e-01 -9.70958468e-04 -8.58869947e-03 -2.36306744e+01] [ 1.00957753e-03 9.99989395e-01 4.49330493e-03 -1.66585444e+00] [ 8.58424557e-03 -4.50180804e-03 9.99953021e-01 1.55823153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159072329 meters Centerline goodness [0,1] 0.691501330918471 Centerline is valid? [False, False] Translation: X:-23.63, Y:-1.66, Z:15.58 [[ 9.99956396e-01 -4.02456537e-04 -9.32974591e-03 -2.36290680e+01] [ 4.35701790e-04 9.99993563e-01 3.56160243e-03 -1.66364706e+00] [ 9.32825246e-03 -3.56551211e-03 9.99950134e-01 1.55846556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.189072329 meters Centerline goodness [0,1] 0.7066853438804659 Centerline is valid? [False, False] Translation: X:-23.63, Y:-1.66, Z:15.59 [[ 9.99947632e-01 3.84812557e-04 -1.02266553e-02 -2.36267554e+01] [-3.55775980e-04 9.99995901e-01 2.84097101e-03 -1.66133495e+00] [ 1.02277066e-02 -2.83718384e-03 9.99943671e-01 1.55864685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21907232899999 meters Centerline goodness [0,1] 0.7348020767519161 Centerline is valid? [False, False] Translation: X:-23.62, Y:-1.66, Z:15.59 [[ 9.99919741e-01 4.12351532e-03 -1.19795008e-02 -2.36189003e+01] [-4.10714499e-03 9.99990598e-01 1.39080875e-03 -1.65886454e+00] [ 1.19851232e-02 -1.34149557e-03 9.99927276e-01 1.55906749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.24907232899999 meters Centerline goodness [0,1] 0.749958825144112 Centerline is valid? [False, False] Translation: X:-23.62, Y:-1.66, Z:15.59 [[ 9.99904151e-01 5.12326775e-03 -1.28623562e-02 -2.36157403e+01] [-5.10680533e-03 9.99986099e-01 1.31240956e-03 -1.65798134e+00] [ 1.28689012e-02 -1.24659822e-03 9.99916415e-01 1.55907036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279072328999995 meters Centerline goodness [0,1] 0.7680797320300917 Centerline is valid? [False, False] Translation: X:-23.61, Y:-1.66, Z:15.59 [[ 9.99884025e-01 6.31944902e-03 -1.38564559e-02 -2.36117913e+01] [-6.29687977e-03 9.99978777e-01 1.67181365e-03 -1.65779116e+00] [ 1.38667267e-02 -1.58436733e-03 9.99902597e-01 1.55897186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.309072328999996 meters Centerline goodness [0,1] 0.780935856123826 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.66, Z:15.59 [[ 9.99847031e-01 8.58407069e-03 -1.52390638e-02 -2.36048486e+01] [-8.54212632e-03 9.99959552e-01 2.81538585e-03 -1.65741140e+00] [ 1.52626148e-02 -2.68478117e-03 9.99879915e-01 1.55864231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339072329 meters Centerline goodness [0,1] 0.7827580521050896 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.66, Z:15.59 [[ 9.99835934e-01 9.10681476e-03 -1.56579613e-02 -2.36034200e+01] [-9.06658352e-03 9.99955417e-01 2.63844990e-03 -1.65704686e+00] [ 1.56812911e-02 -2.49605280e-03 9.99873925e-01 1.55868764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.369072329 meters Centerline goodness [0,1] 0.7827580521050896 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.66, Z:15.59 [[ 9.99835934e-01 9.10681476e-03 -1.56579613e-02 -2.36034200e+01] [-9.06658352e-03 9.99955417e-01 2.63844990e-03 -1.65704686e+00] [ 1.56812911e-02 -2.49605280e-03 9.99873925e-01 1.55868764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39907232899999 meters Centerline goodness [0,1] 0.7836708895545357 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.66, Z:15.59 [[ 9.99835407e-01 9.06327914e-03 -1.57167568e-02 -2.36037480e+01] [-9.02858152e-03 9.99956649e-01 2.27723561e-03 -1.65718735e+00] [ 1.57367147e-02 -2.13496077e-03 9.99873891e-01 1.55880515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42907232899999 meters Centerline goodness [0,1] 0.7809201846965699 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.66, Z:15.59 [[ 9.99839070e-01 8.69559805e-03 -1.56914023e-02 -2.36048968e+01] [-8.67732797e-03 9.99961592e-01 1.23204682e-03 -1.65541521e+00] [ 1.57015130e-02 -1.09568910e-03 9.99876123e-01 1.55904926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459072328999994 meters Centerline goodness [0,1] 0.7798939181575837 Centerline is valid? [False, False] Translation: X:-23.61, Y:-1.65, Z:15.59 [[ 9.99842904e-01 8.40827443e-03 -1.56034494e-02 -2.36057475e+01] [-8.39530946e-03 9.99964357e-01 8.96221165e-04 -1.65485861e+00] [ 1.56104290e-02 -7.65084586e-04 9.99877857e-01 1.55914610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.489072328999995 meters Centerline goodness [0,1] 0.776717400246812 Centerline is valid? [False, False] Translation: X:-23.61, Y:-1.66, Z:15.59 [[ 9.99846043e-01 8.19002762e-03 -1.55181660e-02 -2.36063898e+01] [-8.17702058e-03 9.99966161e-01 9.01447570e-04 -1.65570459e+00] [ 1.55250238e-02 -7.74416423e-04 9.99879180e-01 1.55919114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519072329 meters Centerline goodness [0,1] 0.7666830493665356 Centerline is valid? [False, False] Translation: X:-23.61, Y:-1.66, Z:15.59 [[ 9.99870246e-01 3.96016817e-03 -1.56143624e-02 -2.36058707e+01] [-3.99677148e-03 9.99989336e-01 -2.31369963e-03 -1.65819630e+00] [ 1.56050332e-02 2.37580646e-03 9.99875411e-01 1.55903682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.549072329 meters Centerline goodness [0,1] 0.7528371206966934 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.66, Z:15.59 [[ 9.99864032e-01 2.00652675e-04 -1.64887160e-02 -2.36034025e+01] [-3.04667595e-04 9.99980071e-01 -6.30597878e-03 -1.65730888e+00] [ 1.64871221e-02 6.31014494e-03 9.99844166e-01 1.55902950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57907232899999 meters Centerline goodness [0,1] 0.7169718367682076 Centerline is valid? [False, False] Translation: X:-23.61, Y:-1.66, Z:15.59 [[ 9.99876672e-01 -1.80647639e-03 -1.56005340e-02 -2.36077331e+01] [ 1.70267652e-03 9.99976344e-01 -6.66433115e-03 -1.65672249e+00] [ 1.56122039e-02 6.63694659e-03 9.99856095e-01 1.55907766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.60907232899999 meters Centerline goodness [0,1] 0.7049117526337392 Centerline is valid? [False, False] Translation: X:-23.59, Y:-1.66, Z:15.58 [[ 9.99929924e-01 -5.78132239e-03 -1.03307177e-02 -2.35919750e+01] [ 5.78615805e-03 9.99983164e-01 4.38258451e-04 -1.65986184e+00] [ 1.03280101e-02 -4.98002905e-04 9.99946541e-01 1.55849668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639072328999994 meters Centerline goodness [0,1] 0.6866471601629796 Centerline is valid? [False, False] Translation: X:-23.59, Y:-1.66, Z:15.59 [[ 9.99930992e-01 -6.67303636e-03 -9.66855890e-03 -2.35944216e+01] [ 6.67853957e-03 9.99977554e-01 5.37010753e-04 -1.66291700e+00] [ 9.66475839e-03 -6.01545548e-04 9.99953114e-01 1.55850665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.669072328999995 meters Centerline goodness [0,1] 0.6674469880501946 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.67, Z:15.59 [[ 9.99892198e-01 -1.14957183e-02 -9.13459592e-03 -2.35964542e+01] [ 1.14625963e-02 9.99927567e-01 -3.67011372e-03 -1.66549475e+00] [ 9.17612486e-03 3.56501189e-03 9.99951544e-01 1.55857713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699072328999996 meters Centerline goodness [0,1] 0.6598284527972028 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.67, Z:15.59 [[ 9.99919645e-01 -9.14860546e-03 -8.77530483e-03 -2.35991031e+01] [ 9.14952926e-03 9.99958140e-01 6.51320551e-05 -1.66795422e+00] [ 8.77434163e-03 -1.45416730e-04 9.99961494e-01 1.55860116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.729072329 meters Centerline goodness [0,1] 0.6727227953046762 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.67, Z:15.59 [[ 9.99916655e-01 -9.35693040e-03 -8.89552498e-03 -2.35991257e+01] [ 9.35474820e-03 9.99956202e-01 -2.86891533e-04 -1.66625950e+00] [ 8.89781980e-03 2.03652226e-04 9.99960393e-01 1.55865421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75907232899999 meters Centerline goodness [0,1] 0.6627027619465147 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.67, Z:15.59 [[ 9.99912966e-01 -9.41578395e-03 -9.24134431e-03 -2.35980063e+01] [ 9.41639519e-03 9.99955665e-01 2.26318371e-05 -1.66527428e+00] [ 9.24072149e-03 -1.09650017e-04 9.99957298e-01 1.55854964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78907232899999 meters Centerline goodness [0,1] 0.6555094868063374 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.67, Z:15.58 [[ 9.99915420e-01 -8.95299340e-03 -9.43381031e-03 -2.35965975e+01] [ 8.96115972e-03 9.99959509e-01 8.23729041e-04 -1.66658757e+00] [ 9.42605348e-03 -9.08197251e-04 9.99955161e-01 1.55839028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819072328999994 meters Centerline goodness [0,1] 0.6322472711315891 Centerline is valid? [False, False] Translation: X:-23.60, Y:-1.67, Z:15.58 [[ 9.99915549e-01 -8.63352087e-03 -9.71376158e-03 -2.35952466e+01] [ 8.64532626e-03 9.99961939e-01 1.17399273e-03 -1.66665968e+00] [ 9.70325617e-03 -1.25787223e-03 9.99952131e-01 1.55829684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.849072328999995 meters Centerline goodness [0,1] 0.6555628666995668 Centerline is valid? [False, False] Translation: X:-23.59, Y:-1.66, Z:15.58 [[ 9.99912788e-01 -8.63431415e-03 -9.99323233e-03 -2.35947258e+01] [ 8.64246913e-03 9.99962354e-01 7.73153637e-04 -1.66464184e+00] [ 9.98618047e-03 -8.59452411e-04 9.99949768e-01 1.55835691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879072328999996 meters Centerline goodness [0,1] 0.6289337588028169 Centerline is valid? [False, False] Translation: X:-23.59, Y:-1.66, Z:15.58 [[ 9.99907521e-01 -8.75839861e-03 -1.04038017e-02 -2.35942859e+01] [ 8.75897473e-03 9.99961639e-01 9.81141828e-06 -1.66099105e+00] [ 1.04033167e-02 -1.00937147e-04 9.99945879e-01 1.55848597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909072329 meters Centerline goodness [0,1] 0.6426498631954233 Centerline is valid? [False, False] Translation: X:-23.59, Y:-1.66, Z:15.58 [[ 9.99908023e-01 -8.68794346e-03 -1.04146677e-02 -2.35934505e+01] [ 8.68356172e-03 9.99962189e-01 -4.65874454e-04 -1.65854217e+00] [ 1.04183214e-02 3.75395194e-04 9.99945657e-01 1.55841709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939072329 meters Centerline goodness [0,1] 0.6479160916367651 Centerline is valid? [False, False] Translation: X:-23.59, Y:-1.66, Z:15.58 [[ 9.99911652e-01 -7.69755226e-03 -1.08368010e-02 -2.35903931e+01] [ 7.70497913e-03 9.99970109e-01 6.43755132e-04 -1.66049579e+00] [ 1.08315217e-02 -7.27195582e-04 9.99941073e-01 1.55813273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96907232899999 meters Centerline goodness [0,1] 0.6578546290908083 Centerline is valid? [False, False] Translation: X:-23.59, Y:-1.66, Z:15.58 [[ 9.99910124e-01 -6.98034231e-03 -1.14463224e-02 -2.35871186e+01] [ 6.98762724e-03 9.99975408e-01 5.96573928e-04 -1.65758210e+00] [ 1.14418766e-02 -6.76502944e-04 9.99934311e-01 1.55794535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99907232899999 meters Centerline goodness [0,1] 0.6578546290908083 Centerline is valid? [False, False] Translation: X:-23.59, Y:-1.66, Z:15.58 [[ 9.99910124e-01 -6.98034231e-03 -1.14463224e-02 -2.35871186e+01] [ 6.98762724e-03 9.99975408e-01 5.96573928e-04 -1.65758210e+00] [ 1.14418766e-02 -6.76502944e-04 9.99934311e-01 1.55794535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.029072328999995 meters Centerline goodness [0,1] 0.6633748988757776 Centerline is valid? [False, False] Translation: X:-23.59, Y:-1.65, Z:15.58 [[ 9.99927624e-01 -2.99532323e-03 -1.16522026e-02 -2.35863106e+01] [ 3.04320376e-03 9.99986991e-01 4.09358128e-03 -1.65267546e+00] [ 1.16397894e-02 -4.12874504e-03 9.99923731e-01 1.55789829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059072328999996 meters Centerline goodness [0,1] 0.6628660854012967 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.65, Z:15.58 [[ 9.99920536e-01 -2.90579264e-03 -1.22669218e-02 -2.35849303e+01] [ 2.94569120e-03 9.99990426e-01 3.23571867e-03 -1.64896872e+00] [ 1.22574020e-02 -3.27159611e-03 9.99919523e-01 1.55801025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.089072329 meters Centerline goodness [0,1] 0.6638153466457258 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.65, Z:15.58 [[ 9.99916680e-01 -2.82831691e-03 -1.25949887e-02 -2.35840223e+01] [ 2.86234843e-03 9.99992299e-01 2.68478269e-03 -1.64637355e+00] [ 1.25872983e-02 -2.72061024e-03 9.99917076e-01 1.55805966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119072329 meters Centerline goodness [0,1] 0.6613179710552199 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.64, Z:15.58 [[ 9.99912076e-01 -2.66822545e-03 -1.29892342e-02 -2.35825682e+01] [ 2.69505614e-03 9.99994270e-01 2.04854449e-03 -1.64288430e+00] [ 1.29836938e-02 -2.08337109e-03 9.99913538e-01 1.55806210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14907232899999 meters Centerline goodness [0,1] 0.660795310430347 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.64, Z:15.58 [[ 9.99911229e-01 -2.77168634e-03 -1.30327014e-02 -2.35820973e+01] [ 2.79316603e-03 9.99994770e-01 1.63022530e-03 -1.64115653e+00] [ 1.30281147e-02 -1.66648308e-03 9.99913742e-01 1.55803398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17907232899999 meters Centerline goodness [0,1] 0.6580565460313895 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.64, Z:15.58 [[ 9.99884893e-01 -5.57153266e-03 -1.41123632e-02 -2.35775049e+01] [ 5.53293847e-03 9.99980850e-01 -2.77234772e-03 -1.63707732e+00] [ 1.41275392e-02 2.69394576e-03 9.99896572e-01 1.55799345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.209072328999994 meters Centerline goodness [0,1] 0.6500792572463768 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.64, Z:15.58 [[ 9.99888159e-01 -5.85763883e-03 -1.37607247e-02 -2.35774522e+01] [ 5.82201678e-03 9.99979600e-01 -2.62730996e-03 -1.63574914e+00] [ 1.37758338e-02 2.54690095e-03 9.99901865e-01 1.55777680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239072328999995 meters Centerline goodness [0,1] 0.6510213319753295 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.63, Z:15.58 [[ 9.99884929e-01 -5.85732711e-03 -1.39936133e-02 -2.35769671e+01] [ 5.81324216e-03 9.99978018e-01 -3.18896431e-03 -1.63364328e+00] [ 1.40119845e-02 3.10724909e-03 9.99896999e-01 1.55785098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269072329 meters Centerline goodness [0,1] 0.6638890474287997 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.62, Z:15.59 [[ 9.99893787e-01 -2.28098832e-03 -1.43948499e-02 -2.35781529e+01] [ 2.22703062e-03 9.99990439e-01 -3.76331986e-03 -1.62382727e+00] [ 1.44032963e-02 3.73086237e-03 9.99889307e-01 1.55878232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299072329 meters Centerline goodness [0,1] 0.6688768334337954 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.62, Z:15.59 [[ 9.99897874e-01 1.37258724e-03 -1.42252256e-02 -2.35794517e+01] [-1.37716600e-03 9.99999003e-01 -3.12085659e-04 -1.62101660e+00] [ 1.42247830e-02 3.31644284e-04 9.99898768e-01 1.55889711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.32907232899999 meters Centerline goodness [0,1] 0.6911836899708337 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.62, Z:15.59 [[ 9.99885447e-01 2.02148372e-03 -1.50001845e-02 -2.35767118e+01] [-2.03394806e-03 9.99997599e-01 -8.15736505e-04 -1.61705774e+00] [ 1.49984995e-02 8.46152657e-04 9.99887158e-01 1.55891396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35907232899999 meters Centerline goodness [0,1] 0.7101817132967985 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.62, Z:15.58 [[ 9.99857813e-01 3.58244119e-03 -1.64778576e-02 -2.35638265e+01] [-3.61908564e-03 9.99991043e-01 -2.19457885e-03 -1.61844450e+00] [ 1.64698481e-02 2.25390159e-03 9.99861822e-01 1.55827881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.389072328999994 meters Centerline goodness [0,1] 0.6952389181716063 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.62, Z:15.58 [[ 9.99854214e-01 4.46708902e-03 -1.64801532e-02 -2.35613355e+01] [-4.48072332e-03 9.99989649e-01 -7.90484429e-04 -1.62175137e+00] [ 1.64764515e-02 8.64212194e-04 9.99863881e-01 1.55789118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419072328999995 meters Centerline goodness [0,1] 0.6989634321911892 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.62, Z:15.58 [[ 9.99849605e-01 4.95446818e-03 -1.66198874e-02 -2.35597699e+01] [-4.95780278e-03 9.99987697e-01 -1.59443474e-04 -1.62321936e+00] [ 1.66188929e-02 2.41817618e-04 9.99861867e-01 1.55771417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449072328999996 meters Centerline goodness [0,1] 0.7310420390980912 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.62, Z:15.58 [[ 9.99844279e-01 4.94713131e-03 -1.69394061e-02 -2.35591688e+01] [-4.95891495e-03 9.99987491e-01 -6.53701635e-04 -1.62162275e+00] [ 1.69359603e-02 7.37600914e-04 9.99856304e-01 1.55779287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479072329 meters Centerline goodness [0,1] 0.7120069605568445 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.62, Z:15.58 [[ 9.99817285e-01 8.48043792e-03 -1.71312263e-02 -2.35603565e+01] [-8.44553852e-03 9.99962113e-01 2.10850240e-03 -1.61708646e+00] [ 1.71484583e-02 -1.96343471e-03 9.99851027e-01 1.55810128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50907232899999 meters Centerline goodness [0,1] 0.712353129828858 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.61, Z:15.58 [[ 9.99813581e-01 8.34137109e-03 -1.74133770e-02 -2.35603809e+01] [-8.32182347e-03 9.99964659e-01 1.19472452e-03 -1.61455994e+00] [ 1.74227273e-02 -1.04959075e-03 9.99847662e-01 1.55829429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53907232899999 meters Centerline goodness [0,1] 0.7394933457856643 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.61, Z:15.58 [[ 9.99829785e-01 4.79830190e-03 -1.78150636e-02 -2.35587037e+01] [-4.85026017e-03 9.99984106e-01 -2.87447423e-03 -1.61462583e+00] [ 1.78009879e-02 2.96039265e-03 9.99837167e-01 1.55829741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.569072328999994 meters Centerline goodness [0,1] 0.6998981521897278 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.62, Z:15.58 [[ 9.99836759e-01 4.93261930e-03 -1.73817434e-02 -2.35590016e+01] [-4.96322517e-03 9.99986207e-01 -1.71810765e-03 -1.61831916e+00] [ 1.73730289e-02 1.80409669e-03 9.99847450e-01 1.55808046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599072328999995 meters Centerline goodness [0,1] 0.7275384971633669 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.62, Z:15.58 [[ 9.99826506e-01 1.78892064e-03 -1.85406847e-02 -2.35551850e+01] [-1.90222591e-03 9.99979614e-01 -6.09533636e-03 -1.61700992e+00] [ 1.85294026e-02 6.12954743e-03 9.99809527e-01 1.55814303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629072328999996 meters Centerline goodness [0,1] 0.7250188263917048 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.62, Z:15.58 [[ 9.99827344e-01 1.80083857e-03 -1.84943175e-02 -2.35551916e+01] [-1.91085965e-03 9.99980574e-01 -5.93296546e-03 -1.61719241e+00] [ 1.84832739e-02 5.96728114e-03 9.99811362e-01 1.55811476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659072329 meters Centerline goodness [0,1] 0.7175937941575108 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.62, Z:15.58 [[ 9.99910454e-01 1.11921122e-03 -1.33353160e-02 -2.35392029e+01] [-1.06510747e-03 9.99991176e-01 4.06358931e-03 -1.62056904e+00] [ 1.33397464e-02 -4.04902189e-03 9.99902824e-01 1.55765728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689072329 meters Centerline goodness [0,1] 0.7150646789256918 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.62, Z:15.58 [[ 9.99912451e-01 7.81517507e-04 -1.32090352e-02 -2.35403446e+01] [-7.34274236e-04 9.99993318e-01 3.58105896e-03 -1.62021640e+00] [ 1.32117456e-02 -3.57104639e-03 9.99906344e-01 1.55779833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71907232899999 meters Centerline goodness [0,1] 0.7073100176458678 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.62, Z:15.58 [[ 9.99913818e-01 5.27064190e-04 -1.31178611e-02 -2.35412092e+01] [-4.87298603e-04 9.99995277e-01 3.03441957e-03 -1.62017509e+00] [ 1.31193985e-02 -3.02776575e-03 9.99909353e-01 1.55794669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74907232899999 meters Centerline goodness [0,1] 0.700098470806302 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.62, Z:15.58 [[ 9.99915231e-01 5.18724594e-04 -1.30100991e-02 -2.35414302e+01] [-4.77908732e-04 9.99994955e-01 3.14015728e-03 -1.62131724e+00] [ 1.30116624e-02 -3.13367345e-03 9.99910434e-01 1.55794372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779072328999995 meters Centerline goodness [0,1] 0.7006816475073653 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.62, Z:15.58 [[ 9.99910434e-01 1.35032923e-03 -1.33154507e-02 -2.35389197e+01] [-1.29305899e-03 9.99989881e-01 4.30870813e-03 -1.62416886e+00] [ 1.33211341e-02 -4.29110455e-03 9.99902062e-01 1.55767745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809072328999996 meters Centerline goodness [0,1] 0.7026165570397844 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.63, Z:15.58 [[ 9.99908084e-01 1.78721408e-03 -1.34398686e-02 -2.35377536e+01] [-1.72018899e-03 9.99986036e-01 4.99694204e-03 -1.62617658e+00] [ 1.34486115e-02 -4.97336363e-03 9.99897195e-01 1.55754669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839072329 meters Centerline goodness [0,1] 0.6960507350821563 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.62, Z:15.58 [[ 9.99895769e-01 -2.01198730e-03 -1.42969487e-02 -2.35357811e+01] [ 2.01423651e-03 9.99997961e-01 1.42923424e-04 -1.62431377e+00] [ 1.42966320e-02 -1.71705963e-04 9.99897783e-01 1.55771533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869072329 meters Centerline goodness [0,1] 0.6705403001348598 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.63, Z:15.58 [[ 9.99901337e-01 -3.08958255e-03 -1.37029155e-02 -2.35390621e+01] [ 3.09808527e-03 9.99995021e-01 5.99319853e-04 -1.62883319e+00] [ 1.37009956e-02 -6.41713523e-04 9.99905931e-01 1.55778454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89907232899999 meters Centerline goodness [0,1] 0.6808242340870662 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.63, Z:15.58 [[ 9.99904096e-01 -3.31793624e-03 -1.34458198e-02 -2.35402747e+01] [ 3.33273675e-03 9.99993865e-01 1.07849487e-03 -1.63150315e+00] [ 1.34421589e-02 -1.12320282e-03 9.99909019e-01 1.55780663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92907232899999 meters Centerline goodness [0,1] 0.6744599163371727 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.63, Z:15.58 [[ 9.99906026e-01 -3.57921005e-03 -1.32335840e-02 -2.35414382e+01] [ 3.59565530e-03 9.99992792e-01 1.21910646e-03 -1.63296648e+00] [ 1.32291251e-02 -1.26657531e-03 9.99911689e-01 1.55786583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959072328999994 meters Centerline goodness [0,1] 0.6744599163371727 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.63, Z:15.58 [[ 9.99906026e-01 -3.57921005e-03 -1.32335840e-02 -2.35414382e+01] [ 3.59565530e-03 9.99992792e-01 1.21910646e-03 -1.63296648e+00] [ 1.32291251e-02 -1.26657531e-03 9.99911689e-01 1.55786583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989072328999995 meters Centerline goodness [0,1] 0.6491499227202473 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.63, Z:15.58 [[ 9.99906365e-01 -3.43875458e-03 -1.32452249e-02 -2.35414038e+01] [ 3.46257326e-03 9.99992429e-01 1.77577161e-03 -1.63484975e+00] [ 1.32390182e-02 -1.82146790e-03 9.99910701e-01 1.55784167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019072329 meters Centerline goodness [0,1] 0.6392204906122682 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.64, Z:15.58 [[ 9.99908908e-01 -3.88024839e-03 -1.29275025e-02 -2.35428435e+01] [ 3.91618815e-03 9.99988534e-01 2.75594794e-03 -1.64008688e+00] [ 1.29166605e-02 -2.80632342e-03 9.99912638e-01 1.55778136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049072329 meters Centerline goodness [0,1] 0.6496547412690745 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.64, Z:15.58 [[ 9.99913866e-01 -4.07444567e-03 -1.24763778e-02 -2.35441168e+01] [ 4.11606297e-03 9.99986045e-01 3.31182875e-03 -1.64353897e+00] [ 1.24627099e-02 -3.36289705e-03 9.99916682e-01 1.55774933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07907232899999 meters Centerline goodness [0,1] 0.6411555002263467 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.64, Z:15.58 [[ 9.99885441e-01 -7.82259772e-03 -1.29580516e-02 -2.35429876e+01] [ 7.81261788e-03 9.99969144e-01 -8.20607113e-04 -1.64423397e+00] [ 1.29640710e-02 7.19276800e-04 9.99915704e-01 1.55785215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10907232899999 meters Centerline goodness [0,1] 0.6336398359032396 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.65, Z:15.58 [[ 9.99889129e-01 -8.48562882e-03 -1.22362005e-02 -2.35458218e+01] [ 8.47918440e-03 9.99963884e-01 -5.78451940e-04 -1.64743061e+00] [ 1.22406671e-02 4.74634806e-04 9.99924968e-01 1.55792618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139072328999994 meters Centerline goodness [0,1] 0.6132532837251254 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.65, Z:15.58 [[ 9.99890356e-01 -9.21582882e-03 -1.15907388e-02 -2.35486269e+01] [ 9.21689548e-03 9.99957523e-01 3.86122666e-05 -1.65150763e+00] [ 1.15898906e-02 -1.45438661e-04 9.99932824e-01 1.55796997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.169072328999995 meters Centerline goodness [0,1] 0.6057657253428307 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.66, Z:15.58 [[ 9.99893417e-01 -8.78137158e-03 -1.16637326e-02 -2.35476382e+01] [ 8.79835097e-03 9.99960306e-01 1.40522734e-03 -1.65522979e+00] [ 1.16509298e-02 -1.50769918e-03 9.99930989e-01 1.55777482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199072328999996 meters Centerline goodness [0,1] 0.6205263305400633 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.66, Z:15.58 [[ 9.99898052e-01 -8.68809390e-03 -1.13314645e-02 -2.35476938e+01] [ 8.72085486e-03 9.99957926e-01 2.84494862e-03 -1.65972833e+00] [ 1.13062705e-02 -2.94347865e-03 9.99931750e-01 1.55753927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.229072329 meters Centerline goodness [0,1] 0.5816764132553607 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.66, Z:15.57 [[ 9.99854909e-01 -1.25965583e-02 -1.14667875e-02 -2.35471736e+01] [ 1.25997959e-02 9.99920597e-01 2.10145056e-04 -1.66470975e+00] [ 1.14632299e-02 -3.54593748e-04 9.99934232e-01 1.55742976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25907232899999 meters Centerline goodness [0,1] 0.5873860392939285 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.67, Z:15.57 [[ 9.99854972e-01 -1.26997357e-02 -1.13468786e-02 -2.35480207e+01] [ 1.27081168e-02 9.99919026e-01 6.66830427e-04 -1.66710087e+00] [ 1.13374913e-02 -8.10931177e-04 9.99935400e-01 1.55747438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.28907232899999 meters Centerline goodness [0,1] 0.5859105104607136 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.67, Z:15.58 [[ 9.99853882e-01 -1.31087296e-02 -1.09716228e-02 -2.35498691e+01] [ 1.31188018e-02 9.99913586e-01 8.46555979e-04 -1.66929751e+00] [ 1.09595774e-02 -9.90366826e-04 9.99939452e-01 1.55756347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319072328999994 meters Centerline goodness [0,1] 0.5780172058378914 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.67, Z:15.58 [[ 9.99855404e-01 -1.32037035e-02 -1.07160764e-02 -2.35507656e+01] [ 1.32201612e-02 9.99911535e-01 1.46641254e-03 -1.67242739e+00] [ 1.06957664e-02 -1.60786876e-03 9.99941506e-01 1.55755597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.349072328999995 meters Centerline goodness [0,1] 0.5751769754284308 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.68, Z:15.58 [[ 9.99798162e-01 -1.68534529e-02 -1.09359908e-02 -2.35496789e+01] [ 1.68348690e-02 9.99856683e-01 -1.78917725e-03 -1.67603226e+00] [ 1.09645773e-02 1.60471015e-03 9.99938600e-01 1.55750326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379072328999996 meters Centerline goodness [0,1] 0.5606826457959672 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.68, Z:15.57 [[ 9.99807171e-01 -1.64167091e-02 -1.07755600e-02 -2.35490587e+01] [ 1.64123007e-02 9.99865185e-01 -4.97419096e-04 -1.68000190e+00] [ 1.07822733e-02 3.20471449e-04 9.99941818e-01 1.55729662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409072329 meters Centerline goodness [0,1] 0.5692174711650144 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.68, Z:15.57 [[ 9.99812290e-01 -1.61786692e-02 -1.06599458e-02 -2.35488210e+01] [ 1.61832913e-02 9.99868982e-01 3.47481838e-04 -1.68305879e+00] [ 1.06529273e-02 -5.19929621e-04 9.99943121e-01 1.55718659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439072329 meters Centerline goodness [0,1] 0.5659752155172414 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.69, Z:15.57 [[ 9.99814665e-01 -1.61004971e-02 -1.05550407e-02 -2.35489408e+01] [ 1.61122293e-02 9.99869662e-01 1.02743642e-03 -1.68522745e+00] [ 1.05371228e-02 -1.19731124e-03 9.99943766e-01 1.55712157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.46907232899999 meters Centerline goodness [0,1] 0.5584157884857748 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.69, Z:15.57 [[ 9.99798963e-01 -1.72005123e-02 -1.03042069e-02 -2.35520568e+01] [ 1.72138506e-02 9.99851102e-01 1.20715682e-03 -1.68814172e+00] [ 1.02819089e-02 -1.38428921e-03 9.99946182e-01 1.55733519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49907232899999 meters Centerline goodness [0,1] 0.5551467626285684 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.69, Z:15.57 [[ 9.99792308e-01 -1.78937597e-02 -9.75471370e-03 -2.35548235e+01] [ 1.79063636e-02 9.99838941e-01 1.20627126e-03 -1.69020955e+00] [ 9.73155789e-03 -1.38069218e-03 9.99951694e-01 1.55747935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.529072328999995 meters Centerline goodness [0,1] 0.5419985614193995 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.70, Z:15.57 [[ 9.99716767e-01 -2.17800771e-02 -9.59237187e-03 -2.35551608e+01] [ 2.17638962e-02 9.99761539e-01 -1.78803202e-03 -1.69557114e+00] [ 9.62902794e-03 1.57875820e-03 9.99952394e-01 1.55746220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559072328999996 meters Centerline goodness [0,1] 0.5389448568398727 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.70, Z:15.57 [[ 9.99725602e-01 -2.15248671e-02 -9.24126193e-03 -2.35552104e+01] [ 2.15214100e-02 9.99768276e-01 -4.73380443e-04 -1.70084089e+00] [ 9.24930995e-03 2.74365561e-04 9.99957187e-01 1.55727788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.589072329 meters Centerline goodness [0,1] 0.5370785923598829 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.71, Z:15.57 [[ 9.99735879e-01 -2.11286379e-02 -9.04168354e-03 -2.35549373e+01] [ 2.11374158e-02 9.99776196e-01 8.76359517e-04 -1.70582167e+00] [ 9.02114369e-03 -1.06724588e-03 9.99958739e-01 1.55711061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619072329 meters Centerline goodness [0,1] 0.533497847317022 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.71, Z:15.57 [[ 9.99741077e-01 -2.10259814e-02 -8.69982406e-03 -2.35554572e+01] [ 2.10436068e-02 9.99776678e-01 1.93938295e-03 -1.70993300e+00] [ 8.65710376e-03 -2.12195648e-03 9.99960275e-01 1.55700130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64907232899999 meters Centerline goodness [0,1] 0.5432015026609621 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.72, Z:15.57 [[ 9.99712937e-01 -2.23877461e-02 -8.53415318e-03 -2.35581680e+01] [ 2.24103026e-02 9.99745589e-01 2.55666736e-03 -1.71681223e+00] [ 8.47474397e-03 -2.74718639e-03 9.99960315e-01 1.55712487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67907232899999 meters Centerline goodness [0,1] 0.5356418127894271 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.72, Z:15.57 [[ 9.99705427e-01 -2.29003094e-02 -8.03954471e-03 -2.35605811e+01] [ 2.29252861e-02 9.99732594e-01 3.02842887e-03 -1.72068539e+00] [ 7.96804293e-03 -3.21184564e-03 9.99963096e-01 1.55722634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.709072328999994 meters Centerline goodness [0,1] 0.5230864901279992 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.73, Z:15.57 [[ 9.99699728e-01 -2.33213787e-02 -7.52116912e-03 -2.35628147e+01] [ 2.33497833e-02 9.99720468e-01 3.71117724e-03 -1.72572309e+00] [ 7.43251695e-03 -3.88568055e-03 9.99964829e-01 1.55729475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739072328999995 meters Centerline goodness [0,1] 0.512362778290756 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.73, Z:15.57 [[ 9.99582343e-01 -2.80555857e-02 -6.92988093e-03 -2.35657453e+01] [ 2.80586310e-02 9.99606220e-01 3.42593459e-04 -1.73446803e+00] [ 6.91754042e-03 -5.36893345e-04 9.99975929e-01 1.55749032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.769072329 meters Centerline goodness [0,1] 0.5077201386057888 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.74, Z:15.57 [[ 9.99578037e-01 -2.83335742e-02 -6.39967027e-03 -2.35675077e+01] [ 2.83420326e-02 9.99597521e-01 1.23487815e-03 -1.74026180e+00] [ 6.36210603e-03 -1.41573674e-03 9.99978759e-01 1.55748875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799072329 meters Centerline goodness [0,1] 0.5169248713202668 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.75, Z:15.58 [[ 9.99577350e-01 -2.84504350e-02 -5.97438128e-03 -2.35689493e+01] [ 2.84630465e-02 9.99592771e-01 2.03661860e-03 -1.74545523e+00] [ 5.91400566e-03 -2.20580691e-03 9.99980079e-01 1.55750604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82907232899999 meters Centerline goodness [0,1] 0.5116489028213166 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.75, Z:15.57 [[ 9.99501239e-01 -3.08324705e-02 -6.82879804e-03 -2.35656562e+01] [ 3.08345565e-02 9.99524482e-01 2.00368642e-04 -1.75384466e+00] [ 6.81937296e-03 -4.10831665e-04 9.99976663e-01 1.55741796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85907232899999 meters Centerline goodness [0,1] 0.5179587437651954 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.76, Z:15.57 [[ 9.99523316e-01 -3.01072310e-02 -6.83334729e-03 -2.35647446e+01] [ 3.01211586e-02 9.99544364e-01 1.94447862e-03 -1.75976098e+00] [ 6.77169090e-03 -2.14938006e-03 9.99974762e-01 1.55724424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.889072328999994 meters Centerline goodness [0,1] 0.5080227227426749 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.76, Z:15.57 [[ 9.99546904e-01 -2.92288387e-02 -7.18760477e-03 -2.35631961e+01] [ 2.92557263e-02 9.99565242e-01 3.66455828e-03 -1.76488601e+00] [ 7.07736912e-03 -3.87317648e-03 9.99967454e-01 1.55711066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919072328999995 meters Centerline goodness [0,1] 0.5115624073525051 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.77, Z:15.57 [[ 9.99565091e-01 -2.84836232e-02 -7.63619771e-03 -2.35629400e+01] [ 2.85228278e-02 9.99580257e-01 5.07525031e-03 -1.77019841e+00] [ 7.48843095e-03 -5.29084899e-03 9.99957964e-01 1.55723122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.949072328999996 meters Centerline goodness [0,1] 0.5140346113017503 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.77, Z:15.57 [[ 9.99573474e-01 -2.80784729e-02 -8.02930012e-03 -2.35624772e+01] [ 2.81229969e-02 9.99589410e-01 5.48709974e-03 -1.77195569e+00] [ 7.87193399e-03 -5.71056733e-03 9.99952710e-01 1.55732918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979072329 meters Centerline goodness [0,1] 0.5141028156578044 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.77, Z:15.57 [[ 9.99588985e-01 -2.74151597e-02 -8.38270202e-03 -2.35613594e+01] [ 2.74685778e-02 9.99602656e-01 6.32509134e-03 -1.77496092e+00] [ 8.20596782e-03 -6.55275254e-03 9.99944860e-01 1.55731104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00907232899999 meters Centerline goodness [0,1] 0.5237619662387645 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.78, Z:15.57 [[ 9.99773013e-01 -2.12767532e-02 -1.10520252e-03 -2.35695614e+01] [ 2.12805233e-02 9.99767349e-01 3.51953187e-03 -1.78458320e+00] [ 1.03006119e-03 -3.54225227e-03 9.99993196e-01 1.55657439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03907232899999 meters Centerline goodness [0,1] 0.5160359748854573 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.79, Z:15.56 [[ 9.99792629e-01 -2.03181066e-02 -1.36847845e-03 -2.35679792e+01] [ 2.03242332e-02 9.99782755e-01 4.62263601e-03 -1.78888856e+00] [ 1.27425795e-03 -4.64949069e-03 9.99988379e-01 1.55646746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.069072328999994 meters Centerline goodness [0,1] 0.5416878310717654 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.79, Z:15.56 [[ 9.99806443e-01 -1.96036134e-02 -1.66579941e-03 -2.35668322e+01] [ 1.96123832e-02 9.99792955e-01 5.42238795e-03 -1.79186464e+00] [ 1.55915612e-03 -5.45400871e-03 9.99983911e-01 1.55642413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099072328999995 meters Centerline goodness [0,1] 0.5497490831885736 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.79, Z:15.56 [[ 9.99816440e-01 -1.90407000e-02 -2.13039290e-03 -2.35657281e+01] [ 1.90528101e-02 9.99801560e-01 5.81640079e-03 -1.79290331e+00] [ 2.01922180e-03 -5.85592310e-03 9.99980815e-01 1.55645482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.129072328999996 meters Centerline goodness [0,1] 0.5555180397453212 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.79, Z:15.57 [[ 9.99887579e-01 -1.47921983e-02 -2.45348124e-03 -2.35665503e+01] [ 1.48155046e-02 9.99842512e-01 9.76992612e-03 -1.79310637e+00] [ 2.30857616e-03 -9.80517734e-03 9.99949263e-01 1.55671438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159072329 meters Centerline goodness [0,1] 0.5390851187029531 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.79, Z:15.57 [[ 9.99891965e-01 -1.43548796e-02 -3.16164140e-03 -2.35653221e+01] [ 1.43846521e-02 9.99850407e-01 9.60444673e-03 -1.79231663e+00] [ 3.02329776e-03 -9.64888823e-03 9.99948878e-01 1.55684074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.189072329 meters Centerline goodness [0,1] 0.5710290288359533 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.79, Z:15.57 [[ 9.99900948e-01 -1.35617367e-02 -3.76481336e-03 -2.35634362e+01] [ 1.35995925e-02 9.99855306e-01 1.02185647e-02 -1.79405796e+00] [ 3.62568713e-03 -1.02687525e-02 9.99940702e-01 1.55680950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21907232899999 meters Centerline goodness [0,1] 0.572007038010075 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.80, Z:15.57 [[ 9.99910481e-01 -1.27629733e-02 -4.01698044e-03 -2.35618979e+01] [ 1.28071052e-02 9.99855713e-01 1.11593589e-02 -1.79738975e+00] [ 3.87397424e-03 -1.12098058e-02 9.99929664e-01 1.55669329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24907232899999 meters Centerline goodness [0,1] 0.5868300889209325 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.80, Z:15.57 [[ 9.99918380e-01 -1.20424960e-02 -4.26756211e-03 -2.35606714e+01] [ 1.20938386e-02 9.99852236e-01 1.22165770e-02 -1.80122128e+00] [ 4.11981344e-03 -1.22671911e-02 9.99916268e-01 1.55660775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279072328999995 meters Centerline goodness [0,1] 0.5741611865789853 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.80, Z:15.57 [[ 9.99914814e-01 -1.23394439e-02 -4.25480163e-03 -2.35615229e+01] [ 1.23894690e-02 9.99851975e-01 1.19385538e-02 -1.80125067e+00] [ 4.10685670e-03 -1.19902515e-02 9.99919681e-01 1.55673188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.309072328999996 meters Centerline goodness [0,1] 0.5722771802917435 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.80, Z:15.57 [[ 9.99910807e-01 -1.26903979e-02 -4.16326694e-03 -2.35626701e+01] [ 1.27382266e-02 9.99850760e-01 1.16702704e-02 -1.80188599e+00] [ 4.01454524e-03 -1.17222622e-02 9.99923233e-01 1.55687308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339072329 meters Centerline goodness [0,1] 0.5590946992257295 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.81, Z:15.57 [[ 9.99857811e-01 -1.62583612e-02 -4.47477065e-03 -2.35616523e+01] [ 1.62956604e-02 9.99831686e-01 8.42918109e-03 -1.80642854e+00] [ 4.33697282e-03 -8.50090190e-03 9.99954462e-01 1.55686716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.369072329 meters Centerline goodness [0,1] 0.5561333523293917 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.81, Z:15.57 [[ 9.99796773e-01 -1.95619180e-02 -4.87280899e-03 -2.35594266e+01] [ 1.95879969e-02 9.99793753e-01 5.36295346e-03 -1.80983590e+00] [ 4.76689434e-03 -5.45731213e-03 9.99973747e-01 1.55671731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39907232899999 meters Centerline goodness [0,1] 0.5768266136664774 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.82, Z:15.57 [[ 9.99792992e-01 -1.98532795e-02 -4.45211962e-03 -2.35605025e+01] [ 1.98793479e-02 9.99785039e-01 5.88952217e-03 -1.81505774e+00] [ 4.33423626e-03 -5.97680822e-03 9.99972746e-01 1.55669606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42907232899999 meters Centerline goodness [0,1] 0.5656038374717833 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.82, Z:15.57 [[ 9.99772373e-01 -2.09306828e-02 -4.13627350e-03 -2.35635834e+01] [ 2.09546941e-02 9.99763314e-01 5.84956413e-03 -1.81767362e+00] [ 4.01285913e-03 -5.93490696e-03 9.99974337e-01 1.55696851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459072328999994 meters Centerline goodness [0,1] 0.5604713519616145 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.82, Z:15.57 [[ 9.99758073e-01 -2.16288691e-02 -3.99850603e-03 -2.35656366e+01] [ 2.16498361e-02 9.99751688e-01 5.27697590e-03 -1.81657193e+00] [ 3.88337813e-03 -5.36226626e-03 9.99978082e-01 1.55720967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.489072328999995 meters Centerline goodness [0,1] 0.5576823590274185 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.82, Z:15.57 [[ 9.99755168e-01 -2.17514300e-02 -4.05944837e-03 -2.35660847e+01] [ 2.17731409e-02 9.99748445e-01 5.38296039e-03 -1.81701583e+00] [ 3.94134012e-03 -5.47002942e-03 9.99977272e-01 1.55729271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519072329 meters Centerline goodness [0,1] 0.5484518281727606 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.82, Z:15.57 [[ 9.99683529e-01 -2.47805647e-02 -4.33180855e-03 -2.35638677e+01] [ 2.47941468e-02 9.99687739e-01 3.11036016e-03 -1.82376858e+00] [ 4.25337942e-03 -3.21677932e-03 9.99985780e-01 1.55709342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.549072329 meters Centerline goodness [0,1] 0.5338894681960376 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.83, Z:15.57 [[ 9.99595000e-01 -2.81088562e-02 -4.44164824e-03 -2.35622578e+01] [ 2.81106128e-02 9.99604763e-01 3.33540602e-04 -1.82812046e+00] [ 4.43051729e-03 -4.58262972e-04 9.99990080e-01 1.55693194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57907232899999 meters Centerline goodness [0,1] 0.5452275826995538 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.83, Z:15.57 [[ 9.99587776e-01 -2.84454604e-02 -3.89023581e-03 -2.35634971e+01] [ 2.84505567e-02 9.99594406e-01 1.26102696e-03 -1.83399761e+00] [ 3.85278746e-03 -1.37118651e-03 9.99991638e-01 1.55685518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60907232899999 meters Centerline goodness [0,1] 0.530043214417065 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.84, Z:15.57 [[ 9.99554135e-01 -2.96527455e-02 -3.49949842e-03 -2.35658956e+01] [ 2.96599533e-02 9.99557993e-01 2.02605341e-03 -1.83903972e+00] [ 3.43787357e-03 -2.12894503e-03 9.99991824e-01 1.55691742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639072328999994 meters Centerline goodness [0,1] 0.5271602373202207 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.84, Z:15.57 [[ 9.99540660e-01 -3.01411234e-02 -3.15952666e-03 -2.35677397e+01] [ 3.01475051e-02 9.99543476e-01 1.99203262e-03 -1.84009396e+00] [ 3.09804215e-03 -2.08636944e-03 9.99993025e-01 1.55705087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.669072328999995 meters Centerline goodness [0,1] 0.525967436926341 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.84, Z:15.57 [[ 9.99540768e-01 -3.01542834e-02 -2.99534529e-03 -2.35684219e+01] [ 3.01618992e-02 9.99541823e-01 2.53075820e-03 -1.84234055e+00] [ 2.91765969e-03 -2.61994130e-03 9.99992312e-01 1.55708051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699072328999996 meters Centerline goodness [0,1] 0.5233430452637133 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.85, Z:15.57 [[ 9.99547055e-01 -2.99447439e-02 -2.99957669e-03 -2.35678449e+01] [ 2.99565322e-02 9.99543337e-01 3.96533083e-03 -1.84968661e+00] [ 2.87946608e-03 -4.05339167e-03 9.99987639e-01 1.55694307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.729072329 meters Centerline goodness [0,1] 0.5209058435610918 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.85, Z:15.57 [[ 9.99558685e-01 -2.95663649e-02 -2.87498347e-03 -2.35671077e+01] [ 2.95810819e-02 9.99548760e-01 5.21878424e-03 -1.85445878e+00] [ 2.71938568e-03 -5.30152624e-03 9.99982249e-01 1.55675804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75907232899999 meters Centerline goodness [0,1] 0.5139028399232947 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.86, Z:15.57 [[ 9.99559968e-01 -2.95426014e-02 -2.66536612e-03 -2.35671800e+01] [ 2.95587419e-02 9.99543603e-01 6.23434915e-03 -1.85914028e+00] [ 2.47997076e-03 -6.31039071e-03 9.99977014e-01 1.55665309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78907232899999 meters Centerline goodness [0,1] 0.501399540313588 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.86, Z:15.57 [[ 9.99546157e-01 -3.00483222e-02 -2.13958444e-03 -2.35690868e+01] [ 3.00617320e-02 9.99526658e-01 6.53847833e-03 -1.86251222e+00] [ 1.94210138e-03 -6.59983050e-03 9.99976335e-01 1.55671202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819072328999994 meters Centerline goodness [0,1] 0.49053051781623536 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.87, Z:15.57 [[ 9.99499690e-01 -3.15986442e-02 -1.37654360e-03 -2.35734803e+01] [ 3.16065102e-02 9.99481614e-01 6.12634719e-03 -1.86588940e+00] [ 1.18224576e-03 -6.16678986e-03 9.99980286e-01 1.55702206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.849072328999995 meters Centerline goodness [0,1] 0.5074545824755097 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.87, Z:15.57 [[ 9.99499126e-01 -3.16204321e-02 -1.28235630e-03 -2.35740297e+01] [ 3.16281477e-02 9.99478410e-01 6.52450542e-03 -1.86742932e+00] [ 1.07537976e-03 -6.56179602e-03 9.99977893e-01 1.55705976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879072328999996 meters Centerline goodness [0,1] 0.5074545824755097 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.87, Z:15.57 [[ 9.99499126e-01 -3.16204321e-02 -1.28235630e-03 -2.35740297e+01] [ 3.16281477e-02 9.99478410e-01 6.52450542e-03 -1.86742932e+00] [ 1.07537976e-03 -6.56179602e-03 9.99977893e-01 1.55705976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.909072329 meters Centerline goodness [0,1] 0.49957211062066476 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.87, Z:15.57 [[ 9.99504642e-01 -3.14383542e-02 -1.44927005e-03 -2.35740504e+01] [ 3.14482285e-02 9.99478093e-01 7.38576875e-03 -1.87149035e+00] [ 1.21631726e-03 -7.42768713e-03 9.99971675e-01 1.55710110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939072329 meters Centerline goodness [0,1] 0.4937714388878859 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.87, Z:15.57 [[ 9.99507288e-01 -3.13605546e-02 -1.30227668e-03 -2.35744894e+01] [ 3.13697846e-02 9.99477378e-01 7.80434725e-03 -1.87402721e+00] [ 1.05684742e-03 -7.84135410e-03 9.99968698e-01 1.55711268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96907232899999 meters Centerline goodness [0,1] 0.5025799328541494 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.88, Z:15.57 [[ 9.99514311e-01 -3.11347964e-02 -1.32932304e-03 -2.35743708e+01] [ 3.11448326e-02 9.99480006e-01 8.34970509e-03 -1.87658497e+00] [ 1.06866543e-03 -8.38705127e-03 9.99964257e-01 1.55710333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99907232899999 meters Centerline goodness [0,1] 0.5256777159339298 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.88, Z:15.57 [[ 9.99518008e-01 -3.10184700e-02 -1.26705099e-03 -2.35746128e+01] [ 3.10283517e-02 9.99480530e-01 8.71268044e-03 -1.87869642e+00] [ 9.96138774e-04 -8.74779551e-03 9.99961241e-01 1.55711468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.029072328999995 meters Centerline goodness [0,1] 0.5174975869267548 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.88, Z:15.57 [[ 9.99521654e-01 -3.09051992e-02 -1.15401665e-03 -2.35749743e+01] [ 3.09145632e-02 9.99479270e-01 9.24542149e-03 -1.88152139e+00] [ 8.67684128e-04 -9.27667490e-03 9.99956594e-01 1.55712259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059072328999996 meters Centerline goodness [0,1] 0.5214786772074379 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.89, Z:15.57 [[ 9.99416213e-01 -3.41321740e-02 -1.49245546e-03 -2.35731248e+01] [ 3.41413140e-02 9.99395218e-01 6.60069110e-03 -1.88623012e+00] [ 1.26625691e-03 -6.64779209e-03 9.99977101e-01 1.55700967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.089072329 meters Centerline goodness [0,1] 0.5116718962102499 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.89, Z:15.57 [[ 9.99425889e-01 -3.38510448e-02 -1.41383082e-03 -2.35728832e+01] [ 3.38608597e-02 9.99397529e-01 7.61711016e-03 -1.88996436e+00] [ 1.15513189e-03 -7.66061062e-03 9.99969990e-01 1.55692619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119072329 meters Centerline goodness [0,1] 0.5043961641529909 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.89, Z:15.57 [[ 9.99437066e-01 -3.35175977e-02 -1.45679218e-03 -2.35725862e+01] [ 3.35287181e-02 9.99402187e-01 8.43168560e-03 -1.89237204e+00] [ 1.17331144e-03 -8.47578349e-03 9.99963392e-01 1.55688986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14907232899999 meters Centerline goodness [0,1] 0.5049395783717032 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.89, Z:15.57 [[ 9.99536930e-01 -3.04124537e-02 -1.00366300e-03 -2.35764241e+01] [ 3.04224539e-02 9.99462493e-01 1.22146959e-02 -1.89479298e+00] [ 6.31644657e-04 -1.22395735e-02 9.99924894e-01 1.55722332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17907232899999 meters Centerline goodness [0,1] 0.5073192239858906 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.90, Z:15.57 [[ 9.99540308e-01 -3.02923278e-02 -1.24410500e-03 -2.35764365e+01] [ 3.03053657e-02 9.99464856e-01 1.23120708e-02 -1.89563519e+00] [ 8.70477941e-04 -1.23441141e-02 9.99923430e-01 1.55731672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.209072328999994 meters Centerline goodness [0,1] 0.5217982158122 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.90, Z:15.57 [[ 9.99563865e-01 -2.94959572e-02 -1.43801864e-03 -2.35756907e+01] [ 2.95128904e-02 9.99470794e-01 1.36792535e-02 -1.90236785e+00] [ 1.03377495e-03 -1.37157276e-02 9.99905401e-01 1.55728336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239072328999995 meters Centerline goodness [0,1] 0.5345072422607213 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.91, Z:15.57 [[ 9.99575553e-01 -2.90993450e-02 -1.39323530e-03 -2.35754166e+01] [ 2.91165091e-02 9.99470824e-01 1.45017557e-02 -1.90597910e+00] [ 9.70506443e-04 -1.45361667e-02 9.99893873e-01 1.55722404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269072329 meters Centerline goodness [0,1] 0.5279492344010569 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.91, Z:15.57 [[ 9.99580947e-01 -2.89176733e-02 -1.30321094e-03 -2.35756529e+01] [ 2.89339843e-02 9.99468774e-01 1.49998126e-02 -1.90852384e+00] [ 8.68758965e-04 -1.50312339e-02 9.99886647e-01 1.55722685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299072329 meters Centerline goodness [0,1] 0.5553759268839455 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.91, Z:15.57 [[ 9.99589209e-01 -2.86360901e-02 -1.17775094e-03 -2.35759742e+01] [ 2.86512739e-02 9.99461556e-01 1.59906860e-02 -1.91269600e+00] [ 7.19206066e-04 -1.60178612e-02 9.99871447e-01 1.55721864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32907232899999 meters Centerline goodness [0,1] 0.527445582035619 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.91, Z:15.57 [[ 9.99589509e-01 -2.86178613e-02 -1.35309566e-03 -2.35759033e+01] [ 2.86360987e-02 9.99457606e-01 1.62624353e-02 -1.91389344e+00] [ 8.86965628e-04 -1.62945071e-02 9.99866842e-01 1.55726064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35907232899999 meters Centerline goodness [0,1] 0.5327124863206232 Centerline is valid? [False, False] Translation: X:-23.58, Y:-1.91, Z:15.57 [[ 9.99590260e-01 -2.85775992e-02 -1.62280617e-03 -2.35755655e+01] [ 2.86002810e-02 9.99458021e-01 1.62999525e-02 -1.91388424e+00] [ 1.15611314e-03 -1.63396865e-02 9.99865830e-01 1.55730692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.389072328999994 meters Centerline goodness [0,1] 0.5358971050027961 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.91, Z:15.57 [[ 9.99609061e-01 -2.78678841e-02 -2.25973556e-03 -2.35739042e+01] [ 2.79017985e-02 9.99471099e-01 1.67036530e-02 -1.91473301e+00] [ 1.79304492e-03 -1.67601736e-02 9.99857931e-01 1.55730894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419072328999995 meters Centerline goodness [0,1] 0.5417697553839202 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.92, Z:15.57 [[ 9.99531866e-01 -3.04574034e-02 -2.89756898e-03 -2.35707164e+01] [ 3.04937916e-02 9.99444129e-01 1.34745116e-02 -1.91577051e+00] [ 2.48555967e-03 -1.35565616e-02 9.99905016e-01 1.55716899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.449072328999996 meters Centerline goodness [0,1] 0.5437653232397093 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.92, Z:15.57 [[ 9.99552052e-01 -2.97743507e-02 -3.03026864e-03 -2.35696046e+01] [ 2.98152282e-02 9.99450521e-01 1.44813210e-02 -1.92011067e+00] [ 2.59743164e-03 -1.45651823e-02 9.99890548e-01 1.55705460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479072329 meters Centerline goodness [0,1] 0.5772411724374358 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.92, Z:15.57 [[ 9.99469303e-01 -3.23623207e-02 -3.71373124e-03 -2.35664474e+01] [ 3.24023611e-02 9.99411227e-01 1.12820849e-02 -1.92011052e+00] [ 3.34643025e-03 -1.13964312e-02 9.99929459e-01 1.55693569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50907232899999 meters Centerline goodness [0,1] 0.57652545833602 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.91, Z:15.57 [[ 9.99564689e-01 -2.92917912e-02 -3.52464072e-03 -2.35697578e+01] [ 2.93372060e-02 9.99476929e-01 1.36086973e-02 -1.91420847e+00] [ 3.12417396e-03 -1.37061764e-02 9.99901185e-01 1.55735185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53907232899999 meters Centerline goodness [0,1] 0.575610492708603 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.91, Z:15.58 [[ 9.99656355e-01 -2.59846343e-02 -3.45990362e-03 -2.35716938e+01] [ 2.60383944e-02 9.99524368e-01 1.65239388e-02 -1.91082637e+00] [ 3.02888947e-03 -1.66083507e-02 9.99857484e-01 1.55757761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.569072328999994 meters Centerline goodness [0,1] 0.5817951034809173 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.91, Z:15.58 [[ 9.99664811e-01 -2.55307771e-02 -4.29469559e-03 -2.35697837e+01] [ 2.55970165e-02 9.99541895e-01 1.61490757e-02 -1.90831673e+00] [ 3.88042972e-03 -1.62535942e-02 9.99860372e-01 1.55762050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599072328999995 meters Centerline goodness [0,1] 0.5806750182960954 Centerline is valid? [False, False] Translation: X:-23.57, Y:-1.91, Z:15.57 [[ 9.99682994e-01 -2.47253260e-02 -4.75067229e-03 -2.35675676e+01] [ 2.48021146e-02 9.99550385e-01 1.68488039e-02 -1.91051500e+00] [ 4.33194415e-03 -1.69612894e-02 9.99846763e-01 1.55746736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.629072328999996 meters Centerline goodness [0,1] 0.5959680535875306 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.91, Z:15.57 [[ 9.99713352e-01 -2.21804224e-02 -9.01349719e-03 -2.35610190e+01] [ 2.21888364e-02 9.99753449e-01 8.34546255e-04 -1.91361789e+00] [ 8.99276431e-03 -1.03430605e-03 9.99959029e-01 1.55712344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659072329 meters Centerline goodness [0,1] 0.5928157889073026 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.91, Z:15.57 [[ 9.99718739e-01 -2.18299875e-02 -9.26793421e-03 -2.35598340e+01] [ 2.18405824e-02 9.99760921e-01 1.04349650e-03 -1.91348229e+00] [ 9.24293893e-03 -1.24562009e-03 9.99956507e-01 1.55704076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.689072329 meters Centerline goodness [0,1] 0.5969105971694857 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.91, Z:15.57 [[ 9.99797117e-01 -1.79710485e-02 -9.09760537e-03 -2.35605791e+01] [ 1.80175520e-02 9.99824888e-01 5.05572271e-03 -1.91304475e+00] [ 9.00515564e-03 -5.21861357e-03 9.99945835e-01 1.55705616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71907232899999 meters Centerline goodness [0,1] 0.5924473524568854 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99847567e-01 -1.47557057e-02 -9.33340816e-03 -2.35623981e+01] [ 1.48190424e-02 9.99867383e-01 6.75365343e-03 -1.90471612e+00] [ 9.23251547e-03 -6.89093612e-03 9.99933636e-01 1.55747422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74907232899999 meters Centerline goodness [0,1] 0.593330004125323 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.58 [[ 9.99843932e-01 -1.47297673e-02 -9.75427878e-03 -2.35619932e+01] [ 1.47894100e-02 9.99872201e-01 6.07087113e-03 -1.90246330e+00] [ 9.66360967e-03 -6.21418369e-03 9.99933997e-01 1.55759802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779072328999995 meters Centerline goodness [0,1] 0.5995586230770895 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.91, Z:15.58 [[ 9.99852985e-01 -1.40602457e-02 -9.81413930e-03 -2.35611681e+01] [ 1.41260304e-02 9.99878001e-01 6.66623115e-03 -1.90678807e+00] [ 9.71921314e-03 -6.80388595e-03 9.99929620e-01 1.55752850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.809072328999996 meters Centerline goodness [0,1] 0.6028985507246376 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.91, Z:15.57 [[ 9.99855950e-01 -1.37384685e-02 -9.96658597e-03 -2.35603467e+01] [ 1.38089731e-02 9.99879867e-01 7.04011338e-03 -1.90844465e+00] [ 9.86866828e-03 -7.17672757e-03 9.99925549e-01 1.55745707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839072329 meters Centerline goodness [0,1] 0.6017005848458036 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.91, Z:15.57 [[ 9.99855378e-01 -1.34396577e-02 -1.04210263e-02 -2.35586816e+01] [ 1.35147264e-02 9.99882987e-01 7.16693022e-03 -1.90750234e+00] [ 1.03234858e-02 -7.30673104e-03 9.99920015e-01 1.55737363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.869072329 meters Centerline goodness [0,1] 0.5941100043308791 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99890232e-01 -1.04341378e-02 -1.05191772e-02 -2.35592468e+01] [ 1.05426159e-02 9.99891270e-01 1.03102545e-02 -1.90289157e+00] [ 1.04104549e-02 -1.04200224e-02 9.99891517e-01 1.55741865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89907232899999 meters Centerline goodness [0,1] 0.5878648366921473 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99885401e-01 -1.08136310e-02 -1.05947783e-02 -2.35594748e+01] [ 1.09163813e-02 9.99893474e-01 9.68885280e-03 -1.90085227e+00] [ 1.04888780e-02 -9.80339911e-03 9.99896933e-01 1.55748442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92907232899999 meters Centerline goodness [0,1] 0.6031446131126892 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99885059e-01 -1.09234204e-02 -1.05141769e-02 -2.35596150e+01] [ 1.10251474e-02 9.99892498e-01 9.66637764e-03 -1.90157881e+00] [ 1.04074567e-02 -9.78118693e-03 9.99898001e-01 1.55747657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959072328999994 meters Centerline goodness [0,1] 0.5948062654575432 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99837737e-01 -1.46436913e-02 -1.04910733e-02 -2.35585283e+01] [ 1.47080386e-02 9.99873328e-01 6.08285324e-03 -1.90463507e+00] [ 1.04006689e-02 -6.23616933e-03 9.99926465e-01 1.55733961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.989072328999995 meters Centerline goodness [0,1] 0.596567361728904 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.91, Z:15.57 [[ 9.99834582e-01 -1.50497561e-02 -1.02133592e-02 -2.35594629e+01] [ 1.51103415e-02 9.99868537e-01 5.88095958e-03 -1.90556730e+00] [ 1.01235095e-02 -6.03431411e-03 9.99930548e-01 1.55737119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019072329 meters Centerline goodness [0,1] 0.5868071361990852 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99827755e-01 -1.55835816e-02 -1.00803193e-02 -2.35601761e+01] [ 1.56370631e-02 9.99863958e-01 5.24865560e-03 -1.90387909e+00] [ 9.99715511e-03 -5.40537814e-03 9.99935417e-01 1.55743067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.049072329 meters Centerline goodness [0,1] 0.5804551305827679 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99871391e-01 -1.24850443e-02 -1.00660373e-02 -2.35608591e+01] [ 1.25673204e-02 9.99887795e-01 8.15223237e-03 -1.89888309e+00] [ 9.96312690e-03 -8.27768704e-03 9.99916104e-01 1.55748661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07907232899999 meters Centerline goodness [0,1] 0.5860460045786547 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99867839e-01 -1.24106998e-02 -1.05013652e-02 -2.35595081e+01] [ 1.24927336e-02 9.99891676e-01 7.78252042e-03 -1.89628038e+00] [ 1.04036411e-02 -7.91268264e-03 9.99914573e-01 1.55745405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10907232899999 meters Centerline goodness [0,1] 0.5796627289095779 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.89, Z:15.57 [[ 9.99866305e-01 -1.24823020e-02 -1.05623576e-02 -2.35590823e+01] [ 1.25582653e-02 9.99895533e-01 7.15638576e-03 -1.89468001e+00] [ 1.04719260e-02 -7.28807388e-03 9.99918608e-01 1.55743911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139072328999994 meters Centerline goodness [0,1] 0.5866118355947485 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.89, Z:15.57 [[ 9.99865561e-01 -1.24677974e-02 -1.06495574e-02 -2.35586696e+01] [ 1.25425189e-02 9.99896986e-01 6.97866129e-03 -1.89442349e+00] [ 1.05614518e-02 -7.11129536e-03 9.99918939e-01 1.55741801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169072328999995 meters Centerline goodness [0,1] 0.5884074554936953 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.89, Z:15.57 [[ 9.99861874e-01 -1.27164487e-02 -1.07016269e-02 -2.35586628e+01] [ 1.27837474e-02 9.99898790e-01 6.24390346e-03 -1.89224714e+00] [ 1.06211435e-02 -6.37984791e-03 9.99923241e-01 1.55745853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199072328999996 meters Centerline goodness [0,1] 0.5832280655098288 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.88, Z:15.58 [[ 9.99852972e-01 -1.30615941e-02 -1.11098232e-02 -2.35584764e+01] [ 1.31109964e-02 9.99904430e-01 4.38557104e-03 -1.88427594e+00] [ 1.10514789e-02 -4.53058709e-03 9.99928667e-01 1.55767204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.229072329 meters Centerline goodness [0,1] 0.5802548906020231 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.88, Z:15.58 [[ 9.99849752e-01 -1.30671726e-02 -1.13896040e-02 -2.35579983e+01] [ 1.31120733e-02 9.99906519e-01 3.87653630e-03 -1.88158274e+00] [ 1.13378839e-02 -4.02529518e-03 9.99927622e-01 1.55772628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25907232899999 meters Centerline goodness [0,1] 0.5758299125468499 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.88, Z:15.58 [[ 9.99848842e-01 -1.28884270e-02 -1.16697195e-02 -2.35572003e+01] [ 1.29332336e-02 9.99909247e-01 3.77226756e-03 -1.88062991e+00] [ 1.16200418e-02 -3.92262456e-03 9.99924791e-01 1.55772596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28907232899999 meters Centerline goodness [0,1] 0.5694164989939638 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.88, Z:15.58 [[ 9.99850626e-01 -1.27447021e-02 -1.16747240e-02 -2.35566472e+01] [ 1.27917905e-02 9.99910310e-01 3.96760221e-03 -1.88107438e+00] [ 1.16231110e-02 -4.11635018e-03 9.99923977e-01 1.55764810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319072328999994 meters Centerline goodness [0,1] 0.5727201521763455 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.88, Z:15.58 [[ 9.99852990e-01 -1.25211738e-02 -1.17140670e-02 -2.35557234e+01] [ 1.25741592e-02 9.99910993e-01 4.46056653e-03 -1.88260776e+00] [ 1.16571728e-02 -4.60720532e-03 9.99921439e-01 1.55751621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.349072328999995 meters Centerline goodness [0,1] 0.5688851208139042 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.88, Z:15.57 [[ 9.99848793e-01 -1.28502103e-02 -1.17159723e-02 -2.35550466e+01] [ 1.29100017e-02 9.99903950e-01 5.04214216e-03 -1.88492076e+00] [ 1.16500544e-02 -5.19263297e-03 9.99918653e-01 1.55733308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379072328999996 meters Centerline goodness [0,1] 0.5533615316117542 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.89, Z:15.57 [[ 9.99846663e-01 -1.31897971e-02 -1.15186389e-02 -2.35559535e+01] [ 1.32477381e-02 9.99899901e-01 4.96846708e-03 -1.88531246e+00] [ 1.14519528e-02 -5.12030114e-03 9.99921315e-01 1.55739147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.409072329 meters Centerline goodness [0,1] 0.553029628970549 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.89, Z:15.58 [[ 9.99842066e-01 -1.38633815e-02 -1.11198039e-02 -2.35581300e+01] [ 1.39136671e-02 9.99893264e-01 4.45762658e-03 -1.88537095e+00] [ 1.10568192e-02 -4.61163982e-03 9.99928237e-01 1.55757215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439072329 meters Centerline goodness [0,1] 0.5227599955698305 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.89, Z:15.58 [[ 9.99832626e-01 -1.48821213e-02 -1.06415422e-02 -2.35611454e+01] [ 1.49242973e-02 9.99881040e-01 3.89496449e-03 -1.88641323e+00] [ 1.05823110e-02 -4.05313012e-03 9.99935791e-01 1.55783229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46907232899999 meters Centerline goodness [0,1] 0.5188134580927732 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.89, Z:15.58 [[ 9.99836091e-01 -1.48168350e-02 -1.04044164e-02 -2.35615179e+01] [ 1.48635440e-02 9.99879734e-01 4.42646173e-03 -1.88885017e+00] [ 1.03375790e-02 -4.58038270e-03 9.99936075e-01 1.55779607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49907232899999 meters Centerline goodness [0,1] 0.5305374682706103 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.89, Z:15.58 [[ 9.99841443e-01 -1.45317212e-02 -1.02915962e-02 -2.35612127e+01] [ 1.45873796e-02 9.99879265e-01 5.35388042e-03 -1.89242696e+00] [ 1.02125525e-02 -5.50315895e-03 9.99932707e-01 1.55769975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.529072328999995 meters Centerline goodness [0,1] 0.5168344248604457 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.58 [[ 9.99782264e-01 -1.80553545e-02 -1.04608465e-02 -2.35596293e+01] [ 1.80836167e-02 9.99833062e-01 2.61344600e-03 -1.89644659e+00] [ 1.04119135e-02 -2.80204690e-03 9.99941869e-01 1.55752664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559072328999996 meters Centerline goodness [0,1] 0.548521632240929 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99784938e-01 -1.79050824e-02 -1.04635454e-02 -2.35589812e+01] [ 1.79406535e-02 9.99833556e-01 3.31560542e-03 -1.89817888e+00] [ 1.04024376e-02 -3.50261521e-03 9.99939759e-01 1.55741380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.589072329 meters Centerline goodness [0,1] 0.5244756775690704 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99787895e-01 -1.76903050e-02 -1.05460115e-02 -2.35581035e+01] [ 1.77325761e-02 9.99835048e-01 3.92830655e-03 -1.89875372e+00] [ 1.04747790e-02 -4.11448129e-03 9.99936673e-01 1.55730743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619072329 meters Centerline goodness [0,1] 0.5408886167840119 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99788949e-01 -1.75849850e-02 -1.06219316e-02 -2.35577687e+01] [ 1.76301249e-02 9.99835877e-01 4.17111001e-03 -1.89893182e+00] [ 1.05468394e-02 -4.35749568e-03 9.99934886e-01 1.55728779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64907232899999 meters Centerline goodness [0,1] 0.5373375207188344 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.58 [[ 9.99782803e-01 -1.81589510e-02 -1.02273385e-02 -2.35601970e+01] [ 1.81974754e-02 9.99827616e-01 3.68641506e-03 -1.90016817e+00] [ 1.01586341e-02 -3.87172612e-03 9.99940904e-01 1.55751917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67907232899999 meters Centerline goodness [0,1] 0.5314946117652161 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.58 [[ 9.99786704e-01 -1.78351549e-02 -1.04140935e-02 -2.35597280e+01] [ 1.78783844e-02 9.99831874e-01 4.07281677e-03 -1.90206202e+00] [ 1.03397033e-02 -4.25813523e-03 9.99937477e-01 1.55753209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.709072328999994 meters Centerline goodness [0,1] 0.5320382027349686 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99792193e-01 -1.71915254e-02 -1.09554327e-02 -2.35576693e+01] [ 1.72390148e-02 9.99842342e-01 4.25517911e-03 -1.90138703e+00] [ 1.08805524e-02 -4.44315572e-03 9.99930934e-01 1.55746208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739072328999995 meters Centerline goodness [0,1] 0.532627404841275 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99853579e-01 -1.31837876e-02 -1.09090877e-02 -2.35577513e+01] [ 1.32756060e-02 9.99876696e-01 8.38752172e-03 -1.90182924e+00] [ 1.07971632e-02 -8.53111836e-03 9.99905316e-01 1.55742373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.769072329 meters Centerline goodness [0,1] 0.532627404841275 Centerline is valid? [False, False] Translation: X:-23.56, Y:-1.90, Z:15.57 [[ 9.99853579e-01 -1.31837876e-02 -1.09090877e-02 -2.35577513e+01] [ 1.32756060e-02 9.99876696e-01 8.38752172e-03 -1.90182924e+00] [ 1.07971632e-02 -8.53111836e-03 9.99905316e-01 1.55742373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799072329 meters Centerline goodness [0,1] 0.5371340053235589 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.90, Z:15.57 [[ 9.99853995e-01 -1.23242262e-02 -1.18364502e-02 -2.35543954e+01] [ 1.24268751e-02 9.99885470e-01 8.63823128e-03 -1.89971167e+00] [ 1.17286350e-02 -8.78406015e-03 9.99892634e-01 1.55729318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82907232899999 meters Centerline goodness [0,1] 0.5368398079441292 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.90, Z:15.57 [[ 9.99853003e-01 -1.14714412e-02 -1.27428000e-02 -2.35512713e+01] [ 1.15838185e-02 9.99894355e-01 8.78036522e-03 -1.89792580e+00] [ 1.26407303e-02 -8.92668481e-03 9.99880256e-01 1.55720155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85907232899999 meters Centerline goodness [0,1] 0.5495826010544815 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.90, Z:15.57 [[ 9.99980735e-01 -1.61844085e-03 -5.99250417e-03 -2.35514329e+01] [ 1.63714363e-03 9.99993801e-01 3.11743934e-03 -1.89510736e+00] [ 5.98742163e-03 -3.12718988e-03 9.99977185e-01 1.55694580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.889072328999994 meters Centerline goodness [0,1] 0.557984748975184 Centerline is valid? [False, False] Translation: X:-23.55, Y:-1.89, Z:15.57 [[ 9.99977529e-01 -3.63913707e-04 -6.69400229e-03 -2.35483507e+01] [ 3.84300697e-04 9.99995292e-01 3.04452667e-03 -1.89212519e+00] [ 6.69286282e-03 -3.04703077e-03 9.99972960e-01 1.55685644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919072328999995 meters Centerline goodness [0,1] 0.577013534501886 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.89, Z:15.57 [[ 9.99927909e-01 9.28045413e-03 -7.61909228e-03 -2.35438709e+01] [-9.19390207e-03 9.99893689e-01 1.13173898e-02 -1.88864164e+00] [ 7.72331280e-03 -1.12465248e-02 9.99906929e-01 1.55661742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.949072328999996 meters Centerline goodness [0,1] 0.5866100602369468 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.89, Z:15.56 [[ 9.99862980e-01 1.43334106e-02 -8.28091952e-03 -2.35407118e+01] [-1.42027478e-02 9.99777002e-01 1.56278061e-02 -1.88674552e+00] [ 8.50307265e-03 -1.55080530e-02 9.99843587e-01 1.55644928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979072329 meters Centerline goodness [0,1] 0.6189889025893958 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.88, Z:15.56 [[ 9.99777357e-01 1.91490798e-02 -8.86280739e-03 -2.35380974e+01] [-1.89727520e-02 9.99628473e-01 1.95691469e-02 -1.88393473e+00] [ 9.23424577e-03 -1.93966381e-02 9.99769223e-01 1.55634271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00907232899999 meters Centerline goodness [0,1] 0.6302600472813239 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.88, Z:15.56 [[ 9.99665051e-01 2.40456348e-02 -9.57043757e-03 -2.35352411e+01] [-2.38166676e-02 9.99443395e-01 2.33595046e-02 -1.88027642e+00] [ 1.01268047e-02 -2.31237445e-02 9.99681319e-01 1.55627017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03907232899999 meters Centerline goodness [0,1] 0.7008786217338441 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.87, Z:15.56 [[ 9.99258786e-01 3.72051409e-02 -9.88210165e-03 -2.35322156e+01] [-3.68444824e-02 9.98726509e-01 3.44651162e-02 -1.87331075e+00] [ 1.11517964e-02 -3.40754692e-02 9.99357043e-01 1.55618763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.069072328999994 meters Centerline goodness [0,1] 0.7100002305794462 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.87, Z:15.56 [[ 9.99055622e-01 4.21693061e-02 -1.04696727e-02 -2.35290175e+01] [-4.17417676e-02 9.98399625e-01 3.81551369e-02 -1.86955635e+00] [ 1.20618929e-02 -3.76820814e-02 9.99216979e-01 1.55605855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099072328999995 meters Centerline goodness [0,1] 0.7526961351538995 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.87, Z:15.56 [[ 9.98964995e-01 4.40215280e-02 -1.14473965e-02 -2.35241936e+01] [-4.35570677e-02 9.98325274e-01 3.80713692e-02 -1.86500554e+00] [ 1.31041851e-02 -3.75333501e-02 9.99209451e-01 1.55588465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.129072328999996 meters Centerline goodness [0,1] 0.7637052357602658 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.86, Z:15.56 [[ 9.98911446e-01 4.49977922e-02 -1.22931639e-02 -2.35207090e+01] [-4.45077063e-02 9.98301559e-01 3.75907190e-02 -1.86137453e+00] [ 1.39637840e-02 -3.70026589e-02 9.99217602e-01 1.55578132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159072329 meters Centerline goodness [0,1] 0.7718929522208211 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.86, Z:15.55 [[ 9.98649880e-01 5.03035942e-02 -1.29601726e-02 -2.35159666e+01] [-4.97253203e-02 9.97894992e-01 4.16290437e-02 -1.85789369e+00] [ 1.50269819e-02 -4.09283908e-02 9.99049076e-01 1.55547489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.189072329 meters Centerline goodness [0,1] 0.7746386793994723 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.85, Z:15.55 [[ 9.98597079e-01 5.10739163e-02 -1.39760137e-02 -2.35122639e+01] [-5.04591372e-02 9.97872688e-01 4.12792304e-02 -1.85362727e+00] [ 1.60545743e-02 -4.05161013e-02 9.99049897e-01 1.55536937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21907232899999 meters Centerline goodness [0,1] 0.775976159189037 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.85, Z:15.55 [[ 9.98563173e-01 5.14811326e-02 -1.48755992e-02 -2.35094871e+01] [-5.08427168e-02 9.97884834e-01 4.05077398e-02 -1.84805198e+00] [ 1.69295192e-02 -3.96932212e-02 9.99068486e-01 1.55535827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24907232899999 meters Centerline goodness [0,1] 0.7780168337431436 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.84, Z:15.56 [[ 9.98349342e-01 5.52952088e-02 -1.55251607e-02 -2.35081886e+01] [-5.45969332e-02 9.97612940e-01 4.22799778e-02 -1.83913102e+00] [ 1.78259814e-02 -4.13625619e-02 9.98985171e-01 1.55560721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279072328999995 meters Centerline goodness [0,1] 0.7768489355151917 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.84, Z:15.56 [[ 9.98335819e-01 5.53706265e-02 -1.61147788e-02 -2.35067793e+01] [-5.46659736e-02 9.97650261e-01 4.12987616e-02 -1.83546774e+00] [ 1.83636516e-02 -4.03491029e-02 9.99016880e-01 1.55567654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.309072328999996 meters Centerline goodness [0,1] 0.7844021455356719 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.83, Z:15.56 [[ 9.98465467e-01 5.27262072e-02 -1.69309998e-02 -2.35036763e+01] [-5.20731099e-02 9.97959825e-01 3.69401984e-02 -1.83087949e+00] [ 1.88441742e-02 -3.60018626e-02 9.99174040e-01 1.55564852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339072329 meters Centerline goodness [0,1] 0.7744591732311573 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.83, Z:15.56 [[ 9.98600811e-01 4.98140056e-02 -1.77478326e-02 -2.35006757e+01] [-4.92199833e-02 9.98260127e-01 3.24670848e-02 -1.82647748e+00] [ 1.93342692e-02 -3.15481092e-02 9.99315217e-01 1.55561357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.369072329 meters Centerline goodness [0,1] 0.7712469834898334 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.82, Z:15.56 [[ 9.98599312e-01 4.97025156e-02 -1.81403790e-02 -2.34995917e+01] [-4.91223697e-02 9.98307334e-01 3.11361343e-02 -1.82193066e+00] [ 1.96572176e-02 -3.02014239e-02 9.99350523e-01 1.55568246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39907232899999 meters Centerline goodness [0,1] 0.7703007338481462 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.82, Z:15.56 [[ 9.98747255e-01 4.62492215e-02 -1.91031194e-02 -2.34971795e+01] [-4.57396816e-02 9.98607114e-01 2.63004277e-02 -1.81620201e+00] [ 2.02928853e-02 -2.53937094e-02 9.99471540e-01 1.55574696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42907232899999 meters Centerline goodness [0,1] 0.7742595221481677 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.81, Z:15.56 [[ 9.98870337e-01 4.30900095e-02 -2.00324746e-02 -2.34940986e+01] [-4.26483773e-02 9.98848469e-01 2.19738688e-02 -1.81113617e+00] [ 2.09562608e-02 -2.10946933e-02 9.99557827e-01 1.55570374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459072328999994 meters Centerline goodness [0,1] 0.7773939511063871 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.81, Z:15.55 [[ 9.98817057e-01 4.39104425e-02 -2.08892354e-02 -2.34900214e+01] [-4.34410523e-02 9.98804454e-01 2.24173576e-02 -1.80954822e+00] [ 2.18486175e-02 -2.14833887e-02 9.99530441e-01 1.55544862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.489072328999995 meters Centerline goodness [0,1] 0.7705831073227432 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.81, Z:15.55 [[ 9.98927413e-01 4.08373976e-02 -2.18249968e-02 -2.34872348e+01] [-4.04513402e-02 9.99022109e-01 1.78469898e-02 -1.80563450e+00] [ 2.25324790e-02 -1.69449970e-02 9.99602498e-01 1.55549420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519072329 meters Centerline goodness [0,1] 0.7726599130286909 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.80, Z:15.56 [[ 9.99021750e-01 3.80190921e-02 -2.25852216e-02 -2.34855600e+01] [-3.77807883e-02 9.99226754e-01 1.08860883e-02 -1.79966179e+00] [ 2.29816368e-02 -1.00221515e-02 9.99685651e-01 1.55608994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.549072329 meters Centerline goodness [0,1] 0.7711031058319541 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.80, Z:15.56 [[ 9.99008944e-01 3.81035295e-02 -2.30054461e-02 -2.34848992e+01] [-3.78764962e-02 9.99230112e-01 1.02252139e-02 -1.79748784e+00] [ 2.33773513e-02 -9.34371444e-03 9.99683047e-01 1.55620521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57907232899999 meters Centerline goodness [0,1] 0.7690392501464558 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.79, Z:15.56 [[ 9.98986148e-01 3.83056685e-02 -2.36506417e-02 -2.34839389e+01] [-3.80962144e-02 9.99231315e-01 9.24427580e-03 -1.79371029e+00] [ 2.39865700e-02 -8.33390355e-03 9.99677543e-01 1.55639576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60907232899999 meters Centerline goodness [0,1] 0.7598060928195285 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.79, Z:15.57 [[ 9.98777927e-01 4.29211585e-02 -2.45036226e-02 -2.34821535e+01] [-4.26538410e-02 9.99025667e-01 1.13299193e-02 -1.78703102e+00] [ 2.49660411e-02 -1.02708997e-02 9.99635536e-01 1.55675475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639072328999994 meters Centerline goodness [0,1] 0.7445739203271662 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.79, Z:15.57 [[ 9.98734098e-01 4.35200698e-02 -2.52231149e-02 -2.34798591e+01] [-4.32497860e-02 9.99001910e-01 1.11642396e-02 -1.78585545e+00] [ 2.56838085e-02 -1.00592124e-02 9.99619505e-01 1.55674394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.669072328999995 meters Centerline goodness [0,1] 0.7335859828723299 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.78, Z:15.57 [[ 9.98824822e-01 4.08757447e-02 -2.60413008e-02 -2.34767476e+01] [-4.07070557e-02 9.99146775e-01 6.97549061e-03 -1.78386608e+00] [ 2.63042101e-02 -5.90722849e-03 9.99636531e-01 1.55673704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699072328999996 meters Centerline goodness [0,1] 0.7203097052409771 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.78, Z:15.57 [[ 9.98913963e-01 3.82188305e-02 -2.66498770e-02 -2.34741514e+01] [-3.81573841e-02 9.99267789e-01 2.81061304e-03 -1.78223007e+00] [ 2.67377820e-02 -1.79067102e-03 9.99640878e-01 1.55674621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.729072329 meters Centerline goodness [0,1] 0.7084791386271871 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.78, Z:15.57 [[ 9.98833065e-01 3.96769773e-02 -2.75362525e-02 -2.34704993e+01] [-3.95893033e-02 9.99209104e-01 3.72206648e-03 -1.78428012e+00] [ 2.76621545e-02 -2.62758202e-03 9.99613876e-01 1.55661743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75907232899999 meters Centerline goodness [0,1] 0.7101339460305045 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.78, Z:15.56 [[ 9.98893803e-01 3.75112694e-02 -2.83562297e-02 -2.34666532e+01] [-3.75091072e-02 9.99296101e-01 6.08349427e-04 -1.78252264e+00] [ 2.83590897e-02 4.55940387e-04 9.99597696e-01 1.55647190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78907232899999 meters Centerline goodness [0,1] 0.707254393264477 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.78, Z:15.56 [[ 9.98860656e-01 3.80280375e-02 -2.88315662e-02 -2.34648216e+01] [-3.80115919e-02 9.99276672e-01 1.11846780e-03 -1.78270862e+00] [ 2.88532446e-02 -2.12597537e-05 9.99583658e-01 1.55638422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819072328999994 meters Centerline goodness [0,1] 0.7100448232787127 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.79, Z:15.56 [[ 9.98939297e-01 3.94293052e-02 -2.37825925e-02 -2.34471491e+01] [-3.91605389e-02 9.99164865e-01 1.16629545e-02 -1.78624881e+00] [ 2.42225930e-02 -1.07192444e-02 9.99649120e-01 1.55597945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.849072328999995 meters Centerline goodness [0,1] 0.7083262054302402 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.78, Z:15.56 [[ 9.99050428e-01 3.59380297e-02 -2.46313038e-02 -2.34457003e+01] [-3.57687404e-02 9.99333581e-01 7.27954010e-03 -1.78493124e+00] [ 2.48765013e-02 -6.39159694e-03 9.99670099e-01 1.55612558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879072328999996 meters Centerline goodness [0,1] 0.7021855269548325 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.79, Z:15.56 [[ 9.99138397e-01 3.27582356e-02 -2.54825611e-02 -2.34434378e+01] [-3.26772752e-02 9.99459518e-01 3.58715862e-03 -1.78622838e+00] [ 2.55862972e-02 -2.75136726e-03 9.99668831e-01 1.55613488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.909072329 meters Centerline goodness [0,1] 0.7027775770277758 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.79, Z:15.56 [[ 9.99192560e-01 3.02726358e-02 -2.64158365e-02 -2.34403387e+01] [-3.02616819e-02 9.99541679e-01 8.14430500e-04 -1.79092851e+00] [ 2.64283845e-02 -1.43852568e-05 9.99650709e-01 1.55607602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939072329 meters Centerline goodness [0,1] 0.7032450076804915 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.79, Z:15.56 [[ 9.99158383e-01 3.10587944e-02 -2.67932307e-02 -2.34387060e+01] [-3.10198655e-02 9.99517024e-01 1.86745254e-03 -1.79291227e+00] [ 2.68382911e-02 -1.03475844e-03 9.99639253e-01 1.55597481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96907232899999 meters Centerline goodness [0,1] 0.7033725640595412 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.79, Z:15.56 [[ 9.99120574e-01 3.17689173e-02 -2.73644655e-02 -2.34367357e+01] [-3.17063240e-02 9.99493531e-01 2.71836807e-03 -1.79389835e+00] [ 2.74369658e-02 -1.84835086e-03 9.99621827e-01 1.55589695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99907232899999 meters Centerline goodness [0,1] 0.7001676646706587 Centerline is valid? [False, False] Translation: X:-23.42, Y:-1.80, Z:15.55 [[ 9.99304514e-01 3.02413862e-02 -2.18162167e-02 -2.34206162e+01] [-2.99982463e-02 9.99485083e-01 1.13874694e-02 -1.79667863e+00] [ 2.21493560e-02 -1.07251014e-02 9.99697143e-01 1.55529121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.029072328999995 meters Centerline goodness [0,1] 0.7006879090431376 Centerline is valid? [False, False] Translation: X:-23.42, Y:-1.80, Z:15.55 [[ 9.99375308e-01 2.70893002e-02 -2.26972284e-02 -2.34183698e+01] [-2.69105170e-02 9.99604658e-01 8.14568312e-03 -1.79941362e+00] [ 2.29089161e-02 -7.52980042e-03 9.99709200e-01 1.55529432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059072328999996 meters Centerline goodness [0,1] 0.6956097792998478 Centerline is valid? [False, False] Translation: X:-23.42, Y:-1.80, Z:15.55 [[ 9.99450985e-01 2.35638629e-02 -2.32910288e-02 -2.34167556e+01] [-2.34643920e-02 9.99714388e-01 4.53492260e-03 -1.80175734e+00] [ 2.33912369e-02 -3.98592303e-03 9.99718442e-01 1.55527410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.089072329 meters Centerline goodness [0,1] 0.6992684139498544 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.80, Z:15.55 [[ 9.99496106e-01 2.04917799e-02 -2.42408996e-02 -2.34138096e+01] [-2.04624771e-02 9.99789561e-01 1.45627756e-03 -1.80439101e+00] [ 2.42656401e-02 -9.59514895e-04 9.99705086e-01 1.55518549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119072329 meters Centerline goodness [0,1] 0.7003908457336598 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.81, Z:15.55 [[ 9.99689860e-01 1.63360833e-02 -1.87967215e-02 -2.33977441e+01] [-1.61981627e-02 9.99840923e-01 7.46649785e-03 -1.81023748e+00] [ 1.89157047e-02 -7.15970983e-03 9.99795446e-01 1.55467402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14907232899999 meters Centerline goodness [0,1] 0.703293342742884 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.81, Z:15.55 [[ 9.99739736e-01 1.21316075e-02 -1.93205426e-02 -2.33977231e+01] [-1.20810802e-02 9.99923295e-01 2.72978742e-03 -1.80795497e+00] [ 1.93521774e-02 -2.49566393e-03 9.99809614e-01 1.55488424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17907232899999 meters Centerline goodness [0,1] 0.7051812497061452 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.81, Z:15.54 [[ 9.99869926e-01 9.04233017e-03 -1.33554499e-02 -2.33836933e+01] [-8.91182148e-03 9.99912272e-01 9.79934271e-03 -1.81037659e+00] [ 1.34428871e-02 -9.67904668e-03 9.99862793e-01 1.55448598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.209072328999994 meters Centerline goodness [0,1] 0.7068459715083668 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.81, Z:15.55 [[ 9.99893861e-01 4.69713400e-03 -1.37914158e-02 -2.33839614e+01] [-4.62889667e-03 9.99976908e-01 4.97557153e-03 -1.80889694e+00] [ 1.38144682e-02 -4.91120439e-03 9.99892514e-01 1.55471319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239072328999995 meters Centerline goodness [0,1] 0.7137234929160108 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.82, Z:15.55 [[ 9.99906000e-01 3.88985061e-04 -1.37055008e-02 -2.33844188e+01] [-3.66142671e-04 9.99998540e-01 1.66912837e-03 -1.81571805e+00] [ 1.37061300e-02 -1.66395331e-03 9.99904682e-01 1.55472442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.269072329 meters Centerline goodness [0,1] 0.7198739041395339 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.82, Z:15.55 [[ 9.99896397e-01 -3.16057609e-03 -1.40430316e-02 -2.33824576e+01] [ 3.13952561e-03 9.99993915e-01 -1.52079049e-03 -1.81884654e+00] [ 1.40477528e-02 1.47654447e-03 9.99900235e-01 1.55456639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299072329 meters Centerline goodness [0,1] 0.7263497290251766 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.82, Z:15.54 [[ 9.99899744e-01 -3.60165968e-03 -1.36941288e-02 -2.33829594e+01] [ 3.58634107e-03 9.99992916e-01 -1.14301836e-03 -1.82403536e+00] [ 1.36981486e-02 1.09379195e-03 9.99905578e-01 1.55449009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32907232899999 meters Centerline goodness [0,1] 0.729704524259036 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.83, Z:15.54 [[ 9.99900890e-01 -3.30465018e-03 -1.36853996e-02 -2.33821477e+01] [ 3.30635475e-03 9.99994529e-01 1.01930793e-04 -1.82813438e+00] [ 1.36849878e-02 -1.47169476e-04 9.99906345e-01 1.55433201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35907232899999 meters Centerline goodness [0,1] 0.7384869537667745 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.83, Z:15.55 [[ 9.99904648e-01 -4.50764644e-03 -1.30528335e-02 -2.33858744e+01] [ 4.51133881e-03 9.99989792e-01 2.53447782e-04 -1.83138352e+00] [ 1.30515578e-02 -3.12309369e-04 9.99914776e-01 1.55458342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.389072328999994 meters Centerline goodness [0,1] 0.7455462108880448 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.83, Z:15.55 [[ 9.99907074e-01 -5.20098377e-03 -1.26013475e-02 -2.33885444e+01] [ 5.20223662e-03 9.99986466e-01 6.66444858e-05 -1.83284307e+00] [ 1.26008304e-02 -1.32193484e-04 9.99920598e-01 1.55480185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419072328999995 meters Centerline goodness [0,1] 0.7466309099923378 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.84, Z:15.55 [[ 9.99909511e-01 -5.69577428e-03 -1.21872121e-02 -2.33906125e+01] [ 5.69895434e-03 9.99983735e-01 2.26221342e-04 -1.83575674e+00] [ 1.21857254e-02 -2.95655237e-04 9.99925708e-01 1.55493796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.449072328999996 meters Centerline goodness [0,1] 0.758052667898404 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.84, Z:15.55 [[ 9.99880848e-01 -9.80763147e-03 -1.19206119e-02 -2.33913716e+01] [ 9.77630922e-03 9.99948611e-01 -2.68300953e-03 -1.84311877e+00] [ 1.19463133e-02 2.56615026e-03 9.99925347e-01 1.55494031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479072329 meters Centerline goodness [0,1] 0.7617563864580571 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.85, Z:15.55 [[ 9.99882082e-01 -1.01808367e-02 -1.14966530e-02 -2.33925140e+01] [ 1.01564744e-02 9.99946055e-01 -2.17547674e-03 -1.84795150e+00] [ 1.15181810e-02 2.05845475e-03 9.99931545e-01 1.55493223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50907232899999 meters Centerline goodness [0,1] 0.7671437680012312 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.85, Z:15.55 [[ 9.99882117e-01 -1.05870567e-02 -1.11205387e-02 -2.33936894e+01] [ 1.05680901e-02 9.99942602e-01 -1.76292826e-03 -1.85119671e+00] [ 1.11385646e-02 1.64519759e-03 9.99936611e-01 1.55494520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53907232899999 meters Centerline goodness [0,1] 0.7716171183022011 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.85, Z:15.55 [[ 9.99882074e-01 -1.06051415e-02 -1.11071698e-02 -2.33936415e+01] [ 1.05956145e-02 9.99943445e-01 -9.16230637e-04 -1.85399553e+00] [ 1.11162583e-02 7.98435300e-04 9.99937894e-01 1.55489532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.569072328999994 meters Centerline goodness [0,1] 0.7706968694547287 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.86, Z:15.55 [[ 9.99823220e-01 -1.53502367e-02 -1.08581668e-02 -2.33951883e+01] [ 1.52998006e-02 9.99871844e-01 -4.71291342e-03 -1.85630183e+00] [ 1.09291196e-02 4.54595249e-03 9.99929942e-01 1.55502477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599072328999995 meters Centerline goodness [0,1] 0.7661019169468583 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.86, Z:15.55 [[ 9.99821459e-01 -1.55258758e-02 -1.07702279e-02 -2.33954562e+01] [ 1.54856526e-02 9.99872839e-01 -3.80806738e-03 -1.86046265e+00] [ 1.08279819e-02 3.64060347e-03 9.99934748e-01 1.55498773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.629072328999996 meters Centerline goodness [0,1] 0.7558276072018788 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.87, Z:15.55 [[ 9.99816489e-01 -1.58741604e-02 -1.07237298e-02 -2.33957267e+01] [ 1.58435948e-02 9.99870192e-01 -2.92924204e-03 -1.86504484e+00] [ 1.07688370e-02 2.75880207e-03 9.99938209e-01 1.55494345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659072329 meters Centerline goodness [0,1] 0.7334610252657857 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.87, Z:15.55 [[ 9.99719840e-01 -2.11999069e-02 -1.05264460e-02 -2.33973375e+01] [ 2.11309650e-02 9.99754812e-01 -6.61799739e-03 -1.87100199e+00] [ 1.06641660e-02 6.39370932e-03 9.99922695e-01 1.55503707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68907232899999 meters Centerline goodness [0,1] 0.7334610252657857 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.87, Z:15.55 [[ 9.99780554e-01 -1.84091106e-02 -9.99746559e-03 -2.33997824e+01] [ 1.83744114e-02 9.99824868e-01 -3.55164012e-03 -1.87331529e+00] [ 1.00610972e-02 3.36716318e-03 9.99943717e-01 1.55518160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71907232899999 meters Centerline goodness [0,1] 0.7221543277373984 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.88, Z:15.55 [[ 9.99771223e-01 -1.89487514e-02 -9.92203387e-03 -2.34004259e+01] [ 1.89208771e-02 9.99816791e-01 -2.89570973e-03 -1.87735943e+00] [ 9.97508614e-03 2.70731367e-03 9.99946583e-01 1.55518101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74907232899999 meters Centerline goodness [0,1] 0.7027159441900096 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.88, Z:15.55 [[ 9.99764495e-01 -1.93283616e-02 -9.86753117e-03 -2.34007934e+01] [ 1.93070338e-02 9.99811065e-01 -2.25213031e-03 -1.88048808e+00] [ 9.90919684e-03 2.06108717e-03 9.99948779e-01 1.55516311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779072328999995 meters Centerline goodness [0,1] 0.6843641476873256 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.88, Z:15.55 [[ 9.99760236e-01 -1.96380842e-02 -9.68590716e-03 -2.34012674e+01] [ 1.96226552e-02 9.99806037e-01 -1.68542039e-03 -1.88303529e+00] [ 9.71712687e-03 1.49495307e-03 9.99951670e-01 1.55513355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.809072328999996 meters Centerline goodness [0,1] 0.6573414680810357 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99722889e-01 -2.14333153e-02 -9.73435949e-03 -2.34028158e+01] [ 2.14167170e-02 9.99769004e-01 -1.80619091e-03 -1.88657057e+00] [ 9.77082355e-03 1.59721237e-03 9.99950989e-01 1.55522522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839072329 meters Centerline goodness [0,1] 0.6532698561135789 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99723763e-01 -2.14293563e-02 -9.65300899e-03 -2.34029197e+01] [ 2.14185131e-02 9.99769846e-01 -1.22529632e-03 -1.88871629e+00] [ 9.67704463e-03 1.01820475e-03 9.99952658e-01 1.55519890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.869072329 meters Centerline goodness [0,1] 0.6553593062551808 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99726516e-01 -2.12924178e-02 -9.67086448e-03 -2.34025865e+01] [ 2.12873550e-02 9.99773203e-01 -6.26154889e-04 -1.89079743e+00] [ 9.68200350e-03 4.20116521e-04 9.99953040e-01 1.55514401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89907232899999 meters Centerline goodness [0,1] 0.6436153240730893 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99722820e-01 -2.14900424e-02 -9.61572058e-03 -2.34024985e+01] [ 2.14908688e-02 9.99769044e-01 -1.73860850e-05 -1.89371821e+00] [ 9.61387340e-03 -1.89268923e-04 9.99953768e-01 1.55506532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92907232899999 meters Centerline goodness [0,1] 0.6443932902785771 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99724652e-01 -2.14133492e-02 -9.59631523e-03 -2.34022926e+01] [ 2.14158113e-02 9.99770643e-01 1.53869280e-04 -1.89374468e+00] [ 9.59081940e-03 -3.59339789e-04 9.99953942e-01 1.55503287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959072328999994 meters Centerline goodness [0,1] 0.6440435525192143 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99724551e-01 -2.13927956e-02 -9.65247154e-03 -2.34021279e+01] [ 2.13943726e-02 9.99771112e-01 6.01416830e-05 -1.89269189e+00] [ 9.64897561e-03 -2.66633689e-04 9.99953412e-01 1.55504161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.989072328999995 meters Centerline goodness [0,1] 0.638219401320868 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99716328e-01 -2.18280604e-02 -9.52887750e-03 -2.34028376e+01] [ 2.18238855e-02 9.99761684e-01 -5.41902455e-04 -1.89105441e+00] [ 9.53843529e-03 3.33791602e-04 9.99954452e-01 1.55511288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019072329 meters Centerline goodness [0,1] 0.6358472296933835 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99718375e-01 -2.16803714e-02 -9.65045809e-03 -2.34020559e+01] [ 2.16786742e-02 9.99764951e-01 -2.80451976e-04 -1.89144373e+00] [ 9.65427006e-03 7.11638574e-05 9.99953394e-01 1.55504319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.049072329 meters Centerline goodness [0,1] 0.6310731907008812 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99720850e-01 -2.14975296e-02 -9.80198465e-03 -2.34009694e+01] [ 2.14992654e-02 9.99768862e-01 7.17334664e-05 -1.89188190e+00] [ 9.79817694e-03 -2.82448911e-04 9.99951957e-01 1.55493182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07907232899999 meters Centerline goodness [0,1] 0.6283537309244749 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99724572e-01 -2.12404928e-02 -9.98111192e-03 -2.33998679e+01] [ 2.12469422e-02 9.99774112e-01 5.40550163e-04 -1.89286300e+00] [ 9.96737575e-03 -7.52469388e-04 9.99950041e-01 1.55482451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10907232899999 meters Centerline goodness [0,1] 0.6271179105446519 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99730116e-01 -2.09557046e-02 -1.00276096e-02 -2.33989432e+01] [ 2.09680658e-02 9.99779508e-01 1.12916364e-03 -1.89429325e+00] [ 1.00017362e-02 -1.33911848e-03 9.99949085e-01 1.55469696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139072328999994 meters Centerline goodness [0,1] 0.6257562287225968 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.90, Z:15.55 [[ 9.99728877e-01 -2.10098824e-02 -1.00377616e-02 -2.33984097e+01] [ 2.10253854e-02 9.99777903e-01 1.44143554e-03 -1.89508908e+00] [ 1.00052478e-02 -1.65209253e-03 9.99948581e-01 1.55460199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.169072328999995 meters Centerline goodness [0,1] 0.6194185289650683 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99727226e-01 -2.10161690e-02 -1.01879581e-02 -2.33980480e+01] [ 2.10308455e-02 9.99777935e-01 1.33556954e-03 -1.89382550e+00] [ 1.01576272e-02 -1.54946661e-03 9.99947209e-01 1.55460996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199072328999996 meters Centerline goodness [0,1] 0.6291480015656938 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99787338e-01 -1.81794460e-02 -9.73579471e-03 -2.34006248e+01] [ 1.82259773e-02 9.99822789e-01 4.71219324e-03 -1.89427552e+00] [ 9.64840435e-03 -4.88863551e-03 9.99941503e-01 1.55474934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.229072329 meters Centerline goodness [0,1] 0.6133964640979974 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99782838e-01 -1.84531700e-02 -9.68281839e-03 -2.34012437e+01] [ 1.84961787e-02 9.99819376e-01 4.37115064e-03 -1.89342686e+00] [ 9.60040785e-03 -4.54929653e-03 9.99943566e-01 1.55482995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25907232899999 meters Centerline goodness [0,1] 0.6180700836820083 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.55 [[ 9.99781812e-01 -1.85806712e-02 -9.54397290e-03 -2.34016386e+01] [ 1.86237935e-02 9.99816662e-01 4.44944494e-03 -1.89462955e+00] [ 9.45954945e-03 -4.62621911e-03 9.99944556e-01 1.55483422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28907232899999 meters Centerline goodness [0,1] 0.6133754492974621 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.90, Z:15.55 [[ 9.99785776e-01 -1.83888234e-02 -9.50020434e-03 -2.34012065e+01] [ 1.84376749e-02 9.99817104e-01 5.08040875e-03 -1.89670987e+00] [ 9.40504405e-03 -5.25448208e-03 9.99941966e-01 1.55474456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319072328999994 meters Centerline goodness [0,1] 0.5994160965619417 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.90, Z:15.55 [[ 9.99781498e-01 -1.85624699e-02 -9.61197355e-03 -2.34006126e+01] [ 1.86137501e-02 9.99812843e-01 5.27333414e-03 -1.89679236e+00] [ 9.51228850e-03 -5.45109678e-03 9.99939899e-01 1.55466676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.349072328999995 meters Centerline goodness [0,1] 0.5974119182253154 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.90, Z:15.55 [[ 9.99784742e-01 -1.82301748e-02 -9.90607418e-03 -2.33990540e+01] [ 1.82865213e-02 9.99816950e-01 5.62758019e-03 -1.89601148e+00] [ 9.80166910e-03 -5.80751645e-03 9.99935098e-01 1.55454637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379072328999996 meters Centerline goodness [0,1] 0.6070360751620436 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.90, Z:15.55 [[ 9.99781444e-01 -1.83311470e-02 -1.00515363e-02 -2.33984825e+01] [ 1.83873126e-02 9.99815679e-01 5.52410555e-03 -1.89515403e+00] [ 9.94842037e-03 -5.70771896e-03 9.99934223e-01 1.55450624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.409072329 meters Centerline goodness [0,1] 0.5952645450783071 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.90, Z:15.54 [[ 9.99783805e-01 -1.80761873e-02 -1.02759007e-02 -2.33973501e+01] [ 1.81375695e-02 9.99818022e-01 5.91193716e-03 -1.89574111e+00] [ 1.01671654e-02 -6.09703889e-03 9.99929725e-01 1.55441167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43907232899999 meters Centerline goodness [0,1] 0.5873078266946192 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.90, Z:15.54 [[ 9.99782279e-01 -1.82553874e-02 -1.01062522e-02 -2.33976558e+01] [ 1.83157847e-02 9.99814748e-01 5.91628069e-03 -1.89639713e+00] [ 9.99637600e-03 -6.10009653e-03 9.99931428e-01 1.55439396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46907232899999 meters Centerline goodness [0,1] 0.5767401265546586 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.90, Z:15.54 [[ 9.99770177e-01 -1.91261766e-02 -9.68413771e-03 -2.33991984e+01] [ 1.91803582e-02 9.99800729e-01 5.53326100e-03 -1.89686753e+00] [ 9.57637782e-03 -5.71773456e-03 9.99937798e-01 1.55444468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49907232899999 meters Centerline goodness [0,1] 0.610393289029306 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.90, Z:15.54 [[ 9.99767916e-01 -1.92607828e-02 -9.65071852e-03 -2.33991137e+01] [ 1.93145787e-02 9.99798260e-01 5.51243426e-03 -1.89653671e+00] [ 9.54259779e-03 -5.69755448e-03 9.99938236e-01 1.55441943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.529072328999995 meters Centerline goodness [0,1] 0.6042857766333523 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.90, Z:15.54 [[ 9.99762362e-01 -1.95989175e-02 -9.54474722e-03 -2.33995419e+01] [ 1.96481501e-02 9.99793990e-01 5.09190815e-03 -1.89546714e+00] [ 9.44298502e-03 -5.27823475e-03 9.99941483e-01 1.55444857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559072328999996 meters Centerline goodness [0,1] 0.6112837571672429 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.54 [[ 9.99755083e-01 -1.98886941e-02 -9.70636050e-03 -2.33991255e+01] [ 1.99330350e-02 9.99791221e-01 4.49306384e-03 -1.89239552e+00] [ 9.61497285e-03 -4.68544063e-03 9.99942798e-01 1.55445233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.589072329 meters Centerline goodness [0,1] 0.605745841824995 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.54 [[ 9.99753374e-01 -1.98267674e-02 -1.00045282e-02 -2.33980375e+01] [ 1.98706141e-02 9.99793302e-01 4.30247384e-03 -1.89026413e+00] [ 9.91715612e-03 -4.50020886e-03 9.99940697e-01 1.55440148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619072329 meters Centerline goodness [0,1] 0.5492537967609739 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.89, Z:15.54 [[ 9.99753361e-01 -1.95843834e-02 -1.04722707e-02 -2.33963651e+01] [ 1.96299195e-02 9.99798225e-01 4.26328164e-03 -1.88833911e+00] [ 1.03866639e-02 -4.46779998e-03 9.99936076e-01 1.55432945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.64907232899999 meters Centerline goodness [0,1] 0.6058561034050691 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.89, Z:15.54 [[ 9.99751045e-01 -1.95644175e-02 -1.07276253e-02 -2.33947837e+01] [ 1.96079754e-02 9.99799862e-01 3.97031363e-03 -1.88575729e+00] [ 1.06478015e-02 -4.17967222e-03 9.99934575e-01 1.55418876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67907232899999 meters Centerline goodness [0,1] 0.5373397754097999 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.89, Z:15.54 [[ 9.99750295e-01 -1.95724084e-02 -1.07827553e-02 -2.33941835e+01] [ 1.96148296e-02 9.99800227e-01 3.84256192e-03 -1.88501412e+00] [ 1.07053930e-02 -4.05310432e-03 9.99934481e-01 1.55412239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.709072328999994 meters Centerline goodness [0,1] 0.5917208150996773 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.88, Z:15.54 [[ 9.99753032e-01 -1.93509157e-02 -1.09277693e-02 -2.33929529e+01] [ 1.93959589e-02 9.99803754e-01 4.03106753e-03 -1.88441517e+00] [ 1.08476199e-02 -4.24202656e-03 9.99932165e-01 1.55399396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739072328999995 meters Centerline goodness [0,1] 0.5936564267494733 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.88, Z:15.54 [[ 9.99752399e-01 -1.93140771e-02 -1.10501932e-02 -2.33921376e+01] [ 1.93590148e-02 9.99804698e-01 3.97427204e-03 -1.88321221e+00] [ 1.09712757e-02 -4.18720886e-03 9.99931047e-01 1.55391632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.769072329 meters Centerline goodness [0,1] 0.591018390702231 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.88, Z:15.54 [[ 9.99741053e-01 -1.99120177e-02 -1.10153659e-02 -2.33923124e+01] [ 1.99460895e-02 9.99796580e-01 2.99194073e-03 -1.87948185e+00] [ 1.09535496e-02 -3.21087945e-03 9.99934853e-01 1.55393587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799072329 meters Centerline goodness [0,1] 0.5841014855915518 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.88, Z:15.54 [[ 9.99737156e-01 -2.00912030e-02 -1.10436860e-02 -2.33923882e+01] [ 2.01211569e-02 9.99794148e-01 2.60791561e-03 -1.87787353e+00] [ 1.09890164e-02 -2.82944187e-03 9.99935616e-01 1.55396518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.82907232899999 meters Centerline goodness [0,1] 0.5777976523197317 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.88, Z:15.54 [[ 9.99737557e-01 -1.99429438e-02 -1.12737172e-02 -2.33915215e+01] [ 1.99741290e-02 9.99796958e-01 2.66038646e-03 -1.87715695e+00] [ 1.12183722e-02 -2.88487094e-03 9.99932911e-01 1.55392787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85907232899999 meters Centerline goodness [0,1] 0.5718412684194025 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.88, Z:15.54 [[ 9.99739560e-01 -1.96748023e-02 -1.15635217e-02 -2.33896801e+01] [ 1.97108743e-02 9.99801179e-01 3.01381019e-03 -1.87636211e+00] [ 1.15019265e-02 -3.24095240e-03 9.99928598e-01 1.55375126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.889072328999994 meters Centerline goodness [0,1] 0.5728757215695963 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.87, Z:15.54 [[ 9.99737137e-01 -1.96872694e-02 -1.17502291e-02 -2.33891791e+01] [ 1.97205945e-02 9.99801811e-01 2.72702313e-03 -1.87448062e+00] [ 1.16942127e-02 -2.95802780e-03 9.99927245e-01 1.55375529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919072328999995 meters Centerline goodness [0,1] 0.5697690065037004 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.87, Z:15.54 [[ 9.99734599e-01 -1.95522810e-02 -1.21836001e-02 -2.33881394e+01] [ 1.95829938e-02 9.99805338e-01 2.40663929e-03 -1.87181506e+00] [ 1.21341731e-02 -2.64459193e-03 9.99922881e-01 1.55377892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.949072328999996 meters Centerline goodness [0,1] 0.5669152939585822 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.87, Z:15.54 [[ 9.99798954e-01 -1.62407216e-02 -1.17597126e-02 -2.33901731e+01] [ 1.63108685e-02 9.99849598e-01 5.89387566e-03 -1.87125292e+00] [ 1.16622231e-02 -6.08450184e-03 9.99913482e-01 1.55387838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979072329 meters Centerline goodness [0,1] 0.5703621848360472 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.87, Z:15.54 [[ 9.99797094e-01 -1.60704080e-02 -1.21454767e-02 -2.33884737e+01] [ 1.61393020e-02 9.99854094e-01 5.59582819e-03 -1.86876933e+00] [ 1.20537773e-02 -5.79071228e-03 9.99910583e-01 1.55378923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00907232899999 meters Centerline goodness [0,1] 0.558075694163179 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.87, Z:15.54 [[ 9.99800579e-01 -1.55596662e-02 -1.25179861e-02 -2.33864513e+01] [ 1.56364440e-02 9.99859385e-01 6.05908084e-03 -1.86926225e+00] [ 1.24219486e-02 -6.25360932e-03 9.99903289e-01 1.55363329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03907232899999 meters Centerline goodness [0,1] 0.5764313256815567 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.87, Z:15.54 [[ 9.99802216e-01 -1.53157843e-02 -1.26868335e-02 -2.33852262e+01] [ 1.53958755e-02 9.99862008e-01 6.23950917e-03 -1.86955922e+00] [ 1.25895199e-02 -6.43360000e-03 9.99900051e-01 1.55351774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.069072328999994 meters Centerline goodness [0,1] 0.5687533924371269 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.87, Z:15.53 [[ 9.99801430e-01 -1.53047209e-02 -1.27619175e-02 -2.33841161e+01] [ 1.53874393e-02 9.99861067e-01 6.40885590e-03 -1.86934783e+00] [ 1.26620587e-02 -6.60395652e-03 9.99898025e-01 1.55336694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099072328999995 meters Centerline goodness [0,1] 0.5590041004961374 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.87, Z:15.53 [[ 9.99795396e-01 -1.54983506e-02 -1.29987723e-02 -2.33838175e+01] [ 1.55778478e-02 9.99860433e-01 6.03694873e-03 -1.86771099e+00] [ 1.29033954e-02 -6.23820644e-03 9.99897288e-01 1.55341471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.129072328999996 meters Centerline goodness [0,1] 0.5473794215871141 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.86, Z:15.54 [[ 9.99782976e-01 -1.60839463e-02 -1.32403626e-02 -2.33843142e+01] [ 1.61503666e-02 9.99857445e-01 4.92494690e-03 -1.86402686e+00] [ 1.31592626e-02 -5.13771478e-03 9.99900214e-01 1.55359048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159072329 meters Centerline goodness [0,1] 0.5505434041198672 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.86, Z:15.54 [[ 9.99770849e-01 -1.63582880e-02 -1.38078280e-02 -2.33838171e+01] [ 1.64115185e-02 9.99858287e-01 3.75062386e-03 -1.85952789e+00] [ 1.37445174e-02 -3.97637182e-03 9.99897633e-01 1.55376635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18907232899999 meters Centerline goodness [0,1] 0.5504393511826922 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.85, Z:15.54 [[ 9.99765900e-01 -1.59171540e-02 -1.46557067e-02 -2.33813076e+01] [ 1.59575693e-02 9.99869172e-01 2.64484657e-03 -1.85267155e+00] [ 1.46116909e-02 -2.87809687e-03 9.99889101e-01 1.55380592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21907232899999 meters Centerline goodness [0,1] 0.5635004599816007 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.85, Z:15.54 [[ 9.99768248e-01 -1.54492417e-02 -1.49923395e-02 -2.33793308e+01] [ 1.54953942e-02 9.99875537e-01 2.96713324e-03 -1.85262355e+00] [ 1.49446335e-02 -3.19875781e-03 9.99883206e-01 1.55364723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24907232899999 meters Centerline goodness [0,1] 0.5537968850797161 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.85, Z:15.53 [[ 9.99773088e-01 -1.50031012e-02 -1.51221830e-02 -2.33776459e+01] [ 1.50563791e-02 9.99880813e-01 3.41548606e-03 -1.85356069e+00] [ 1.50691378e-02 -3.64239637e-03 9.99879820e-01 1.55345376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279072328999995 meters Centerline goodness [0,1] 0.5452047836727155 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.85, Z:15.53 [[ 9.99774939e-01 -1.47839336e-02 -1.52153552e-02 -2.33764186e+01] [ 1.48403836e-02 9.99883381e-01 3.60386171e-03 -1.85350236e+00] [ 1.51603016e-02 -3.82885233e-03 9.99877745e-01 1.55330689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.309072328999996 meters Centerline goodness [0,1] 0.5708147528799703 Centerline is valid? [False, False] Translation: X:-23.37, Y:-1.85, Z:15.53 [[ 9.99768848e-01 -1.44197860e-02 -1.59474466e-02 -2.33733731e+01] [ 1.44725190e-02 9.99890159e-01 3.19622312e-03 -1.84748794e+00] [ 1.58996060e-02 -3.42628403e-03 9.99867723e-01 1.55314934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339072329 meters Centerline goodness [0,1] 0.57712790806316 Centerline is valid? [False, False] Translation: X:-23.37, Y:-1.84, Z:15.53 [[ 9.99761102e-01 -1.41368252e-02 -1.66700327e-02 -2.33713863e+01] [ 1.41866679e-02 9.99895229e-01 2.87549631e-03 -1.84336633e+00] [ 1.66276358e-02 -3.11130157e-03 9.99856911e-01 1.55314440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.369072329 meters Centerline goodness [0,1] 0.5640287769784172 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99844314e-01 -1.38717538e-02 -1.09051216e-02 -2.33570970e+01] [ 1.39836591e-02 9.99849652e-01 1.02533323e-02 -1.83951912e+00] [ 1.07612503e-02 -1.04042295e-02 9.99887967e-01 1.55324799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39907232899999 meters Centerline goodness [0,1] 0.5661041784836454 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99838335e-01 -1.42687356e-02 -1.09410492e-02 -2.33574553e+01] [ 1.43719485e-02 9.99852404e-01 9.41367077e-03 -1.83757004e+00] [ 1.08051132e-02 -9.56939311e-03 9.99895833e-01 1.55333034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42907232899999 meters Centerline goodness [0,1] 0.5492576007541834 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.84, Z:15.53 [[ 9.99776721e-01 -1.76077085e-02 -1.16823615e-02 -2.33545463e+01] [ 1.76699207e-02 9.99830125e-01 5.24363398e-03 -1.83530761e+00] [ 1.15880486e-02 -5.44888959e-03 9.99918010e-01 1.55326503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459072328999994 meters Centerline goodness [0,1] 0.5666039068016004 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99775382e-01 -1.79037228e-02 -1.13420630e-02 -2.33551823e+01] [ 1.79636646e-02 9.99825091e-01 5.20525648e-03 -1.83625390e+00] [ 1.12468857e-02 -5.40783230e-03 9.99922128e-01 1.55322207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.489072328999995 meters Centerline goodness [0,1] 0.5544705523344522 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99770433e-01 -1.84672327e-02 -1.08647481e-02 -2.33565554e+01] [ 1.85217842e-02 9.99816243e-01 4.94195159e-03 -1.83689654e+00] [ 1.07714874e-02 -5.14205160e-03 9.99928765e-01 1.55323812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519072329 meters Centerline goodness [0,1] 0.5463263291496263 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99755514e-01 -1.94687748e-02 -1.04823486e-02 -2.33575198e+01] [ 1.95213605e-02 9.99797246e-01 4.93786095e-03 -1.83664770e+00] [ 1.03840892e-02 -5.14128342e-03 9.99932867e-01 1.55313320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.549072329 meters Centerline goodness [0,1] 0.538077638362485 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99757359e-01 -1.92785266e-02 -1.06565671e-02 -2.33561641e+01] [ 1.93372777e-02 9.99798229e-01 5.43786836e-03 -1.83674399e+00] [ 1.05495828e-02 -5.64261791e-03 9.99928431e-01 1.55297853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57907232899999 meters Centerline goodness [0,1] 0.538077638362485 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99757359e-01 -1.92785266e-02 -1.06565671e-02 -2.33561641e+01] [ 1.93372777e-02 9.99798229e-01 5.43786836e-03 -1.83674399e+00] [ 1.05495828e-02 -5.64261791e-03 9.99928431e-01 1.55297853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60907232899999 meters Centerline goodness [0,1] 0.5407164587411268 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99760241e-01 -1.90980182e-02 -1.07109952e-02 -2.33552390e+01] [ 1.91626585e-02 9.99798585e-01 5.96513506e-03 -1.83743850e+00] [ 1.05949156e-02 -6.16895601e-03 9.99924843e-01 1.55284736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639072328999994 meters Centerline goodness [0,1] 0.5320686327582554 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.84, Z:15.53 [[ 9.99761674e-01 -1.90228512e-02 -1.07110835e-02 -2.33549137e+01] [ 1.90918121e-02 9.99797422e-01 6.37325202e-03 -1.83880293e+00] [ 1.05876763e-02 -6.57622710e-03 9.99922324e-01 1.55279033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.669072328999995 meters Centerline goodness [0,1] 0.5189304863136112 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99749167e-01 -2.00625385e-02 -9.95482002e-03 -2.33579743e+01] [ 2.01203899e-02 9.99781055e-01 5.74567131e-03 -1.83903188e+00] [ 9.83736771e-03 -5.94452496e-03 9.99933942e-01 1.55294423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699072328999996 meters Centerline goodness [0,1] 0.5205705140274901 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99742759e-01 -2.04984299e-02 -9.70718293e-03 -2.33592208e+01] [ 2.05507542e-02 9.99774648e-01 5.32153649e-03 -1.83854270e+00] [ 9.59591226e-03 -5.51965751e-03 9.99938724e-01 1.55303976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.729072329 meters Centerline goodness [0,1] 0.5237123078728148 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99739321e-01 -2.08106313e-02 -9.39188645e-03 -2.33598700e+01] [ 2.08627307e-02 9.99767310e-01 5.48381283e-03 -1.83921528e+00] [ 9.27557945e-03 -5.67832371e-03 9.99940858e-01 1.55299052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75907232899999 meters Centerline goodness [0,1] 0.4901434956480828 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99738212e-01 -2.09341096e-02 -9.23417537e-03 -2.33599237e+01] [ 2.09871923e-02 9.99763556e-01 5.68953777e-03 -1.83970923e+00] [ 9.11288659e-03 -5.88184773e-03 9.99941178e-01 1.55292096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78907232899999 meters Centerline goodness [0,1] 0.5167034722548514 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99742096e-01 -2.07230892e-02 -9.28954572e-03 -2.33591598e+01] [ 2.07804806e-02 9.99765302e-01 6.12470226e-03 -1.84042380e+00] [ 9.16044274e-03 -6.31616390e-03 9.99938094e-01 1.55282335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819072328999994 meters Centerline goodness [0,1] 0.5028340271408076 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99741121e-01 -2.08185874e-02 -9.18024661e-03 -2.33593887e+01] [ 2.08754900e-02 9.99763188e-01 6.14673535e-03 -1.84061501e+00] [ 9.05010627e-03 -6.33678624e-03 9.99938968e-01 1.55281524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.849072328999995 meters Centerline goodness [0,1] 0.4995426936516498 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99730585e-01 -2.15057151e-02 -8.73279485e-03 -2.33613647e+01] [ 2.15565341e-02 9.99750995e-01 5.76749910e-03 -1.84201844e+00] [ 8.60658615e-03 -5.95419404e-03 9.99945236e-01 1.55292791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879072328999996 meters Centerline goodness [0,1] 0.49852223681741414 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99727749e-01 -2.16809702e-02 -8.62340993e-03 -2.33619011e+01] [ 2.17304234e-02 9.99747714e-01 5.68300771e-03 -1.84222914e+00] [ 8.49802125e-03 -5.86885086e-03 9.99946669e-01 1.55297164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.909072329 meters Centerline goodness [0,1] 0.4837221285366311 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99724644e-01 -2.17324652e-02 -8.85071853e-03 -2.33615994e+01] [ 2.17822754e-02 9.99747217e-01 5.57082900e-03 -1.84154820e+00] [ 8.72741338e-03 -5.76208383e-03 9.99945314e-01 1.55301507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93907232899999 meters Centerline goodness [0,1] 0.4932193465276965 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99724992e-01 -2.16824943e-02 -8.93358671e-03 -2.33611645e+01] [ 2.17347115e-02 9.99747007e-01 5.79000343e-03 -1.84135155e+00] [ 8.80578486e-03 -5.98258006e-03 9.99943332e-01 1.55297598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96907232899999 meters Centerline goodness [0,1] 0.4899586116075628 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.84, Z:15.53 [[ 9.99720807e-01 -2.19839187e-02 -8.66113651e-03 -2.33612793e+01] [ 2.20401638e-02 9.99736261e-01 6.45292597e-03 -1.84361557e+00] [ 8.51699163e-03 -6.64201723e-03 9.99941671e-01 1.55281964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99907232899999 meters Centerline goodness [0,1] 0.486894807111236 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.85, Z:15.53 [[ 9.99724192e-01 -2.18994184e-02 -8.48270051e-03 -2.33611384e+01] [ 2.19604397e-02 9.99733140e-01 7.16853205e-03 -1.84674676e+00] [ 8.32345013e-03 -7.35283874e-03 9.99938326e-01 1.55270986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.029072328999995 meters Centerline goodness [0,1] 0.49365309850578476 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.85, Z:15.53 [[ 9.99720241e-01 -2.22238883e-02 -8.09553711e-03 -2.33622180e+01] [ 2.22837149e-02 9.99724475e-01 7.37638407e-03 -1.84984668e+00] [ 7.92937465e-03 -7.55471910e-03 9.99940024e-01 1.55270799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059072328999996 meters Centerline goodness [0,1] 0.4825102639296188 Centerline is valid? [False, False] Translation: X:-23.37, Y:-1.85, Z:15.53 [[ 9.99694470e-01 -2.35788331e-02 -7.41660856e-03 -2.33659306e+01] [ 2.36288324e-02 9.99698162e-01 6.72773281e-03 -1.85295264e+00] [ 7.25573786e-03 -6.90092308e-03 9.99949865e-01 1.55295753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.089072329 meters Centerline goodness [0,1] 0.49213335830679905 Centerline is valid? [False, False] Translation: X:-23.37, Y:-1.85, Z:15.53 [[ 9.99681637e-01 -2.41214185e-02 -7.40142723e-03 -2.33673980e+01] [ 2.41651141e-02 9.99690735e-01 5.87214672e-03 -1.85172570e+00] [ 7.25749372e-03 -6.04913358e-03 9.99955367e-01 1.55319934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119072329 meters Centerline goodness [0,1] 0.4921970194020058 Centerline is valid? [False, False] Translation: X:-23.37, Y:-1.85, Z:15.53 [[ 9.99667200e-01 -2.46967007e-02 -7.45394906e-03 -2.33687688e+01] [ 2.47343591e-02 9.99681540e-01 5.00293910e-03 -1.84964782e+00] [ 7.32801919e-03 -5.18564278e-03 9.99959704e-01 1.55343544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14907232899999 meters Centerline goodness [0,1] 0.4906496292496386 Centerline is valid? [False, False] Translation: X:-23.37, Y:-1.85, Z:15.53 [[ 9.99669204e-01 -2.45280384e-02 -7.73682622e-03 -2.33681526e+01] [ 2.45682626e-02 9.99684902e-01 5.14757688e-03 -1.84957115e+00] [ 7.60812839e-03 -5.33595446e-03 9.99956821e-01 1.55346015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17907232899999 meters Centerline goodness [0,1] 0.48361499929778573 Centerline is valid? [False, False] Translation: X:-23.37, Y:-1.85, Z:15.53 [[ 9.99679865e-01 -2.41010709e-02 -7.70104231e-03 -2.33673206e+01] [ 2.41493612e-02 9.99688885e-01 6.24037302e-03 -1.85341380e+00] [ 7.54824672e-03 -6.42435051e-03 9.99950875e-01 1.55329944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.209072328999994 meters Centerline goodness [0,1] 0.484170545867204 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.85, Z:15.53 [[ 9.99607888e-01 -2.65790753e-02 -8.81038488e-03 -2.33625908e+01] [ 2.66072944e-02 9.99641152e-01 3.10132135e-03 -1.85425797e+00] [ 8.72479304e-03 -3.33452579e-03 9.99956379e-01 1.55313869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239072328999995 meters Centerline goodness [0,1] 0.49364016150488954 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.86, Z:15.53 [[ 9.99618264e-01 -2.62019432e-02 -8.76270186e-03 -2.33620842e+01] [ 2.62364029e-02 9.99648387e-01 3.84095872e-03 -1.85716392e+00] [ 8.65898020e-03 -4.06939426e-03 9.99954230e-01 1.55304728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.269072329 meters Centerline goodness [0,1] 0.4799561065583339 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.86, Z:15.53 [[ 9.99625167e-01 -2.59971795e-02 -8.58329058e-03 -2.33622233e+01] [ 2.60364606e-02 9.99650880e-01 4.49686296e-03 -1.85982354e+00] [ 8.46338822e-03 -4.71865589e-03 9.99953052e-01 1.55299417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299072329 meters Centerline goodness [0,1] 0.48491006774118195 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.86, Z:15.53 [[ 9.99623051e-01 -2.60706809e-02 -8.60668117e-03 -2.33631059e+01] [ 2.61109980e-02 9.99648440e-01 4.60572230e-03 -1.86129028e+00] [ 8.48358108e-03 -4.82871521e-03 9.99952355e-01 1.55314601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32907232899999 meters Centerline goodness [0,1] 0.4853417916365418 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.86, Z:15.53 [[ 9.99629995e-01 -2.55815001e-02 -9.24448575e-03 -2.33614740e+01] [ 2.56272087e-02 9.99659754e-01 4.86023785e-03 -1.86076932e+00] [ 9.11700817e-03 -5.09534990e-03 9.99945457e-01 1.55316196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35907232899999 meters Centerline goodness [0,1] 0.48119425231141855 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.86, Z:15.53 [[ 9.99642195e-01 -2.47810266e-02 -1.00688707e-02 -2.33588013e+01] [ 2.48364634e-02 9.99676843e-01 5.41851838e-03 -1.86060826e+00] [ 9.93134044e-03 -5.66665475e-03 9.99934627e-01 1.55309479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.389072328999994 meters Centerline goodness [0,1] 0.49735646908116926 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.86, Z:15.53 [[ 9.99672341e-01 -2.31310102e-02 -1.09620509e-02 -2.33545699e+01] [ 2.32080296e-02 9.99706488e-01 6.95165027e-03 -1.86311706e+00] [ 1.07980347e-02 -7.20378010e-03 9.99915750e-01 1.55284443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419072328999995 meters Centerline goodness [0,1] 0.5036004645760743 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.86, Z:15.53 [[ 9.99677589e-01 -2.28072609e-02 -1.11600566e-02 -2.33538682e+01] [ 2.28883886e-02 9.99712124e-01 7.19654988e-03 -1.86413500e+00] [ 1.09927103e-02 -7.44966535e-03 9.99911828e-01 1.55283363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.449072328999996 meters Centerline goodness [0,1] 0.4906448767352245 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.86, Z:15.53 [[ 9.99681148e-01 -2.25419174e-02 -1.13782180e-02 -2.33532711e+01] [ 2.26255100e-02 9.99717560e-01 7.27224390e-03 -1.86448042e+00] [ 1.12110740e-02 -7.52736311e-03 9.99908821e-01 1.55285066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479072329 meters Centerline goodness [0,1] 0.4963804380717395 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.86, Z:15.53 [[ 9.99698570e-01 -2.12324235e-02 -1.23269185e-02 -2.33494121e+01] [ 2.13323860e-02 9.99740148e-01 8.03522424e-03 -1.86499078e+00] [ 1.21531081e-02 -8.29576477e-03 9.99891735e-01 1.55269729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50907232899999 meters Centerline goodness [0,1] 0.533860281297222 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.87, Z:15.53 [[ 9.99705077e-01 -2.05427824e-02 -1.29519336e-02 -2.33470104e+01] [ 2.06535785e-02 9.99750733e-01 8.47947042e-03 -1.86533884e+00] [ 1.27745132e-02 -8.74447341e-03 9.99880166e-01 1.55260159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53907232899999 meters Centerline goodness [0,1] 0.5157267820584404 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.86, Z:15.53 [[ 9.99704891e-01 -2.02644108e-02 -1.33971820e-02 -2.33458888e+01] [ 2.03776968e-02 9.99757282e-01 8.37421686e-03 -1.86468169e+00] [ 1.32242317e-02 -8.64474927e-03 9.99875186e-01 1.55263223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.569072328999994 meters Centerline goodness [0,1] 0.5328571095081355 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.86, Z:15.53 [[ 9.99702804e-01 -2.01196398e-02 -1.37660317e-02 -2.33451951e+01] [ 2.02315341e-02 9.99763011e-01 8.03788174e-03 -1.86349265e+00] [ 1.36010500e-02 -8.31400085e-03 9.99872936e-01 1.55270119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599072328999995 meters Centerline goodness [0,1] 0.532063284029208 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.86, Z:15.53 [[ 9.99704055e-01 -1.96573000e-02 -1.43315556e-02 -2.33436801e+01] [ 1.97706065e-02 9.99774056e-01 7.80773176e-03 -1.86277800e+00] [ 1.41748385e-02 -8.08876465e-03 9.99866814e-01 1.55275686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.629072328999996 meters Centerline goodness [0,1] 0.524593600074526 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.86, Z:15.53 [[ 9.99702880e-01 -1.94233914e-02 -1.47269982e-02 -2.33425121e+01] [ 1.95397868e-02 9.99778644e-01 7.80126739e-03 -1.86232266e+00] [ 1.45722113e-02 -8.08671188e-03 9.99861118e-01 1.55274827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659072329 meters Centerline goodness [0,1] 0.5278766033142964 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.86, Z:15.53 [[ 9.99701525e-01 -1.94387448e-02 -1.47985323e-02 -2.33424785e+01] [ 1.95530897e-02 9.99779769e-01 7.62169192e-03 -1.86199833e+00] [ 1.46471171e-02 -7.90877407e-03 9.99861447e-01 1.55278490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68907232899999 meters Centerline goodness [0,1] 0.5046825007590088 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.86, Z:15.53 [[ 9.99700509e-01 -1.95002815e-02 -1.47861882e-02 -2.33427121e+01] [ 1.96124822e-02 9.99779664e-01 7.48154896e-03 -1.86239874e+00] [ 1.46370379e-02 -7.76930216e-03 9.99862688e-01 1.55282812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71907232899999 meters Centerline goodness [0,1] 0.5189528161133905 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.86, Z:15.53 [[ 9.99701349e-01 -1.95048155e-02 -1.47232909e-02 -2.33430629e+01] [ 1.96212647e-02 9.99777007e-01 7.80659365e-03 -1.86496915e+00] [ 1.45677415e-02 -8.09315179e-03 9.99861131e-01 1.55285205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74907232899999 meters Centerline goodness [0,1] 0.5007205280773521 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.87, Z:15.53 [[ 9.99704746e-01 -1.92582214e-02 -1.48169453e-02 -2.33424594e+01] [ 1.93834136e-02 9.99777234e-01 8.35254890e-03 -1.86681231e+00] [ 1.46527894e-02 -8.63728575e-03 9.99855336e-01 1.55279688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779072328999995 meters Centerline goodness [0,1] 0.5009416195856874 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.87, Z:15.53 [[ 9.99704220e-01 -1.92736223e-02 -1.48323812e-02 -2.33425233e+01] [ 1.94019002e-02 9.99775175e-01 8.55374580e-03 -1.86781445e+00] [ 1.46641848e-02 -8.83899216e-03 9.99853406e-01 1.55280770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.809072328999996 meters Centerline goodness [0,1] 0.49331730102205984 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.87, Z:15.53 [[ 9.99694868e-01 -1.98624814e-02 -1.46851497e-02 -2.33441019e+01] [ 1.99819202e-02 9.99768080e-01 8.03179911e-03 -1.86751284e+00] [ 1.45222125e-02 -8.32278583e-03 9.99859908e-01 1.55299100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839072329 meters Centerline goodness [0,1] 0.4919151495523838 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.87, Z:15.53 [[ 9.99695748e-01 -1.98724855e-02 -1.46115000e-02 -2.33443463e+01] [ 1.99934728e-02 9.99766636e-01 8.18134291e-03 -1.86846956e+00] [ 1.44455066e-02 -8.47098835e-03 9.99859775e-01 1.55300109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.869072329 meters Centerline goodness [0,1] 0.5012685672109973 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.87, Z:15.53 [[ 9.99700064e-01 -1.97899740e-02 -1.44269901e-02 -2.33445605e+01] [ 1.99170884e-02 9.99763598e-01 8.72108100e-03 -1.87119252e+00] [ 1.42509896e-02 -9.00580887e-03 9.99857892e-01 1.55295625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89907232899999 meters Centerline goodness [0,1] 0.4868526996250201 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.87, Z:15.53 [[ 9.99620219e-01 -2.32142190e-02 -1.48498258e-02 -2.33425650e+01] [ 2.32933545e-02 9.99715261e-01 5.17844989e-03 -1.87271785e+00] [ 1.47253838e-02 -5.52238547e-03 9.99876326e-01 1.55288899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92907232899999 meters Centerline goodness [0,1] 0.490555250640322 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.88, Z:15.53 [[ 9.99527532e-01 -2.70010952e-02 -1.46851240e-02 -2.33423117e+01] [ 2.70362895e-02 9.99632024e-01 2.20333523e-03 -1.87730420e+00] [ 1.46202278e-02 -2.59932549e-03 9.99889740e-01 1.55281762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959072328999994 meters Centerline goodness [0,1] 0.4548262371593951 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.88, Z:15.53 [[ 9.99526041e-01 -2.72238280e-02 -1.43720509e-02 -2.33432431e+01] [ 2.72633989e-02 9.99624995e-01 2.56457496e-03 -1.87894418e+00] [ 1.42968438e-02 -2.95519041e-03 9.99893428e-01 1.55282084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.989072328999995 meters Centerline goodness [0,1] 0.4910728573714651 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.88, Z:15.53 [[ 9.99523148e-01 -2.74377550e-02 -1.41649828e-02 -2.33440495e+01] [ 2.74823315e-02 9.99617901e-01 2.96191369e-03 -1.88076931e+00] [ 1.40783021e-02 -3.34978804e-03 9.99895285e-01 1.55283748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019072329 meters Centerline goodness [0,1] 0.46777310446743203 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.89, Z:15.53 [[ 9.99413959e-01 -3.11055735e-02 -1.42892229e-02 -2.33432578e+01] [ 3.11106157e-02 9.99515939e-01 1.30663059e-04 -1.88510205e+00] [ 1.42782417e-02 -5.75133009e-04 9.99897895e-01 1.55279562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.049072329 meters Centerline goodness [0,1] 0.4842841302527664 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.89, Z:15.53 [[ 9.99426025e-01 -3.07834374e-02 -1.41421360e-02 -2.33429201e+01] [ 3.08077227e-02 9.99524200e-01 1.50255182e-03 -1.88980122e+00] [ 1.40891535e-02 -1.93737640e-03 9.99898866e-01 1.55264943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07907232899999 meters Centerline goodness [0,1] 0.48104324263294573 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.89, Z:15.53 [[ 9.99432336e-01 -3.07487771e-02 -1.37665417e-02 -2.33436027e+01] [ 3.07838152e-02 9.99523326e-01 2.34048584e-03 -1.89341817e+00] [ 1.36880125e-02 -2.76294391e-03 9.99902497e-01 1.55258584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10907232899999 meters Centerline goodness [0,1] 0.4400638001527609 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.90, Z:15.53 [[ 9.99428619e-01 -3.11119966e-02 -1.32090380e-02 -2.33455429e+01] [ 3.11505818e-02 9.99510987e-01 2.72544400e-03 -1.89658070e+00] [ 1.31177846e-02 -3.13535595e-03 9.99909042e-01 1.55263981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139072328999994 meters Centerline goodness [0,1] 0.4456734336008633 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.90, Z:15.53 [[ 9.99433918e-01 -3.08709280e-02 -1.33726940e-02 -2.33449867e+01] [ 3.09126632e-02 9.99517808e-01 2.92549694e-03 -1.89658277e+00] [ 1.32759330e-02 -3.33722646e-03 9.99906302e-01 1.55263289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.169072328999995 meters Centerline goodness [0,1] 0.44103036705702536 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.90, Z:15.53 [[ 9.99445110e-01 -3.02825595e-02 -1.38722204e-02 -2.33432112e+01] [ 3.03306859e-02 9.99534563e-01 3.27206720e-03 -1.89617166e+00] [ 1.37666772e-02 -3.69100553e-03 9.99898422e-01 1.55257753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199072328999996 meters Centerline goodness [0,1] 0.4430268268449101 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.90, Z:15.53 [[ 9.99567139e-01 -2.59649841e-02 -1.38330687e-02 -2.33432542e+01] [ 2.60748190e-02 9.99629409e-01 7.81970871e-03 -1.89829299e+00] [ 1.36249036e-02 -8.17701863e-03 9.99873741e-01 1.55252239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.229072329 meters Centerline goodness [0,1] 0.4824577226606539 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.90, Z:15.52 [[ 9.99841561e-01 -1.58490254e-02 -8.10322598e-03 -2.33419373e+01] [ 1.58730323e-02 9.99869790e-01 2.90694821e-03 -1.89924140e+00] [ 8.05609856e-03 -3.03511040e-03 9.99962943e-01 1.55212462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25907232899999 meters Centerline goodness [0,1] 0.4923798093253924 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.90, Z:15.52 [[ 9.99902001e-01 -1.14673739e-02 -8.03043127e-03 -2.33415744e+01] [ 1.15272334e-02 9.99905821e-01 7.44790158e-03 -1.90062426e+00] [ 7.94426710e-03 -7.53974035e-03 9.99940019e-01 1.55202080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28907232899999 meters Centerline goodness [0,1] 0.4695855463252985 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.90, Z:15.52 [[ 9.99903599e-01 -1.06172882e-02 -8.94797241e-03 -2.33385800e+01] [ 1.06820681e-02 9.99916856e-01 7.22318417e-03 -1.89771863e+00] [ 8.87053782e-03 -7.31807070e-03 9.99933878e-01 1.55199283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319072328999994 meters Centerline goodness [0,1] 0.4718359383861528 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.89, Z:15.52 [[ 9.99907172e-01 -9.33676558e-03 -9.92335353e-03 -2.33350327e+01] [ 9.40873270e-03 9.99929595e-01 7.23052700e-03 -1.89467261e+00] [ 9.85514514e-03 -7.32322198e-03 9.99924620e-01 1.55194302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.349072328999995 meters Centerline goodness [0,1] 0.4946685846062515 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.89, Z:15.52 [[ 9.99938083e-01 -5.03777568e-03 -9.92227365e-03 -2.33350150e+01] [ 5.14871601e-03 9.99924165e-01 1.11873123e-02 -1.89433446e+00] [ 9.86516202e-03 -1.12377066e-02 9.99888190e-01 1.55195090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379072328999996 meters Centerline goodness [0,1] 0.5563055306839314 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.89, Z:15.52 [[ 9.99976864e-01 5.67093892e-03 -3.75659182e-03 -2.33392491e+01] [-5.65292524e-03 9.99972556e-01 4.78860456e-03 -1.89069754e+00] [ 3.78364461e-03 -4.76725804e-03 9.99981478e-01 1.55195651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.409072329 meters Centerline goodness [0,1] 0.5580036798528059 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.89, Z:15.52 [[ 9.99963222e-01 7.20746300e-03 -4.64839556e-03 -2.33353034e+01] [-7.18411575e-03 9.99961594e-01 5.01993702e-03 -1.88853151e+00] [ 4.68439805e-03 -4.98635778e-03 9.99976596e-01 1.55182064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43907232899999 meters Centerline goodness [0,1] 0.5997306147093657 Centerline is valid? [False, False] Translation: X:-23.33, Y:-1.89, Z:15.52 [[ 9.99835769e-01 1.72539387e-02 -5.54406221e-03 -2.33302577e+01] [-1.71746219e-02 9.99753796e-01 1.40491636e-02 -1.88648578e+00] [ 5.78510065e-03 -1.39516392e-02 9.99885936e-01 1.55151651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46907232899999 meters Centerline goodness [0,1] 0.6146146146146146 Centerline is valid? [False, False] Translation: X:-23.33, Y:-1.88, Z:15.51 [[ 9.99738875e-01 2.20367862e-02 -6.04659055e-03 -2.33280639e+01] [-2.19236105e-02 9.99594243e-01 1.81852835e-02 -1.88439596e+00] [ 6.44488231e-03 -1.80479718e-02 9.99816350e-01 1.55144309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49907232899999 meters Centerline goodness [0,1] 0.6146146146146146 Centerline is valid? [False, False] Translation: X:-23.33, Y:-1.88, Z:15.51 [[ 9.99796866e-01 1.89109249e-02 -6.97165636e-03 -2.33251420e+01] [-1.88062059e-02 9.99713719e-01 1.47920818e-02 -1.88196414e+00] [ 7.24939245e-03 -1.46579666e-02 9.99866286e-01 1.55131937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.529072328999995 meters Centerline goodness [0,1] 0.6220573481719979 Centerline is valid? [False, False] Translation: X:-23.32, Y:-1.88, Z:15.51 [[ 9.99755632e-01 2.07212896e-02 -7.70090459e-03 -2.33215044e+01] [-2.06038282e-02 9.99674715e-01 1.50314884e-02 -1.87799548e+00] [ 8.00987143e-03 -1.48691470e-02 9.99857365e-01 1.55123054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559072328999996 meters Centerline goodness [0,1] 0.6353712813305223 Centerline is valid? [False, False] Translation: X:-23.32, Y:-1.88, Z:15.51 [[ 9.99719192e-01 2.20764761e-02 -8.61198933e-03 -2.33178139e+01] [-2.19446839e-02 9.99645013e-01 1.51088920e-02 -1.87545572e+00] [ 8.94248328e-03 -1.49156619e-02 9.99848766e-01 1.55113030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.589072329 meters Centerline goodness [0,1] 0.6545854697853012 Centerline is valid? [False, False] Translation: X:-23.31, Y:-1.87, Z:15.51 [[ 9.99543161e-01 2.80560080e-02 -1.12396531e-02 -2.33051745e+01] [-2.78742665e-02 9.99483178e-01 1.60125572e-02 -1.87439829e+00] [ 1.16830926e-02 -1.56919450e-02 9.99808616e-01 1.55103184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619072329 meters Centerline goodness [0,1] 0.677965305978733 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.87, Z:15.51 [[ 9.99508009e-01 2.89775264e-02 -1.20017712e-02 -2.33022293e+01] [-2.87836418e-02 9.99457218e-01 1.60240830e-02 -1.87280746e+00] [ 1.24595951e-02 -1.56707446e-02 9.99799573e-01 1.55094640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64907232899999 meters Centerline goodness [0,1] 0.6964812819191304 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.87, Z:15.51 [[ 9.99480159e-01 2.96530472e-02 -1.26533787e-02 -2.33000873e+01] [-2.94532185e-02 9.99442901e-01 1.56969899e-02 -1.87061952e+00] [ 1.31117931e-02 -1.53161473e-02 9.99796728e-01 1.55094938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67907232899999 meters Centerline goodness [0,1] 0.7127166678426116 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.87, Z:15.51 [[ 9.99469135e-01 2.98501892e-02 -1.30543243e-02 -2.32992275e+01] [-2.96557838e-02 9.99449998e-01 1.48403686e-02 -1.86714564e+00] [ 1.34901322e-02 -1.44453541e-02 9.99804655e-01 1.55104996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.709072328999994 meters Centerline goodness [0,1] 0.7299022494405841 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.86, Z:15.51 [[ 9.99330547e-01 3.40745283e-02 -1.33185407e-02 -2.32984438e+01] [-3.38326984e-02 9.99265773e-01 1.79795097e-02 -1.86288088e+00] [ 1.39214051e-02 -1.75168711e-02 9.99749646e-01 1.55115627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739072328999995 meters Centerline goodness [0,1] 0.7382754474075122 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.86, Z:15.51 [[ 9.99295102e-01 3.48244416e-02 -1.40198808e-02 -2.32956729e+01] [-3.45649908e-02 9.99234133e-01 1.83414349e-02 -1.86223843e+00] [ 1.46478737e-02 -1.78439090e-02 9.99733482e-01 1.55103799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.769072329 meters Centerline goodness [0,1] 0.7413959170249254 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.86, Z:15.51 [[ 9.99371381e-01 3.20870648e-02 -1.50752595e-02 -2.32918316e+01] [-3.18684515e-02 9.99386531e-01 1.45245901e-02 -1.86040033e+00] [ 1.55320628e-02 -1.40350344e-02 9.99780862e-01 1.55093659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799072329 meters Centerline goodness [0,1] 0.741116036872845 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.86, Z:15.51 [[ 9.99466454e-01 2.86126228e-02 -1.57520128e-02 -2.32897564e+01] [-2.84498256e-02 9.99540451e-01 1.04639088e-02 -1.86033884e+00] [ 1.60441739e-02 -1.00101838e-02 9.99821174e-01 1.55090648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82907232899999 meters Centerline goodness [0,1] 0.7361546011123055 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.86, Z:15.51 [[ 9.99549389e-01 2.50069644e-02 -1.66033563e-02 -2.32877713e+01] [-2.49073640e-02 9.99670669e-01 6.17877293e-03 -1.85844604e+00] [ 1.67524006e-02 -5.76244287e-03 9.99843063e-01 1.55096455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85907232899999 meters Centerline goodness [0,1] 0.7450159116435792 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.85, Z:15.51 [[ 9.99635923e-01 2.07912999e-02 -1.71971858e-02 -2.32872907e+01] [-2.07750835e-02 9.99783546e-01 1.12110074e-03 -1.85480511e+00] [ 1.72167726e-02 -7.63419601e-04 9.99851489e-01 1.55115437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.889072328999994 meters Centerline goodness [0,1] 0.7113667180997802 Centerline is valid? [False, False] Translation: X:-23.27, Y:-1.86, Z:15.51 [[ 9.99768861e-01 1.82615830e-02 -1.13463638e-02 -2.32720296e+01] [-1.81685936e-02 9.99800939e-01 8.24526076e-03 -1.85703146e+00] [ 1.14946767e-02 -8.03720749e-03 9.99901633e-01 1.55074797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919072328999995 meters Centerline goodness [0,1] 0.7255016468499614 Centerline is valid? [False, False] Translation: X:-23.27, Y:-1.85, Z:15.51 [[ 9.99834322e-01 1.37849454e-02 -1.18870980e-02 -2.32720370e+01] [-1.37483663e-02 9.99900514e-01 3.15345706e-03 -1.85442001e+00] [ 1.19293856e-02 -2.98950642e-03 9.99924373e-01 1.55098555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.949072328999996 meters Centerline goodness [0,1] 0.6883929405173219 Centerline is valid? [False, False] Translation: X:-23.27, Y:-1.85, Z:15.51 [[ 9.99871880e-01 1.00017735e-02 -1.24975303e-02 -2.32703933e+01] [-1.00176522e-02 9.99949092e-01 -1.20859237e-03 -1.85319191e+00] [ 1.24848060e-02 1.33363344e-03 9.99921172e-01 1.55100404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979072329 meters Centerline goodness [0,1] 0.7206701307174312 Centerline is valid? [False, False] Translation: X:-23.27, Y:-1.85, Z:15.51 [[ 9.99892532e-01 6.38942272e-03 -1.31947123e-02 -2.32682788e+01] [-6.45942540e-03 9.99965253e-01 -5.26957408e-03 -1.85275672e+00] [ 1.31605843e-02 5.35423803e-03 9.99899060e-01 1.55097862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00907232899999 meters Centerline goodness [0,1] 0.7397552877806413 Centerline is valid? [False, False] Translation: X:-23.27, Y:-1.86, Z:15.51 [[ 9.99890845e-01 6.73605582e-03 -1.31500419e-02 -2.32676946e+01] [-6.79337211e-03 9.99967598e-01 -4.31884676e-03 -1.85599292e+00] [ 1.31205238e-02 4.40770847e-03 9.99904207e-01 1.55085586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03907232899999 meters Centerline goodness [0,1] 0.7245521455353423 Centerline is valid? [False, False] Translation: X:-23.27, Y:-1.86, Z:15.51 [[ 9.99895385e-01 6.54955458e-03 -1.28965722e-02 -2.32680764e+01] [-6.59518857e-03 9.99972129e-01 -3.49911339e-03 -1.85941159e+00] [ 1.28732951e-02 3.58380266e-03 9.99910713e-01 1.55074811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.069072328999994 meters Centerline goodness [0,1] 0.7146233519475405 Centerline is valid? [False, False] Translation: X:-23.27, Y:-1.86, Z:15.51 [[ 9.99898737e-01 6.41589175e-03 -1.27024743e-02 -2.32686252e+01] [-6.45833321e-03 9.99973690e-01 -3.30299995e-03 -1.86030851e+00] [ 1.26809484e-02 3.38470228e-03 9.99913865e-01 1.55075101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099072328999995 meters Centerline goodness [0,1] 0.7103274559193955 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.86, Z:15.50 [[ 9.99967987e-01 3.85287596e-03 -7.01290343e-03 -2.32529158e+01] [-3.82454443e-03 9.99984490e-01 4.04885277e-03 -1.86415801e+00] [ 7.02839438e-03 -4.02190200e-03 9.99967212e-01 1.55027777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.129072328999996 meters Centerline goodness [0,1] 0.6954016365103146 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.86, Z:15.51 [[ 9.99973487e-01 -3.39062483e-04 -7.27388492e-03 -2.32536234e+01] [ 3.35397734e-04 9.99999816e-01 -5.05036662e-04 -1.86489344e+00] [ 7.27405483e-03 5.02583628e-04 9.99973417e-01 1.55053701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159072329 meters Centerline goodness [0,1] 0.6921562342598104 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.87, Z:15.51 [[ 9.99973202e-01 -5.74091532e-05 -7.32065487e-03 -2.32532826e+01] [ 5.84480172e-05 9.99999988e-01 1.41694751e-04 -1.86768615e+00] [ 7.32064665e-03 -1.42118832e-04 9.99973194e-01 1.55050372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18907232899999 meters Centerline goodness [0,1] 0.6960333264666163 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.87, Z:15.50 [[ 9.99972532e-01 2.18747762e-04 -7.40862992e-03 -2.32528216e+01] [-2.13207578e-04 9.99999697e-01 7.48582937e-04 -1.86996326e+00] [ 7.40879142e-03 -7.46982799e-04 9.99972276e-01 1.55046105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21907232899999 meters Centerline goodness [0,1] 0.6865852542993047 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.87, Z:15.50 [[ 9.99972492e-01 5.67936581e-04 -7.39550814e-03 -2.32527416e+01] [-5.54958852e-04 9.99998303e-01 1.75674622e-03 -1.87419389e+00] [ 7.39649331e-03 -1.75259370e-03 9.99971110e-01 1.55043784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24907232899999 meters Centerline goodness [0,1] 0.6892686261107314 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.88, Z:15.50 [[ 9.99970907e-01 1.15766589e-03 -7.53959507e-03 -2.32517721e+01] [-1.13620219e-03 9.99995292e-01 2.85045946e-03 -1.87727619e+00] [ 7.54285945e-03 -2.84181002e-03 9.99967514e-01 1.55034550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279072328999995 meters Centerline goodness [0,1] 0.6825219218122032 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.88, Z:15.50 [[ 9.99969894e-01 1.38589247e-03 -7.63485626e-03 -2.32514631e+01] [-1.35971617e-03 9.99993184e-01 3.43265000e-03 -1.87943412e+00] [ 7.63956150e-03 -3.42216542e-03 9.99964962e-01 1.55032581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.309072328999996 meters Centerline goodness [0,1] 0.6855440662877491 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.88, Z:15.50 [[ 9.99968648e-01 1.67387760e-03 -7.73955179e-03 -2.32510550e+01] [-1.64296416e-03 9.99990655e-01 3.99885019e-03 -1.88139553e+00] [ 7.74617305e-03 -3.98600901e-03 9.99962054e-01 1.55030074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339072329 meters Centerline goodness [0,1] 0.7086012953073515 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.88, Z:15.50 [[ 9.99964224e-01 -1.14362551e-03 -8.38105581e-03 -2.32490297e+01] [ 1.14946850e-03 9.99999100e-01 6.92382378e-04 -1.88387526e+00] [ 8.38025643e-03 -7.01991368e-04 9.99964639e-01 1.55033676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.369072329 meters Centerline goodness [0,1] 0.7126548953746993 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.89, Z:15.50 [[ 9.99964741e-01 -8.17565741e-04 -8.35751169e-03 -2.32491146e+01] [ 8.28717527e-04 9.99998771e-01 1.33096686e-03 -1.88722672e+00] [ 8.35641326e-03 -1.33784595e-03 9.99964190e-01 1.55034246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39907232899999 meters Centerline goodness [0,1] 0.717475137000203 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.89, Z:15.50 [[ 9.99963638e-01 -4.84860592e-04 -8.51394355e-03 -2.32487414e+01] [ 5.00288550e-04 9.99998237e-01 1.81004512e-03 -1.88944995e+00] [ 8.51305092e-03 -1.81423873e-03 9.99962118e-01 1.55035121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42907232899999 meters Centerline goodness [0,1] 0.7052188400576369 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.89, Z:15.50 [[ 9.99960938e-01 -2.51351300e-04 -8.83508504e-03 -2.32481916e+01] [ 2.69290066e-04 9.99997905e-01 2.02927014e-03 -1.89016429e+00] [ 8.83455647e-03 -2.03157008e-03 9.99958911e-01 1.55038934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459072328999994 meters Centerline goodness [0,1] 0.7229386915804296 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.89, Z:15.50 [[ 9.99955927e-01 3.23331892e-04 -9.38295476e-03 -2.32469547e+01] [-2.99869581e-04 9.99996825e-01 2.50182389e-03 -1.89123205e+00] [ 9.38373390e-03 -2.49889997e-03 9.99952849e-01 1.55043153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.489072328999995 meters Centerline goodness [0,1] 0.7485103439041264 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.89, Z:15.50 [[ 9.99953290e-01 7.42838319e-04 -9.63670362e-03 -2.32461109e+01] [-7.12817353e-04 9.99994884e-01 3.11833416e-03 -1.89344106e+00] [ 9.63897074e-03 -3.11131929e-03 9.99948704e-01 1.55039974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519072329 meters Centerline goodness [0,1] 0.7467999376683512 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.90, Z:15.50 [[ 9.99950026e-01 1.29334663e-03 -9.91321409e-03 -2.32450231e+01] [-1.25451733e-03 9.99991521e-01 3.92214111e-03 -1.89647729e+00] [ 9.91820272e-03 -3.90950881e-03 9.99943171e-01 1.55033891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.549072329 meters Centerline goodness [0,1] 0.7592383232471016 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.90, Z:15.50 [[ 9.99947060e-01 2.01439809e-03 -1.00905183e-02 -2.32441736e+01] [-1.96397406e-03 9.99985548e-01 5.00458902e-03 -1.90110505e+00] [ 1.01004537e-02 -4.98450656e-03 9.99936566e-01 1.55028806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57907232899999 meters Centerline goodness [0,1] 0.7640372409827727 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.90, Z:15.50 [[ 9.99944907e-01 2.21863191e-03 -1.02596207e-02 -2.32440770e+01] [-2.16510232e-03 9.99984002e-01 5.22566810e-03 -1.90224201e+00] [ 1.02710504e-02 -5.20316707e-03 9.99933714e-01 1.55034148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60907232899999 meters Centerline goodness [0,1] 0.7648619370813344 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.90, Z:15.50 [[ 9.99942652e-01 2.35028438e-03 -1.04483971e-02 -2.32438408e+01] [-2.29534554e-03 9.99983495e-01 5.26699719e-03 -1.90255574e+00] [ 1.04606036e-02 -5.24271245e-03 9.99931543e-01 1.55038453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639072328999994 meters Centerline goodness [0,1] 0.7519994697538774 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.90, Z:15.50 [[ 9.99931474e-01 3.24423417e-03 -1.12482214e-02 -2.32411563e+01] [-3.18017712e-03 9.99978652e-01 5.70807746e-03 -1.90206893e+00] [ 1.12664996e-02 -5.67191497e-03 9.99920445e-01 1.55031029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.669072328999995 meters Centerline goodness [0,1] 0.772990538509152 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.90, Z:15.50 [[ 9.99927018e-01 3.49761466e-03 -1.15639786e-02 -2.32401749e+01] [-3.43062034e-03 9.99977248e-01 5.80813209e-03 -1.90202081e+00] [ 1.15840301e-02 -5.76803658e-03 9.99916266e-01 1.55028904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699072328999996 meters Centerline goodness [0,1] 0.7751841936411709 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.90, Z:15.50 [[ 9.99925178e-01 4.58129467e-04 -1.22241169e-02 -2.32377274e+01] [-4.34286724e-04 9.99997998e-01 1.95305071e-03 -1.90034657e+00] [ 1.22249871e-02 -1.94759580e-03 9.99923375e-01 1.55024320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.729072329 meters Centerline goodness [0,1] 0.7841794934081223 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.91, Z:15.50 [[ 9.99923294e-01 9.24804944e-04 -1.23511629e-02 -2.32370407e+01] [-8.90759209e-04 9.99995790e-01 2.76169689e-03 -1.90503483e+00] [ 1.23536649e-02 -2.75048313e-03 9.99919908e-01 1.55018187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75907232899999 meters Centerline goodness [0,1] 0.7843768608164435 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.91, Z:15.50 [[ 9.99923662e-01 1.01561921e-03 -1.23141787e-02 -2.32371679e+01] [-9.77538258e-04 9.99994723e-01 3.09807247e-03 -1.90688023e+00] [ 1.23172601e-02 -3.08579838e-03 9.99919378e-01 1.55018493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78907232899999 meters Centerline goodness [0,1] 0.7858889892691096 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.91, Z:15.50 [[ 9.99923920e-01 8.97079002e-04 -1.23023949e-02 -2.32375231e+01] [-8.59309057e-04 9.99994903e-01 3.07507188e-03 -1.90693979e+00] [ 1.23050908e-02 -3.06426637e-03 9.99919594e-01 1.55023286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819072328999994 meters Centerline goodness [0,1] 0.7762030905077263 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.90, Z:15.50 [[ 9.99927160e-01 1.69384968e-06 -1.20695561e-02 -2.32397490e+01] [ 2.28945206e-05 9.99997925e-01 2.03708396e-03 -1.90451177e+00] [ 1.20695345e-02 -2.03721190e-03 9.99925085e-01 1.55049075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.849072328999995 meters Centerline goodness [0,1] 0.776248152315397 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.91, Z:15.50 [[ 9.99929123e-01 -1.64435482e-04 -1.19047423e-02 -2.32402160e+01] [ 1.91688916e-04 9.99997364e-01 2.28818734e-03 -1.90599905e+00] [ 1.19043346e-02 -2.29030716e-03 9.99926518e-01 1.55048956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879072328999996 meters Centerline goodness [0,1] 0.7645155610335872 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.91, Z:15.51 [[ 9.99932563e-01 -6.79251252e-04 -1.15934837e-02 -2.32413752e+01] [ 7.07099473e-04 9.99996874e-01 2.39812812e-03 -1.90907585e+00] [ 1.15918185e-02 -2.40616414e-03 9.99929918e-01 1.55051818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.909072329 meters Centerline goodness [0,1] 0.754048360907535 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.91, Z:15.50 [[ 9.99919734e-01 -4.26438088e-03 -1.19306713e-02 -2.32397008e+01] [ 4.25334604e-03 9.99990503e-01 -9.50134171e-04 -1.91087222e+00] [ 1.19346097e-02 8.99312634e-04 9.99928376e-01 1.55040074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93907232899999 meters Centerline goodness [0,1] 0.727947598253275 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.92, Z:15.50 [[ 9.99893077e-01 -9.11437531e-03 -1.14351341e-02 -2.32413643e+01] [ 9.06506158e-03 9.99949420e-01 -4.35692134e-03 -1.91630896e+00] [ 1.14742663e-02 4.25279529e-03 9.99925125e-01 1.55041005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96907232899999 meters Centerline goodness [0,1] 0.7085274017324685 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.92, Z:15.50 [[ 9.99889294e-01 -9.71644156e-03 -1.12690490e-02 -2.32423706e+01] [ 9.67214757e-03 9.99945309e-01 -3.97845154e-03 -1.91871019e+00] [ 1.13070891e-02 3.86901519e-03 9.99928588e-01 1.55044942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99907232899999 meters Centerline goodness [0,1] 0.6669207483067274 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.92, Z:15.51 [[ 9.99864650e-01 -1.23739918e-02 -1.08427797e-02 -2.32465779e+01] [ 1.23220186e-02 9.99912333e-01 -4.84711134e-03 -1.92032814e+00] [ 1.09018072e-02 4.71285035e-03 9.99929467e-01 1.55076521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.029072328999995 meters Centerline goodness [0,1] 0.6610776882479421 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.92, Z:15.51 [[ 9.99859243e-01 -1.28541696e-02 -1.07826287e-02 -2.32469108e+01] [ 1.28097066e-02 9.99909205e-01 -4.18255345e-03 -1.92318557e+00] [ 1.08354129e-02 4.04384242e-03 9.99933118e-01 1.55072498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059072328999996 meters Centerline goodness [0,1] 0.6369414316702819 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.93, Z:15.51 [[ 9.99852463e-01 -1.33882344e-02 -1.07613568e-02 -2.32468841e+01] [ 1.33523210e-02 9.99905066e-01 -3.40220430e-03 -1.92743002e+00] [ 1.08058847e-02 3.25801326e-03 9.99936307e-01 1.55062382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.089072329 meters Centerline goodness [0,1] 0.6340856468958951 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.93, Z:15.51 [[ 9.99841772e-01 -1.40352213e-02 -1.09290566e-02 -2.32464340e+01] [ 1.40071361e-02 9.99898405e-01 -2.64209532e-03 -1.93237518e+00] [ 1.09650286e-02 2.48859248e-03 9.99936786e-01 1.55050312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119072329 meters Centerline goodness [0,1] 0.6140162188904903 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.94, Z:15.50 [[ 9.99689023e-01 -2.25374791e-02 -1.06732628e-02 -2.32465854e+01] [ 2.24268977e-02 9.99694708e-01 -1.03693855e-02 -1.93524946e+00] [ 1.09037041e-02 1.01267927e-02 9.99889273e-01 1.55047367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14907232899999 meters Centerline goodness [0,1] 0.601886468136307 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.94, Z:15.50 [[ 9.99681500e-01 -2.30202153e-02 -1.03425064e-02 -2.32476627e+01] [ 2.29173008e-02 9.99687736e-01 -9.96134520e-03 -1.93806960e+00] [ 1.05685891e-02 9.72115018e-03 9.99896897e-01 1.55047485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17907232899999 meters Centerline goodness [0,1] 0.5936082827072816 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.94, Z:15.51 [[ 9.99674998e-01 -2.34343129e-02 -1.00365339e-02 -2.32489365e+01] [ 2.33358868e-02 9.99679508e-01 -9.81412005e-03 -1.93960157e+00] [ 1.02633045e-02 9.57671901e-03 9.99901471e-01 1.55054094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.209072328999994 meters Centerline goodness [0,1] 0.6039713889185439 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.94, Z:15.51 [[ 9.99666701e-01 -2.38818682e-02 -9.80529998e-03 -2.32502565e+01] [ 2.37842266e-02 9.99667532e-01 -9.95675065e-03 -1.94010406e+00] [ 1.00398258e-02 9.72022059e-03 9.99902355e-01 1.55064930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239072328999995 meters Centerline goodness [0,1] 0.5869945401808565 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.94, Z:15.51 [[ 9.99654683e-01 -2.43659235e-02 -9.83955224e-03 -2.32505629e+01] [ 2.42726219e-02 9.99660304e-01 -9.49294527e-03 -1.94192413e+00] [ 1.00675142e-02 9.25083546e-03 9.99906529e-01 1.55064617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.269072329 meters Centerline goodness [0,1] 0.5757919035608943 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.94, Z:15.51 [[ 9.99662278e-01 -2.39882067e-02 -9.99474812e-03 -2.32493567e+01] [ 2.39031574e-02 9.99677770e-01 -8.54371275e-03 -1.94434460e+00] [ 1.01964759e-02 8.30192132e-03 9.99913551e-01 1.55050443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299072329 meters Centerline goodness [0,1] 0.5696872665172377 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.95, Z:15.50 [[ 9.99673473e-01 -2.34540338e-02 -1.01418193e-02 -2.32479854e+01] [ 2.33791356e-02 9.99698974e-01 -7.44164497e-03 -1.94734771e+00] [ 1.03133030e-02 7.20210810e-03 9.99920880e-01 1.55034009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32907232899999 meters Centerline goodness [0,1] 0.5648560657984921 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.95, Z:15.50 [[ 9.99684851e-01 -2.28966953e-02 -1.02926936e-02 -2.32467920e+01] [ 2.28324424e-02 9.99719346e-01 -6.31734467e-03 -1.95079786e+00] [ 1.04344512e-02 6.08034643e-03 9.99927073e-01 1.55019643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35907232899999 meters Centerline goodness [0,1] 0.5409009317035645 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.95, Z:15.50 [[ 9.99771620e-01 -1.88554720e-02 -1.00587993e-02 -2.32474007e+01] [ 1.88403522e-02 9.99821231e-01 -1.59579698e-03 -1.95345175e+00] [ 1.00870906e-02 1.40592121e-03 9.99948136e-01 1.55013374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.389072328999994 meters Centerline goodness [0,1] 0.5409009317035645 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.95, Z:15.50 [[ 9.99771620e-01 -1.88554720e-02 -1.00587993e-02 -2.32474007e+01] [ 1.88403522e-02 9.99821231e-01 -1.59579698e-03 -1.95345175e+00] [ 1.00870906e-02 1.40592121e-03 9.99948136e-01 1.55013374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419072328999995 meters Centerline goodness [0,1] 0.592292524005487 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.95, Z:15.50 [[ 9.99835617e-01 -1.53698704e-02 -9.61799568e-03 -2.32494922e+01] [ 1.53909458e-02 9.99879303e-01 2.12107753e-03 -1.95413012e+00] [ 9.58423413e-03 -2.26875891e-03 9.99951496e-01 1.55024308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.449072328999996 meters Centerline goodness [0,1] 0.5935337347074325 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.95, Z:15.50 [[ 9.99836065e-01 -1.49940811e-02 -1.01498802e-02 -2.32482122e+01] [ 1.50152376e-02 9.99885242e-01 2.01142312e-03 -1.95218797e+00] [ 1.01185559e-02 -2.16349624e-03 9.99946466e-01 1.55026664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479072329 meters Centerline goodness [0,1] 0.6055554362070077 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.95, Z:15.50 [[ 9.99888036e-01 -1.06887266e-02 -1.04721924e-02 -2.32476341e+01] [ 1.07485536e-02 9.99926138e-01 5.67340986e-03 -1.95014401e+00] [ 1.04107774e-02 -5.78533556e-03 9.99929070e-01 1.55030649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50907232899999 meters Centerline goodness [0,1] 0.6042100741058962 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.95, Z:15.50 [[ 9.99887594e-01 -9.68590841e-03 -1.14447449e-02 -2.32441303e+01] [ 9.75630347e-03 9.99933732e-01 6.11112381e-03 -1.94905799e+00] [ 1.13847947e-02 -6.22209529e-03 9.99915832e-01 1.55016173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53907232899999 meters Centerline goodness [0,1] 0.6084612906689574 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.95, Z:15.50 [[ 9.99886716e-01 -8.53879642e-03 -1.23953617e-02 -2.32403177e+01] [ 8.62352159e-03 9.99939710e-01 6.79795104e-03 -1.94878461e+00] [ 1.23365680e-02 -6.90407261e-03 9.99900066e-01 1.54996205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.569072328999994 meters Centerline goodness [0,1] 0.6181519436156873 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.95, Z:15.50 [[ 9.99898743e-01 -6.05971205e-03 -1.28757274e-02 -2.32361783e+01] [ 6.16331650e-03 9.99948828e-01 8.02210606e-03 -1.94643673e+00] [ 1.28264569e-02 -8.10065095e-03 9.99884924e-01 1.54967559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599072328999995 meters Centerline goodness [0,1] 0.6270143822561081 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.94, Z:15.50 [[ 9.99892805e-01 -5.93585372e-03 -1.33844941e-02 -2.32351206e+01] [ 6.03433964e-03 9.99954929e-01 7.32986963e-03 -1.94344191e+00] [ 1.33403819e-02 -7.40985048e-03 9.99883557e-01 1.54973528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.629072328999996 meters Centerline goodness [0,1] 0.6315130314612079 Centerline is valid? [False, False] Translation: X:-23.23, Y:-1.94, Z:15.50 [[ 9.99886222e-01 -5.51848035e-03 -1.40388822e-02 -2.32334895e+01] [ 5.61617975e-03 9.99960221e-01 6.92932104e-03 -1.94091797e+00] [ 1.40000844e-02 -7.00737752e-03 9.99877440e-01 1.54976834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659072329 meters Centerline goodness [0,1] 0.6547382943864792 Centerline is valid? [False, False] Translation: X:-23.23, Y:-1.94, Z:15.50 [[ 9.99899118e-01 -1.35326626e-03 -1.41393713e-02 -2.32335255e+01] [ 1.50036146e-03 9.99944816e-01 1.03978119e-02 -1.93893622e+00] [ 1.41245200e-02 -1.04179771e-02 9.99845970e-01 1.54983819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68907232899999 meters Centerline goodness [0,1] 0.6576198169089931 Centerline is valid? [False, False] Translation: X:-23.23, Y:-1.94, Z:15.50 [[ 9.99894115e-01 -1.36468489e-03 -1.44878131e-02 -2.32329062e+01] [ 1.50570285e-03 9.99951557e-01 9.72711635e-03 -1.93644717e+00] [ 1.44738368e-02 -9.74790073e-03 9.99847732e-01 1.54989796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71907232899999 meters Centerline goodness [0,1] 0.6654558741348924 Centerline is valid? [False, False] Translation: X:-23.23, Y:-1.93, Z:15.50 [[ 9.99883913e-01 -5.68499351e-04 -1.52261879e-02 -2.32303976e+01] [ 7.18763460e-04 9.99951080e-01 9.86514039e-03 -1.93496928e+00] [ 1.52198347e-02 -9.87493920e-03 9.99835408e-01 1.54983882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74907232899999 meters Centerline goodness [0,1] 0.6691831790256988 Centerline is valid? [False, False] Translation: X:-23.23, Y:-1.93, Z:15.50 [[ 9.99876118e-01 -2.70025306e-04 -1.57376903e-02 -2.32288896e+01] [ 4.19195049e-04 9.99955014e-01 9.47597505e-03 -1.93257477e+00] [ 1.57344236e-02 -9.48139832e-03 9.99831251e-01 1.54982714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779072328999995 meters Centerline goodness [0,1] 0.6884802478022817 Centerline is valid? [False, False] Translation: X:-23.23, Y:-1.93, Z:15.50 [[ 9.99851123e-01 4.86062107e-03 -1.65561616e-02 -2.32252140e+01] [-4.63710741e-03 9.99897955e-01 1.35120700e-02 -1.92879231e+00] [ 1.66201492e-02 -1.34332857e-02 9.99771633e-01 1.54963544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.809072328999996 meters Centerline goodness [0,1] 0.696404038641865 Centerline is valid? [False, False] Translation: X:-23.22, Y:-1.92, Z:15.50 [[ 9.99833093e-01 5.63802277e-03 -1.73781130e-02 -2.32223061e+01] [-5.40884830e-03 9.99898162e-01 1.32064442e-02 -1.92481426e+00] [ 1.74508015e-02 -1.31102444e-02 9.99761767e-01 1.54956454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839072329 meters Centerline goodness [0,1] 0.7011597178238365 Centerline is valid? [False, False] Translation: X:-23.22, Y:-1.92, Z:15.50 [[ 9.99822690e-01 5.76361915e-03 -1.79267924e-02 -2.32211362e+01] [-5.54604675e-03 9.99910649e-01 1.21628448e-02 -1.92050365e+00] [ 1.79952926e-02 -1.20612653e-02 9.99765320e-01 1.54965178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.869072329 meters Centerline goodness [0,1] 0.7263659827639004 Centerline is valid? [False, False] Translation: X:-23.22, Y:-1.91, Z:15.50 [[ 9.99813559e-01 5.80006554e-03 -1.84175583e-02 -2.32203046e+01] [-5.60922801e-03 9.99930222e-01 1.03965254e-02 -1.91475416e+00] [ 1.84765737e-02 -1.02912787e-02 9.99776328e-01 1.54982854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89907232899999 meters Centerline goodness [0,1] 0.7115115158945617 Centerline is valid? [False, False] Translation: X:-23.22, Y:-1.91, Z:15.50 [[ 9.99817344e-01 2.54466293e-03 -1.89421040e-02 -2.32179038e+01] [-2.43109676e-03 9.99978948e-01 6.01605023e-03 -1.91082689e+00] [ 1.89570141e-02 -5.96890128e-03 9.99802482e-01 1.54975942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92907232899999 meters Centerline goodness [0,1] 0.7234481245887256 Centerline is valid? [False, False] Translation: X:-23.22, Y:-1.91, Z:15.50 [[ 9.99813306e-01 2.56890400e-03 -1.91507941e-02 -2.32168275e+01] [-2.45763086e-03 9.99979976e-01 5.83163940e-03 -1.90995137e+00] [ 1.91653916e-02 -5.78348509e-03 9.99799599e-01 1.54968484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959072328999994 meters Centerline goodness [0,1] 0.6999186294561368 Centerline is valid? [False, False] Translation: X:-23.22, Y:-1.91, Z:15.50 [[ 9.99807378e-01 2.70718647e-03 -1.94390648e-02 -2.32154762e+01] [-2.59607770e-03 9.99980164e-01 5.73870871e-03 -1.90850849e+00] [ 1.94542149e-02 -5.68713799e-03 9.99794574e-01 1.54960359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.989072328999995 meters Centerline goodness [0,1] 0.700848624872262 Centerline is valid? [False, False] Translation: X:-23.22, Y:-1.90, Z:15.50 [[ 9.99802332e-01 2.11191414e-03 -1.97695754e-02 -2.32151681e+01] [-2.02800334e-03 9.99988855e-01 4.26352791e-03 -1.90260230e+00] [ 1.97783593e-02 -4.22259239e-03 9.99795472e-01 1.54971291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019072329 meters Centerline goodness [0,1] 0.6991217511479648 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.90, Z:15.49 [[ 9.99977207e-01 2.88465517e-03 -6.10451813e-03 -2.32121402e+01] [-2.86089243e-03 9.99988311e-01 3.89780573e-03 -1.90158042e+00] [ 6.11569060e-03 -3.88025252e-03 9.99973771e-01 1.54905175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.049072329 meters Centerline goodness [0,1] 0.6916102811460217 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.90, Z:15.49 [[ 9.99977410e-01 2.75037503e-03 -6.13311536e-03 -2.32120414e+01] [-2.72783060e-03 9.99989504e-01 3.68119373e-03 -1.90099761e+00] [ 6.14317565e-03 -3.66438047e-03 9.99974417e-01 1.54905311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07907232899999 meters Centerline goodness [0,1] 0.7069127727252363 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.90, Z:15.49 [[ 9.99978059e-01 2.54354508e-03 -6.11650181e-03 -2.32122176e+01] [-2.52281642e-03 9.99991057e-01 3.39430333e-03 -1.90048584e+00] [ 6.12508068e-03 -3.37879805e-03 9.99975533e-01 1.54907919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10907232899999 meters Centerline goodness [0,1] 0.6700216157795191 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.90, Z:15.49 [[ 9.99978976e-01 2.04382697e-03 -6.15386803e-03 -2.32120656e+01] [-2.02646140e-03 9.99993951e-01 2.82680975e-03 -1.89820197e+00] [ 6.15960832e-03 -2.81427975e-03 9.99977069e-01 1.54905823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139072328999994 meters Centerline goodness [0,1] 0.6610895643546496 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.90, Z:15.49 [[ 9.99980334e-01 1.76213967e-03 -6.01889323e-03 -2.32123452e+01] [-1.74649598e-03 9.99995086e-01 2.60336498e-03 -1.89786816e+00] [ 6.02345114e-03 -2.59280181e-03 9.99978497e-01 1.54904998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.169072328999995 meters Centerline goodness [0,1] 0.6517744265847932 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.90, Z:15.49 [[ 9.99980844e-01 1.61199028e-03 -5.97605416e-03 -2.32123859e+01] [-1.59649255e-03 9.99995353e-01 2.59716821e-03 -1.89837690e+00] [ 5.98021300e-03 -2.58757773e-03 9.99978771e-01 1.54902973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199072328999996 meters Centerline goodness [0,1] 0.6455417696826729 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.90, Z:15.49 [[ 9.99982453e-01 1.01074500e-03 -5.83720949e-03 -2.32129581e+01] [-9.99860550e-04 9.99997757e-01 1.86728442e-03 -1.89622122e+00] [ 5.83908374e-03 -1.86141526e-03 9.99981220e-01 1.54906009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.229072329 meters Centerline goodness [0,1] 0.6511480170614393 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.89, Z:15.49 [[ 9.99978735e-01 1.33578685e-03 -6.38318147e-03 -2.32110081e+01] [-1.32388084e-03 9.99997377e-01 1.86907657e-03 -1.89352722e+00] [ 6.38566141e-03 -1.86058625e-03 9.99977881e-01 1.54898261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25907232899999 meters Centerline goodness [0,1] 0.6563067562658917 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.89, Z:15.49 [[ 9.99976259e-01 1.38403727e-03 -6.75025498e-03 -2.32098832e+01] [-1.37430969e-03 9.99998011e-01 1.44549418e-03 -1.89071307e+00] [ 6.75224217e-03 -1.43618292e-03 9.99976172e-01 1.54897072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28907232899999 meters Centerline goodness [0,1] 0.6601846574717884 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.89, Z:15.49 [[ 9.99974774e-01 1.34144797e-03 -6.97504211e-03 -2.32093072e+01] [-1.33443179e-03 9.99998599e-01 1.01045380e-03 -1.88903306e+00] [ 6.97638781e-03 -1.00112059e-03 9.99975164e-01 1.54898357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319072328999994 meters Centerline goodness [0,1] 0.6743335906634575 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.89, Z:15.49 [[ 9.99968727e-01 2.26064995e-03 -7.57857372e-03 -2.32061860e+01] [-2.24958993e-03 9.99996393e-01 1.46758601e-03 -1.88906692e+00] [ 7.58186408e-03 -1.45049143e-03 9.99970205e-01 1.54878081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.349072328999995 meters Centerline goodness [0,1] 0.6529289610004336 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.89, Z:15.49 [[ 9.99966689e-01 2.32027084e-03 -7.82542067e-03 -2.32053629e+01] [-2.31209709e-03 9.99996772e-01 1.05339750e-03 -1.88762596e+00] [ 7.82783958e-03 -1.03526928e-03 9.99968826e-01 1.54877138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379072328999996 meters Centerline goodness [0,1] 0.6761316872427984 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.89, Z:15.49 [[ 9.99962479e-01 2.56759952e-03 -8.27334869e-03 -2.32037968e+01] [-2.56166171e-03 9.99996454e-01 7.28220098e-04 -1.88518569e+00] [ 8.27518912e-03 -7.06999253e-04 9.99965510e-01 1.54873303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.409072329 meters Centerline goodness [0,1] 0.6957252365277042 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.88, Z:15.49 [[ 9.99942326e-01 6.52938895e-03 -8.52710959e-03 -2.32027840e+01] [-6.49498551e-03 9.99970681e-01 4.05607577e-03 -1.88063071e+00] [ 8.55334328e-03 -4.00045839e-03 9.99955417e-01 1.54870252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43907232899999 meters Centerline goodness [0,1] 0.695534911597243 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.88, Z:15.49 [[ 9.99939465e-01 6.39947413e-03 -8.95055337e-03 -2.32019193e+01] [-6.37102205e-03 9.99974573e-01 3.20371629e-03 -1.87704223e+00] [ 8.97082788e-03 -3.14649818e-03 9.99954811e-01 1.54876183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46907232899999 meters Centerline goodness [0,1] 0.694960334898351 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.87, Z:15.49 [[ 9.99938502e-01 6.16994940e-03 -9.21539805e-03 -2.32016850e+01] [-6.14838382e-03 9.99978298e-01 2.36666830e-03 -1.87431069e+00] [ 9.22980028e-03 -2.30986295e-03 9.99954737e-01 1.54884952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49907232899999 meters Centerline goodness [0,1] 0.6825692343495462 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.87, Z:15.49 [[ 9.99940603e-01 5.72021838e-03 -9.27734753e-03 -2.32017686e+01] [-5.70919535e-03 9.99982965e-01 1.21421463e-03 -1.87089330e+00] [ 9.28413506e-03 -1.16117632e-03 9.99956227e-01 1.54891479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.529072328999995 meters Centerline goodness [0,1] 0.691001816403521 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.87, Z:15.49 [[ 9.99942046e-01 5.52347871e-03 -9.24102689e-03 -2.32017943e+01] [-5.51627516e-03 9.99984461e-01 8.04825743e-04 -1.86993440e+00] [ 9.24532874e-03 -7.53803053e-04 9.99956977e-01 1.54892110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559072328999996 meters Centerline goodness [0,1] 0.6873318516785589 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.87, Z:15.49 [[ 9.99943217e-01 5.17887852e-03 -9.31349771e-03 -2.32013097e+01] [-5.17837984e-03 9.99986589e-01 7.76581969e-05 -1.86666240e+00] [ 9.31377499e-03 -2.94249585e-05 9.99956625e-01 1.54889210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.589072329 meters Centerline goodness [0,1] 0.6980813038679223 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.86, Z:15.49 [[ 9.99946154e-01 4.72563247e-03 -9.23891305e-03 -2.32016412e+01] [-4.73220119e-03 9.99988566e-01 -6.89253015e-04 -1.86399166e+00] [ 9.23555025e-03 7.32936297e-04 9.99957083e-01 1.54892998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61907232899999 meters Centerline goodness [0,1] 0.6711862017106871 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.86, Z:15.49 [[ 9.99943694e-01 4.75799884e-03 -9.48531890e-03 -2.32007929e+01] [-4.76686537e-03 9.99988222e-01 -9.12375001e-04 -1.86226543e+00] [ 9.48086610e-03 9.57538867e-04 9.99954597e-01 1.54891567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64907232899999 meters Centerline goodness [0,1] 0.6642373640887758 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.86, Z:15.49 [[ 9.99944549e-01 4.48959240e-03 -9.52588058e-03 -2.32006307e+01] [-4.50387058e-03 9.99988765e-01 -1.47796053e-03 -1.86007423e+00] [ 9.51913812e-03 1.52078191e-03 9.99953536e-01 1.54892276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67907232899999 meters Centerline goodness [0,1] 0.6657907819046942 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.86, Z:15.49 [[ 9.99940051e-01 4.58997530e-03 -9.94118094e-03 -2.31986036e+01] [-4.60678152e-03 9.99987997e-01 -1.66832700e-03 -1.85674578e+00] [ 9.93340404e-03 1.71402384e-03 9.99949194e-01 1.54878877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.709072328999994 meters Centerline goodness [0,1] 0.6552468623217633 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.86, Z:15.49 [[ 9.99937830e-01 4.67969460e-03 -1.01211171e-02 -2.31977146e+01] [-4.69640280e-03 9.99987647e-01 -1.62768864e-03 -1.85596564e+00] [ 1.01133750e-02 1.67512029e-03 9.99947455e-01 1.54872888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739072328999995 meters Centerline goodness [0,1] 0.6653446064693869 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.86, Z:15.49 [[ 9.99937799e-01 4.73121586e-03 -1.01001672e-02 -2.31972554e+01] [-4.74695571e-03 9.99987555e-01 -1.53497091e-03 -1.85563955e+00] [ 1.00927792e-02 1.58282048e-03 9.99947814e-01 1.54865957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.769072329 meters Centerline goodness [0,1] 0.6529885524460484 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.85, Z:15.49 [[ 9.99945102e-01 4.03870389e-03 -9.66859822e-03 -2.31985822e+01] [-4.05954985e-03 9.99989476e-01 -2.13739450e-03 -1.85419867e+00] [ 9.65986416e-03 2.17652732e-03 9.99950974e-01 1.54868504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799072329 meters Centerline goodness [0,1] 0.6229246183206107 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.85, Z:15.49 [[ 9.99944814e-01 3.97789402e-03 -9.72348537e-03 -2.31982211e+01] [-3.99979348e-03 9.99989506e-01 -2.23381510e-03 -1.85322224e+00] [ 9.71449745e-03 2.27258376e-03 9.99950231e-01 1.54865905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82907232899999 meters Centerline goodness [0,1] 0.6364902506963788 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.85, Z:15.49 [[ 9.99947440e-01 3.54989796e-03 -9.61854416e-03 -2.31986140e+01] [-3.57684445e-03 9.99989723e-01 -2.78576194e-03 -1.85106800e+00] [ 9.60855614e-03 2.82001956e-03 9.99949860e-01 1.54867836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85907232899999 meters Centerline goodness [0,1] 0.6407680661363582 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.85, Z:15.49 [[ 9.99945037e-01 3.55290382e-03 -9.86406145e-03 -2.31976130e+01] [-3.58269352e-03 9.99989070e-01 -3.00399770e-03 -1.84904887e+00] [ 9.85328072e-03 3.03917250e-03 9.99946837e-01 1.54863370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.889072328999994 meters Centerline goodness [0,1] 0.6219250692687628 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.85, Z:15.49 [[ 9.99943558e-01 3.32611766e-03 -1.00904684e-02 -2.31966058e+01] [-3.36273704e-03 9.99987814e-01 -3.61431299e-03 -1.84527352e+00] [ 1.00783238e-02 3.64804058e-03 9.99942558e-01 1.54858848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919072328999995 meters Centerline goodness [0,1] 0.6233453089962144 Centerline is valid? [False, False] Translation: X:-23.20, Y:-1.85, Z:15.48 [[ 9.99941450e-01 3.62343304e-03 -1.01964205e-02 -2.31953939e+01] [-3.65707809e-03 9.99987924e-01 -3.28298390e-03 -1.84517228e+00] [ 1.01844017e-02 3.32008078e-03 9.99942626e-01 1.54845711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.949072328999996 meters Centerline goodness [0,1] 0.6261065157451748 Centerline is valid? [False, False] Translation: X:-23.19, Y:-1.85, Z:15.48 [[ 9.99940855e-01 3.82578739e-03 -1.01808219e-02 -2.31946268e+01] [-3.85664859e-03 9.99988023e-01 -3.01340413e-03 -1.84556858e+00] [ 1.01691713e-02 3.05248976e-03 9.99943634e-01 1.54834260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979072329 meters Centerline goodness [0,1] 0.6383991111540506 Centerline is valid? [False, False] Translation: X:-23.19, Y:-1.85, Z:15.48 [[ 9.99938765e-01 4.09482436e-03 -1.02809557e-02 -2.31935406e+01] [-4.12315348e-03 9.99987757e-01 -2.73581251e-03 -1.84570238e+00] [ 1.02696272e-02 2.77803494e-03 9.99943407e-01 1.54822700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00907232899999 meters Centerline goodness [0,1] 0.6311286127518899 Centerline is valid? [False, False] Translation: X:-23.19, Y:-1.84, Z:15.48 [[ 9.99933727e-01 4.08709904e-03 -1.07628108e-02 -2.31918817e+01] [-4.12202291e-03 9.99986305e-01 -3.22468370e-03 -1.84097629e+00] [ 1.07494838e-02 3.26883455e-03 9.99936880e-01 1.54818422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03907232899999 meters Centerline goodness [0,1] 0.6199293458399318 Centerline is valid? [False, False] Translation: X:-23.19, Y:-1.84, Z:15.48 [[ 9.99931019e-01 3.90711329e-03 -1.10765870e-02 -2.31911255e+01] [-3.94874184e-03 9.99985214e-01 -3.73887162e-03 -1.83759884e+00] [ 1.10618150e-02 3.78235230e-03 9.99931663e-01 1.54820218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.069072328999994 meters Centerline goodness [0,1] 0.6093245227606461 Centerline is valid? [False, False] Translation: X:-23.19, Y:-1.83, Z:15.48 [[ 9.99925271e-01 3.99441643e-03 -1.15541318e-02 -2.31896159e+01] [-4.04059244e-03 9.99983933e-01 -3.97591421e-03 -1.83476109e+00] [ 1.15380647e-02 4.02230263e-03 9.99925344e-01 1.54816829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099072328999995 meters Centerline goodness [0,1] 0.6160955705225899 Centerline is valid? [False, False] Translation: X:-23.19, Y:-1.83, Z:15.48 [[ 9.99912544e-01 4.75015609e-03 -1.23426588e-02 -2.31858880e+01] [-4.79834981e-03 9.99980968e-01 -3.87797104e-03 -1.83192207e+00] [ 1.23240029e-02 3.93685628e-03 9.99916307e-01 1.54796380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.129072328999996 meters Centerline goodness [0,1] 0.6207592692894776 Centerline is valid? [False, False] Translation: X:-23.18, Y:-1.83, Z:15.48 [[ 9.99910279e-01 5.01263663e-03 -1.24220200e-02 -2.31847889e+01] [-5.05992359e-03 9.99980061e-01 -3.77820431e-03 -1.83170087e+00] [ 1.24028335e-02 3.84071980e-03 9.99915706e-01 1.54785062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159072329 meters Centerline goodness [0,1] 0.6227786951913834 Centerline is valid? [False, False] Translation: X:-23.18, Y:-1.83, Z:15.48 [[ 9.99909297e-01 5.07297688e-03 -1.24765084e-02 -2.31842699e+01] [-5.12310692e-03 9.99978919e-01 -3.98928081e-03 -1.83077094e+00] [ 1.24560078e-02 4.05283746e-03 9.99914208e-01 1.54781826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18907232899999 meters Centerline goodness [0,1] 0.6200029758952486 Centerline is valid? [False, False] Translation: X:-23.18, Y:-1.82, Z:15.48 [[ 9.99897898e-01 5.37809949e-03 -1.32389125e-02 -2.31818707e+01] [-5.44342426e-03 9.99973163e-01 -4.90322100e-03 -1.82414371e+00] [ 1.32121872e-02 4.97478539e-03 9.99900340e-01 1.54784262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21907232899999 meters Centerline goodness [0,1] 0.6248529006735271 Centerline is valid? [False, False] Translation: X:-23.18, Y:-1.82, Z:15.48 [[ 9.99880373e-01 8.84821716e-03 -1.26865809e-02 -2.31834646e+01] [-8.86408848e-03 9.99959999e-01 -1.19534744e-03 -1.82309308e+00] [ 1.26754967e-02 1.30765942e-03 9.99918808e-01 1.54784699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24907232899999 meters Centerline goodness [0,1] 0.6272674956839392 Centerline is valid? [False, False] Translation: X:-23.18, Y:-1.82, Z:15.47 [[ 9.99935774e-01 1.12995672e-02 8.76009522e-04 -2.31784988e+01] [-1.13011515e-02 9.99934474e-01 1.82518937e-03 -1.82369957e+00] [-8.55328271e-04 -1.83497206e-03 9.99997951e-01 1.54693713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279072328999995 meters Centerline goodness [0,1] 0.6271352985638701 Centerline is valid? [False, False] Translation: X:-23.18, Y:-1.82, Z:15.47 [[ 9.99937898e-01 1.11278097e-02 6.09160552e-04 -2.31781958e+01] [-1.11284056e-02 9.99937593e-01 9.83720214e-04 -1.82121993e+00] [-5.98175885e-04 -9.90438109e-04 9.99999331e-01 1.54703888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.309072328999996 meters Centerline goodness [0,1] 0.6271352985638701 Centerline is valid? [False, False] Translation: X:-23.18, Y:-1.82, Z:15.47 [[ 9.99937898e-01 1.11278097e-02 6.09160552e-04 -2.31781958e+01] [-1.11284056e-02 9.99937593e-01 9.83720214e-04 -1.82121993e+00] [-5.98175885e-04 -9.90438109e-04 9.99999331e-01 1.54703888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339072329 meters Centerline goodness [0,1] 0.6429079274795593 Centerline is valid? [False, False] Translation: X:-23.18, Y:-1.82, Z:15.47 [[ 9.99938024e-01 1.11329488e-02 7.97814856e-05 -2.31770222e+01] [-1.11329185e-02 9.99937959e-01 -3.70261753e-04 -1.81631434e+00] [-8.38986410e-05 3.69350604e-04 9.99999928e-01 1.54718104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36907232899999 meters Centerline goodness [0,1] 0.6375171642170574 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.81, Z:15.47 [[ 9.99933726e-01 1.14974408e-02 -5.93251019e-04 -2.31749692e+01] [-1.14977963e-02 9.99933719e-01 -5.99311783e-04 -1.81456133e+00] [ 5.86321146e-04 6.06093143e-04 9.99999644e-01 1.54717256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39907232899999 meters Centerline goodness [0,1] 0.6370982131477658 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.81, Z:15.47 [[ 9.99932834e-01 1.15560900e-02 -8.85861539e-04 -2.31739616e+01] [-1.15569540e-02 9.99932739e-01 -9.76446568e-04 -1.81281314e+00] [ 8.74518051e-04 9.86618845e-04 9.99999131e-01 1.54716620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42907232899999 meters Centerline goodness [0,1] 0.6372007366482504 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.81, Z:15.47 [[ 9.99925957e-01 1.20788918e-02 -1.47682938e-03 -2.31710741e+01] [-1.20802892e-02 9.99926588e-01 -9.41006358e-04 -1.81110808e+00] [ 1.46535465e-03 9.58777209e-04 9.99998467e-01 1.54699240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459072328999994 meters Centerline goodness [0,1] 0.644467108618052 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.81, Z:15.47 [[ 9.99920855e-01 1.24490436e-02 -1.81808182e-03 -2.31692840e+01] [-1.24505917e-02 9.99922133e-01 -8.42722798e-04 -1.81054263e+00] [ 1.80744915e-03 8.65292295e-04 9.99997992e-01 1.54687897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.489072328999995 meters Centerline goodness [0,1] 0.6500319244030137 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.81, Z:15.47 [[ 9.99918015e-01 1.26108807e-02 -2.22019551e-03 -2.31681383e+01] [-1.26135780e-02 9.99919719e-01 -1.20509508e-03 -1.80933105e+00] [ 2.20481996e-03 1.23300089e-03 9.99996809e-01 1.54690213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519072329 meters Centerline goodness [0,1] 0.657756612130988 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.81, Z:15.47 [[ 9.99920682e-01 1.23616750e-02 -2.41236964e-03 -2.31683090e+01] [-1.23669138e-02 9.99921175e-01 -2.16892024e-03 -1.80669234e+00] [ 2.38536800e-03 2.19858177e-03 9.99994738e-01 1.54706485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.549072329 meters Centerline goodness [0,1] 0.6524658485760593 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.80, Z:15.47 [[ 9.99876641e-01 1.55585690e-02 -2.15263161e-03 -2.31707125e+01] [-1.55575328e-02 9.99878851e-01 4.97271861e-04 -1.80381813e+00] [ 2.16010766e-03 -4.63720881e-04 9.99997559e-01 1.54739250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57907232899999 meters Centerline goodness [0,1] 0.6431074465343983 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.80, Z:15.47 [[ 9.99873347e-01 1.56919045e-02 -2.65589501e-03 -2.31696597e+01] [-1.56920259e-02 9.99876872e-01 -2.48592550e-05 -1.80165989e+00] [ 2.65517791e-03 6.65324798e-05 9.99996473e-01 1.54748155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60907232899999 meters Centerline goodness [0,1] 0.6482934889244591 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.80, Z:15.47 [[ 9.99871973e-01 1.57385502e-02 -2.88719191e-03 -2.31689901e+01] [-1.57394681e-02 9.99876083e-01 -2.95480706e-04 -1.80068850e+00] [ 2.88218370e-03 3.40885742e-04 9.99995788e-01 1.54749936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639072328999994 meters Centerline goodness [0,1] 0.660034535192392 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.80, Z:15.47 [[ 9.99865365e-01 1.61073107e-02 -3.13136503e-03 -2.31676583e+01] [-1.61071192e-02 9.99870268e-01 8.63830320e-05 -1.80143759e+00] [ 3.13235019e-03 -3.59341320e-05 9.99995094e-01 1.54739975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.669072328999995 meters Centerline goodness [0,1] 0.6569350595760046 Centerline is valid? [False, False] Translation: X:-23.16, Y:-1.80, Z:15.47 [[ 9.99904905e-01 1.31331823e-02 -4.20710736e-03 -2.31633515e+01] [-1.31482600e-02 9.99907162e-01 -3.57649306e-03 -1.80177306e+00] [ 4.15974604e-03 3.63146910e-03 9.99984754e-01 1.54722202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699072328999996 meters Centerline goodness [0,1] 0.6585999382779549 Centerline is valid? [False, False] Translation: X:-23.16, Y:-1.80, Z:15.47 [[ 9.99931371e-01 1.03727341e-02 -5.44604095e-03 -2.31586960e+01] [-1.04108346e-02 9.99921200e-01 -7.01489907e-03 -1.80105687e+00] [ 5.37284812e-03 7.07111548e-03 9.99960565e-01 1.54706183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.729072329 meters Centerline goodness [0,1] 0.6554889808933577 Centerline is valid? [False, False] Translation: X:-23.16, Y:-1.80, Z:15.47 [[ 9.99927478e-01 1.06521309e-02 -5.61884206e-03 -2.31576056e+01] [-1.06885560e-02 9.99921795e-01 -6.49297437e-03 -1.80190131e+00] [ 5.54923863e-03 6.55256079e-03 9.99963134e-01 1.54694912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75907232899999 meters Centerline goodness [0,1] 0.6483093534471625 Centerline is valid? [False, False] Translation: X:-23.16, Y:-1.80, Z:15.47 [[ 9.99901377e-01 1.21063595e-02 -7.11846688e-03 -2.31556322e+01] [-1.21365620e-02 9.99917465e-01 -4.21505278e-03 -1.79949396e+00] [ 7.06685042e-03 4.30103079e-03 9.99965780e-01 1.54698752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78907232899999 meters Centerline goodness [0,1] 0.6464449809204891 Centerline is valid? [False, False] Translation: X:-23.15, Y:-1.80, Z:15.47 [[ 9.99897848e-01 1.21157216e-02 -7.58308003e-03 -2.31548957e+01] [-1.21506928e-02 9.99915676e-01 -4.58278742e-03 -1.79712719e+00] [ 7.52691682e-03 4.67445895e-03 9.99960747e-01 1.54707886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819072328999994 meters Centerline goodness [0,1] 0.6426198878970313 Centerline is valid? [False, False] Translation: X:-23.15, Y:-1.80, Z:15.47 [[ 9.99894466e-01 1.22314545e-02 -7.83889039e-03 -2.31543323e+01] [-1.22687352e-02 9.99913570e-01 -4.72555845e-03 -1.79650475e+00] [ 7.78041242e-03 4.82123302e-03 9.99958110e-01 1.54712396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.849072328999995 meters Centerline goodness [0,1] 0.6406156875955533 Centerline is valid? [False, False] Translation: X:-23.15, Y:-1.80, Z:15.47 [[ 9.99927515e-01 8.67160521e-03 -8.35269391e-03 -2.31525896e+01] [-8.74759233e-03 9.99920294e-01 -9.10415736e-03 -1.79575730e+00] [ 8.27308049e-03 9.17656341e-03 9.99923670e-01 1.54715188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879072328999996 meters Centerline goodness [0,1] 0.6421361289150687 Centerline is valid? [False, False] Translation: X:-23.15, Y:-1.80, Z:15.47 [[ 9.99926066e-01 8.90505426e-03 -8.28024160e-03 -2.31521443e+01] [-8.97723494e-03 9.99921671e-01 -8.72130066e-03 -1.79731083e+00] [ 8.20192936e-03 8.79498953e-03 9.99927686e-01 1.54706039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.909072329 meters Centerline goodness [0,1] 0.6401065508055965 Centerline is valid? [False, False] Translation: X:-23.15, Y:-1.80, Z:15.47 [[ 9.99920610e-01 9.28321675e-03 -8.52030729e-03 -2.31505905e+01] [-9.35457920e-03 9.99921178e-01 -8.37428808e-03 -1.79752816e+00] [ 8.44189538e-03 8.45332713e-03 9.99928635e-01 1.54693738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93907232899999 meters Centerline goodness [0,1] 0.6360242650489967 Centerline is valid? [False, False] Translation: X:-23.15, Y:-1.80, Z:15.47 [[ 9.99915549e-01 9.36903022e-03 -9.00644398e-03 -2.31494793e+01] [-9.44693443e-03 9.99917993e-01 -8.64655755e-03 -1.79524116e+00] [ 8.92469553e-03 8.73091062e-03 9.99922057e-01 1.54697537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96907232899999 meters Centerline goodness [0,1] 0.6377832448530364 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.80, Z:15.46 [[ 9.99943458e-01 9.76367630e-03 -4.21325933e-03 -2.31333725e+01] [-9.75105169e-03 9.99947937e-01 3.00660906e-03 -1.79808554e+00] [ 4.24239553e-03 -2.96535535e-03 9.99986604e-01 1.54636980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99907232899999 meters Centerline goodness [0,1] 0.635922077922078 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.80, Z:15.46 [[ 9.99943921e-01 9.62559062e-03 -4.41610219e-03 -2.31332635e+01] [-9.61487034e-03 9.99950793e-01 2.44238442e-03 -1.79674701e+00] [ 4.43939428e-03 -2.39978720e-03 9.99987266e-01 1.54646927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.029072328999995 meters Centerline goodness [0,1] 0.6324209214148444 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.47 [[ 9.99967712e-01 6.17695990e-03 -5.13995749e-03 -2.31313268e+01] [-6.19017536e-03 9.99977566e-01 -2.55919700e-03 -1.79412730e+00] [ 5.12403413e-03 2.59093161e-03 9.99983516e-01 1.54663949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059072328999996 meters Centerline goodness [0,1] 0.634619384359401 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.47 [[ 9.99967153e-01 6.22567626e-03 -5.18976750e-03 -2.31310239e+01] [-6.23946846e-03 9.99977035e-01 -2.64563452e-03 -1.79378569e+00] [ 5.17317745e-03 2.67792901e-03 9.99983033e-01 1.54663084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.089072329 meters Centerline goodness [0,1] 0.6452667635457754 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.47 [[ 9.99965924e-01 6.34105263e-03 -5.28600389e-03 -2.31303044e+01] [-6.35463379e-03 9.99976541e-01 -2.55644440e-03 -1.79343103e+00] [ 5.26966934e-03 2.58994790e-03 9.99982761e-01 1.54656802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11907232899999 meters Centerline goodness [0,1] 0.6383704282181439 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.46 [[ 9.99969794e-01 5.94395434e-03 -5.00807390e-03 -2.31308305e+01] [-5.95674355e-03 9.99979026e-01 -2.54268412e-03 -1.79332791e+00] [ 4.99285526e-03 2.57243912e-03 9.99984227e-01 1.54649965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14907232899999 meters Centerline goodness [0,1] 0.6404473971038563 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.46 [[ 9.99967992e-01 6.11089141e-03 -5.16457125e-03 -2.31302000e+01] [-6.12260893e-03 9.99978712e-01 -2.25607094e-03 -1.79379364e+00] [ 5.15067470e-03 2.28761938e-03 9.99984119e-01 1.54646392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17907232899999 meters Centerline goodness [0,1] 0.6282247798186589 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.46 [[ 9.99967005e-01 6.19746685e-03 -5.25171353e-03 -2.31299297e+01] [-6.20907364e-03 9.99978311e-01 -2.19668080e-03 -1.79426597e+00] [ 5.23798576e-03 2.22921660e-03 9.99983797e-01 1.54647244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.209072328999994 meters Centerline goodness [0,1] 0.6409691058597702 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.46 [[ 9.99966644e-01 6.24268727e-03 -5.26689679e-03 -2.31298506e+01] [-6.25396323e-03 9.99978181e-01 -2.12716455e-03 -1.79465220e+00] [ 5.25350265e-03 2.16003257e-03 9.99983867e-01 1.54647783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239072328999995 meters Centerline goodness [0,1] 0.6452729070190957 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.47 [[ 9.99966882e-01 6.17143328e-03 -5.30553045e-03 -2.31299532e+01] [-6.18388605e-03 9.99978156e-01 -2.33393822e-03 -1.79399951e+00] [ 5.29101081e-03 2.36666972e-03 9.99983202e-01 1.54652748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.269072329 meters Centerline goodness [0,1] 0.6392092257001647 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.47 [[ 9.99965311e-01 6.00081649e-03 -5.77636765e-03 -2.31294376e+01] [-6.01881456e-03 9.99977071e-01 -3.10348619e-03 -1.78999569e+00] [ 5.75761175e-03 3.13814542e-03 9.99978501e-01 1.54667137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299072329 meters Centerline goodness [0,1] 0.6476197961696665 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.47 [[ 9.99964794e-01 6.06750281e-03 -5.79623135e-03 -2.31289983e+01] [-6.08434881e-03 9.99977305e-01 -2.89317304e-03 -1.79011855e+00] [ 5.77854547e-03 2.92833748e-03 9.99979016e-01 1.54660745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32907232899999 meters Centerline goodness [0,1] 0.6304121022430882 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.79, Z:15.46 [[ 9.99976821e-01 2.74925152e-03 -6.22891688e-03 -2.31262431e+01] [-2.78774594e-03 9.99977019e-01 -6.17972317e-03 -1.79225964e+00] [ 6.21178413e-03 6.19694457e-03 9.99961505e-01 1.54638618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35907232899999 meters Centerline goodness [0,1] 0.62596587667894 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.80, Z:15.46 [[ 9.99977304e-01 3.07819146e-03 -5.99295685e-03 -2.31256740e+01] [-3.10757758e-03 9.99983165e-01 -4.90032135e-03 -1.79614114e+00] [ 5.97777183e-03 4.91883371e-03 9.99970035e-01 1.54615091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.389072328999994 meters Centerline goodness [0,1] 0.6219502709429853 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.80, Z:15.46 [[ 9.99978547e-01 3.15859621e-03 -5.73838539e-03 -2.31257804e+01] [-3.18210326e-03 9.99986565e-01 -4.09195592e-03 -1.79882009e+00] [ 5.72538345e-03 4.11012827e-03 9.99975163e-01 1.54602340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419072328999995 meters Centerline goodness [0,1] 0.6188850967007964 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.80, Z:15.46 [[ 9.99979823e-01 3.08861659e-03 -5.55097911e-03 -2.31262676e+01] [-3.10911054e-03 9.99988369e-01 -3.68712389e-03 -1.80013055e+00] [ 5.53952644e-03 3.70430810e-03 9.99977796e-01 1.54600049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.449072328999996 meters Centerline goodness [0,1] 0.6049471785622262 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.80, Z:15.46 [[ 9.99999831e-01 5.80731554e-04 1.95748450e-05 -2.31118858e+01] [-5.80809385e-04 9.99990829e-01 4.24314769e-03 -1.80261422e+00] [-1.71105357e-05 -4.24315834e-03 9.99990998e-01 1.54571025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479072329 meters Centerline goodness [0,1] 0.5947715815186321 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.80, Z:15.46 [[ 9.99999994e-01 -5.30457906e-05 9.52890939e-05 -2.31133872e+01] [ 5.27036049e-05 9.99993564e-01 3.58744738e-03 -1.80174774e+00] [-9.54787796e-05 -3.58744234e-03 9.99993561e-01 1.54590548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50907232899999 meters Centerline goodness [0,1] 0.6042554296996778 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.80, Z:15.46 [[ 9.99999891e-01 -3.90585451e-04 2.55197748e-04 -2.31143503e+01] [ 3.89633984e-04 9.99993013e-01 3.71782465e-03 -1.80294000e+00] [-2.56648093e-04 -3.71772481e-03 9.99993056e-01 1.54596133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53907232899999 meters Centerline goodness [0,1] 0.5929749922174951 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.81, Z:15.46 [[ 9.99999380e-01 -9.50807687e-04 5.80074782e-04 -2.31157879e+01] [ 9.48468606e-04 9.99991472e-01 4.01941373e-03 -1.80592521e+00] [-5.83891525e-04 -4.01886105e-03 9.99991754e-01 1.54598503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.569072328999994 meters Centerline goodness [0,1] 0.5821847356511005 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.81, Z:15.46 [[ 9.99988792e-01 -4.70502701e-03 5.28628409e-04 -2.31144208e+01] [ 4.70413322e-03 9.99987525e-01 1.67947823e-03 -1.81179255e+00] [-5.36523805e-04 -1.67697267e-03 9.99998450e-01 1.54569439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599072328999995 meters Centerline goodness [0,1] 0.5778320061649114 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.81, Z:15.46 [[ 9.99987802e-01 -4.87168341e-03 8.13818168e-04 -2.31147284e+01] [ 4.86983702e-03 9.99985598e-01 2.25557812e-03 -1.81484767e+00] [-8.24794910e-04 -2.25158745e-03 9.99997125e-01 1.54558747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.629072328999996 meters Centerline goodness [0,1] 0.5772973528127969 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.82, Z:15.46 [[ 9.99983544e-01 -5.64073520e-03 1.04614034e-03 -2.31157596e+01] [ 5.63803964e-03 9.99980824e-01 2.56197110e-03 -1.81648056e+00] [-1.06057168e-03 -2.55603076e-03 9.99996171e-01 1.54553882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659072329 meters Centerline goodness [0,1] 0.5749216623003031 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.82, Z:15.46 [[ 9.99981790e-01 -5.90183885e-03 1.25976688e-03 -2.31166269e+01] [ 5.89830879e-03 9.99978719e-01 2.78771508e-03 -1.81803671e+00] [-1.27619272e-03 -2.78023383e-03 9.99995321e-01 1.54556137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68907232899999 meters Centerline goodness [0,1] 0.5679479961099452 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.82, Z:15.46 [[ 9.99979017e-01 -6.26675569e-03 1.64118645e-03 -2.31179966e+01] [ 6.26123538e-03 9.99974796e-01 3.34741610e-03 -1.82139183e+00] [-1.66212253e-03 -3.33707001e-03 9.99993051e-01 1.54555622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71907232899999 meters Centerline goodness [0,1] 0.5597383015155 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.83, Z:15.46 [[ 9.99975910e-01 -6.64810096e-03 1.99539703e-03 -2.31194925e+01] [ 6.64057353e-03 9.99970899e-01 3.75560999e-03 -1.82532094e+00] [-2.02030664e-03 -3.74226894e-03 9.99990957e-01 1.54559820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74907232899999 meters Centerline goodness [0,1] 0.5550290431060838 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.83, Z:15.46 [[ 9.99970572e-01 -7.37646191e-03 2.10797704e-03 -2.31209544e+01] [ 7.36761941e-03 9.99964155e-01 4.17220079e-03 -1.83056238e+00] [-2.13867756e-03 -4.15654724e-03 9.99989075e-01 1.54567534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779072328999995 meters Centerline goodness [0,1] 0.5574919106219267 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.83, Z:15.46 [[ 9.99972009e-01 -7.23403133e-03 1.91024270e-03 -2.31204553e+01] [ 7.22535091e-03 9.99963715e-01 4.51260834e-03 -1.83144932e+00] [-1.94281774e-03 -4.49867986e-03 9.99987994e-01 1.54567519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.809072328999996 meters Centerline goodness [0,1] 0.5638664251639072 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.83, Z:15.46 [[ 9.99975183e-01 -6.90263338e-03 1.40989302e-03 -2.31191194e+01] [ 6.89582411e-03 9.99964805e-01 4.77871022e-03 -1.83148077e+00] [-1.44282908e-03 -4.76886925e-03 9.99987588e-01 1.54567952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839072329 meters Centerline goodness [0,1] 0.563549710732217 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.83, Z:15.46 [[ 9.99977748e-01 -6.58814084e-03 1.04922791e-03 -2.31180881e+01] [ 6.58285743e-03 9.99966023e-01 4.96179797e-03 -1.83159670e+00] [-1.08188129e-03 -4.95478064e-03 9.99987140e-01 1.54568704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86907232899999 meters Centerline goodness [0,1] 0.5577444790953576 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.84, Z:15.46 [[ 9.99984571e-01 -5.50613391e-03 7.35253211e-04 -2.31162349e+01] [ 5.50146918e-03 9.99965631e-01 6.20245551e-03 -1.83648080e+00] [-7.69379492e-04 -6.19831484e-03 9.99980494e-01 1.54557501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89907232899999 meters Centerline goodness [0,1] 0.5565682833842502 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.84, Z:15.45 [[ 9.99987779e-01 -4.90646782e-03 6.06631865e-04 -2.31152034e+01] [ 4.90208293e-03 9.99963274e-01 7.02997186e-03 -1.83956409e+00] [-6.41101917e-04 -7.02691219e-03 9.99975105e-01 1.54548772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92907232899999 meters Centerline goodness [0,1] 0.5568361980018622 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.84, Z:15.45 [[ 9.99989634e-01 -4.53838003e-03 3.66514634e-04 -2.31143847e+01] [ 4.53551711e-03 9.99961836e-01 7.46691395e-03 -1.84143762e+00] [-4.00388340e-04 -7.46517422e-03 9.99972055e-01 1.54547080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959072328999994 meters Centerline goodness [0,1] 0.556215549570864 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.84, Z:15.46 [[ 9.99991634e-01 -4.09021208e-03 -3.86614342e-05 -2.31135696e+01] [ 4.09038937e-03 9.99961021e-01 7.82461399e-03 -1.84325951e+00] [ 6.65559655e-06 -7.82470667e-03 9.99969386e-01 1.54553741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.989072328999995 meters Centerline goodness [0,1] 0.5522054577862576 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.84, Z:15.46 [[ 9.99992973e-01 -3.70523501e-03 -5.69517588e-04 -2.31123598e+01] [ 3.70958624e-03 9.99962393e-01 7.83910668e-03 -1.84365419e+00] [ 5.40450437e-04 -7.84116427e-03 9.99969112e-01 1.54559726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019072329 meters Centerline goodness [0,1] 0.5564785303786985 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.84, Z:15.46 [[ 9.99994336e-01 -3.20451748e-03 -1.02867491e-03 -2.31108966e+01] [ 3.21268117e-03 9.99962557e-01 8.03507452e-03 -1.84409340e+00] [ 1.00288786e-03 -8.03833382e-03 9.99967189e-01 1.54559422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.049072329 meters Centerline goodness [0,1] 0.5634102930485574 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.85, Z:15.46 [[ 9.99995513e-01 -2.58664393e-03 -1.51093078e-03 -2.31091773e+01] [ 2.59928932e-03 9.99961104e-01 8.42814153e-03 -1.84505216e+00] [ 1.48907141e-03 -8.43203106e-03 9.99963341e-01 1.54555421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07907232899999 meters Centerline goodness [0,1] 0.5679092544473316 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.85, Z:15.45 [[ 9.99996611e-01 -1.27814743e-03 -2.26796455e-03 -2.31060832e+01] [ 1.30010409e-03 9.99952048e-01 9.70629898e-03 -1.84904248e+00] [ 2.25544972e-03 -9.70921468e-03 9.99950321e-01 1.54541992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10907232899999 meters Centerline goodness [0,1] 0.5701120797011208 Centerline is valid? [False, False] Translation: X:-23.10, Y:-1.85, Z:15.45 [[ 9.99986387e-01 -3.88582865e-03 -3.48236458e-03 -2.31021930e+01] [ 3.90520219e-03 9.99976840e-01 5.57390763e-03 -1.84754180e+00] [ 3.46062468e-03 -5.58743108e-03 9.99978402e-01 1.54548553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139072328999994 meters Centerline goodness [0,1] 0.5717484883923462 Centerline is valid? [False, False] Translation: X:-23.10, Y:-1.85, Z:15.46 [[ 9.99985777e-01 -3.51176819e-03 -4.01422454e-03 -2.31010513e+01] [ 3.53368046e-03 9.99978825e-01 5.46466187e-03 -1.84742192e+00] [ 3.99494892e-03 -5.47876913e-03 9.99977011e-01 1.54556180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.169072328999995 meters Centerline goodness [0,1] 0.5847915370255135 Centerline is valid? [False, False] Translation: X:-23.10, Y:-1.85, Z:15.46 [[ 9.99984477e-01 -2.14154978e-03 -5.14386145e-03 -2.30975951e+01] [ 2.16906262e-03 9.99983341e-01 5.34906591e-03 -1.84633565e+00] [ 5.13232047e-03 -5.36014023e-03 9.99972464e-01 1.54565689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199072328999996 meters Centerline goodness [0,1] 0.5847915370255135 Centerline is valid? [False, False] Translation: X:-23.10, Y:-1.85, Z:15.46 [[ 9.99984477e-01 -2.14154978e-03 -5.14386145e-03 -2.30975951e+01] [ 2.16906262e-03 9.99983341e-01 5.34906591e-03 -1.84633565e+00] [ 5.13232047e-03 -5.36014023e-03 9.99972464e-01 1.54565689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.229072329 meters Centerline goodness [0,1] 0.5899077996511338 Centerline is valid? [False, False] Translation: X:-23.10, Y:-1.85, Z:15.46 [[ 9.99982584e-01 -1.45537363e-03 -5.71962260e-03 -2.30955112e+01] [ 1.48756481e-03 9.99983056e-01 5.62798136e-03 -1.84673474e+00] [ 5.71133487e-03 -5.63639165e-03 9.99967805e-01 1.54561077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25907232899999 meters Centerline goodness [0,1] 0.5886942000448643 Centerline is valid? [False, False] Translation: X:-23.09, Y:-1.85, Z:15.46 [[ 9.99979936e-01 -8.63316222e-04 -6.27547424e-03 -2.30936513e+01] [ 9.00215550e-04 9.99982310e-01 5.87948190e-03 -1.84697897e+00] [ 6.27028738e-03 -5.88501322e-03 9.99963024e-01 1.54557414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28907232899999 meters Centerline goodness [0,1] 0.5975813073879612 Centerline is valid? [False, False] Translation: X:-23.09, Y:-1.85, Z:15.46 [[ 9.99973883e-01 1.95741595e-04 -7.22455616e-03 -2.30908117e+01] [-1.55231118e-04 9.99984266e-01 5.60746575e-03 -1.84577231e+00] [ 7.22554010e-03 -5.60619782e-03 9.99958180e-01 1.54565903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319072328999994 meters Centerline goodness [0,1] 0.6028229807501488 Centerline is valid? [False, False] Translation: X:-23.09, Y:-1.85, Z:15.46 [[ 9.99968543e-01 7.61551863e-04 -7.89510837e-03 -2.30890349e+01] [-7.18259848e-04 9.99984701e-01 5.48478318e-03 -1.84529921e+00] [ 7.89916453e-03 -5.47893991e-03 9.99953791e-01 1.54571655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.349072328999995 meters Centerline goodness [0,1] 0.608458763527802 Centerline is valid? [False, False] Translation: X:-23.09, Y:-1.84, Z:15.46 [[ 9.99964385e-01 1.08728535e-03 -8.36941393e-03 -2.30879349e+01] [-1.04332438e-03 9.99985647e-01 5.25514884e-03 -1.84482129e+00] [ 8.37500766e-03 -5.24622966e-03 9.99951167e-01 1.54577940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379072328999996 meters Centerline goodness [0,1] 0.6361547491196085 Centerline is valid? [False, False] Translation: X:-23.09, Y:-1.84, Z:15.46 [[ 9.99956721e-01 1.95198312e-03 -9.09643193e-03 -2.30857747e+01] [-1.90673071e-03 9.99985778e-01 4.98076275e-03 -1.84413239e+00] [ 9.10602492e-03 -4.96320274e-03 9.99946222e-01 1.54585739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.409072329 meters Centerline goodness [0,1] 0.6417281611487834 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.84, Z:15.46 [[ 9.99952835e-01 2.30162246e-03 -9.43555662e-03 -2.30847083e+01] [-2.25416966e-03 9.99984775e-01 5.03670062e-03 -1.84446995e+00] [ 9.44700554e-03 -5.01519372e-03 9.99942799e-01 1.54586083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43907232899999 meters Centerline goodness [0,1] 0.6520722424001194 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.84, Z:15.46 [[ 9.99947034e-01 -4.24007797e-04 -1.02834131e-02 -2.30814065e+01] [ 4.37867442e-04 9.99998999e-01 1.34555305e-03 -1.84249285e+00] [ 1.02828322e-02 -1.34998456e-03 9.99946219e-01 1.54581141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46907232899999 meters Centerline goodness [0,1] 0.6446798985226085 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.84, Z:15.46 [[ 9.99944654e-01 -7.41682752e-05 -1.05205778e-02 -2.30805135e+01] [ 9.37480490e-05 9.99998265e-01 1.86061206e-03 -1.84358520e+00] [ 1.05204216e-02 -1.86149537e-03 9.99942926e-01 1.54578067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49907232899999 meters Centerline goodness [0,1] 0.6393067608225378 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.85, Z:15.46 [[ 9.99945088e-01 1.56074065e-05 -1.04795292e-02 -2.30806047e+01] [ 7.73678869e-06 9.99997519e-01 2.22755538e-03 -1.84546910e+00] [ 1.04795380e-02 -2.22751413e-03 9.99942607e-01 1.54577886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.529072328999995 meters Centerline goodness [0,1] 0.6377855322097656 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.85, Z:15.46 [[ 9.99930454e-01 -3.03726763e-03 -1.13956894e-02 -2.30775118e+01] [ 3.02260967e-03 9.99994583e-01 -1.30327469e-03 -1.84591728e+00] [ 1.13995860e-02 1.26873933e-03 9.99934218e-01 1.54573433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559072328999996 meters Centerline goodness [0,1] 0.6245023122387912 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.85, Z:15.46 [[ 9.99934886e-01 -3.50390415e-03 -1.08603149e-02 -2.30792557e+01] [ 3.50031978e-03 9.99993813e-01 -3.49033809e-04 -1.85136345e+00] [ 1.08614707e-02 3.10996507e-04 9.99940964e-01 1.54568861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.589072329 meters Centerline goodness [0,1] 0.6262715830439174 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.85, Z:15.46 [[ 9.99935768e-01 -3.25153425e-03 -1.08576038e-02 -2.30788114e+01] [ 3.25875965e-03 9.99994480e-01 6.47843869e-04 -1.85434280e+00] [ 1.08554374e-02 -6.83184578e-04 9.99940845e-01 1.54558620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61907232899999 meters Centerline goodness [0,1] 0.62253910297528 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.86, Z:15.46 [[ 9.99938332e-01 -3.61252217e-03 -1.05015452e-02 -2.30799518e+01] [ 3.62422401e-03 9.99992832e-01 1.09548003e-03 -1.85681354e+00] [ 1.04975125e-02 -1.13347242e-03 9.99944257e-01 1.54557422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64907232899999 meters Centerline goodness [0,1] 0.5914921851961074 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.86, Z:15.45 [[ 9.99939746e-01 -3.55753223e-03 -1.03850450e-02 -2.30799107e+01] [ 3.57960465e-03 9.99991372e-01 2.10759110e-03 -1.86033152e+00] [ 1.03774576e-02 -2.14463846e-03 9.99943853e-01 1.54546994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67907232899999 meters Centerline goodness [0,1] 0.5909902418743427 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.86, Z:15.45 [[ 9.99917198e-01 -7.43443928e-03 -1.05036247e-02 -2.30793831e+01] [ 7.42549447e-03 9.99972034e-01 -8.90334686e-04 -1.86461487e+00] [ 1.05099501e-02 8.12266357e-04 9.99944439e-01 1.54541457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.709072328999994 meters Centerline goodness [0,1] 0.5701886976449364 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.87, Z:15.45 [[ 9.99920482e-01 -7.66716593e-03 -1.00121589e-02 -2.30806823e+01] [ 7.66588612e-03 9.99970603e-01 -1.66196727e-04 -1.86886102e+00] [ 1.00131388e-02 8.94314415e-05 9.99949863e-01 1.54537734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739072328999995 meters Centerline goodness [0,1] 0.577697632763712 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.87, Z:15.45 [[ 9.99922475e-01 -7.59191306e-03 -9.86947135e-03 -2.30810210e+01] [ 7.59960394e-03 9.99970847e-01 7.41989914e-04 -1.87295868e+00] [ 9.86355051e-03 -8.16936464e-04 9.99951020e-01 1.54534002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.769072329 meters Centerline goodness [0,1] 0.5611948955916473 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.88, Z:15.45 [[ 9.99917612e-01 -8.66168450e-03 -9.47330172e-03 -2.30836130e+01] [ 8.67381438e-03 9.99961613e-01 1.24009219e-03 -1.87785340e+00] [ 9.46219678e-03 -1.32215968e-03 9.99954358e-01 1.54544287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799072329 meters Centerline goodness [0,1] 0.5556547978273989 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.88, Z:15.45 [[ 9.99918326e-01 -8.69561057e-03 -9.36633789e-03 -2.30840747e+01] [ 8.71322789e-03 9.99960343e-01 1.84175683e-03 -1.88044225e+00] [ 9.34995125e-03 -1.92321744e-03 9.99954439e-01 1.54544831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82907232899999 meters Centerline goodness [0,1] 0.547012661884358 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.89, Z:15.45 [[ 9.99914147e-01 -9.09800833e-03 -9.42998055e-03 -2.30843840e+01] [ 9.12721794e-03 9.99953667e-01 3.05913125e-03 -1.88585885e+00] [ 9.40171162e-03 -3.14493810e-03 9.99950857e-01 1.54537670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85907232899999 meters Centerline goodness [0,1] 0.5398685888950396 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.89, Z:15.45 [[ 9.99917373e-01 -8.89210499e-03 -9.28317308e-03 -2.30841678e+01] [ 8.92895086e-03 9.99952393e-01 3.93523104e-03 -1.88920255e+00] [ 9.24773865e-03 -4.01779488e-03 9.99949167e-01 1.54527150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.889072328999994 meters Centerline goodness [0,1] 0.5366601951055823 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.89, Z:15.45 [[ 9.99921107e-01 -8.47344966e-03 -9.27251184e-03 -2.30834045e+01] [ 8.52022664e-03 9.99951117e-01 5.01687188e-03 -1.89328603e+00] [ 9.22954836e-03 -5.09547999e-03 9.99944424e-01 1.54513867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919072328999995 meters Centerline goodness [0,1] 0.530055689667535 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.90, Z:15.45 [[ 9.99880200e-01 -1.24198676e-02 -9.23761310e-03 -2.30836406e+01] [ 1.24359227e-02 9.99921255e-01 1.68260356e-03 -1.89718227e+00] [ 9.21598797e-03 -1.79728023e-03 9.99955917e-01 1.54517561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.949072328999996 meters Centerline goodness [0,1] 0.5348549396672775 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.90, Z:15.45 [[ 9.99880844e-01 -1.24335522e-02 -9.14902603e-03 -2.30841118e+01] [ 1.24545979e-02 9.99919914e-01 2.24695462e-03 -1.89967706e+00] [ 9.12035569e-03 -2.36063432e-03 9.99955622e-01 1.54520048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979072329 meters Centerline goodness [0,1] 0.5321748639075761 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.90, Z:15.45 [[ 9.99879632e-01 -1.25719757e-02 -9.09219064e-03 -2.30846529e+01] [ 1.25949563e-02 9.99917618e-01 2.47468785e-03 -1.90090598e+00] [ 9.06032989e-03 -2.58890571e-03 9.99955603e-01 1.54525268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00907232899999 meters Centerline goodness [0,1] 0.5270933624226327 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.90, Z:15.45 [[ 9.99882709e-01 -1.21291896e-02 -9.35148892e-03 -2.30835732e+01] [ 1.21596267e-02 9.99920933e-01 3.20482630e-03 -1.90249333e+00] [ 9.31187758e-03 -3.31816102e-03 9.99951138e-01 1.54519107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03907232899999 meters Centerline goodness [0,1] 0.5322859647875643 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.90, Z:15.45 [[ 9.99883279e-01 -1.19089439e-02 -9.57109094e-03 -2.30831267e+01] [ 1.19438740e-02 9.99922186e-01 3.60071114e-03 -1.90452889e+00] [ 9.52746551e-03 -3.71460677e-03 9.99947713e-01 1.54520791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.069072328999994 meters Centerline goodness [0,1] 0.5357497282737111 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.91, Z:15.45 [[ 9.99886103e-01 -1.13751517e-02 -9.91902658e-03 -2.30816364e+01] [ 1.14160829e-02 9.99926512e-01 4.07972603e-03 -1.90564481e+00] [ 9.87189014e-03 -4.19249779e-03 9.99942483e-01 1.54513526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099072328999995 meters Centerline goodness [0,1] 0.5388597362076302 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.91, Z:15.45 [[ 9.99888882e-01 -1.04155052e-02 -1.06649204e-02 -2.30785236e+01] [ 1.04655006e-02 9.99934457e-01 4.64280745e-03 -1.90604577e+00] [ 1.06158642e-02 -4.75390528e-03 9.99932350e-01 1.54498961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.129072328999996 meters Centerline goodness [0,1] 0.537689273143883 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.91, Z:15.45 [[ 9.99889769e-01 -9.77884426e-03 -1.11724813e-02 -2.30764152e+01] [ 9.83599143e-03 9.99938764e-01 5.07154635e-03 -1.90615107e+00] [ 1.11222032e-02 -5.18087973e-03 9.99924725e-01 1.54489012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159072329 meters Centerline goodness [0,1] 0.5413960080311799 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.91, Z:15.45 [[ 9.99889664e-01 -9.21489316e-03 -1.16509671e-02 -2.30750662e+01] [ 9.27226606e-03 9.99945104e-01 4.87991224e-03 -1.90500070e+00] [ 1.16053597e-02 -4.98740468e-03 9.99920218e-01 1.54494436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18907232899999 meters Centerline goodness [0,1] 0.5186415129890012 Centerline is valid? [False, False] Translation: X:-23.07, Y:-1.90, Z:15.45 [[ 9.99886506e-01 -8.76439655e-03 -1.22539908e-02 -2.30736297e+01] [ 8.82223388e-03 9.99950161e-01 4.67381426e-03 -1.90415752e+00] [ 1.22124170e-02 -4.78139138e-03 9.99913994e-01 1.54501378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21907232899999 meters Centerline goodness [0,1] 0.5637780856009204 Centerline is valid? [False, False] Translation: X:-23.07, Y:-1.90, Z:15.45 [[ 9.99882248e-01 -8.13722048e-03 -1.30105830e-02 -2.30715932e+01] [ 8.19804942e-03 9.99955682e-01 4.62886530e-03 -1.90307232e+00] [ 1.29723403e-02 -4.73498164e-03 9.99904645e-01 1.54504401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24907232899999 meters Centerline goodness [0,1] 0.566271882225263 Centerline is valid? [False, False] Translation: X:-23.07, Y:-1.90, Z:15.45 [[ 9.99877337e-01 -7.85284909e-03 -1.35515285e-02 -2.30704609e+01] [ 7.91157479e-03 9.99959521e-01 4.28535600e-03 -1.90171202e+00] [ 1.35173276e-02 -4.39204428e-03 9.99898991e-01 1.54512289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279072328999995 meters Centerline goodness [0,1] 0.5707471427222065 Centerline is valid? [False, False] Translation: X:-23.07, Y:-1.90, Z:15.45 [[ 9.99869396e-01 -6.84723380e-03 -1.46392312e-02 -2.30672124e+01] [ 6.90887743e-03 9.99967462e-01 4.16443346e-03 -1.89990559e+00] [ 1.46102400e-02 -4.26503022e-03 9.99884168e-01 1.54515232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.309072328999996 meters Centerline goodness [0,1] 0.5743071266968326 Centerline is valid? [False, False] Translation: X:-23.06, Y:-1.90, Z:15.45 [[ 9.99862029e-01 -6.20613025e-03 -1.54080347e-02 -2.30647577e+01] [ 6.27125186e-03 9.99971592e-01 4.18175753e-03 -1.89852500e+00] [ 1.53816444e-02 -4.27780823e-03 9.99872545e-01 1.54512388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339072329 meters Centerline goodness [0,1] 0.5781826786559394 Centerline is valid? [False, False] Translation: X:-23.06, Y:-1.90, Z:15.45 [[ 9.99855459e-01 -5.85105859e-03 -1.59632785e-02 -2.30630946e+01] [ 5.91521864e-03 9.99974605e-01 3.97497553e-03 -1.89719774e+00] [ 1.59396153e-02 -4.06882727e-03 9.99864677e-01 1.54511846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36907232899999 meters Centerline goodness [0,1] 0.5846092146547454 Centerline is valid? [False, False] Translation: X:-23.06, Y:-1.90, Z:15.45 [[ 9.99848975e-01 -4.80834805e-03 -1.67004964e-02 -2.30598901e+01] [ 4.88608664e-03 9.99977404e-01 4.61718715e-03 -1.89770517e+00] [ 1.66779180e-02 -4.69808991e-03 9.99849876e-01 1.54497054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39907232899999 meters Centerline goodness [0,1] 0.589582397844634 Centerline is valid? [False, False] Translation: X:-23.06, Y:-1.90, Z:15.45 [[ 9.99840789e-01 -3.86850155e-03 -1.74192703e-02 -2.30566832e+01] [ 3.95855336e-03 9.99978964e-01 5.13815682e-03 -1.89820434e+00] [ 1.73990269e-02 -5.20629388e-03 9.99835071e-01 1.54481021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42907232899999 meters Centerline goodness [0,1] 0.5912486407262068 Centerline is valid? [False, False] Translation: X:-23.06, Y:-1.90, Z:15.45 [[ 9.99834697e-01 -3.45975699e-03 -1.78496076e-02 -2.30551955e+01] [ 3.55292819e-03 9.99980216e-01 5.19072106e-03 -1.89790413e+00] [ 1.78312959e-02 -5.25328139e-03 9.99827209e-01 1.54478804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459072328999994 meters Centerline goodness [0,1] 0.5931971182236919 Centerline is valid? [False, False] Translation: X:-23.05, Y:-1.90, Z:15.45 [[ 9.99822900e-01 -2.47256208e-03 -1.86562591e-02 -2.30518508e+01] [ 2.58012357e-03 9.99980177e-01 5.74357199e-03 -1.89728480e+00] [ 1.86416879e-02 -5.79069026e-03 9.99809460e-01 1.54465852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.489072328999995 meters Centerline goodness [0,1] 0.586989015160502 Centerline is valid? [False, False] Translation: X:-23.05, Y:-1.90, Z:15.45 [[ 9.99819558e-01 -2.38521274e-03 -1.88457646e-02 -2.30512926e+01] [ 2.49246267e-03 9.99980822e-01 5.66949265e-03 -1.89682504e+00] [ 1.88318803e-02 -5.71544200e-03 9.99806328e-01 1.54467103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519072329 meters Centerline goodness [0,1] 0.6093345678133086 Centerline is valid? [False, False] Translation: X:-23.05, Y:-1.90, Z:15.45 [[ 9.99817000e-01 -2.41137144e-03 -1.89776493e-02 -2.30512309e+01] [ 2.51587206e-03 9.99981795e-01 5.48456338e-03 -1.89643925e+00] [ 1.89640785e-02 -5.53130504e-03 9.99804865e-01 1.54473356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.549072329 meters Centerline goodness [0,1] 0.6094775906365972 Centerline is valid? [False, False] Translation: X:-23.05, Y:-1.89, Z:15.45 [[ 9.99811907e-01 -2.53972559e-03 -1.92275789e-02 -2.30508694e+01] [ 2.63415377e-03 9.99984587e-01 4.88734754e-03 -1.89486083e+00] [ 1.92148700e-02 -4.93707666e-03 9.99803188e-01 1.54482300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57907232899999 meters Centerline goodness [0,1] 0.6094891379351369 Centerline is valid? [False, False] Translation: X:-23.05, Y:-1.89, Z:15.45 [[ 9.99779557e-01 -5.31024398e-03 -2.03135205e-02 -2.30466833e+01] [ 5.33651817e-03 9.99984993e-01 1.23944433e-03 -1.89324522e+00] [ 2.03066339e-02 -1.34757458e-03 9.99792891e-01 1.54472286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60907232899999 meters Centerline goodness [0,1] 0.6081993722058403 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.89, Z:15.45 [[ 9.99737639e-01 -8.43133765e-03 -2.12970682e-02 -2.30429821e+01] [ 8.38108216e-03 9.99961882e-01 -2.44789428e-03 -1.89234848e+00] [ 2.13168955e-02 2.26875957e-03 9.99770195e-01 1.54461771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639072328999994 meters Centerline goodness [0,1] 0.6030579730822276 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.89, Z:15.44 [[ 9.99742818e-01 -7.95247731e-03 -2.12380574e-02 -2.30416532e+01] [ 7.92519685e-03 9.99967659e-01 -1.36836813e-03 -1.89499427e+00] [ 2.12482524e-02 1.19970042e-03 9.99773511e-01 1.54438093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.669072328999995 meters Centerline goodness [0,1] 0.5918110610016616 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.90, Z:15.44 [[ 9.99953792e-01 -6.06911316e-03 -7.45517742e-03 -2.30378075e+01] [ 6.08404327e-03 9.99979529e-01 1.98160557e-03 -1.89748139e+00] [ 7.44299822e-03 -2.02687163e-03 9.99970246e-01 1.54350062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699072328999996 meters Centerline goodness [0,1] 0.5909966011456278 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.90, Z:15.44 [[ 9.99951645e-01 -5.99016570e-03 -7.79907887e-03 -2.30371293e+01] [ 6.00552452e-03 9.99980070e-01 1.94738458e-03 -1.89645546e+00] [ 7.78725828e-03 -1.99412798e-03 9.99967691e-01 1.54353696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.729072329 meters Centerline goodness [0,1] 0.5899840525551615 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.90, Z:15.44 [[ 9.99949756e-01 -6.08826367e-03 -7.96358726e-03 -2.30370534e+01] [ 6.10147031e-03 9.99980049e-01 1.63513647e-03 -1.89516262e+00] [ 7.95347324e-03 -1.68364390e-03 9.99966953e-01 1.54360914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75907232899999 meters Centerline goodness [0,1] 0.576023043778418 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.90, Z:15.44 [[ 9.99948766e-01 -6.07607418e-03 -8.09609013e-03 -2.30366675e+01] [ 6.09057229e-03 9.99979891e-01 1.76730290e-03 -1.89551008e+00] [ 8.08518906e-03 -1.81652217e-03 9.99965664e-01 1.54361489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78907232899999 meters Centerline goodness [0,1] 0.5597839021371793 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.90, Z:15.43 [[ 9.99950714e-01 -5.71816078e-03 -8.11615358e-03 -2.30358230e+01] [ 5.73929599e-03 9.99980194e-01 2.58319379e-03 -1.89796936e+00] [ 8.10122171e-03 -2.62964748e-03 9.99963727e-01 1.54348586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819072328999994 meters Centerline goodness [0,1] 0.5667000047625852 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.90, Z:15.43 [[ 9.99953838e-01 -5.20070139e-03 -8.07931328e-03 -2.30348481e+01] [ 5.22989298e-03 9.99979858e-01 3.59621110e-03 -1.90100579e+00] [ 8.06044773e-03 -3.63829904e-03 9.99960895e-01 1.54332318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.849072328999995 meters Centerline goodness [0,1] 0.539556210206215 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.90, Z:15.43 [[ 9.99925369e-01 -8.96340077e-03 -8.30146879e-03 -2.30339598e+01] [ 8.96178061e-03 9.99959815e-01 -2.32343776e-04 -1.90208089e+00] [ 8.30321779e-03 1.57930494e-04 9.99965515e-01 1.54333054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879072328999996 meters Centerline goodness [0,1] 0.5406536942766069 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.90, Z:15.43 [[ 9.99926733e-01 -8.86433513e-03 -8.24336811e-03 -2.30338155e+01] [ 8.86748966e-03 9.99960623e-01 3.46202469e-04 -1.90345319e+00] [ 8.23997466e-03 -4.19275085e-04 9.99965963e-01 1.54327542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.909072329 meters Centerline goodness [0,1] 0.5239014853491644 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.90, Z:15.43 [[ 9.99921884e-01 -9.40050858e-03 -8.23748001e-03 -2.30342680e+01] [ 9.40760518e-03 9.99955409e-01 8.23176184e-04 -1.90449125e+00] [ 8.22937441e-03 -9.00606840e-04 9.99965733e-01 1.54325296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93907232899999 meters Centerline goodness [0,1] 0.5221424653614098 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.91, Z:15.43 [[ 9.99923656e-01 -9.12170985e-03 -8.33529871e-03 -2.30334103e+01] [ 9.13501534e-03 9.99957059e-01 1.55960690e-03 -1.90614447e+00] [ 8.32071449e-03 -1.63563091e-03 9.99964045e-01 1.54314733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96907232899999 meters Centerline goodness [0,1] 0.5167518725478539 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.91, Z:15.43 [[ 9.99927384e-01 -8.56133432e-03 -8.48121383e-03 -2.30320710e+01] [ 8.58406021e-03 9.99959653e-01 2.64678707e-03 -1.90925068e+00] [ 8.45821161e-03 -2.71939812e-03 9.99960531e-01 1.54299686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99907232899999 meters Centerline goodness [0,1] 0.5127185821442938 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.91, Z:15.43 [[ 9.99931523e-01 -8.08220353e-03 -8.46327044e-03 -2.30311720e+01] [ 8.11483380e-03 9.99959746e-01 3.82829942e-03 -1.91294266e+00] [ 8.43198867e-03 -3.89671530e-03 9.99956858e-01 1.54283262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.029072328999995 meters Centerline goodness [0,1] 0.49961188342389384 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.91, Z:15.43 [[ 9.99888175e-01 -1.24018248e-02 -8.35657438e-03 -2.30317144e+01] [ 1.24007472e-02 9.99923091e-01 -1.80756006e-04 -1.91426342e+00] [ 8.35817339e-03 7.71080264e-05 9.99965067e-01 1.54289349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059072328999996 meters Centerline goodness [0,1] 0.5221832560547932 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.92, Z:15.43 [[ 9.99887834e-01 -1.27129011e-02 -7.91848386e-03 -2.30330098e+01] [ 1.27139705e-02 9.99919171e-01 8.47193733e-05 -1.91576505e+00] [ 7.91676679e-03 -1.85385241e-04 9.99968645e-01 1.54290127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.089072329 meters Centerline goodness [0,1] 0.5055200601334211 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.92, Z:15.43 [[ 9.99883046e-01 -1.32143119e-02 -7.69912831e-03 -2.30337904e+01] [ 1.32204743e-02 9.99912324e-01 7.50050531e-04 -1.91828903e+00] [ 7.68854188e-03 -8.51748938e-04 9.99970080e-01 1.54284440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11907232899999 meters Centerline goodness [0,1] 0.5055200601334211 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.92, Z:15.43 [[ 9.99883046e-01 -1.32143119e-02 -7.69912831e-03 -2.30337904e+01] [ 1.32204743e-02 9.99912324e-01 7.50050531e-04 -1.91828903e+00] [ 7.68854188e-03 -8.51748938e-04 9.99970080e-01 1.54284440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14907232899999 meters Centerline goodness [0,1] 0.49231889504838866 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.92, Z:15.43 [[ 9.99886901e-01 -1.29185457e-02 -7.70044405e-03 -2.30329302e+01] [ 1.29304578e-02 9.99915274e-01 1.49916523e-03 -1.92028731e+00] [ 7.68042459e-03 -1.59856595e-03 9.99969227e-01 1.54270167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17907232899999 meters Centerline goodness [0,1] 0.5063196154297104 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.92, Z:15.43 [[ 9.99892436e-01 -1.23945783e-02 -7.84159956e-03 -2.30315320e+01] [ 1.24143937e-02 9.99919855e-01 2.48335234e-03 -1.92250918e+00] [ 7.81019099e-03 -2.58043392e-03 9.99966171e-01 1.54253523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.209072328999994 meters Centerline goodness [0,1] 0.49663488502523834 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.92, Z:15.43 [[ 9.99890977e-01 -1.25383774e-02 -7.79893241e-03 -2.30317732e+01] [ 1.25607081e-02 9.99917132e-01 2.82093797e-03 -1.92406976e+00] [ 7.76291615e-03 -2.91859054e-03 9.99965609e-01 1.54252572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239072328999995 meters Centerline goodness [0,1] 0.4877974517519206 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.92, Z:15.43 [[ 9.99888799e-01 -1.29078029e-02 -7.46850463e-03 -2.30331839e+01] [ 1.29282053e-02 9.99912809e-01 2.68999709e-03 -1.92492280e+00] [ 7.43313150e-03 -2.78625232e-03 9.99968492e-01 1.54260822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.269072329 meters Centerline goodness [0,1] 0.46662462630792223 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.93, Z:15.43 [[ 9.99882478e-01 -1.36785329e-02 -6.92297786e-03 -2.30354069e+01] [ 1.36985566e-02 9.99902099e-01 2.85324042e-03 -1.92832445e+00] [ 6.88327196e-03 -2.94773991e-03 9.99971965e-01 1.54268004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299072329 meters Centerline goodness [0,1] 0.45562406576980563 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.93, Z:15.43 [[ 9.99884677e-01 -1.35064469e-02 -6.94318541e-03 -2.30349488e+01] [ 1.35312124e-02 9.99902210e-01 3.53236177e-03 -1.93014379e+00] [ 6.89479677e-03 -3.62590412e-03 9.99969657e-01 1.54259891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32907232899999 meters Centerline goodness [0,1] 0.46317974069583057 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.93, Z:15.42 [[ 9.99887761e-01 -1.32577704e-02 -6.97828584e-03 -2.30342834e+01] [ 1.32878555e-02 9.99902541e-01 4.28268154e-03 -1.93202594e+00] [ 6.92082693e-03 -4.37492731e-03 9.99966481e-01 1.54249594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35907232899999 meters Centerline goodness [0,1] 0.4640768101419217 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.93, Z:15.42 [[ 9.99890627e-01 -1.29928198e-02 -7.06542121e-03 -2.30334548e+01] [ 1.30287193e-02 9.99902325e-01 5.05895055e-03 -1.93433211e+00] [ 6.99900106e-03 -5.15045063e-03 9.99962243e-01 1.54238804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.389072328999994 meters Centerline goodness [0,1] 0.48425178587995177 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.94, Z:15.42 [[ 9.99886587e-01 -1.33814496e-02 -6.91018963e-03 -2.30341495e+01] [ 1.34202118e-02 9.99894298e-01 5.59386246e-03 -1.93841061e+00] [ 6.83460522e-03 -5.68596425e-03 9.99960478e-01 1.54237015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419072328999995 meters Centerline goodness [0,1] 0.47954830032926776 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.94, Z:15.42 [[ 9.99885067e-01 -1.35122028e-02 -6.87547905e-03 -2.30346961e+01] [ 1.35508263e-02 9.99892489e-01 5.60235011e-03 -1.93928421e+00] [ 6.79903977e-03 -5.69487464e-03 9.99960670e-01 1.54243695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.449072328999996 meters Centerline goodness [0,1] 0.47427065513893385 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.94, Z:15.43 [[ 9.99884768e-01 -1.34188575e-02 -7.09828563e-03 -2.30346482e+01] [ 1.34584889e-02 9.99893943e-01 5.56523636e-03 -1.93980443e+00] [ 7.02285370e-03 -5.66012727e-03 9.99959320e-01 1.54253386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479072329 meters Centerline goodness [0,1] 0.4714325336291777 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.94, Z:15.43 [[ 9.99883166e-01 -1.35458188e-02 -7.08276024e-03 -2.30354727e+01] [ 1.35836593e-02 9.99893574e-01 5.32209434e-03 -1.94036309e+00] [ 7.00991432e-03 -5.41768234e-03 9.99960754e-01 1.54266733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50907232899999 meters Centerline goodness [0,1] 0.46766066128252914 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.94, Z:15.43 [[ 9.99887692e-01 -1.31600078e-02 -7.17058613e-03 -2.30354390e+01] [ 1.32025557e-02 9.99895323e-01 5.91900086e-03 -1.94396057e+00] [ 7.09194144e-03 -6.01300617e-03 9.99956773e-01 1.54271135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53907232899999 meters Centerline goodness [0,1] 0.47214103242733196 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.95, Z:15.43 [[ 9.99891828e-01 -1.27802964e-02 -7.27991083e-03 -2.30345580e+01] [ 1.28284731e-02 9.99895864e-01 6.60995297e-03 -1.94597658e+00] [ 7.19467557e-03 -6.70262809e-03 9.99951655e-01 1.54261723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.569072328999994 meters Centerline goodness [0,1] 0.46850303253078474 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.95, Z:15.43 [[ 9.99896325e-01 -1.22755020e-02 -7.52675441e-03 -2.30332772e+01] [ 1.23313736e-02 9.99896419e-01 7.42215373e-03 -1.94823306e+00] [ 7.43486411e-03 -7.51419945e-03 9.99944128e-01 1.54251568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599072328999995 meters Centerline goodness [0,1] 0.4754293293087284 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.95, Z:15.42 [[ 9.99902765e-01 -1.16272610e-02 -7.69851166e-03 -2.30320737e+01] [ 1.16963919e-02 9.99891123e-01 8.99648561e-03 -1.95353286e+00] [ 7.59306898e-03 -9.08565565e-03 9.99929896e-01 1.54235854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.629072328999996 meters Centerline goodness [0,1] 0.4773381459313748 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.96, Z:15.42 [[ 9.99906387e-01 -1.12250482e-02 -7.82404574e-03 -2.30313929e+01] [ 1.13017579e-02 9.99887814e-01 9.83007581e-03 -1.95646270e+00] [ 7.71282491e-03 -9.91758106e-03 9.99921074e-01 1.54229336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659072329 meters Centerline goodness [0,1] 0.46552272727272725 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.96, Z:15.42 [[ 9.99864851e-01 -1.38521822e-02 -8.85422097e-03 -2.30277447e+01] [ 1.39111167e-02 9.99881258e-01 6.62952491e-03 -1.95626559e+00] [ 8.76133621e-03 -6.75180104e-03 9.99938824e-01 1.54223064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68907232899999 meters Centerline goodness [0,1] 0.4674209999089336 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.96, Z:15.42 [[ 9.99865409e-01 -1.34974917e-02 -9.32639449e-03 -2.30271704e+01] [ 1.35609143e-02 9.99885122e-01 6.77089723e-03 -1.95658356e+00] [ 9.23393296e-03 -6.89646037e-03 9.99933584e-01 1.54235875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71907232899999 meters Centerline goodness [0,1] 0.4890467732386027 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.96, Z:15.42 [[ 9.99864703e-01 -1.33872223e-02 -9.55818511e-03 -2.30269140e+01] [ 1.34525726e-02 9.99886348e-01 6.80586135e-03 -1.95702448e+00] [ 9.46598722e-03 -6.93352271e-03 9.99931158e-01 1.54241685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74907232899999 meters Centerline goodness [0,1] 0.49815263957204703 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.96, Z:15.42 [[ 9.99866790e-01 -1.30760985e-02 -9.76825165e-03 -2.30262774e+01] [ 1.31463445e-02 9.99887933e-01 7.16199289e-03 -1.95844318e+00] [ 9.67350603e-03 -7.28945564e-03 9.99926641e-01 1.54241171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779072328999995 meters Centerline goodness [0,1] 0.4835595165755182 Centerline is valid? [False, False] Translation: X:-23.02, Y:-1.96, Z:15.42 [[ 9.99823306e-01 -1.55828253e-02 -1.05134155e-02 -2.30230442e+01] [ 1.56256604e-02 9.99869893e-01 4.00456082e-03 -1.96062253e+00] [ 1.04496453e-02 -4.16813230e-03 9.99936714e-01 1.54233524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.809072328999996 meters Centerline goodness [0,1] 0.4874684457266498 Centerline is valid? [False, False] Translation: X:-23.02, Y:-1.96, Z:15.42 [[ 9.99826603e-01 -1.53694614e-02 -1.05139781e-02 -2.30229207e+01] [ 1.54160016e-02 9.99871661e-01 4.35987086e-03 -1.96262404e+00] [ 1.04456199e-02 -4.52119838e-03 9.99935222e-01 1.54231972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839072329 meters Centerline goodness [0,1] 0.500078770283348 Centerline is valid? [False, False] Translation: X:-23.02, Y:-1.96, Z:15.42 [[ 9.99832136e-01 -1.45504432e-02 -1.11347994e-02 -2.30209745e+01] [ 1.46050395e-02 9.99881638e-01 4.83770555e-03 -1.96328181e+00] [ 1.10630907e-02 -4.99951766e-03 9.99926304e-01 1.54229510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86907232899999 meters Centerline goodness [0,1] 0.5035103510351036 Centerline is valid? [False, False] Translation: X:-23.02, Y:-1.96, Z:15.42 [[ 9.99831231e-01 -1.38281915e-02 -1.20950558e-02 -2.30181636e+01] [ 1.38902293e-02 9.99890721e-01 5.06030785e-03 -1.96183721e+00] [ 1.20237592e-02 -5.22745693e-03 9.99914048e-01 1.54225055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89907232899999 meters Centerline goodness [0,1] 0.4706833441871955 Centerline is valid? [False, False] Translation: X:-23.02, Y:-1.96, Z:15.42 [[ 9.99831512e-01 -1.29374414e-02 -1.30219246e-02 -2.30151016e+01] [ 1.30106451e-02 9.99899941e-01 5.55263995e-03 -1.96087208e+00] [ 1.29487847e-02 -5.72112803e-03 9.99899794e-01 1.54216365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92907232899999 meters Centerline goodness [0,1] 0.5155428132830666 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.96, Z:15.42 [[ 9.99828512e-01 -1.27521696e-02 -1.34286708e-02 -2.30142212e+01] [ 1.28264052e-02 9.99902850e-01 5.45659714e-03 -1.96020247e+00] [ 1.33577828e-02 -5.62790297e-03 9.99894943e-01 1.54219648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959072328999994 meters Centerline goodness [0,1] 0.5280036031978381 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.96, Z:15.42 [[ 9.99769939e-01 -1.60853043e-02 -1.41891845e-02 -2.30124548e+01] [ 1.61035929e-02 9.99869638e-01 1.17559292e-03 -1.96019153e+00] [ 1.41684250e-02 -1.40381932e-03 9.99898637e-01 1.54234619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.989072328999995 meters Centerline goodness [0,1] 0.5057318827549002 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.96, Z:15.42 [[ 9.99774192e-01 -1.60506278e-02 -1.39262972e-02 -2.30133585e+01] [ 1.60711294e-02 9.99869924e-01 1.36147671e-03 -1.96206583e+00] [ 1.39026332e-02 -1.58498060e-03 9.99902098e-01 1.54240163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019072329 meters Centerline goodness [0,1] 0.5216138977024686 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.96, Z:15.42 [[ 9.99775580e-01 -1.60584212e-02 -1.38172503e-02 -2.30139437e+01] [ 1.60792354e-02 9.99869745e-01 1.39661336e-03 -1.96298947e+00] [ 1.37930231e-02 -1.61847076e-03 9.99903562e-01 1.54246048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.049072329 meters Centerline goodness [0,1] 0.5179334863417488 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.96, Z:15.42 [[ 9.99778984e-01 -1.56084965e-02 -1.40839598e-02 -2.30128274e+01] [ 1.56371703e-02 9.99875873e-01 1.92809770e-03 -1.96390163e+00] [ 1.40521169e-02 -2.14790484e-03 9.99898957e-01 1.54239892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07907232899999 meters Centerline goodness [0,1] 0.5166340508806262 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.97, Z:15.42 [[ 9.99784205e-01 -1.47874506e-02 -1.45902495e-02 -2.30099319e+01] [ 1.48366223e-02 9.99884592e-01 3.26770290e-03 -1.96565588e+00] [ 1.45402447e-02 -3.48346777e-03 9.99888217e-01 1.54213043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10907232899999 meters Centerline goodness [0,1] 0.5118405679877776 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.97, Z:15.42 [[ 9.99787006e-01 -1.44864134e-02 -1.46998791e-02 -2.30090403e+01] [ 1.45451826e-02 9.99886612e-01 3.89892439e-03 -1.96696302e+00] [ 1.46417308e-02 -4.11190636e-03 9.99884349e-01 1.54203732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139072328999994 meters Centerline goodness [0,1] 0.5080277546987627 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.97, Z:15.42 [[ 9.99789745e-01 -1.42670797e-02 -1.47280788e-02 -2.30086418e+01] [ 1.43332215e-02 9.99887615e-01 4.39511554e-03 -1.96844097e+00] [ 1.46637182e-02 -4.60529226e-03 9.99881876e-01 1.54199221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.169072328999995 meters Centerline goodness [0,1] 0.5006472636371753 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.97, Z:15.42 [[ 9.99729718e-01 -1.76751903e-02 -1.51022890e-02 -2.30072752e+01] [ 1.76942793e-02 9.99842804e-01 1.13128972e-03 -1.97112781e+00] [ 1.50799192e-02 -1.39820808e-03 9.99885314e-01 1.54198205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199072328999996 meters Centerline goodness [0,1] 0.4993203645519977 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.97, Z:15.42 [[ 9.99733266e-01 -1.77492602e-02 -1.47770373e-02 -2.30078458e+01] [ 1.77768114e-02 9.99840474e-01 1.73519389e-03 -1.97474928e+00] [ 1.47438816e-02 -1.99741966e-03 9.99889308e-01 1.54193224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.229072329 meters Centerline goodness [0,1] 0.49269967874155307 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.98, Z:15.42 [[ 9.99740806e-01 -1.74148328e-02 -1.46643781e-02 -2.30072746e+01] [ 1.74597131e-02 9.99843251e-01 2.93804540e-03 -1.97879880e+00] [ 1.46109139e-02 -3.19331971e-03 9.99888156e-01 1.54178325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25907232899999 meters Centerline goodness [0,1] 0.4782435659326081 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.98, Z:15.42 [[ 9.99728645e-01 -1.87204339e-02 -1.38629595e-02 -2.30102454e+01] [ 1.87645065e-02 9.99819261e-01 3.05593137e-03 -1.98135594e+00] [ 1.38032455e-02 -3.31523372e-03 9.99899235e-01 1.54183374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28907232899999 meters Centerline goodness [0,1] 0.4718712858211912 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.98, Z:15.42 [[ 9.99727815e-01 -1.88268733e-02 -1.37784136e-02 -2.30105755e+01] [ 1.88754258e-02 9.99816054e-01 3.40228293e-03 -1.98248051e+00] [ 1.37118248e-02 -3.66143030e-03 9.99899285e-01 1.54184411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319072328999994 meters Centerline goodness [0,1] 0.4570989348852531 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.99, Z:15.42 [[ 9.99648558e-01 -2.25486865e-02 -1.39397507e-02 -2.30097555e+01] [ 2.25542103e-02 9.99745593e-01 2.39161442e-04 -1.98597718e+00] [ 1.39308115e-02 -5.53477460e-04 9.99902808e-01 1.54181537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.349072328999995 meters Centerline goodness [0,1] 0.45324182691253534 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.99, Z:15.42 [[ 9.99656446e-01 -2.23224896e-02 -1.37367012e-02 -2.30095358e+01] [ 2.23418026e-02 9.99749604e-01 1.25406902e-03 -1.99008540e+00] [ 1.37052677e-02 -1.56054084e-03 9.99904861e-01 1.54169445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379072328999996 meters Centerline goodness [0,1] 0.44399029529409195 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.99, Z:15.42 [[ 9.99660165e-01 -2.22019695e-02 -1.36611166e-02 -2.30092702e+01] [ 2.22291499e-02 9.99751207e-01 1.84098172e-03 -1.99205603e+00] [ 1.36168444e-02 -2.14403110e-03 9.99904988e-01 1.54162566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.409072329 meters Centerline goodness [0,1] 0.44420863781560405 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.99, Z:15.42 [[ 9.99660403e-01 -2.21382383e-02 -1.37468973e-02 -2.30090109e+01] [ 2.21685997e-02 9.99752124e-01 2.06014061e-03 -1.99225539e+00] [ 1.36978819e-02 -2.36419045e-03 9.99903385e-01 1.54162589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43907232899999 meters Centerline goodness [0,1] 0.428680463179013 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.99, Z:15.42 [[ 9.99649984e-01 -2.28034429e-02 -1.34131782e-02 -2.30107327e+01] [ 2.28309346e-02 9.99737535e-01 1.90003993e-03 -1.99322960e+00] [ 1.33663302e-02 -2.20561028e-03 9.99908234e-01 1.54174969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46907232899999 meters Centerline goodness [0,1] 0.41902961562696917 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.00, Z:15.42 [[ 9.99649663e-01 -2.29775389e-02 -1.31371011e-02 -2.30116481e+01] [ 2.30085384e-02 9.99732818e-01 2.21341956e-03 -1.99534985e+00] [ 1.30827322e-02 -2.51490961e-03 9.99911255e-01 1.54177663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49907232899999 meters Centerline goodness [0,1] 0.4433376736111111 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.00, Z:15.42 [[ 9.99646149e-01 -2.33616639e-02 -1.27204273e-02 -2.30129658e+01] [ 2.33926524e-02 9.99723725e-01 2.29278831e-03 -1.99710805e+00] [ 1.26633496e-02 -2.58954154e-03 9.99916463e-01 1.54181309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.529072328999995 meters Centerline goodness [0,1] 0.4750454112966006 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.00, Z:15.42 [[ 9.99648820e-01 -2.32901731e-02 -1.26413851e-02 -2.30128894e+01] [ 2.33273004e-02 9.99723967e-01 2.79748057e-03 -1.99901507e+00] [ 1.25727419e-02 -3.09138754e-03 9.99916181e-01 1.54177078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559072328999996 meters Centerline goodness [0,1] 0.464036115813691 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.00, Z:15.42 [[ 9.99654534e-01 -2.30325550e-02 -1.26615329e-02 -2.30114707e+01] [ 2.30805781e-02 9.99726909e-01 3.65986332e-03 -2.00148466e+00] [ 1.25737791e-02 -3.95083446e-03 9.99913142e-01 1.54155062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.589072329 meters Centerline goodness [0,1] 0.47461081479554224 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.00, Z:15.41 [[ 9.99664221e-01 -2.25004442e-02 -1.28520350e-02 -2.30096643e+01] [ 2.25589913e-02 9.99735704e-01 4.42879309e-03 -2.00264879e+00] [ 1.27489885e-02 -4.71723494e-03 9.99907601e-01 1.54136312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61907232899999 meters Centerline goodness [0,1] 0.45761463118661694 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.00, Z:15.41 [[ 9.99668564e-01 -2.21801950e-02 -1.30691109e-02 -2.30086248e+01] [ 2.22460117e-02 9.99740458e-01 4.91236260e-03 -2.00352826e+00] [ 1.29567618e-02 -5.20147005e-03 9.99902529e-01 1.54130535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64907232899999 meters Centerline goodness [0,1] 0.4567130532795769 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.00, Z:15.41 [[ 9.99668876e-01 -2.22637590e-02 -1.29020871e-02 -2.30094196e+01] [ 2.23298444e-02 9.99738151e-01 5.00083443e-03 -2.00451865e+00] [ 1.27873713e-02 -5.28728013e-03 9.99904259e-01 1.54137487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67907232899999 meters Centerline goodness [0,1] 0.4554639264280471 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.01, Z:15.41 [[ 9.99669077e-01 -2.23212086e-02 -1.27866867e-02 -2.30100882e+01] [ 2.23891993e-02 9.99735812e-01 5.19904349e-03 -2.00632297e+00] [ 1.26672597e-02 -5.48360669e-03 9.99904731e-01 1.54143894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.709072328999994 meters Centerline goodness [0,1] 0.4465747522619561 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.01, Z:15.42 [[ 9.99666412e-01 -2.26091635e-02 -1.24856051e-02 -2.30114251e+01] [ 2.26766194e-02 9.99728868e-01 5.28779366e-03 -2.00830532e+00] [ 1.23626672e-02 -5.56916103e-03 9.99908070e-01 1.54152187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739072328999995 meters Centerline goodness [0,1] 0.4402535929233866 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.01, Z:15.42 [[ 9.99667670e-01 -2.27754133e-02 -1.20760264e-02 -2.30126881e+01] [ 2.28471307e-02 9.99721945e-01 5.83449450e-03 -2.01225209e+00] [ 1.19397856e-02 -6.10845808e-03 9.99910060e-01 1.54155652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.769072329 meters Centerline goodness [0,1] 0.40057507027444583 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.01, Z:15.42 [[ 9.99675098e-01 -2.24172985e-02 -1.21310526e-02 -2.30122210e+01] [ 2.24969556e-02 9.99725974e-01 6.47022785e-03 -2.01434393e+00] [ 1.19826834e-02 -6.74103741e-03 9.99905482e-01 1.54151488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799072329 meters Centerline goodness [0,1] 0.43390780020526853 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.02, Z:15.41 [[ 9.99688789e-01 -2.16387908e-02 -1.24132355e-02 -2.30106132e+01] [ 2.17323207e-02 9.99736068e-01 7.44992444e-03 -2.01626631e+00] [ 1.22487519e-02 -7.71737436e-03 9.99895200e-01 1.54140073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82907232899999 meters Centerline goodness [0,1] 0.43611882880957464 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.02, Z:15.41 [[ 9.99694625e-01 -2.12252462e-02 -1.26548448e-02 -2.30095493e+01] [ 2.13257084e-02 9.99741706e-01 7.85724706e-03 -2.01676604e+00] [ 1.24848041e-02 -8.12472118e-03 9.99889053e-01 1.54134439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85907232899999 meters Centerline goodness [0,1] 0.41378646590811874 Centerline is valid? [False, False] Translation: X:-23.01, Y:-2.02, Z:15.41 [[ 9.99712430e-01 -2.01856758e-02 -1.29458680e-02 -2.30076763e+01] [ 2.03026860e-02 9.99753625e-01 8.97158546e-03 -2.01940324e+00] [ 1.27615809e-02 -9.23184139e-03 9.99875950e-01 1.54120995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.889072328999994 meters Centerline goodness [0,1] 0.45741565881604074 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.02, Z:15.41 [[ 9.99649889e-01 -2.24688909e-02 -1.39731159e-02 -2.30029699e+01] [ 2.25592970e-02 9.99725363e-01 6.34637125e-03 -2.02118773e+00] [ 1.38266824e-02 -6.65937299e-03 9.99882231e-01 1.54098651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919072328999995 meters Centerline goodness [0,1] 0.45218257754033364 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.03, Z:15.41 [[ 9.99662634e-01 -2.19366162e-02 -1.39069129e-02 -2.30022093e+01] [ 2.20405471e-02 9.99729952e-01 7.36462275e-03 -2.02521295e+00] [ 1.37416024e-02 -7.66865415e-03 9.99876172e-01 1.54085392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.949072328999996 meters Centerline goodness [0,1] 0.40094896668072544 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.03, Z:15.41 [[ 9.99676466e-01 -2.15152630e-02 -1.35667809e-02 -2.30023741e+01] [ 2.16321030e-02 9.99729651e-01 8.52508400e-03 -2.03083135e+00] [ 1.33796937e-02 -8.81580385e-03 9.99871624e-01 1.54075684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979072329 meters Centerline goodness [0,1] 0.4695775302745313 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.03, Z:15.41 [[ 9.99676480e-01 -2.15168964e-02 -1.35631103e-02 -2.30028421e+01] [ 2.16329190e-02 9.99730132e-01 8.46639148e-03 -2.03099433e+00] [ 1.33772796e-02 -8.75706210e-03 9.99872173e-01 1.54083816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00907232899999 meters Centerline goodness [0,1] 0.4695775302745313 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.03, Z:15.41 [[ 9.99676480e-01 -2.15168964e-02 -1.35631103e-02 -2.30028421e+01] [ 2.16329190e-02 9.99730132e-01 8.46639148e-03 -2.03099433e+00] [ 1.33772796e-02 -8.75706210e-03 9.99872173e-01 1.54083816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03907232899999 meters Centerline goodness [0,1] 0.4372484140867037 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.03, Z:15.41 [[ 9.99678550e-01 -2.12847372e-02 -1.37752416e-02 -2.30024600e+01] [ 2.14033482e-02 9.99734609e-01 8.52106282e-03 -2.03037343e+00] [ 1.35902172e-02 -8.81316001e-03 9.99868808e-01 1.54088202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.069072329 meters Centerline goodness [0,1] 0.48299477900610877 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.03, Z:15.41 [[ 9.99691146e-01 -2.03116815e-02 -1.43194756e-02 -2.30001956e+01] [ 2.04479631e-02 9.99746390e-01 9.43592011e-03 -2.03195333e+00] [ 1.41241846e-02 -9.72580990e-03 9.99852947e-01 1.54076783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099072329 meters Centerline goodness [0,1] 0.4451581446620877 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.04, Z:15.41 [[ 9.99703436e-01 -1.96008355e-02 -1.44515582e-02 -2.29987602e+01] [ 1.97533228e-02 9.99749899e-01 1.04854644e-02 -2.03540934e+00] [ 1.42424200e-02 -1.07678211e-02 9.99840591e-01 1.54061261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.129072329 meters Centerline goodness [0,1] 0.4508280038964889 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.04, Z:15.40 [[ 9.99712867e-01 -1.91046499e-02 -1.44636165e-02 -2.29979048e+01] [ 1.92691537e-02 9.99750236e-01 1.13210041e-02 -2.03881698e+00] [ 1.42437202e-02 -1.15964551e-02 9.99831305e-01 1.54049864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159072329 meters Centerline goodness [0,1] 0.45302815560679455 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.04, Z:15.40 [[ 9.99718365e-01 -1.87585601e-02 -1.45364363e-02 -2.29974740e+01] [ 1.89348869e-02 9.99747634e-01 1.20888009e-02 -2.04215871e+00] [ 1.43059993e-02 -1.23606420e-02 9.99821260e-01 1.54045907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.189072329 meters Centerline goodness [0,1] 0.456861499364676 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.04, Z:15.41 [[ 9.99715703e-01 -1.86370360e-02 -1.48719400e-02 -2.29968807e+01] [ 1.88173913e-02 9.99749948e-01 1.20808618e-02 -2.04180744e+00] [ 1.46430698e-02 -1.23572783e-02 9.99816422e-01 1.54050075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219072329 meters Centerline goodness [0,1] 0.39964926366498343 Centerline is valid? [False, False] Translation: X:-23.00, Y:-2.04, Z:15.41 [[ 9.99714641e-01 -1.83195650e-02 -1.53306744e-02 -2.29958300e+01] [ 1.85048562e-02 9.99756359e-01 1.20330069e-02 -2.04071210e+00] [ 1.51064998e-02 -1.23132651e-02 9.99810071e-01 1.54053913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.249072329 meters Centerline goodness [0,1] 0.4591938109027881 Centerline is valid? [False, False] Translation: X:-22.99, Y:-2.04, Z:15.41 [[ 9.99718164e-01 -1.74002032e-02 -1.61500671e-02 -2.29941677e+01] [ 1.75914477e-02 9.99775906e-01 1.17761645e-02 -2.03905285e+00] [ 1.59415403e-02 -1.20569486e-02 9.99800229e-01 1.54069228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27907232899999 meters Centerline goodness [0,1] 0.46743944563351625 Centerline is valid? [False, False] Translation: X:-22.99, Y:-2.04, Z:15.41 [[ 9.99719703e-01 -1.69701987e-02 -1.65084125e-02 -2.29932165e+01] [ 1.71681395e-02 9.99781520e-01 1.19233891e-02 -2.04000568e+00] [ 1.63024635e-02 -1.22034657e-02 9.99792631e-01 1.54070463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30907232899999 meters Centerline goodness [0,1] 0.4422292226051291 Centerline is valid? [False, False] Translation: X:-22.98, Y:-2.04, Z:15.41 [[ 9.99660165e-01 -1.74129632e-02 -1.93995577e-02 -2.29837171e+01] [ 1.75671292e-02 9.99815222e-01 7.80500440e-03 -2.04079229e+00] [ 1.92600648e-02 -8.14314653e-03 9.99781346e-01 1.54084321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33907232899999 meters Centerline goodness [0,1] 0.47952531106187146 Centerline is valid? [False, False] Translation: X:-22.98, Y:-2.04, Z:15.41 [[ 9.99678834e-01 -1.49814689e-02 -2.04397998e-02 -2.29786403e+01] [ 1.51788254e-02 9.99839333e-01 9.53476352e-03 -2.04266291e+00] [ 2.02936710e-02 -9.84195342e-03 9.99745619e-01 1.54056501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36907232899999 meters Centerline goodness [0,1] 0.4818701475983278 Centerline is valid? [False, False] Translation: X:-22.98, Y:-2.04, Z:15.40 [[ 9.99676455e-01 -1.38299636e-02 -2.13475346e-02 -2.29752904e+01] [ 1.40475978e-02 9.99850531e-01 1.00787434e-02 -2.04135119e+00] [ 2.12049551e-02 -1.03753641e-02 9.99721312e-01 1.54045028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39907232899999 meters Centerline goodness [0,1] 0.4884851586489253 Centerline is valid? [False, False] Translation: X:-22.97, Y:-2.04, Z:15.40 [[ 9.99669705e-01 -1.26097041e-02 -2.23936799e-02 -2.29717167e+01] [ 1.28505920e-02 9.99860755e-01 1.06458274e-02 -2.03997858e+00] [ 2.22563210e-02 -1.09300832e-02 9.99692547e-01 1.54035510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.429072329 meters Centerline goodness [0,1] 0.49319481184401404 Centerline is valid? [False, False] Translation: X:-22.97, Y:-2.04, Z:15.40 [[ 9.99662822e-01 -1.11511479e-02 -2.34498159e-02 -2.29678375e+01] [ 1.14230013e-02 9.99868725e-01 1.14911668e-02 -2.03954699e+00] [ 2.33185979e-02 -1.17551595e-02 9.99658971e-01 1.54023160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.459072329 meters Centerline goodness [0,1] 0.5081855388813097 Centerline is valid? [False, False] Translation: X:-22.97, Y:-2.04, Z:15.40 [[ 9.99867502e-01 -7.53502386e-04 -1.62606793e-02 -2.29675982e+01] [ 8.37934295e-04 9.99986200e-01 5.18620911e-03 -2.04031680e+00] [ 1.62565471e-02 -5.19914733e-03 9.99854336e-01 1.54007548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.489072329 meters Centerline goodness [0,1] 0.5107612552319034 Centerline is valid? [False, False] Translation: X:-22.96, Y:-2.04, Z:15.40 [[ 9.99852625e-01 6.74811689e-04 -1.71543915e-02 -2.29642428e+01] [-5.72271879e-04 9.99981946e-01 5.98167330e-03 -2.04052669e+00] [ 1.71581183e-02 -5.97097478e-03 9.99834960e-01 1.53997369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519072329 meters Centerline goodness [0,1] 0.5186286588215303 Centerline is valid? [False, False] Translation: X:-22.96, Y:-2.04, Z:15.40 [[ 9.99840507e-01 1.26356476e-03 -1.78147207e-02 -2.29627759e+01] [-1.15989973e-03 9.99982343e-01 5.82819798e-03 -2.03931028e+00] [ 1.78217705e-02 -5.80660514e-03 9.99824318e-01 1.54004739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.549072329 meters Centerline goodness [0,1] 0.6057463447806868 Centerline is valid? [False, False] Translation: X:-22.96, Y:-2.04, Z:15.40 [[ 9.99807731e-01 6.25964220e-03 -1.85827429e-02 -2.29608914e+01] [-6.07545861e-03 9.99932026e-01 9.95150274e-03 -2.03822882e+00] [ 1.86437726e-02 -9.83669069e-03 9.99777800e-01 1.54011164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579072329 meters Centerline goodness [0,1] 0.5540998179740084 Centerline is valid? [False, False] Translation: X:-22.96, Y:-2.04, Z:15.40 [[ 9.99783172e-01 7.37686339e-03 -1.94728183e-02 -2.29576188e+01] [-7.17892910e-03 9.99922055e-01 1.02150541e-02 -2.03630981e+00] [ 1.95466555e-02 -1.00730452e-02 9.99758202e-01 1.54002983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.609072329 meters Centerline goodness [0,1] 0.5689129052765416 Centerline is valid? [False, False] Translation: X:-22.95, Y:-2.04, Z:15.40 [[ 9.99757964e-01 8.47356941e-03 -2.03030256e-02 -2.29541653e+01] [-8.25768053e-03 9.99908724e-01 1.06936820e-02 -2.03513601e+00] [ 2.03917861e-02 -1.05234379e-02 9.99736681e-01 1.53987797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639072329 meters Centerline goodness [0,1] 0.5874026442562764 Centerline is valid? [False, False] Translation: X:-22.95, Y:-2.03, Z:15.40 [[ 9.99720897e-01 1.02661491e-02 -2.12775487e-02 -2.29495325e+01] [-1.00248882e-02 9.99884598e-01 1.14145760e-02 -2.03451014e+00] [ 2.13922769e-02 -1.11980851e-02 9.99708444e-01 1.53965762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66907232899999 meters Centerline goodness [0,1] 0.6209402343170696 Centerline is valid? [False, False] Translation: X:-22.95, Y:-2.04, Z:15.40 [[ 9.99693009e-01 1.13274229e-02 -2.20358012e-02 -2.29463271e+01] [-1.10629545e-02 9.99865750e-01 1.20868701e-02 -2.03507274e+00] [ 2.21697560e-02 -1.18393785e-02 9.99684116e-01 1.53950650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69907232899999 meters Centerline goodness [0,1] 0.6495337052335732 Centerline is valid? [False, False] Translation: X:-22.94, Y:-2.03, Z:15.40 [[ 9.99677811e-01 1.17106052e-02 -2.25196795e-02 -2.29449606e+01] [-1.14442714e-02 9.99863468e-01 1.19194482e-02 -2.03465555e+00] [ 2.26561888e-02 -1.16578865e-02 9.99675343e-01 1.53951483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72907232899999 meters Centerline goodness [0,1] 0.650543801512448 Centerline is valid? [False, False] Translation: X:-22.94, Y:-2.03, Z:15.39 [[ 9.99642583e-01 1.28558932e-02 -2.34399503e-02 -2.29416904e+01] [-1.25659793e-02 9.99843235e-01 1.24739977e-02 -2.03453905e+00] [ 2.35966401e-02 -1.21749933e-02 9.99647422e-01 1.53942480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75907232899999 meters Centerline goodness [0,1] 0.665346112886049 Centerline is valid? [False, False] Translation: X:-22.94, Y:-2.03, Z:15.39 [[ 9.99557247e-01 1.74281572e-02 -2.41157475e-02 -2.29398395e+01] [-1.70393241e-02 9.99722984e-01 1.62362537e-02 -2.03184091e+00] [ 2.43920350e-02 -1.58181490e-02 9.99577318e-01 1.53945861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78907232899999 meters Centerline goodness [0,1] 0.6742374252325507 Centerline is valid? [False, False] Translation: X:-22.94, Y:-2.03, Z:15.39 [[ 9.99515308e-01 1.84340706e-02 -2.50865490e-02 -2.29367609e+01] [-1.80299914e-02 9.99705557e-01 1.62393996e-02 -2.02837940e+00] [ 2.53785207e-02 -1.57792182e-02 9.99553374e-01 1.53944381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.819072329 meters Centerline goodness [0,1] 0.7095748992172002 Centerline is valid? [False, False] Translation: X:-22.94, Y:-2.03, Z:15.40 [[ 9.99411059e-01 2.29891567e-02 -2.54761457e-02 -2.29358979e+01] [-2.24827343e-02 9.99547369e-01 1.99895954e-02 -2.02732288e+00] [ 2.59241583e-02 -1.94050493e-02 9.99475554e-01 1.53952905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.849072329 meters Centerline goodness [0,1] 0.730181663656645 Centerline is valid? [False, False] Translation: X:-22.93, Y:-2.03, Z:15.40 [[ 9.99365573e-01 2.19076329e-02 -2.80803590e-02 -2.29284707e+01] [-2.14912405e-02 9.99655819e-01 1.50456345e-02 -2.02522585e+00] [ 2.84003085e-02 -1.44326074e-02 9.99492432e-01 1.53981329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879072329 meters Centerline goodness [0,1] 0.7297366077109047 Centerline is valid? [False, False] Translation: X:-22.93, Y:-2.02, Z:15.40 [[ 9.99345265e-01 2.22318063e-02 -2.85445100e-02 -2.29272853e+01] [-2.18151638e-02 9.99652089e-01 1.48256490e-02 -2.02417748e+00] [ 2.88641800e-02 -1.41932390e-02 9.99482572e-01 1.53984284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.909072329 meters Centerline goodness [0,1] 0.743987933378654 Centerline is valid? [False, False] Translation: X:-22.93, Y:-2.02, Z:15.40 [[ 9.99329337e-01 2.23393930e-02 -2.90142564e-02 -2.29263160e+01] [-2.19299575e-02 9.99656462e-01 1.43539341e-02 -2.02235841e+00] [ 2.93249470e-02 -1.37080261e-02 9.99475931e-01 1.53989263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939072329 meters Centerline goodness [0,1] 0.760038240917782 Centerline is valid? [False, False] Translation: X:-22.92, Y:-2.02, Z:15.40 [[ 9.99287293e-01 2.32034193e-02 -2.97742668e-02 -2.29231731e+01] [-2.27892358e-02 9.99639787e-01 1.41755764e-02 -2.01890582e+00] [ 3.00924636e-02 -1.34869406e-02 9.99456125e-01 1.53979705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.969072329 meters Centerline goodness [0,1] 0.7515376458112407 Centerline is valid? [False, False] Translation: X:-22.92, Y:-2.02, Z:15.40 [[ 9.99313356e-01 2.08991309e-02 -3.05948121e-02 -2.29195014e+01] [-2.05718515e-02 9.99728157e-01 1.09732212e-02 -2.01651515e+00] [ 3.08158259e-02 -1.03362946e-02 9.99471633e-01 1.53965740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999072329 meters Centerline goodness [0,1] 0.7663206165212406 Centerline is valid? [False, False] Translation: X:-22.92, Y:-2.01, Z:15.40 [[ 9.99338438e-01 1.81800486e-02 -3.14987586e-02 -2.29161348e+01] [-1.79530936e-02 9.99810902e-01 7.47312869e-03 -2.01489485e+00] [ 3.16286641e-02 -6.90268459e-03 9.99475853e-01 1.53956477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02907232899999 meters Centerline goodness [0,1] 0.7763589082221611 Centerline is valid? [False, False] Translation: X:-22.90, Y:-2.02, Z:15.40 [[ 9.99221212e-01 1.95499524e-02 -3.42749111e-02 -2.29047541e+01] [-1.93917624e-02 9.99799749e-01 4.94172379e-03 -2.01520004e+00] [ 3.43646580e-02 -4.27322430e-03 9.99400225e-01 1.53952153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05907232899999 meters Centerline goodness [0,1] 0.7831730972851637 Centerline is valid? [False, False] Translation: X:-22.90, Y:-2.01, Z:15.39 [[ 9.99179858e-01 2.03428022e-02 -3.50111760e-02 -2.29016460e+01] [-2.01645531e-02 9.99781892e-01 5.43683567e-03 -2.01410047e+00] [ 3.51141403e-02 -4.72639197e-03 9.99372132e-01 1.53936432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08907232899999 meters Centerline goodness [0,1] 0.7873353166170846 Centerline is valid? [False, False] Translation: X:-22.90, Y:-2.01, Z:15.39 [[ 9.99156461e-01 2.06103423e-02 -3.55187192e-02 -2.28999412e+01] [-2.04359663e-02 9.99777298e-01 5.26552126e-03 -2.01190705e+00] [ 3.56193333e-02 -4.53522024e-03 9.99355140e-01 1.53931784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11907232899999 meters Centerline goodness [0,1] 0.7825745849324653 Centerline is valid? [False, False] Translation: X:-22.90, Y:-2.01, Z:15.39 [[ 9.99112418e-01 2.14667383e-02 -3.62430012e-02 -2.28973612e+01] [-2.12694538e-02 9.99756838e-01 5.82023919e-03 -2.01129471e+00] [ 3.63591298e-02 -5.04420441e-03 9.99326058e-01 1.53923527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14907232899999 meters Centerline goodness [0,1] 0.7837304115173908 Centerline is valid? [False, False] Translation: X:-22.89, Y:-2.01, Z:15.40 [[ 9.99042027e-01 2.01635954e-02 -3.88388624e-02 -2.28902403e+01] [-2.01378375e-02 9.99796657e-01 1.05433931e-03 -2.01040237e+00] [ 3.88522241e-02 -2.71198581e-04 9.99244931e-01 1.53956602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.179072329 meters Centerline goodness [0,1] 0.7962947243325835 Centerline is valid? [False, False] Translation: X:-22.89, Y:-2.01, Z:15.39 [[ 9.99445865e-01 2.15314043e-02 -2.53842771e-02 -2.28854705e+01] [-2.14621061e-02 9.99765164e-01 2.99928880e-03 -2.01221375e+00] [ 2.54428949e-02 -2.45282674e-03 9.99673268e-01 1.53882857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.209072329 meters Centerline goodness [0,1] 0.7962436935600119 Centerline is valid? [False, False] Translation: X:-22.88, Y:-2.01, Z:15.38 [[ 9.99663857e-01 2.29193268e-02 -1.21193231e-02 -2.28808214e+01] [-2.28771670e-02 9.99731780e-01 3.60601164e-03 -2.01215945e+00] [ 1.21987198e-02 -3.32754372e-03 9.99920056e-01 1.53809239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239072329 meters Centerline goodness [0,1] 0.7948712510075086 Centerline is valid? [False, False] Translation: X:-22.88, Y:-2.01, Z:15.38 [[ 9.99643869e-01 2.34138245e-02 -1.28034644e-02 -2.28782519e+01] [-2.33662241e-02 9.99719541e-01 3.85483821e-03 -2.01037145e+00] [ 1.28901300e-02 -3.55429676e-03 9.99910602e-01 1.53797918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.269072329 meters Centerline goodness [0,1] 0.7954680724428195 Centerline is valid? [False, False] Translation: X:-22.88, Y:-2.01, Z:15.38 [[ 9.99634608e-01 2.36130357e-02 -1.31557633e-02 -2.28770951e+01] [-2.35605999e-02 9.99713894e-01 4.12661738e-03 -2.01078657e+00] [ 1.32494413e-02 -3.81515187e-03 9.99904944e-01 1.53792631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299072329 meters Centerline goodness [0,1] 0.7937482675536792 Centerline is valid? [False, False] Translation: X:-22.88, Y:-2.01, Z:15.38 [[ 9.99623600e-01 2.39148455e-02 -1.34438947e-02 -2.28759404e+01] [-2.38543375e-02 9.99704662e-01 4.64328496e-03 -2.01187862e+00] [ 1.35509676e-02 -4.32084203e-03 9.99898846e-01 1.53784909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.329072329 meters Centerline goodness [0,1] 0.7894241464875502 Centerline is valid? [False, False] Translation: X:-22.86, Y:-2.01, Z:15.38 [[ 9.99777002e-01 1.91640172e-02 -8.87055658e-03 -2.28577103e+01] [-1.90939099e-02 9.99786312e-01 7.92172108e-03 -2.01256639e+00] [ 9.02047305e-03 -7.75058094e-03 9.99929277e-01 1.53751936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359072329 meters Centerline goodness [0,1] 0.7833107570577738 Centerline is valid? [False, False] Translation: X:-22.86, Y:-2.01, Z:15.38 [[ 9.99846249e-01 1.48359748e-02 -9.34726398e-03 -2.28570727e+01] [-1.48095621e-02 9.99886160e-01 2.88862713e-03 -2.00910141e+00] [ 9.38905549e-03 -2.74975412e-03 9.99952141e-01 1.53760869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.389072329 meters Centerline goodness [0,1] 0.7754904491481673 Centerline is valid? [False, False] Translation: X:-22.86, Y:-2.01, Z:15.38 [[ 9.99844738e-01 1.48026425e-02 -9.55941123e-03 -2.28563185e+01] [-1.47733958e-02 9.99885991e-01 3.12287973e-03 -2.00964607e+00] [ 9.60454825e-03 -2.98116990e-03 9.99949431e-01 1.53755770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41907232899999 meters Centerline goodness [0,1] 0.7639964617807599 Centerline is valid? [False, False] Translation: X:-22.86, Y:-2.01, Z:15.38 [[ 9.99894750e-01 1.04990594e-02 -1.00129617e-02 -2.28555426e+01] [-1.05171400e-02 9.99943154e-01 -1.75477029e-03 -2.00671704e+00] [ 9.99396906e-03 1.85989332e-03 9.99948329e-01 1.53761492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44907232899999 meters Centerline goodness [0,1] 0.7501937817586771 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99974952e-01 5.95077811e-03 -3.83183158e-03 -2.28420299e+01] [-5.93304618e-03 9.99971716e-01 4.62239347e-03 -2.00889969e+00] [ 3.85923003e-03 -4.59954326e-03 9.99981975e-01 1.53704965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47907232899999 meters Centerline goodness [0,1] 0.7382933206560495 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99988365e-01 2.06089595e-03 -4.36149516e-03 -2.28407538e+01] [-2.06009108e-03 9.99997860e-01 1.89024989e-04 -2.00588000e+00] [ 4.36187538e-03 -1.80037713e-04 9.99990471e-01 1.53708154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50907232899999 meters Centerline goodness [0,1] 0.7210004963635972 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.00, Z:15.37 [[ 9.99985817e-01 -1.92392630e-03 -4.96625309e-03 -2.28389598e+01] [ 1.90390951e-03 9.99990058e-01 -4.03214896e-03 -2.00323472e+00] [ 4.97396128e-03 4.02263648e-03 9.99979539e-01 1.53705649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53907232899999 meters Centerline goodness [0,1] 0.7114253589344404 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.00, Z:15.37 [[ 9.99985689e-01 -1.85769583e-03 -5.01700105e-03 -2.28384948e+01] [ 1.83949811e-03 9.99991722e-01 -3.62939329e-03 -2.00426627e+00] [ 5.02370183e-03 3.62011259e-03 9.99980828e-01 1.53699228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.569072329 meters Centerline goodness [0,1] 0.7045060282765201 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99985250e-01 -1.83047480e-03 -5.11360791e-03 -2.28381863e+01] [ 1.81355270e-03 9.99992871e-01 -3.31190673e-03 -2.00521109e+00] [ 5.11963381e-03 3.30258408e-03 9.99981441e-01 1.53697001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599072329 meters Centerline goodness [0,1] 0.6951957488341829 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99984982e-01 -2.00672260e-03 -5.09986148e-03 -2.28382951e+01] [ 1.99053982e-03 9.99992974e-01 -3.17627747e-03 -2.00580741e+00] [ 5.10619955e-03 3.16607829e-03 9.99981951e-01 1.53696872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.629072329 meters Centerline goodness [0,1] 0.6756868370718137 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99982998e-01 -2.62896023e-03 -5.20497743e-03 -2.28381339e+01] [ 2.61387922e-03 9.99992373e-01 -2.90210583e-03 -2.00738052e+00] [ 5.21256725e-03 2.88845131e-03 9.99982243e-01 1.53689952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659072329 meters Centerline goodness [0,1] 0.6690250889834187 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99983130e-01 -2.44342465e-03 -5.26966674e-03 -2.28371750e+01] [ 2.43230579e-03 9.99994805e-01 -2.11535200e-03 -2.00940584e+00] [ 5.27480807e-03 2.10249887e-03 9.99983878e-01 1.53675395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.689072329 meters Centerline goodness [0,1] 0.6618301874497708 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99983730e-01 -2.43541058e-03 -5.15826740e-03 -2.28369510e+01] [ 2.42734241e-03 9.99995822e-01 -1.56980620e-03 -2.01111187e+00] [ 5.16206897e-03 1.55725978e-03 9.99985464e-01 1.53666124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719072329 meters Centerline goodness [0,1] 0.6469735332943799 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99982441e-01 -3.09389035e-03 -5.05430195e-03 -2.28373986e+01] [ 3.08742794e-03 9.99994407e-01 -1.28589890e-03 -2.01286449e+00] [ 5.05825212e-03 1.27027153e-03 9.99986400e-01 1.53661615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.749072329 meters Centerline goodness [0,1] 0.6463280015584079 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99982255e-01 -3.15165746e-03 -5.05535918e-03 -2.28373763e+01] [ 3.14635517e-03 9.99994492e-01 -1.05645629e-03 -2.01343067e+00] [ 5.05866093e-03 1.04053159e-03 9.99986664e-01 1.53660435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77907232899999 meters Centerline goodness [0,1] 0.6444189718191059 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99981915e-01 -3.24743019e-03 -5.06204772e-03 -2.28374216e+01] [ 3.24287905e-03 9.99994331e-01 -9.07019350e-04 -2.01364168e+00] [ 5.06496450e-03 8.90587338e-04 9.99986776e-01 1.53660518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80907232899999 meters Centerline goodness [0,1] 0.6298455890292625 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.01, Z:15.37 [[ 9.99980458e-01 -3.83791848e-03 -4.93498959e-03 -2.28382367e+01] [ 3.83378288e-03 9.99992292e-01 -8.47202945e-04 -2.01497057e+00] [ 4.93820305e-03 8.28266710e-04 9.99987464e-01 1.53663415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83907232899999 meters Centerline goodness [0,1] 0.6243831702882867 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.02, Z:15.37 [[ 9.99980857e-01 -3.83392337e-03 -4.85657292e-03 -2.28382063e+01] [ 3.83197778e-03 9.99992574e-01 -4.09853010e-04 -2.01638262e+00] [ 4.85810820e-03 3.91234885e-04 9.99988123e-01 1.53659027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86907232899999 meters Centerline goodness [0,1] 0.6263366678164884 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.02, Z:15.37 [[ 9.99980848e-01 -3.66994730e-03 -4.98352509e-03 -2.28374270e+01] [ 3.67086066e-03 9.99993247e-01 1.74142786e-04 -2.01764889e+00] [ 4.98285234e-03 -1.92433277e-04 9.99987567e-01 1.53650454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89907232899999 meters Centerline goodness [0,1] 0.6269018504490855 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.02, Z:15.36 [[ 9.99977693e-01 -4.40847655e-03 -5.01784775e-03 -2.28375466e+01] [ 4.40920407e-03 9.99990270e-01 1.33933288e-04 -2.01769289e+00] [ 5.01720848e-03 -1.56055015e-04 9.99987402e-01 1.53647128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.929072329 meters Centerline goodness [0,1] 0.6269018504490855 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.02, Z:15.36 [[ 9.99977693e-01 -4.40847655e-03 -5.01784775e-03 -2.28375466e+01] [ 4.40920407e-03 9.99990270e-01 1.33933288e-04 -2.01769289e+00] [ 5.01720848e-03 -1.56055015e-04 9.99987402e-01 1.53647128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.959072329 meters Centerline goodness [0,1] 0.5717868880816468 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.02, Z:15.36 [[ 9.99976959e-01 -4.45140668e-03 -5.12516210e-03 -2.28369272e+01] [ 4.45348781e-03 9.99990005e-01 3.94720040e-04 -2.01801598e+00] [ 5.12335382e-03 -4.17535792e-04 9.99986788e-01 1.53640410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.989072329 meters Centerline goodness [0,1] 0.6123600381911292 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.02, Z:15.36 [[ 9.99976810e-01 -4.43549378e-03 -5.16777617e-03 -2.28364136e+01] [ 4.43952206e-03 9.99989850e-01 7.68288306e-04 -2.01891221e+00] [ 5.16431598e-03 -7.91212946e-04 9.99986352e-01 1.53632892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019072329 meters Centerline goodness [0,1] 0.5929391379683777 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.02, Z:15.36 [[ 9.99949656e-01 -8.48826073e-03 -5.35116587e-03 -2.28355981e+01] [ 8.47064395e-03 9.99958658e-01 -3.30625185e-03 -2.01906953e+00] [ 5.37900896e-03 3.26075758e-03 9.99980217e-01 1.53629427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.049072329 meters Centerline goodness [0,1] 0.5989992852037169 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.02, Z:15.36 [[ 9.99950577e-01 -8.44362100e-03 -5.24862854e-03 -2.28355741e+01] [ 8.42840095e-03 9.99960231e-01 -2.91520064e-03 -2.02057730e+00] [ 5.27303466e-03 2.87081901e-03 9.99981977e-01 1.53624174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079072329 meters Centerline goodness [0,1] 0.5756233168273825 Centerline is valid? [False, False] Translation: X:-22.84, Y:-2.02, Z:15.36 [[ 9.99951549e-01 -8.30068692e-03 -5.29143027e-03 -2.28351168e+01] [ 8.28743765e-03 9.99962481e-01 -2.52094074e-03 -2.02139391e+00] [ 5.31215729e-03 2.47696620e-03 9.99982823e-01 1.53618162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.109072329 meters Centerline goodness [0,1] 0.5703418747690769 Centerline is valid? [False, False] Translation: X:-22.83, Y:-2.02, Z:15.36 [[ 9.99951227e-01 -8.19600970e-03 -5.51083058e-03 -2.28341204e+01] [ 8.18307819e-03 9.99963721e-01 -2.36503163e-03 -2.02096986e+00] [ 5.53001448e-03 2.31982072e-03 9.99982019e-01 1.53611112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139072329 meters Centerline goodness [0,1] 0.5932077936214215 Centerline is valid? [False, False] Translation: X:-22.83, Y:-2.02, Z:15.36 [[ 9.99976405e-01 -4.23817330e-03 -5.40614998e-03 -2.28341062e+01] [ 4.24954464e-03 9.99988779e-01 2.09365713e-03 -2.02174689e+00] [ 5.39721604e-03 -2.11658141e-03 9.99983195e-01 1.53603184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16907232899999 meters Centerline goodness [0,1] 0.5847450227034579 Centerline is valid? [False, False] Translation: X:-22.83, Y:-2.02, Z:15.36 [[ 9.99984552e-01 -7.37684518e-04 -5.50931266e-03 -2.28348169e+01] [ 7.64908266e-04 9.99987501e-01 4.94093430e-03 -2.01726531e+00] [ 5.50559895e-03 -4.94507209e-03 9.99972617e-01 1.53619113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19907232899999 meters Centerline goodness [0,1] 0.606994444687459 Centerline is valid? [False, False] Translation: X:-22.83, Y:-2.02, Z:15.36 [[ 9.99983169e-01 -7.03249379e-04 -5.75908326e-03 -2.28342602e+01] [ 7.29829610e-04 9.99989087e-01 4.61455777e-03 -2.01612837e+00] [ 5.75577522e-03 -4.61868325e-03 9.99972769e-01 1.53621225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22907232899999 meters Centerline goodness [0,1] 0.5951247215062688 Centerline is valid? [False, False] Translation: X:-22.83, Y:-2.02, Z:15.36 [[ 9.99982343e-01 -5.47542336e-04 -5.91723798e-03 -2.28336795e+01] [ 5.75748702e-04 9.99988476e-01 4.76616111e-03 -2.01740834e+00] [ 5.91456011e-03 -4.76948379e-03 9.99971135e-01 1.53618071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25907232899999 meters Centerline goodness [0,1] 0.5924552178561299 Centerline is valid? [False, False] Translation: X:-22.83, Y:-2.02, Z:15.36 [[ 9.99980488e-01 -8.40811586e-05 -6.24625082e-03 -2.28326036e+01] [ 1.14155688e-04 9.99988403e-01 4.81461249e-03 -2.01823403e+00] [ 6.24577357e-03 -4.81523159e-03 9.99968901e-01 1.53616515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28907232899999 meters Centerline goodness [0,1] 0.6207711497220885 Centerline is valid? [False, False] Translation: X:-22.83, Y:-2.01, Z:15.36 [[ 9.99977461e-01 -7.77760070e-05 -6.71351633e-03 -2.28315771e+01] [ 1.05079624e-04 9.99991725e-01 4.06670532e-03 -2.01484722e+00] [ 6.71314449e-03 -4.06731911e-03 9.99969195e-01 1.53621089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.319072329 meters Centerline goodness [0,1] 0.6239059380963872 Centerline is valid? [False, False] Translation: X:-22.83, Y:-2.01, Z:15.36 [[ 9.99972759e-01 4.69090835e-04 -7.36623936e-03 -2.28293807e+01] [-4.41119068e-04 9.99992689e-01 3.79845841e-03 -2.01126753e+00] [ 7.36796733e-03 -3.79510555e-03 9.99965655e-01 1.53617191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.349072329 meters Centerline goodness [0,1] 0.6342799099059312 Centerline is valid? [False, False] Translation: X:-22.83, Y:-2.01, Z:15.36 [[ 9.99965480e-01 2.47594217e-03 -7.93148682e-03 -2.28257772e+01] [-2.43970962e-03 9.99986560e-01 4.57461439e-03 -2.00749807e+00] [ 7.94270670e-03 -4.55510595e-03 9.99958081e-01 1.53597460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379072329 meters Centerline goodness [0,1] 0.5925852454319028 Centerline is valid? [False, False] Translation: X:-22.82, Y:-2.01, Z:15.36 [[ 9.99959495e-01 3.05350324e-03 -8.46669666e-03 -2.28238606e+01] [-3.01421547e-03 9.99984650e-01 4.64915562e-03 -2.00670223e+00] [ 8.48076291e-03 -4.62344685e-03 9.99953349e-01 1.53591068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.409072329 meters Centerline goodness [0,1] 0.6414545454545455 Centerline is valid? [False, False] Translation: X:-22.82, Y:-2.01, Z:15.36 [[ 9.99955097e-01 3.43628911e-03 -8.83148669e-03 -2.28227598e+01] [-3.39657162e-03 9.99984069e-01 4.50833155e-03 -2.00593671e+00] [ 8.84683793e-03 -4.47813234e-03 9.99950839e-01 1.53590865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439072329 meters Centerline goodness [0,1] 0.6581847900514656 Centerline is valid? [False, False] Translation: X:-22.82, Y:-2.00, Z:15.36 [[ 9.99950048e-01 3.92160087e-03 -9.19366636e-03 -2.28220584e+01] [-3.88654220e-03 9.99985120e-01 3.82811961e-03 -2.00334180e+00] [ 9.20854192e-03 -3.79219682e-03 9.99950410e-01 1.53602728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.469072329 meters Centerline goodness [0,1] 0.6531919593549812 Centerline is valid? [False, False] Translation: X:-22.82, Y:-2.00, Z:15.36 [[ 9.99946023e-01 3.94806789e-03 -9.61061284e-03 -2.28215090e+01] [-3.91832641e-03 9.99987483e-01 3.11151432e-03 -2.00035450e+00] [ 9.62277701e-03 -3.07368885e-03 9.99948976e-01 1.53613669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499072329 meters Centerline goodness [0,1] 0.6564567887573309 Centerline is valid? [False, False] Translation: X:-22.82, Y:-2.00, Z:15.36 [[ 9.99942099e-01 3.85312691e-03 -1.00475353e-02 -2.28211745e+01] [-3.83183243e-03 9.99990373e-01 2.13776396e-03 -1.99671134e+00] [ 1.00556756e-02 -2.09913971e-03 9.99947237e-01 1.53628851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52907232899999 meters Centerline goodness [0,1] 0.6650963311926401 Centerline is valid? [False, False] Translation: X:-22.82, Y:-1.99, Z:15.36 [[ 9.99938124e-01 3.95231032e-03 -1.03984342e-02 -2.28207820e+01] [-3.94078736e-03 9.99991598e-01 1.12840036e-03 -1.99238697e+00] [ 1.04028066e-02 -1.08735252e-03 9.99945298e-01 1.53642838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55907232899999 meters Centerline goodness [0,1] 0.6507111111111111 Centerline is valid? [False, False] Translation: X:-22.82, Y:-1.99, Z:15.36 [[ 9.99934085e-01 4.23733222e-03 -1.06710217e-02 -2.28194678e+01] [-4.22347357e-03 9.99990209e-01 1.32091903e-03 -1.99234262e+00] [ 1.06765144e-02 -1.27576318e-03 9.99942191e-01 1.53633444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58907232899999 meters Centerline goodness [0,1] 0.6745320855614974 Centerline is valid? [False, False] Translation: X:-22.82, Y:-1.99, Z:15.36 [[ 9.99930526e-01 4.52305008e-03 -1.08850771e-02 -2.28182355e+01] [-4.50580783e-03 9.99988556e-01 1.60802953e-03 -1.99305165e+00] [ 1.08922258e-02 -1.55887175e-03 9.99939463e-01 1.53622387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61907232899999 meters Centerline goodness [0,1] 0.6797237581329247 Centerline is valid? [False, False] Translation: X:-22.82, Y:-1.99, Z:15.36 [[ 9.99932253e-01 1.68049472e-03 -1.15180847e-02 -2.28150496e+01] [-1.70592563e-03 9.99996128e-01 -2.19844285e-03 -1.99128761e+00] [ 1.15143456e-02 2.21794290e-03 9.99931248e-01 1.53607583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64907232899999 meters Centerline goodness [0,1] 0.6797694499039375 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.99, Z:15.36 [[ 9.99928575e-01 1.97118808e-03 -1.17880943e-02 -2.28141058e+01] [-1.99656660e-03 9.99995714e-01 -2.14151320e-03 -1.99039717e+00] [ 1.17838225e-02 2.16489596e-03 9.99928225e-01 1.53605440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.679072329 meters Centerline goodness [0,1] 0.6827575502239567 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.99, Z:15.36 [[ 9.99927127e-01 1.66131770e-03 -1.19574144e-02 -2.28145348e+01] [-1.69800375e-03 9.99993881e-01 -3.05856078e-03 -1.98773383e+00] [ 1.19522600e-02 3.07864163e-03 9.99923830e-01 1.53621175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.709072329 meters Centerline goodness [0,1] 0.7032849876729672 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.99, Z:15.36 [[ 9.99986011e-01 5.07736105e-03 1.48233094e-03 -2.28110225e+01] [-5.07795915e-03 9.99987027e-01 4.00003888e-04 -1.98680953e+00] [-1.48028074e-03 -4.07525508e-04 9.99998821e-01 1.53572538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739072329 meters Centerline goodness [0,1] 0.6828464552903455 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.98, Z:15.36 [[ 9.99987293e-01 4.89047002e-03 1.22361586e-03 -2.28110811e+01] [-4.89005195e-03 9.99987984e-01 -3.44422012e-04 -1.98477245e+00] [-1.22528554e-03 3.38434090e-04 9.99999192e-01 1.53585438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.769072329 meters Centerline goodness [0,1] 0.6897971904984528 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.98, Z:15.36 [[ 9.99986638e-01 5.10056201e-03 8.41436468e-04 -2.28101631e+01] [-5.10020039e-03 9.99986901e-01 -4.31359172e-04 -1.98394899e+00] [-8.43625620e-04 4.27061914e-04 9.99999553e-01 1.53586773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799072329 meters Centerline goodness [0,1] 0.6985167837626853 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.98, Z:15.36 [[ 9.99986145e-01 5.22419957e-03 6.46143301e-04 -2.28096851e+01] [-5.22388194e-03 9.99986234e-01 -4.92283552e-04 -1.98409804e+00] [-6.48706194e-04 4.88901355e-04 9.99999670e-01 1.53587380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.829072329 meters Centerline goodness [0,1] 0.6982014068204079 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.99, Z:15.36 [[ 9.99982726e-01 5.86702457e-03 3.54586760e-04 -2.28079684e+01] [-5.86702181e-03 9.99982789e-01 -8.80923532e-06 -1.98537161e+00] [-3.54632341e-04 6.72871490e-06 9.99999937e-01 1.53573699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859072329 meters Centerline goodness [0,1] 0.7242032116528208 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.98, Z:15.36 [[ 9.99981830e-01 6.02745849e-03 9.44340723e-05 -2.28071092e+01] [-6.02744488e-03 9.99981824e-01 -1.43701041e-04 -1.98451291e+00] [-9.52985080e-05 1.43129234e-04 9.99999985e-01 1.53571177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.889072329 meters Centerline goodness [0,1] 0.727504715411073 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.98, Z:15.36 [[ 9.99980631e-01 6.21373357e-03 -3.56909566e-04 -2.28061698e+01] [-6.21388289e-03 9.99980606e-01 -4.18814292e-04 -1.98296112e+00] [ 3.54300244e-04 4.21023975e-04 9.99999849e-01 1.53575410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91907232899999 meters Centerline goodness [0,1] 0.7527556951032133 Centerline is valid? [False, False] Translation: X:-22.81, Y:-1.98, Z:15.36 [[ 9.99978094e-01 6.56306721e-03 -8.58570733e-04 -2.28055200e+01] [-6.56403134e-03 9.99977824e-01 -1.12498744e-03 -1.97968706e+00] [ 8.51168325e-04 1.13059848e-03 9.99998999e-01 1.53591618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94907232899999 meters Centerline goodness [0,1] 0.7304255035347472 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.98, Z:15.36 [[ 9.99974446e-01 7.03633281e-03 -1.26355852e-03 -2.28040118e+01] [-7.03740834e-03 9.99974877e-01 -8.48776283e-04 -1.97971915e+00] [ 1.25755450e-03 8.57646771e-04 9.99998841e-01 1.53584911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97907232899999 meters Centerline goodness [0,1] 0.7775476110925492 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.98, Z:15.36 [[ 9.99970701e-01 7.50294514e-03 -1.51760777e-03 -2.28026715e+01] [-7.50341100e-03 9.99971804e-01 -3.01508991e-04 -1.98111107e+00] [ 1.51530277e-03 3.12887391e-04 9.99998803e-01 1.53573806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00907232899999 meters Centerline goodness [0,1] 0.7900344023970702 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.98, Z:15.36 [[ 9.99984511e-01 5.16549527e-03 -2.07251363e-03 -2.27999368e+01] [-5.17273078e-03 9.99980492e-01 -3.50114306e-03 -1.98158083e+00] [ 2.05438807e-03 3.51180939e-03 9.99991723e-01 1.53563976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03907232899999 meters Centerline goodness [0,1] 0.7899418785216735 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.98, Z:15.36 [[ 9.99984604e-01 5.13781794e-03 -2.09639941e-03 -2.28003663e+01] [-5.14534280e-03 9.99980283e-01 -3.59995797e-03 -1.98173080e+00] [ 2.07786215e-03 3.61068924e-03 9.99991323e-01 1.53572059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.069072329 meters Centerline goodness [0,1] 0.7889701495835082 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.98, Z:15.36 [[ 9.99982443e-01 5.43357864e-03 -2.36422296e-03 -2.27998844e+01] [-5.44149091e-03 9.99979573e-01 -3.35320350e-03 -1.98169943e+00] [ 2.34595477e-03 3.36600953e-03 9.99991583e-01 1.53576006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099072329 meters Centerline goodness [0,1] 0.7869923003949081 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.98, Z:15.36 [[ 9.99982096e-01 5.42325871e-03 -2.52909904e-03 -2.28002033e+01] [-5.43185353e-03 9.99979454e-01 -3.40397931e-03 -1.98152744e+00] [ 2.51058641e-03 3.41765606e-03 9.99991008e-01 1.53587987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.129072329 meters Centerline goodness [0,1] 0.7862499448586175 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.98, Z:15.36 [[ 9.99980040e-01 5.74940831e-03 -2.62003140e-03 -2.27994116e+01] [-5.75663617e-03 9.99979623e-01 -2.75955311e-03 -1.98364248e+00] [ 2.60411221e-03 2.77458059e-03 9.99992760e-01 1.53578244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159072329 meters Centerline goodness [0,1] 0.7703388155727806 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.99, Z:15.36 [[ 9.99978491e-01 6.03054536e-03 -2.57877546e-03 -2.27988840e+01] [-6.03555491e-03 9.99979905e-01 -1.93925878e-03 -1.98733505e+00] [ 2.56702886e-03 1.95478141e-03 9.99994795e-01 1.53566664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.189072329 meters Centerline goodness [0,1] 0.7343213762651103 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.99, Z:15.36 [[ 9.99993314e-01 2.50519046e-03 -2.66371860e-03 -2.27982639e+01] [-2.51864832e-03 9.99984021e-01 -5.06099017e-03 -1.99158863e+00] [ 2.65099729e-03 5.06766530e-03 9.99983645e-01 1.53559904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219072329 meters Centerline goodness [0,1] 0.7641249726895346 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.99, Z:15.36 [[ 9.99993214e-01 2.61280211e-03 -2.59709556e-03 -2.27986049e+01] [-2.62472075e-03 9.99985992e-01 -4.59645536e-03 -1.99312115e+00] [ 2.58504955e-03 4.60324082e-03 9.99986064e-01 1.53562394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.249072329 meters Centerline goodness [0,1] 0.7575890123348789 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.99, Z:15.36 [[ 9.99994367e-01 2.20542051e-03 -2.53029951e-03 -2.27996416e+01] [-2.21795214e-03 9.99985237e-01 -4.96055858e-03 -1.99247745e+00] [ 2.51932204e-03 4.96614271e-03 9.99984495e-01 1.53575673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27907232899999 meters Centerline goodness [0,1] 0.7595657122843884 Centerline is valid? [False, False] Translation: X:-22.80, Y:-1.99, Z:15.36 [[ 9.99993892e-01 2.25164544e-03 -2.67331206e-03 -2.27994881e+01] [-2.26443676e-03 9.99985957e-01 -4.79147772e-03 -1.99237137e+00] [ 2.66248581e-03 4.79750200e-03 9.99984947e-01 1.53578695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30907232899999 meters Centerline goodness [0,1] 0.7236213634389926 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.00, Z:15.36 [[ 9.99994058e-01 1.86473928e-03 -2.89949894e-03 -2.27994671e+01] [-1.87582080e-03 9.99990930e-01 -3.82386328e-03 -1.99788738e+00] [ 2.89234213e-03 3.82927949e-03 9.99988485e-01 1.53574924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33907232899999 meters Centerline goodness [0,1] 0.730335614206582 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.00, Z:15.36 [[ 9.99996318e-01 1.23179616e-03 -2.41792438e-03 -2.28010566e+01] [-1.24046150e-03 9.99992802e-01 -3.58556860e-03 -2.00274080e+00] [ 2.41349029e-03 3.58855474e-03 9.99990649e-01 1.53576646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36907232899999 meters Centerline goodness [0,1] 0.7062739690610591 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.01, Z:15.36 [[ 9.99994105e-01 -2.48558806e-03 -2.36872907e-03 -2.28005148e+01] [ 2.47134736e-03 9.99978970e-01 -5.99604264e-03 -2.00938671e+00] [ 2.38358295e-03 5.99015334e-03 9.99979218e-01 1.53560467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39907232899999 meters Centerline goodness [0,1] 0.6955866523143165 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.01, Z:15.36 [[ 9.99994126e-01 -2.46922192e-03 -2.37727244e-03 -2.28005718e+01] [ 2.45640724e-03 9.99982519e-01 -5.37840883e-03 -2.01144174e+00] [ 2.39051137e-03 5.37253769e-03 9.99982710e-01 1.53559223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.429072329 meters Centerline goodness [0,1] 0.7071601312834687 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.01, Z:15.36 [[ 9.99997274e-01 4.07652862e-04 -2.29929923e-03 -2.28020370e+01] [-4.10634008e-04 9.99999076e-01 -1.29622247e-03 -2.01423026e+00] [ 2.29876870e-03 1.29716311e-03 9.99996517e-01 1.53566713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.459072329 meters Centerline goodness [0,1] 0.6769994603345926 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.02, Z:15.36 [[ 9.99997212e-01 4.13226236e-04 -2.32487810e-03 -2.28022341e+01] [-4.15340606e-04 9.99999501e-01 -9.09044736e-04 -2.01513812e+00] [ 2.32450130e-03 9.10007818e-04 9.99996884e-01 1.53569644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.489072329 meters Centerline goodness [0,1] 0.6764597949271451 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.02, Z:15.36 [[ 9.99997496e-01 3.56288578e-04 -2.20934408e-03 -2.28027042e+01] [-3.57081282e-04 9.99999872e-01 -3.58411880e-04 -2.01773083e+00] [ 2.20921610e-03 3.59199898e-04 9.99997495e-01 1.53570409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519072329 meters Centerline goodness [0,1] 0.6654586005018122 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.03, Z:15.36 [[ 9.99992663e-01 -3.10175642e-03 -2.24799931e-03 -2.28022135e+01] [ 3.09585957e-03 9.99991771e-01 -2.62190345e-03 -2.02539706e+00] [ 2.25611332e-03 2.61492473e-03 9.99994036e-01 1.53560198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.549072329 meters Centerline goodness [0,1] 0.6840210052513128 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.03, Z:15.35 [[ 9.99993957e-01 -2.71487146e-03 -2.17135080e-03 -2.28018462e+01] [ 2.71234168e-03 9.99995640e-01 -1.16717075e-03 -2.03071440e+00] [ 2.17451005e-03 1.16127425e-03 9.99996961e-01 1.53547549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579072329 meters Centerline goodness [0,1] 0.6729741287149882 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.04, Z:15.35 [[ 9.99994434e-01 -2.56351302e-03 -2.13529045e-03 -2.28019763e+01] [ 2.56419396e-03 9.99996662e-01 3.16218685e-04 -2.03627096e+00] [ 2.13447269e-03 -3.21692224e-04 9.99997670e-01 1.53541140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.609072329 meters Centerline goodness [0,1] 0.6779012609531951 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.04, Z:15.35 [[ 9.99994548e-01 -2.46290433e-03 -2.19937409e-03 -2.28018707e+01] [ 2.46462123e-03 9.99996660e-01 7.78261912e-04 -2.03761694e+00] [ 2.19744996e-03 -7.83678293e-04 9.99997279e-01 1.53540627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639072329 meters Centerline goodness [0,1] 0.6590841193290939 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.04, Z:15.35 [[ 9.99995034e-01 -2.08338566e-03 -2.36476486e-03 -2.28011875e+01] [ 2.08711628e-03 9.99996580e-01 1.57621837e-03 -2.03945326e+00] [ 2.36147290e-03 -1.58114608e-03 9.99995962e-01 1.53535361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66907232899999 meters Centerline goodness [0,1] 0.655180481994342 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.04, Z:15.35 [[ 9.99995475e-01 -1.93046161e-03 -2.30722751e-03 -2.28012434e+01] [ 1.93721840e-03 9.99993831e-01 2.92989509e-03 -2.04463284e+00] [ 2.30155723e-03 -2.93435144e-03 9.99993046e-01 1.53527656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69907232899999 meters Centerline goodness [0,1] 0.6472627504360032 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.05, Z:15.35 [[ 9.99995822e-01 -2.08720717e-03 -1.99990049e-03 -2.28023306e+01] [ 2.09387793e-03 9.99992232e-01 3.33928035e-03 -2.04837256e+00] [ 1.99291518e-03 -3.34345395e-03 9.99992425e-01 1.53531087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72907232899999 meters Centerline goodness [0,1] 0.6425386444708681 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.05, Z:15.35 [[ 9.99995997e-01 -2.23252379e-03 -1.73841379e-03 -2.28033213e+01] [ 2.23899123e-03 9.99990547e-01 3.72729658e-03 -2.05216995e+00] [ 1.73007608e-03 -3.73117395e-03 9.99991543e-01 1.53534573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75907232899999 meters Centerline goodness [0,1] 0.6604653142893633 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.06, Z:15.35 [[ 9.99983147e-01 -5.43746898e-03 -2.03460783e-03 -2.28019820e+01] [ 5.43975781e-03 9.99984576e-01 1.12111085e-03 -2.05634064e+00] [ 2.02848044e-03 -1.13215973e-03 9.99997302e-01 1.53525088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78907232899999 meters Centerline goodness [0,1] 0.6483705703535214 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.06, Z:15.35 [[ 9.99984137e-01 -5.23652222e-03 -2.07477334e-03 -2.28016588e+01] [ 5.24021251e-03 9.99984691e-01 1.77721929e-03 -2.05823608e+00] [ 2.06543512e-03 -1.78806335e-03 9.99996268e-01 1.53520554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.819072329 meters Centerline goodness [0,1] 0.6483705703535214 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.06, Z:15.35 [[ 9.99984137e-01 -5.23652222e-03 -2.07477334e-03 -2.28016588e+01] [ 5.24021251e-03 9.99984691e-01 1.77721929e-03 -2.05823608e+00] [ 2.06543512e-03 -1.78806335e-03 9.99996268e-01 1.53520554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.849072329 meters Centerline goodness [0,1] 0.6489553888333935 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.06, Z:15.35 [[ 9.99984816e-01 -5.08528551e-03 -2.12324895e-03 -2.28014733e+01] [ 5.08994739e-03 9.99984635e-01 2.19603355e-03 -2.05928664e+00] [ 2.11204887e-03 -2.20680743e-03 9.99995335e-01 1.53519810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879072329 meters Centerline goodness [0,1] 0.637704222363675 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.06, Z:15.35 [[ 9.99984287e-01 -5.18617170e-03 -2.12807402e-03 -2.28020514e+01] [ 5.19138258e-03 9.99983522e-01 2.45046153e-03 -2.06037568e+00] [ 2.11533044e-03 -2.46147067e-03 9.99994733e-01 1.53528015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.909072329 meters Centerline goodness [0,1] 0.6364733276883996 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.06, Z:15.35 [[ 9.99985225e-01 -4.96372138e-03 -2.21608188e-03 -2.28018317e+01] [ 4.97038948e-03 9.99983106e-01 3.01366111e-03 -2.06229682e+00] [ 2.20108547e-03 -3.02463137e-03 9.99993003e-01 1.53526824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939072329 meters Centerline goodness [0,1] 0.637090107467622 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.06, Z:15.35 [[ 9.99985125e-01 -5.08755920e-03 -1.96637030e-03 -2.28026815e+01] [ 5.09392127e-03 9.99981764e-01 3.24408218e-03 -2.06462129e+00] [ 1.94982998e-03 -3.25405046e-03 9.99992805e-01 1.53529796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.969072329 meters Centerline goodness [0,1] 0.6309936575052855 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.07, Z:15.35 [[ 9.99986018e-01 -4.93337629e-03 -1.90387262e-03 -2.28026195e+01] [ 4.94081294e-03 9.99980106e-01 3.92133658e-03 -2.06761158e+00] [ 1.88448932e-03 -3.93068843e-03 9.99990499e-01 1.53524951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999072329 meters Centerline goodness [0,1] 0.6218331007063401 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.07, Z:15.35 [[ 9.99985568e-01 -5.07352542e-03 -1.76714516e-03 -2.28027709e+01] [ 5.08140184e-03 9.99977047e-01 4.48154192e-03 -2.07086813e+00] [ 1.74436738e-03 -4.49045681e-03 9.99988396e-01 1.53518652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02907232899999 meters Centerline goodness [0,1] 0.6212855058057147 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.07, Z:15.35 [[ 9.99984856e-01 -5.19401581e-03 -1.81927241e-03 -2.28025824e+01] [ 5.20183361e-03 9.99977143e-01 4.31916952e-03 -2.07059544e+00] [ 1.79679699e-03 -4.32856767e-03 9.99989017e-01 1.53517534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05907232899999 meters Centerline goodness [0,1] 0.6220665721480416 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.07, Z:15.35 [[ 9.99985092e-01 -5.09747750e-03 -1.95750309e-03 -2.28018954e+01] [ 5.10590849e-03 9.99977606e-01 4.32644172e-03 -2.07026919e+00] [ 1.93540531e-03 -4.33637206e-03 9.99988725e-01 1.53512685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08907232899999 meters Centerline goodness [0,1] 0.605255369524776 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.07, Z:15.35 [[ 9.99985657e-01 -4.80418366e-03 -2.36771062e-03 -2.28000858e+01] [ 4.81535376e-03 9.99977197e-01 4.73478050e-03 -2.07040567e+00] [ 2.34490987e-03 -4.74611396e-03 9.99985988e-01 1.53498859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11907232899999 meters Centerline goodness [0,1] 0.6179551755518402 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.07, Z:15.35 [[ 9.99984855e-01 -4.95974182e-03 -2.38544445e-03 -2.28001633e+01] [ 4.97067158e-03 9.99977075e-01 4.59796423e-03 -2.07033274e+00] [ 2.36258505e-03 -4.60975185e-03 9.99986584e-01 1.53500435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14907232899999 meters Centerline goodness [0,1] 0.6122987874434915 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.07, Z:15.35 [[ 9.99984611e-01 -4.96795682e-03 -2.46942185e-03 -2.28003935e+01] [ 4.98013562e-03 9.99975346e-01 4.95040750e-03 -2.07233644e+00] [ 2.44476755e-03 -4.96262937e-03 9.99984698e-01 1.53505246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.179072329 meters Centerline goodness [0,1] 0.6065185185185185 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.07, Z:15.35 [[ 9.99983793e-01 -5.16563948e-03 -2.39360573e-03 -2.28008954e+01] [ 5.17730334e-03 9.99974629e-01 4.89262167e-03 -2.07308425e+00] [ 2.36827149e-03 -4.90493480e-03 9.99985166e-01 1.53509463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.209072329 meters Centerline goodness [0,1] 0.6014125010572613 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.07, Z:15.35 [[ 9.99984108e-01 -5.05674101e-03 -2.49258022e-03 -2.28005150e+01] [ 5.06940656e-03 9.99974138e-01 5.10144840e-03 -2.07359905e+00] [ 2.46671905e-03 -5.11400323e-03 9.99983881e-01 1.53507500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239072329 meters Centerline goodness [0,1] 0.5966102411293561 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.07, Z:15.35 [[ 9.99983932e-01 -5.02762699e-03 -2.61902049e-03 -2.28002369e+01] [ 5.04110981e-03 9.99973944e-01 5.16712994e-03 -2.07370877e+00] [ 2.59297384e-03 -5.18024969e-03 9.99983221e-01 1.53508056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.269072329 meters Centerline goodness [0,1] 0.5843355699033632 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.08, Z:15.35 [[ 9.99981892e-01 -5.51724396e-03 -2.40345778e-03 -2.28014290e+01] [ 5.52983668e-03 9.99970852e-01 5.26466905e-03 -2.07544417e+00] [ 2.37434126e-03 -5.27786445e-03 9.99983253e-01 1.53514336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299072329 meters Centerline goodness [0,1] 0.606341824331466 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.08, Z:15.35 [[ 9.99980214e-01 -5.96903939e-03 -1.98524354e-03 -2.28027938e+01] [ 5.97942471e-03 9.99968251e-01 5.26712380e-03 -2.07701888e+00] [ 1.95374085e-03 -5.27889020e-03 9.99984158e-01 1.53519569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.329072329 meters Centerline goodness [0,1] 0.5716158497906711 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.08, Z:15.35 [[ 9.99978970e-01 -6.22223186e-03 -1.82839887e-03 -2.28033881e+01] [ 6.23213565e-03 9.99965664e-01 5.46181411e-03 -2.07875842e+00] [ 1.79435142e-03 -5.47309408e-03 9.99983413e-01 1.53521680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359072329 meters Centerline goodness [0,1] 0.584463677338807 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.08, Z:15.35 [[ 9.99950310e-01 -9.74299899e-03 -2.10980848e-03 -2.28016851e+01] [ 9.74824154e-03 9.99949387e-01 2.48898501e-03 -2.08158119e+00] [ 2.08545152e-03 -2.50942826e-03 9.99994677e-01 1.53506781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.389072329 meters Centerline goodness [0,1] 0.5771147430212424 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.09, Z:15.35 [[ 9.99954360e-01 -9.28477354e-03 -2.25203513e-03 -2.28005057e+01] [ 9.29328315e-03 9.99949604e-01 3.79806643e-03 -2.08562481e+00] [ 2.21665745e-03 -3.81882188e-03 9.99990251e-01 1.53491154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41907232899999 meters Centerline goodness [0,1] 0.5238656452563347 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.09, Z:15.35 [[ 9.99957707e-01 -8.91132028e-03 -2.27452058e-03 -2.27995947e+01] [ 8.92265844e-03 9.99947570e-01 5.02436198e-03 -2.08935752e+00] [ 2.22962763e-03 -5.04444425e-03 9.99984791e-01 1.53475781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44907232899999 meters Centerline goodness [0,1] 0.5716063181425167 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.09, Z:15.35 [[ 9.99951520e-01 -9.71014857e-03 -1.63444779e-03 -2.28020587e+01] [ 9.71848707e-03 9.99939391e-01 5.17353163e-03 -2.09168811e+00] [ 1.58411296e-03 -5.18916517e-03 9.99985281e-01 1.53485421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47907232899999 meters Centerline goodness [0,1] 0.49942196531791905 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.09, Z:15.35 [[ 9.99949675e-01 -9.90378000e-03 -1.60105461e-03 -2.28026987e+01] [ 9.91174632e-03 9.99938142e-01 5.04675825e-03 -2.09103556e+00] [ 1.55097359e-03 -5.06237351e-03 9.99985983e-01 1.53494355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50907232899999 meters Centerline goodness [0,1] 0.4861131582826219 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.09, Z:15.35 [[ 9.99943535e-01 -1.05239137e-02 -1.47475441e-03 -2.28040217e+01] [ 1.05301786e-02 9.99935282e-01 4.30674928e-03 -2.08920751e+00] [ 1.42933511e-03 -4.32203553e-03 9.99989638e-01 1.53509489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53907232899999 meters Centerline goodness [0,1] 0.5225362227009673 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.09, Z:15.35 [[ 9.99939146e-01 -1.09730568e-02 -1.13866651e-03 -2.28046275e+01] [ 1.09780597e-02 9.99929683e-01 4.48465029e-03 -2.09085674e+00] [ 1.08937612e-03 -4.49687773e-03 9.99989296e-01 1.53503365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.569072329 meters Centerline goodness [0,1] 0.5371512790820087 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.09, Z:15.35 [[ 9.99900423e-01 -1.39915906e-02 -1.83815964e-03 -2.28012432e+01] [ 1.39943039e-02 9.99900992e-01 1.47164570e-03 -2.09244226e+00] [ 1.81738698e-03 -1.49722292e-03 9.99997228e-01 1.53481390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599072329 meters Centerline goodness [0,1] 0.5231022059288288 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.10, Z:15.35 [[ 9.99902828e-01 -1.38349754e-02 -1.71131466e-03 -2.28009400e+01] [ 1.38388278e-02 9.99901684e-01 2.26013974e-03 -2.09625953e+00] [ 1.67987744e-03 -2.28360271e-03 9.99995982e-01 1.53470678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.629072329 meters Centerline goodness [0,1] 0.5204163162321278 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.10, Z:15.35 [[ 9.99898900e-01 -1.41271488e-02 -1.61691775e-03 -2.28011894e+01] [ 1.41309279e-02 9.99897391e-01 2.35018689e-03 -2.09697882e+00] [ 1.58355040e-03 -2.37279783e-03 9.99995931e-01 1.53468994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659072329 meters Centerline goodness [0,1] 0.4610370432874863 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.10, Z:15.35 [[ 9.99932997e-01 -1.15062509e-02 -1.26814200e-03 -2.28035739e+01] [ 1.15129801e-02 9.99918962e-01 5.43333787e-03 -2.09666996e+00] [ 1.20552188e-03 -5.44757392e-03 9.99984435e-01 1.53484548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.689072329 meters Centerline goodness [0,1] 0.5059530081129491 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.09, Z:15.35 [[ 9.99931135e-01 -1.16188813e-02 -1.65146731e-03 -2.28029466e+01] [ 1.16270086e-02 9.99919903e-01 4.99995683e-03 -2.09447489e+00] [ 1.59324112e-03 -5.01881413e-03 9.99986136e-01 1.53489844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719072329 meters Centerline goodness [0,1] 0.5289827578938493 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.09, Z:15.35 [[ 9.99930413e-01 -1.16460283e-02 -1.88151089e-03 -2.28026149e+01] [ 1.16547645e-02 9.99921031e-01 4.70093634e-03 -2.09333052e+00] [ 1.82661507e-03 -4.72253778e-03 9.99987180e-01 1.53494110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.749072329 meters Centerline goodness [0,1] 0.5356630975465813 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.10, Z:15.35 [[ 9.99935859e-01 -1.11497875e-02 -1.98997514e-03 -2.28015787e+01] [ 1.11605081e-02 9.99922813e-01 5.46003250e-03 -2.09563681e+00] [ 1.92894334e-03 -5.48189143e-03 9.99983114e-01 1.53482876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77907232899999 meters Centerline goodness [0,1] 0.5245206606340569 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.10, Z:15.35 [[ 9.99938533e-01 -1.09309145e-02 -1.85628967e-03 -2.28014674e+01] [ 1.09421065e-02 9.99921343e-01 6.13008044e-03 -2.09863410e+00] [ 1.78913627e-03 -6.15001536e-03 9.99979488e-01 1.53475582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80907232899999 meters Centerline goodness [0,1] 0.5036739162473419 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.10, Z:15.35 [[ 9.99942407e-01 -1.05741155e-02 -1.83603263e-03 -2.28009602e+01] [ 1.05866619e-02 9.99919711e-01 6.96374119e-03 -2.10148186e+00] [ 1.76224981e-03 -6.98277758e-03 9.99974067e-01 1.53466705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83907232899999 meters Centerline goodness [0,1] 0.5016385866140078 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.10, Z:15.35 [[ 9.99942710e-01 -1.05459599e-02 -1.83301543e-03 -2.28014235e+01] [ 1.05591413e-02 9.99917336e-01 7.33664792e-03 -2.10288734e+00] [ 1.75549191e-03 -7.35558267e-03 9.99971406e-01 1.53473125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86907232899999 meters Centerline goodness [0,1] 0.5055973689203719 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.10, Z:15.35 [[ 9.99940782e-01 -1.07095218e-02 -1.93355797e-03 -2.28017063e+01] [ 1.07229583e-02 9.99917457e-01 7.07790710e-03 -2.10200704e+00] [ 1.85759737e-03 -7.09822142e-03 9.99973082e-01 1.53481152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89907232899999 meters Centerline goodness [0,1] 0.4867853006212488 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.10, Z:15.35 [[ 9.99945236e-01 -1.01735975e-02 -2.45414987e-03 -2.28005303e+01] [ 1.01919204e-02 9.99919385e-01 7.57286325e-03 -2.10256756e+00] [ 2.37690877e-03 -7.59746103e-03 9.99968314e-01 1.53482708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.929072329 meters Centerline goodness [0,1] 0.5319427714026078 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.10, Z:15.35 [[ 9.99949238e-01 -9.73541744e-03 -2.59679511e-03 -2.27998406e+01] [ 9.75639560e-03 9.99918849e-01 8.19200128e-03 -2.10443762e+00] [ 2.51683183e-03 -8.21692080e-03 9.99963073e-01 1.53477501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.959072329 meters Centerline goodness [0,1] 0.5028147336018047 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.11, Z:15.35 [[ 9.99955588e-01 -8.96682431e-03 -2.90125315e-03 -2.27982133e+01] [ 8.99335119e-03 9.99916653e-01 9.26317841e-03 -2.10697972e+00] [ 2.81795004e-03 -9.28885901e-03 9.99952887e-01 1.53463907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.989072329 meters Centerline goodness [0,1] 0.5358353867862935 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.11, Z:15.35 [[ 9.99959884e-01 -8.36307146e-03 -3.20757760e-03 -2.27968379e+01] [ 8.39485921e-03 9.99914477e-01 1.00281943e-02 -2.10887770e+00] [ 3.12343677e-03 -1.00547191e-02 9.99944572e-01 1.53454836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019072329 meters Centerline goodness [0,1] 0.5011794936602216 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.11, Z:15.35 [[ 9.99961217e-01 -8.09227896e-03 -3.47560246e-03 -2.27959498e+01] [ 8.12765562e-03 9.99914045e-01 1.02880042e-02 -2.10952570e+00] [ 3.39205032e-03 -1.03158537e-02 9.99941037e-01 1.53451631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.049072329 meters Centerline goodness [0,1] 0.5313461133347377 Centerline is valid? [False, False] Translation: X:-22.80, Y:-2.11, Z:15.35 [[ 9.99962963e-01 -7.71783543e-03 -3.80886133e-03 -2.27951808e+01] [ 7.75754298e-03 9.99914542e-01 1.05227732e-02 -2.10964170e+00] [ 3.72732281e-03 -1.05519309e-02 9.99937380e-01 1.53453041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079072329 meters Centerline goodness [0,1] 0.531224963103521 Centerline is valid? [False, False] Translation: X:-22.79, Y:-2.11, Z:15.35 [[ 9.99963175e-01 -7.53125479e-03 -4.11456726e-03 -2.27947553e+01] [ 7.57414942e-03 9.99916073e-01 1.05108939e-02 -2.10987075e+00] [ 4.03506171e-03 -1.05416712e-02 9.99936294e-01 1.53458318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.109072329 meters Centerline goodness [0,1] 0.5442915048133761 Centerline is valid? [False, False] Translation: X:-22.79, Y:-2.11, Z:15.35 [[ 9.99963495e-01 -7.33048661e-03 -4.39000656e-03 -2.27942722e+01] [ 7.37628941e-03 9.99917564e-01 1.05097374e-02 -2.11009858e+00] [ 4.31260318e-03 -1.05417357e-02 9.99935135e-01 1.53461692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139072329 meters Centerline goodness [0,1] 0.5404469957579723 Centerline is valid? [False, False] Translation: X:-22.79, Y:-2.11, Z:15.34 [[ 9.99969012e-01 -5.77716057e-03 -5.34791878e-03 -2.27903562e+01] [ 5.83938418e-03 9.99914578e-01 1.16935492e-02 -2.11102770e+00] [ 5.27990644e-03 -1.17244154e-02 9.99917327e-01 1.53440530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16907232899999 meters Centerline goodness [0,1] 0.5633105549326168 Centerline is valid? [False, False] Translation: X:-22.79, Y:-2.11, Z:15.34 [[ 9.99968317e-01 -5.42858865e-03 -5.82203853e-03 -2.27887858e+01] [ 5.49637238e-03 9.99916558e-01 1.16905033e-02 -2.11009698e+00] [ 5.75808979e-03 -1.17221330e-02 9.99914714e-01 1.53434982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19907232899999 meters Centerline goodness [0,1] 0.5717563357750274 Centerline is valid? [False, False] Translation: X:-22.79, Y:-2.11, Z:15.34 [[ 9.99969980e-01 -4.42591050e-03 -6.36000937e-03 -2.27871004e+01] [ 4.49945690e-03 9.99922635e-01 1.15964821e-02 -2.10655786e+00] [ 6.30819234e-03 -1.16247506e-02 9.99912532e-01 1.53437456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22907232899999 meters Centerline goodness [0,1] 0.5677511921340255 Centerline is valid? [False, False] Translation: X:-22.79, Y:-2.10, Z:15.35 [[ 9.99967139e-01 -4.55264280e-03 -6.70780973e-03 -2.27871227e+01] [ 4.62530306e-03 9.99930366e-01 1.08567906e-02 -2.10437757e+00] [ 6.65791555e-03 -1.08874595e-02 9.99918564e-01 1.53451593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25907232899999 meters Centerline goodness [0,1] 0.5754806376213439 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.10, Z:15.34 [[ 9.99950382e-01 -6.85581186e-03 -7.22710457e-03 -2.27845212e+01] [ 6.90950562e-03 9.99948519e-01 7.43089726e-03 -2.10208860e+00] [ 7.17578768e-03 -7.48046428e-03 9.99946274e-01 1.53443875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28907232899999 meters Centerline goodness [0,1] 0.5745465270609055 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.10, Z:15.34 [[ 9.99952078e-01 -6.08151079e-03 -7.67176889e-03 -2.27824093e+01] [ 6.14320143e-03 9.99948780e-01 8.04348236e-03 -2.10351407e+00] [ 7.62245942e-03 -8.09022612e-03 9.99938221e-01 1.53429728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.319072329 meters Centerline goodness [0,1] 0.5731993158350402 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.10, Z:15.34 [[ 9.99950866e-01 -5.95988080e-03 -7.92118480e-03 -2.27815704e+01] [ 6.02378148e-03 9.99949311e-01 8.06783494e-03 -2.10338501e+00] [ 7.87269995e-03 -8.11515402e-03 9.99936080e-01 1.53426342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.349072329 meters Centerline goodness [0,1] 0.567224320162022 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.10, Z:15.34 [[ 9.99949288e-01 -5.90597451e-03 -8.15720868e-03 -2.27809006e+01] [ 5.97038618e-03 9.99951013e-01 7.89463899e-03 -2.10258181e+00] [ 8.11018355e-03 -7.94294032e-03 9.99935565e-01 1.53425668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379072329 meters Centerline goodness [0,1] 0.5810825035262416 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.10, Z:15.34 [[ 9.99945779e-01 -5.77956156e-03 -8.66232589e-03 -2.27802285e+01] [ 5.84207586e-03 9.99956950e-01 7.20895805e-03 -2.09948933e+00] [ 8.62028836e-03 -7.25917313e-03 9.99936496e-01 1.53437606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.409072329 meters Centerline goodness [0,1] 0.5833614579817752 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.10, Z:15.34 [[ 9.99942732e-01 -6.02369127e-03 -8.84574771e-03 -2.27804916e+01] [ 6.08145253e-03 9.99960268e-01 6.51751871e-03 -2.09754175e+00] [ 8.80613674e-03 -6.57094046e-03 9.99939636e-01 1.53449225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439072329 meters Centerline goodness [0,1] 0.6129502790461694 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.10, Z:15.35 [[ 9.99940520e-01 -6.04283775e-03 -9.07962715e-03 -2.27801730e+01] [ 6.09942778e-03 9.99962066e-01 6.21792756e-03 -2.09672103e+00] [ 9.04170880e-03 -6.27293825e-03 9.99939447e-01 1.53453467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.469072329 meters Centerline goodness [0,1] 0.6140847450466815 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.10, Z:15.34 [[ 9.99940502e-01 -5.61491308e-03 -9.35224055e-03 -2.27787911e+01] [ 5.67635964e-03 9.99962394e-01 6.55671563e-03 -2.09738901e+00] [ 9.31507346e-03 -6.60941221e-03 9.99934770e-01 1.53443512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499072329 meters Centerline goodness [0,1] 0.6162920755513348 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.10, Z:15.34 [[ 9.99939656e-01 -5.07206785e-03 -9.74468241e-03 -2.27765018e+01] [ 5.13957739e-03 9.99962881e-01 6.91532732e-03 -2.09743738e+00] [ 9.70924569e-03 -6.96499357e-03 9.99928607e-01 1.53424482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52907232899999 meters Centerline goodness [0,1] 0.621436716077537 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.10, Z:15.34 [[ 9.99936604e-01 -5.30551034e-03 -9.93175966e-03 -2.27765831e+01] [ 5.36747576e-03 9.99966232e-01 6.22289575e-03 -2.09531568e+00] [ 9.89840865e-03 -6.27580972e-03 9.99931316e-01 1.53433819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55907232899999 meters Centerline goodness [0,1] 0.6165207877461707 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.09, Z:15.34 [[ 9.99933485e-01 -5.50305973e-03 -1.01362062e-02 -2.27768229e+01] [ 5.55940274e-03 9.99969207e-01 5.53882579e-03 -2.09295630e+00] [ 1.01054136e-02 -5.59480863e-03 9.99933287e-01 1.53446772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58907232899999 meters Centerline goodness [0,1] 0.6121626469160811 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.09, Z:15.35 [[ 9.99928741e-01 -6.21735176e-03 -1.01910244e-02 -2.27781689e+01] [ 6.25859175e-03 9.99972335e-01 4.01981286e-03 -2.08901389e+00] [ 1.01657499e-02 -4.08330788e-03 9.99939990e-01 1.53471604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61907232899999 meters Centerline goodness [0,1] 0.6154138915318744 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.09, Z:15.35 [[ 9.99927030e-01 -6.27146104e-03 -1.03248613e-02 -2.27778408e+01] [ 6.31147611e-03 9.99972680e-01 3.84759245e-03 -2.08852297e+00] [ 1.03004492e-02 -3.91247680e-03 9.99939295e-01 1.53471384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64907232899999 meters Centerline goodness [0,1] 0.616571549355316 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.09, Z:15.35 [[ 9.99927325e-01 -6.25295657e-03 -1.03075059e-02 -2.27773083e+01] [ 6.29384321e-03 9.99972435e-01 3.93903225e-03 -2.08897606e+00] [ 1.02825912e-02 -4.00361981e-03 9.99939118e-01 1.53463336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.679072329 meters Centerline goodness [0,1] 0.5869253479544496 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.09, Z:15.34 [[ 9.99927960e-01 -6.10821510e-03 -1.03326695e-02 -2.27763393e+01] [ 6.15449796e-03 9.99971144e-01 4.45342333e-03 -2.09045648e+00] [ 1.03051689e-02 -4.51669490e-03 9.99936699e-01 1.53447997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.709072329 meters Centerline goodness [0,1] 0.6155180437449761 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.09, Z:15.35 [[ 9.99925720e-01 -6.45326528e-03 -1.03397112e-02 -2.27766236e+01] [ 6.49441031e-03 9.99971107e-01 3.95069862e-03 -2.08922271e+00] [ 1.03139176e-02 -4.01755549e-03 9.99938739e-01 1.53452503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739072329 meters Centerline goodness [0,1] 0.6155180437449761 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.09, Z:15.35 [[ 9.99925720e-01 -6.45326528e-03 -1.03397112e-02 -2.27766236e+01] [ 6.49441031e-03 9.99971107e-01 3.95069862e-03 -2.08922271e+00] [ 1.03139176e-02 -4.01755549e-03 9.99938739e-01 1.53452503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.769072329 meters Centerline goodness [0,1] 0.6044508255563532 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.09, Z:15.35 [[ 9.99923032e-01 -6.67259602e-03 -1.04597773e-02 -2.27765034e+01] [ 6.70856878e-03 9.99971690e-01 3.40784618e-03 -2.08718860e+00] [ 1.04367420e-02 -3.47775402e-03 9.99939488e-01 1.53456808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799072329 meters Centerline goodness [0,1] 0.5956629151797969 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.08, Z:15.35 [[ 9.99915405e-01 -7.54069177e-03 -1.05981243e-02 -2.27773448e+01] [ 7.56116945e-03 9.99969621e-01 1.89345917e-03 -2.08211860e+00] [ 1.05835244e-02 -1.97343321e-03 9.99942046e-01 1.53475053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.829072329 meters Centerline goodness [0,1] 0.6052175749894382 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.08, Z:15.35 [[ 9.99912720e-01 -7.70164342e-03 -1.07348278e-02 -2.27770171e+01] [ 7.71917751e-03 9.99968938e-01 1.59290825e-03 -2.08080442e+00] [ 1.07222264e-02 -1.67563327e-03 9.99941111e-01 1.53475317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859072329 meters Centerline goodness [0,1] 0.6009239141898876 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.08, Z:15.35 [[ 9.99911564e-01 -7.51750151e-03 -1.09704394e-02 -2.27758495e+01] [ 7.53798861e-03 9.99969919e-01 1.82732912e-03 -2.08078251e+00] [ 1.09563724e-02 -1.90986257e-03 9.99938153e-01 1.53466162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88907232899999 meters Centerline goodness [0,1] 0.607879210810125 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.08, Z:15.34 [[ 9.99908509e-01 -7.81863134e-03 -1.10381902e-02 -2.27744284e+01] [ 7.83971600e-03 9.99967524e-01 1.86817994e-03 -2.08246588e+00] [ 1.10232251e-02 -1.95454530e-03 9.99937332e-01 1.53444540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91907232899999 meters Centerline goodness [0,1] 0.5823669813911243 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.08, Z:15.34 [[ 9.99908509e-01 -7.83894127e-03 -1.10237845e-02 -2.27740851e+01] [ 7.86174789e-03 9.99967041e-01 2.02704435e-03 -2.08293252e+00] [ 1.10075313e-02 -2.11352511e-03 9.99937182e-01 1.53438589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94907232899999 meters Centerline goodness [0,1] 0.5884698139476016 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.08, Z:15.34 [[ 9.99905045e-01 -8.19696162e-03 -1.10775129e-02 -2.27744549e+01] [ 8.21394575e-03 9.99965157e-01 1.48858142e-03 -2.08102926e+00] [ 1.10649251e-02 -1.57943016e-03 9.99937534e-01 1.53446728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97907232899999 meters Centerline goodness [0,1] 0.5659052078719231 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.08, Z:15.35 [[ 9.99925555e-01 -6.01937126e-03 -1.06137073e-02 -2.27777236e+01] [ 6.05525862e-03 9.99976048e-01 3.35233955e-03 -2.07596107e+00] [ 1.05932741e-02 -3.41635873e-03 9.99938054e-01 1.53475314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00907232899999 meters Centerline goodness [0,1] 0.5731916424987828 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.07, Z:15.35 [[ 9.99922054e-01 -6.17719795e-03 -1.08502189e-02 -2.27771771e+01] [ 6.20895426e-03 9.99976532e-01 2.89554639e-03 -2.07427007e+00] [ 1.08320779e-02 -2.96268921e-03 9.99936942e-01 1.53476315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03907232899999 meters Centerline goodness [0,1] 0.6084007690844937 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.07, Z:15.35 [[ 9.99921819e-01 -5.78553750e-03 -1.10852998e-02 -2.27757539e+01] [ 5.82252512e-03 9.99977580e-01 3.30727385e-03 -2.07478732e+00] [ 1.10659169e-02 -3.37155972e-03 9.99933087e-01 1.53464196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.069072329 meters Centerline goodness [0,1] 0.6077449613385727 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.07, Z:15.35 [[ 9.99920532e-01 -5.86020830e-03 -1.11619145e-02 -2.27751943e+01] [ 5.89590466e-03 9.99977601e-01 3.16783313e-03 -2.07460553e+00] [ 1.11431003e-02 -3.23339097e-03 9.99932686e-01 1.53458652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099072329 meters Centerline goodness [0,1] 0.582728638219552 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.07, Z:15.35 [[ 9.99917478e-01 -5.90107666e-03 -1.14111633e-02 -2.27743961e+01] [ 5.93275311e-03 9.99978636e-01 2.74406172e-03 -2.07254632e+00] [ 1.13947266e-02 -2.81153489e-03 9.99931125e-01 1.53456492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.129072329 meters Centerline goodness [0,1] 0.6134084816245541 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.07, Z:15.34 [[ 9.99913959e-01 -5.56157134e-03 -1.18803638e-02 -2.27726173e+01] [ 5.59330545e-03 9.99980874e-01 2.63958555e-03 -2.06994714e+00] [ 1.18654563e-02 -2.70580894e-03 9.99925942e-01 1.53449293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159072329 meters Centerline goodness [0,1] 0.6094014203584714 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.07, Z:15.35 [[ 9.99930227e-01 -2.75018490e-03 -1.14881635e-02 -2.27753496e+01] [ 2.80590298e-03 9.99984366e-01 4.83674355e-03 -2.06552235e+00] [ 1.14746820e-02 -4.86864075e-03 9.99922311e-01 1.53476167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.189072329 meters Centerline goodness [0,1] 0.6032158553076403 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.06, Z:15.35 [[ 9.99928514e-01 -2.92411869e-03 -1.15937787e-02 -2.27755899e+01] [ 2.97492915e-03 9.99986036e-01 4.36774144e-03 -2.06429322e+00] [ 1.15808450e-02 -4.40191988e-03 9.99923251e-01 1.53485032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219072329 meters Centerline goodness [0,1] 0.5633037225042301 Centerline is valid? [False, False] Translation: X:-22.78, Y:-2.06, Z:15.35 [[ 9.99928234e-01 -3.17312089e-03 -1.15523687e-02 -2.27760409e+01] [ 3.21919015e-03 9.99986932e-01 3.97145423e-03 -2.06397655e+00] [ 1.15396158e-02 -4.00835849e-03 9.99925382e-01 1.53490464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.249072329 meters Centerline goodness [0,1] 0.5984260275128703 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.06, Z:15.35 [[ 9.99905168e-01 -6.22911216e-03 -1.22822648e-02 -2.27726028e+01] [ 6.23653586e-03 9.99980392e-01 5.66215599e-04 -2.06317951e+00] [ 1.22784970e-02 -6.42760689e-04 9.99924410e-01 1.53470126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27907232899999 meters Centerline goodness [0,1] 0.5939246401354784 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.06, Z:15.35 [[ 9.99904708e-01 -6.22267723e-03 -1.23229049e-02 -2.27720629e+01] [ 6.23079949e-03 9.99980396e-01 6.20836427e-04 -2.06288789e+00] [ 1.23188001e-02 -6.97558816e-04 9.99923877e-01 1.53463435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30907232899999 meters Centerline goodness [0,1] 0.5876003379805661 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.06, Z:15.35 [[ 9.99902778e-01 -6.07757582e-03 -1.25497960e-02 -2.27709884e+01] [ 6.08786196e-03 9.99981163e-01 7.81586156e-04 -2.06207264e+00] [ 1.25448094e-02 -8.57911594e-04 9.99920943e-01 1.53455828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33907232899999 meters Centerline goodness [0,1] 0.5865303363190806 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.06, Z:15.35 [[ 9.99900278e-01 -6.15246278e-03 -1.27114874e-02 -2.27705799e+01] [ 6.16049964e-03 9.99980848e-01 5.93191895e-04 -2.06048568e+00] [ 1.27075944e-02 -6.71441854e-04 9.99919030e-01 1.53456145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36907232899999 meters Centerline goodness [0,1] 0.5577818511261403 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.06, Z:15.35 [[ 9.99897930e-01 -6.45005554e-03 -1.27486131e-02 -2.27706460e+01] [ 6.45333569e-03 9.99979154e-01 2.16173800e-04 -2.05825222e+00] [ 1.27469530e-02 -2.98422815e-04 9.99918710e-01 1.53459397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39907232899999 meters Centerline goodness [0,1] 0.5840060704424257 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.06, Z:15.35 [[ 9.99898647e-01 -6.41762672e-03 -1.27086278e-02 -2.27703677e+01] [ 6.42337539e-03 9.99979285e-01 4.11577293e-04 -2.05872304e+00] [ 1.27057232e-02 -4.93167866e-04 9.99919157e-01 1.53453882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.429072329 meters Centerline goodness [0,1] 0.5663072605659063 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.06, Z:15.34 [[ 9.99901097e-01 -6.37617093e-03 -1.25355452e-02 -2.27695825e+01] [ 6.38684351e-03 9.99979275e-01 8.11536451e-04 -2.05979917e+00] [ 1.25301109e-02 -8.91518753e-04 9.99921098e-01 1.53434857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.459072329 meters Centerline goodness [0,1] 0.5604750935181859 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.06, Z:15.34 [[ 9.99902431e-01 -6.36967598e-03 -1.24320664e-02 -2.27694543e+01] [ 6.38191247e-03 9.99979189e-01 9.44844677e-04 -2.06034448e+00] [ 1.24257893e-02 -1.02409285e-03 9.99922272e-01 1.53429444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.489072329 meters Centerline goodness [0,1] 0.5531726076024257 Centerline is valid? [False, False] Translation: X:-22.77, Y:-2.06, Z:15.34 [[ 9.99902504e-01 -6.46594177e-03 -1.23763558e-02 -2.27697041e+01] [ 6.47810994e-03 9.99978572e-01 9.43342014e-04 -2.06052283e+00] [ 1.23699910e-02 -1.02342544e-03 9.99922965e-01 1.53431366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519072329 meters Centerline goodness [0,1] 0.5446511627906977 Centerline is valid? [False, False] Translation: X:-22.76, Y:-2.06, Z:15.34 [[ 9.99935503e-01 -9.26505179e-03 -6.56874502e-03 -2.27555514e+01] [ 9.30222913e-03 9.99940760e-01 5.65195236e-03 -2.06034703e+00] [ 6.51599026e-03 -5.71269180e-03 9.99962453e-01 1.53438849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.549072329 meters Centerline goodness [0,1] 0.5342462845010616 Centerline is valid? [False, False] Translation: X:-22.75, Y:-2.06, Z:15.34 [[ 9.99932741e-01 -9.39943919e-03 -6.79446690e-03 -2.27549989e+01] [ 9.43561584e-03 9.99941374e-01 5.31212802e-03 -2.05861981e+00] [ 6.74413754e-03 -5.37588071e-03 9.99962808e-01 1.53439458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579072329 meters Centerline goodness [0,1] 0.5373112198428333 Centerline is valid? [False, False] Translation: X:-22.75, Y:-2.06, Z:15.34 [[ 9.99934919e-01 -8.83202551e-03 -7.22170338e-03 -2.27526037e+01] [ 8.87492687e-03 9.99943032e-01 5.93030670e-03 -2.05854437e+00] [ 7.16891535e-03 -5.99401284e-03 9.99956338e-01 1.53420206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.609072329 meters Centerline goodness [0,1] 0.5287593226101184 Centerline is valid? [False, False] Translation: X:-22.75, Y:-2.06, Z:15.34 [[ 9.99936005e-01 -8.66766489e-03 -7.27026047e-03 -2.27510844e+01] [ 8.71460247e-03 9.99941228e-01 6.44946822e-03 -2.06057492e+00] [ 7.21393136e-03 -6.51241292e-03 9.99952773e-01 1.53397436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63907232899999 meters Centerline goodness [0,1] 0.5247019825333079 Centerline is valid? [False, False] Translation: X:-22.75, Y:-2.06, Z:15.34 [[ 9.99937011e-01 -8.64468741e-03 -7.15839718e-03 -2.27510214e+01] [ 8.69305458e-03 9.99939409e-01 6.75338187e-03 -2.06232162e+00] [ 7.09958257e-03 -6.81518482e-03 9.99951573e-01 1.53392007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66907232899999 meters Centerline goodness [0,1] 0.5397455773355704 Centerline is valid? [False, False] Translation: X:-22.75, Y:-2.06, Z:15.34 [[ 9.99935862e-01 -8.84926773e-03 -7.06846861e-03 -2.27514866e+01] [ 8.89613278e-03 9.99938473e-01 6.62646216e-03 -2.06284797e+00] [ 7.00939437e-03 -6.68891919e-03 9.99953062e-01 1.53395734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69907232899999 meters Centerline goodness [0,1] 0.5419688237670928 Centerline is valid? [False, False] Translation: X:-22.75, Y:-2.06, Z:15.34 [[ 9.99930551e-01 -9.32402786e-03 -7.20797432e-03 -2.27524492e+01] [ 9.36484850e-03 9.99940184e-01 5.65040673e-03 -2.06000705e+00] [ 7.15485862e-03 -5.71751591e-03 9.99958058e-01 1.53417683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72907232899999 meters Centerline goodness [0,1] 0.5039385206532181 Centerline is valid? [False, False] Translation: X:-22.75, Y:-2.06, Z:15.34 [[ 9.99928129e-01 -9.32526281e-03 -7.53496029e-03 -2.27517842e+01] [ 9.36510580e-03 9.99942260e-01 5.26988261e-03 -2.05781252e+00] [ 7.48538218e-03 -5.34006956e-03 9.99957725e-01 1.53420921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75907232899999 meters Centerline goodness [0,1] 0.5081215893587995 Centerline is valid? [False, False] Translation: X:-22.75, Y:-2.06, Z:15.34 [[ 9.99929247e-01 -8.50908956e-03 -8.31244557e-03 -2.27488401e+01] [ 8.55785521e-03 9.99946276e-01 5.84873519e-03 -2.05676817e+00] [ 8.26223158e-03 -5.91945808e-03 9.99948346e-01 1.53406979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78907232899999 meters Centerline goodness [0,1] 0.5545575088754866 Centerline is valid? [False, False] Translation: X:-22.75, Y:-2.05, Z:15.34 [[ 9.99931077e-01 -7.65273322e-03 -8.90373942e-03 -2.27462899e+01] [ 7.70630783e-03 9.99952315e-01 5.99842349e-03 -2.05438951e+00] [ 8.85741051e-03 -6.06662502e-03 9.99942370e-01 1.53396095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.819072329 meters Centerline goodness [0,1] 0.5671580759711611 Centerline is valid? [False, False] Translation: X:-22.75, Y:-2.05, Z:15.34 [[ 9.99929181e-01 -7.65994742e-03 -9.10818430e-03 -2.27459773e+01] [ 7.71130676e-03 9.99954491e-01 5.61712699e-03 -2.05334778e+00] [ 9.06474289e-03 -5.68696520e-03 9.99942743e-01 1.53400164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.849072329 meters Centerline goodness [0,1] 0.5134781302313602 Centerline is valid? [False, False] Translation: X:-22.74, Y:-2.05, Z:15.34 [[ 9.99901173e-01 -1.01983070e-02 -9.67666851e-03 -2.27431510e+01] [ 1.02181976e-02 9.99945776e-01 2.00831194e-03 -2.05082410e+00] [ 9.65566242e-03 -2.10699158e-03 9.99951163e-01 1.53391842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879072329 meters Centerline goodness [0,1] 0.5603117867447569 Centerline is valid? [False, False] Translation: X:-22.74, Y:-2.05, Z:15.34 [[ 9.99935408e-01 -6.24815343e-03 -9.49423045e-03 -2.27438673e+01] [ 6.30196751e-03 9.99964188e-01 5.64877646e-03 -2.05058049e+00] [ 9.45859601e-03 -5.70824393e-03 9.99938974e-01 1.53396010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.909072329 meters Centerline goodness [0,1] 0.5633638310297839 Centerline is valid? [False, False] Translation: X:-22.74, Y:-2.05, Z:15.34 [[ 9.99933432e-01 -5.95423304e-03 -9.88321738e-03 -2.27428088e+01] [ 6.00381576e-03 9.99969503e-01 4.99479487e-03 -2.04706596e+00] [ 9.85317579e-03 -5.05379939e-03 9.99938685e-01 1.53400023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939072329 meters Centerline goodness [0,1] 0.5610673817143845 Centerline is valid? [False, False] Translation: X:-22.74, Y:-2.04, Z:15.34 [[ 9.99928355e-01 -5.26975132e-03 -1.07477633e-02 -2.27402038e+01] [ 5.31978378e-03 9.99975122e-01 4.63188721e-03 -2.04310348e+00] [ 1.07230870e-02 -4.68873113e-03 9.99931513e-01 1.53398655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.969072329 meters Centerline goodness [0,1] 0.5767952921760657 Centerline is valid? [False, False] Translation: X:-22.74, Y:-2.04, Z:15.34 [[ 9.99936049e-01 -9.13876357e-04 -1.12721877e-02 -2.27384723e+01] [ 1.00529860e-03 9.99966629e-01 8.10742813e-03 -2.03953161e+00] [ 1.12644023e-02 -8.11824156e-03 9.99903599e-01 1.53394509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999072329 meters Centerline goodness [0,1] 0.5960166985562707 Centerline is valid? [False, False] Translation: X:-22.74, Y:-2.04, Z:15.34 [[ 9.99930777e-01 -6.86747913e-04 -1.17460315e-02 -2.27369409e+01] [ 7.78794445e-04 9.99969013e-01 7.83361606e-03 -2.03788266e+00] [ 1.17402878e-02 -7.84222154e-03 9.99900328e-01 1.53390444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02907232899999 meters Centerline goodness [0,1] 0.5885789999565576 Centerline is valid? [False, False] Translation: X:-22.74, Y:-2.04, Z:15.34 [[ 9.99926294e-01 -5.30984008e-04 -1.21295034e-02 -2.27357123e+01] [ 6.22710347e-04 9.99971231e-01 7.55972562e-03 -2.03662271e+00] [ 1.21251403e-02 -7.56672159e-03 9.99897858e-01 1.53387777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05907232899999 meters Centerline goodness [0,1] 0.589755926865541 Centerline is valid? [False, False] Translation: X:-22.74, Y:-2.03, Z:15.34 [[ 9.99922985e-01 -4.91966070e-04 -1.24009201e-02 -2.27352378e+01] [ 5.68979000e-04 9.99980571e-01 6.20749653e-03 -2.03179853e+00] [ 1.23976253e-02 -6.21407432e-03 9.99903837e-01 1.53399819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08907232899999 meters Centerline goodness [0,1] 0.616172246705694 Centerline is valid? [False, False] Translation: X:-22.74, Y:-2.03, Z:15.34 [[ 9.99919062e-01 -7.41319604e-04 -1.27011707e-02 -2.27350522e+01] [ 8.04502458e-04 9.99987325e-01 4.97018247e-03 -2.02750609e+00] [ 1.26973252e-02 -4.97999832e-03 9.99906984e-01 1.53412011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11907232899999 meters Centerline goodness [0,1] 0.6185775530394635 Centerline is valid? [False, False] Translation: X:-22.73, Y:-2.02, Z:15.34 [[ 9.99913715e-01 -8.61010135e-04 -1.31080709e-02 -2.27343494e+01] [ 9.13976429e-04 9.99991441e-01 4.03528492e-03 -2.02369208e+00] [ 1.31044843e-02 -4.04691720e-03 9.99905943e-01 1.53419159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14907232899999 meters Centerline goodness [0,1] 0.6192379488305699 Centerline is valid? [False, False] Translation: X:-22.73, Y:-2.02, Z:15.34 [[ 9.99906558e-01 -4.30480657e-04 -1.36634857e-02 -2.27323248e+01] [ 4.83487220e-04 9.99992370e-01 3.87636584e-03 -2.02115321e+00] [ 1.36617127e-02 -3.88260974e-03 9.99899136e-01 1.53412452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.179072329 meters Centerline goodness [0,1] 0.6220782940100897 Centerline is valid? [False, False] Translation: X:-22.73, Y:-2.02, Z:15.34 [[ 9.99897433e-01 2.28468450e-04 -1.43202897e-02 -2.27294548e+01] [-1.78880013e-04 9.99993984e-01 3.46399484e-03 -2.01699567e+00] [ 1.43209949e-02 -3.46107794e-03 9.99891459e-01 1.53400869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.209072329 meters Centerline goodness [0,1] 0.6344162166946977 Centerline is valid? [False, False] Translation: X:-22.73, Y:-2.01, Z:15.34 [[ 9.99893322e-01 2.11050975e-04 -1.46048274e-02 -2.27285809e+01] [-1.67927197e-04 9.99995623e-01 2.95387051e-03 -2.01496196e+00] [ 1.46053869e-02 -2.95110285e-03 9.99888981e-01 1.53400040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239072329 meters Centerline goodness [0,1] 0.6356012833278017 Centerline is valid? [False, False] Translation: X:-22.73, Y:-2.01, Z:15.34 [[ 9.99886540e-01 5.45364259e-04 -1.50535293e-02 -2.27268480e+01] [-5.01859034e-04 9.99995687e-01 2.89366122e-03 -2.01377151e+00] [ 1.50550424e-02 -2.88577816e-03 9.99882502e-01 1.53392632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.269072329 meters Centerline goodness [0,1] 0.6377746734960864 Centerline is valid? [False, False] Translation: X:-22.73, Y:-2.01, Z:15.34 [[ 9.99881433e-01 9.11971232e-04 -1.53716441e-02 -2.27258916e+01] [-8.86711526e-04 9.99998246e-01 1.65000180e-03 -2.00842617e+00] [ 1.53731218e-02 -1.63617595e-03 9.99880488e-01 1.53402958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299072329 meters Centerline goodness [0,1] 0.6428016255468455 Centerline is valid? [False, False] Translation: X:-22.72, Y:-2.00, Z:15.34 [[ 9.99871812e-01 1.37027351e-03 -1.59524721e-02 -2.27243722e+01] [-1.35560358e-03 9.99998648e-01 9.30379146e-04 -2.00401524e+00] [ 1.59537254e-02 -9.08634654e-04 9.99872318e-01 1.53410345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.329072329 meters Centerline goodness [0,1] 0.6743465072709429 Centerline is valid? [False, False] Translation: X:-22.72, Y:-2.00, Z:15.34 [[ 9.99864170e-01 1.57749915e-03 -1.64058888e-02 -2.27235752e+01] [-1.58014709e-03 9.99998741e-01 -1.48440252e-04 -1.99894873e+00] [ 1.64056339e-02 1.74343807e-04 9.99865403e-01 1.53423772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359072329 meters Centerline goodness [0,1] 0.6584312409085823 Centerline is valid? [False, False] Translation: X:-22.72, Y:-2.00, Z:15.34 [[ 9.99837595e-01 6.23993623e-03 -1.69070326e-02 -2.27216717e+01] [-6.18078300e-03 9.99974602e-01 3.54873265e-03 -1.99612394e+00] [ 1.69287471e-02 -3.44365761e-03 9.99850768e-01 1.53419003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38907232899999 meters Centerline goodness [0,1] 0.6663900973225098 Centerline is valid? [False, False] Translation: X:-22.72, Y:-1.99, Z:15.34 [[ 9.99825078e-01 6.79814102e-03 -1.74240986e-02 -2.27197022e+01] [-6.73892203e-03 9.99971324e-01 3.45514784e-03 -1.99498221e+00] [ 1.74470875e-02 -3.33712381e-03 9.99842219e-01 1.53412329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41907232899999 meters Centerline goodness [0,1] 0.7047454042256374 Centerline is valid? [False, False] Translation: X:-22.72, Y:-1.99, Z:15.34 [[ 9.99797995e-01 8.91525905e-03 -1.80135174e-02 -2.27155951e+01] [-8.84567354e-03 9.99953118e-01 3.93895396e-03 -1.99165684e+00] [ 1.80477897e-02 -3.77881658e-03 9.99829984e-01 1.53391012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44907232899999 meters Centerline goodness [0,1] 0.7136176622675869 Centerline is valid? [False, False] Translation: X:-22.71, Y:-1.99, Z:15.34 [[ 9.99765950e-01 1.02917866e-02 -1.90295627e-02 -2.27116713e+01] [-1.02103781e-02 9.99938323e-01 4.37022638e-03 -1.98926299e+00] [ 1.90733664e-02 -4.17490450e-03 9.99809370e-01 1.53378130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47907232899999 meters Centerline goodness [0,1] 0.7203315191617172 Centerline is valid? [False, False] Translation: X:-22.71, Y:-1.99, Z:15.34 [[ 9.99748720e-01 1.08368347e-02 -1.96229467e-02 -2.27099054e+01] [-1.07634984e-02 9.99934702e-01 3.83903927e-03 -1.98581148e+00] [ 1.96632684e-02 -3.62686304e-03 9.99800081e-01 1.53381017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50907232899999 meters Centerline goodness [0,1] 0.7328960759923103 Centerline is valid? [False, False] Translation: X:-22.71, Y:-1.98, Z:15.34 [[ 9.99732082e-01 1.13198401e-02 -2.01897166e-02 -2.27084146e+01] [-1.12569148e-02 9.99931430e-01 3.22763415e-03 -1.98262579e+00] [ 2.02248685e-02 -2.99949549e-03 9.99790957e-01 1.53387508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53907232899999 meters Centerline goodness [0,1] 0.7479836432234598 Centerline is valid? [False, False] Translation: X:-22.70, Y:-1.98, Z:15.34 [[ 9.99648095e-01 1.46728241e-02 -2.20996271e-02 -2.27017424e+01] [-1.46471685e-02 9.99891850e-01 1.32233426e-03 -1.97814231e+00] [ 2.21166394e-02 -9.98171959e-04 9.99754899e-01 1.53434715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.569072329 meters Centerline goodness [0,1] 0.757190453525532 Centerline is valid? [False, False] Translation: X:-22.70, Y:-1.98, Z:15.34 [[ 9.99623832e-01 1.52921069e-02 -2.27672291e-02 -2.27000140e+01] [-1.52703541e-02 9.99882764e-01 1.12900490e-03 -1.97616671e+00] [ 2.27818249e-02 -7.80916553e-04 9.99740156e-01 1.53439232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599072329 meters Centerline goodness [0,1] 0.7601317582916856 Centerline is valid? [False, False] Translation: X:-22.70, Y:-1.97, Z:15.34 [[ 9.99608565e-01 1.56496192e-02 -2.31906413e-02 -2.26987719e+01] [-1.56335503e-02 9.99877407e-01 8.74052026e-04 -1.97443115e+00] [ 2.32014769e-02 -5.11157834e-04 9.99730679e-01 1.53440342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.629072329 meters Centerline goodness [0,1] 0.7601317582916856 Centerline is valid? [False, False] Translation: X:-22.70, Y:-1.97, Z:15.34 [[ 9.99608565e-01 1.56496192e-02 -2.31906413e-02 -2.26987719e+01] [-1.56335503e-02 9.99877407e-01 8.74052026e-04 -1.97443115e+00] [ 2.32014769e-02 -5.11157834e-04 9.99730679e-01 1.53440342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659072329 meters Centerline goodness [0,1] 0.788872714038759 Centerline is valid? [False, False] Translation: X:-22.69, Y:-1.97, Z:15.34 [[ 9.99568364e-01 1.70504325e-02 -2.39242130e-02 -2.26949246e+01] [-1.70258680e-02 9.99854293e-01 1.23009861e-03 -1.97229238e+00] [ 2.39417008e-02 -8.22237164e-04 9.99713018e-01 1.53419725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.689072329 meters Centerline goodness [0,1] 0.799604077546191 Centerline is valid? [False, False] Translation: X:-22.69, Y:-1.97, Z:15.34 [[ 9.99538129e-01 1.79171014e-02 -2.45459816e-02 -2.26922459e+01] [-1.78804981e-02 9.99838669e-01 1.70990323e-03 -1.97179186e+00] [ 2.45726581e-02 -1.27021910e-03 9.99697240e-01 1.53406385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719072329 meters Centerline goodness [0,1] 0.8074291968805583 Centerline is valid? [False, False] Translation: X:-22.69, Y:-1.97, Z:15.34 [[ 9.99536856e-01 1.57834150e-02 -2.60183918e-02 -2.26871703e+01] [-1.58397622e-02 9.99872620e-01 -1.96098227e-03 -1.96901053e+00] [ 2.59841266e-02 2.37219920e-03 9.99659541e-01 1.53400582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.749072329 meters Centerline goodness [0,1] 0.8109801955377287 Centerline is valid? [False, False] Translation: X:-22.68, Y:-1.97, Z:15.33 [[ 9.99768256e-01 1.73992427e-02 -1.26767897e-02 -2.26819815e+01] [-1.73940132e-02 9.99848576e-01 5.22670184e-04 -1.97164817e+00] [ 1.26839642e-02 -3.02048810e-04 9.99919510e-01 1.53305595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77907232899999 meters Centerline goodness [0,1] 0.8191062471500228 Centerline is valid? [False, False] Translation: X:-22.68, Y:-1.97, Z:15.33 [[ 9.99766549e-01 1.73259804e-02 -1.29096196e-02 -2.26817082e+01] [-1.73233899e-02 9.99849890e-01 3.12473637e-04 -1.97140024e+00] [ 1.29130957e-02 -8.87623162e-05 9.99916619e-01 1.53310340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80907232899999 meters Centerline goodness [0,1] 0.8039465598470538 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.97, Z:15.33 [[ 9.99844017e-01 1.56726479e-02 -8.14310497e-03 -2.26645888e+01] [-1.56068048e-02 9.99845499e-01 8.08733767e-03 -1.97310523e+00] [ 8.26859685e-03 -7.95898834e-03 9.99934140e-01 1.53270018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83907232899999 meters Centerline goodness [0,1] 0.795682799363781 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.97, Z:15.33 [[ 9.99890646e-01 1.18113558e-02 -8.89871289e-03 -2.26632798e+01] [-1.17824471e-02 9.99925159e-01 3.29408399e-03 -1.96990554e+00] [ 8.93695449e-03 -3.18887515e-03 9.99954980e-01 1.53282011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86907232899999 meters Centerline goodness [0,1] 0.7944888323951335 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.97, Z:15.33 [[ 9.99921690e-01 8.09368114e-03 -9.54498303e-03 -2.26618069e+01] [-8.10577148e-03 9.99966393e-01 -1.22866381e-03 -1.96783980e+00] [ 9.53471783e-03 1.30593704e-03 9.99953691e-01 1.53288293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89907232899999 meters Centerline goodness [0,1] 0.8028449309120513 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.97, Z:15.33 [[ 9.99938231e-01 4.85722349e-03 -9.99703681e-03 -2.26601267e+01] [-4.90776464e-03 9.99975269e-01 -5.03730552e-03 -1.96735543e+00] [ 9.97232225e-03 5.08605748e-03 9.99937340e-01 1.53286484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.929072329 meters Centerline goodness [0,1] 0.8093387850995097 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.97, Z:15.33 [[ 9.99938937e-01 4.85263923e-03 -9.92848765e-03 -2.26604157e+01] [-4.90163243e-03 9.99975902e-01 -4.91623984e-03 -1.96785926e+00] [ 9.90439165e-03 4.96460543e-03 9.99938626e-01 1.53287963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.959072329 meters Centerline goodness [0,1] 0.808191943609787 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.97, Z:15.33 [[ 9.99937300e-01 5.00384280e-03 -1.00178319e-02 -2.26602586e+01] [-5.05042139e-03 9.99976529e-01 -4.62968144e-03 -1.96850543e+00] [ 9.99443055e-03 4.67998543e-03 9.99939103e-01 1.53288390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.989072329 meters Centerline goodness [0,1] 0.8061769277556261 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.97, Z:15.33 [[ 9.99935955e-01 5.15997896e-03 -1.00727409e-02 -2.26602003e+01] [-5.20353670e-03 9.99977204e-01 -4.30291204e-03 -1.96954171e+00] [ 1.00503083e-02 4.35505033e-03 9.99940011e-01 1.53289442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019072329 meters Centerline goodness [0,1] 0.7966898288695495 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.97, Z:15.33 [[ 9.99940813e-01 4.83668694e-03 -9.74562114e-03 -2.26619749e+01] [-4.87729571e-03 9.99979505e-01 -4.14742425e-03 -1.97305626e+00] [ 9.72536162e-03 4.19471105e-03 9.99943909e-01 1.53302488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.049072329 meters Centerline goodness [0,1] 0.792499887655597 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.98, Z:15.33 [[ 9.99940281e-01 5.02668656e-03 -9.70394971e-03 -2.26620605e+01] [-5.06064408e-03 9.99981147e-01 -3.47797317e-03 -1.97597257e+00] [ 9.68628407e-03 3.52687371e-03 9.99946867e-01 1.53300575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079072329 meters Centerline goodness [0,1] 0.8017017465293328 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.98, Z:15.33 [[ 9.99940267e-01 5.07462332e-03 -9.68043869e-03 -2.26622301e+01] [-5.10320675e-03 9.99982685e-01 -2.93028653e-03 -1.97857697e+00] [ 9.66540097e-03 2.97951278e-03 9.99948850e-01 1.53299942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.109072329 meters Centerline goodness [0,1] 0.7833103017875451 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.98, Z:15.33 [[ 9.99939759e-01 5.15957377e-03 -9.68799850e-03 -2.26624422e+01] [-5.17843133e-03 9.99984744e-01 -1.92241167e-03 -1.98314929e+00] [ 9.67793188e-03 1.97246450e-03 9.99951222e-01 1.53297892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13907232899999 meters Centerline goodness [0,1] 0.7805845465221919 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.99, Z:15.33 [[ 9.99939372e-01 5.24750042e-03 -9.68068750e-03 -2.26626193e+01] [-5.26170322e-03 9.99985117e-01 -1.44224139e-03 -1.98530593e+00] [ 9.67297526e-03 1.49309085e-03 9.99952101e-01 1.53298741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16907232899999 meters Centerline goodness [0,1] 0.7973656876395059 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.99, Z:15.33 [[ 9.99939163e-01 5.23404562e-03 -9.70950394e-03 -2.26628725e+01] [-5.24536876e-03 9.99985592e-01 -1.14109175e-03 -1.98711590e+00] [ 9.70339152e-03 1.19195226e-03 9.99952211e-01 1.53302210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19907232899999 meters Centerline goodness [0,1] 0.7976714499515802 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.99, Z:15.33 [[ 9.99935686e-01 5.55547821e-03 -9.88734430e-03 -2.26625501e+01] [-5.55881559e-03 9.99984502e-01 -3.10091299e-04 -1.99005296e+00] [ 9.88546836e-03 3.65033279e-04 9.99951071e-01 1.53301502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22907232899999 meters Centerline goodness [0,1] 0.7890168329451062 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.99, Z:15.33 [[ 9.99934050e-01 5.71431098e-03 -9.96207152e-03 -2.26625069e+01] [-5.71417470e-03 9.99983673e-01 4.21427033e-05 -1.99176033e+00] [ 9.96214969e-03 1.47850931e-05 9.99950376e-01 1.53303209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25907232899999 meters Centerline goodness [0,1] 0.8007867132867132 Centerline is valid? [False, False] Translation: X:-22.66, Y:-1.99, Z:15.33 [[ 9.99942469e-01 2.66074148e-03 -1.03912886e-02 -2.26611016e+01] [-2.69299495e-03 9.99991596e-01 -3.09113755e-03 -1.99458625e+00] [ 1.03829766e-02 3.11894340e-03 9.99941231e-01 1.53301098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28907232899999 meters Centerline goodness [0,1] 0.8028626203651257 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.00, Z:15.33 [[ 9.99941169e-01 3.03049875e-03 -1.04151115e-02 -2.26605788e+01] [-3.05469386e-03 9.99992671e-01 -2.30795537e-03 -1.99755170e+00] [ 1.04080409e-02 2.33963456e-03 9.99943098e-01 1.53292684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.319072329 meters Centerline goodness [0,1] 0.8064677265224568 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.00, Z:15.33 [[ 9.99937575e-01 3.36509083e-03 -1.06546470e-02 -2.26597584e+01] [-3.38390462e-03 9.99992746e-01 -1.74824740e-03 -1.99955923e+00] [ 1.06486868e-02 1.78419258e-03 9.99941709e-01 1.53287890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.349072329 meters Centerline goodness [0,1] 0.8073024948024948 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.00, Z:15.33 [[ 9.99935532e-01 3.54085630e-03 -1.07886105e-02 -2.26593726e+01] [-3.55744730e-03 9.99992519e-01 -1.51902298e-03 -2.00019721e+00] [ 1.07831512e-02 1.55730497e-03 9.99940647e-01 1.53286709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379072329 meters Centerline goodness [0,1] 0.808653825413602 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.00, Z:15.33 [[ 9.99936581e-01 3.40803496e-03 -1.07340178e-02 -2.26607399e+01] [-3.42524390e-03 9.99992877e-01 -1.58523914e-03 -2.00135292e+00] [ 1.07285388e-02 1.62190524e-03 9.99941132e-01 1.53306386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.409072329 meters Centerline goodness [0,1] 0.8074406754043142 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.00, Z:15.33 [[ 9.99938661e-01 3.13603316e-03 -1.06225888e-02 -2.26619636e+01] [-3.15397631e-03 9.99993627e-01 -1.67281924e-03 -2.00274248e+00] [ 1.06172751e-02 1.70622002e-03 9.99942179e-01 1.53319926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439072329 meters Centerline goodness [0,1] 0.813172621609987 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.01, Z:15.33 [[ 9.99938877e-01 3.22016915e-03 -1.05769498e-02 -2.26624152e+01] [-3.23295195e-03 9.99994064e-01 -1.19167793e-03 -2.00550175e+00] [ 1.05730496e-02 1.22579986e-03 9.99943352e-01 1.53323935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.469072329 meters Centerline goodness [0,1] 0.8076824034334764 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.01, Z:15.33 [[ 9.99938025e-01 3.53338815e-03 -1.05575567e-02 -2.26625670e+01] [-3.53331193e-03 9.99993757e-01 2.58716346e-05 -2.01201059e+00] [ 1.05575822e-02 1.14331097e-05 9.99944267e-01 1.53321979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499072329 meters Centerline goodness [0,1] 0.8100702727096899 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.01, Z:15.33 [[ 9.99936794e-01 3.82104178e-03 -1.05739511e-02 -2.26622967e+01] [-3.81347077e-03 9.99992458e-01 7.36076304e-04 -2.01483582e+00] [ 1.05766840e-02 -6.95706326e-04 9.99943823e-01 1.53317319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52907232899999 meters Centerline goodness [0,1] 0.807838856066444 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.02, Z:15.33 [[ 9.99934341e-01 1.40807961e-03 -1.13723710e-02 -2.26589948e+01] [-1.42330276e-03 9.99998102e-01 -1.33062594e-03 -2.01870684e+00] [ 1.13704758e-02 1.34672490e-03 9.99934447e-01 1.53298368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55907232899999 meters Centerline goodness [0,1] 0.8111594420278986 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.02, Z:15.33 [[ 9.99934266e-01 1.56278849e-03 -1.13587348e-02 -2.26592385e+01] [-1.57195637e-03 9.99998446e-01 -7.98238541e-04 -2.02122092e+00] [ 1.13574697e-02 8.16041506e-04 9.99935169e-01 1.53300565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58907232899999 meters Centerline goodness [0,1] 0.8137047258413024 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.02, Z:15.33 [[ 9.99932912e-01 1.76548772e-03 -1.14479243e-02 -2.26593253e+01] [-1.76874813e-03 9.99998398e-01 -2.74685576e-04 -2.02339015e+00] [ 1.14474210e-02 2.94915642e-04 9.99934433e-01 1.53304314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61907232899999 meters Centerline goodness [0,1] 0.820445163212325 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.03, Z:15.33 [[ 9.99930303e-01 2.36431662e-03 -1.15671353e-02 -2.26592441e+01] [-2.35197484e-03 9.99996650e-01 1.08045654e-03 -2.02879776e+00] [ 1.15696510e-02 -1.05317562e-03 9.99932515e-01 1.53305504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64907232899999 meters Centerline goodness [0,1] 0.8205683241017805 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.03, Z:15.33 [[ 9.99927118e-01 2.85847020e-03 -1.17298090e-02 -2.26585223e+01] [-2.83467161e-03 9.99993891e-01 2.04502262e-03 -2.03209928e+00] [ 1.17355830e-02 -2.01162342e-03 9.99929112e-01 1.53299128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.679072329 meters Centerline goodness [0,1] 0.8256178727372928 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.04, Z:15.33 [[ 9.99924282e-01 3.32303119e-03 -1.18485016e-02 -2.26579369e+01] [-3.28826669e-03 9.99990235e-01 2.95235936e-03 -2.03556266e+00] [ 1.18581967e-02 -2.91317478e-03 9.99925446e-01 1.53293668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.709072329 meters Centerline goodness [0,1] 0.8301786924119241 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.04, Z:15.33 [[ 9.99925761e-01 5.25819683e-04 -1.21735912e-02 -2.26567612e+01] [-5.21107649e-04 9.99999788e-01 3.90238993e-04 -2.04026550e+00] [ 1.21737938e-02 -3.83866270e-04 9.99925823e-01 1.53291153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739072329 meters Centerline goodness [0,1] 0.830672206871823 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.04, Z:15.33 [[ 9.99925112e-01 1.07134622e-03 -1.21911034e-02 -2.26564446e+01] [-1.05368262e-03 9.99998386e-01 1.45522324e-03 -2.04393060e+00] [ 1.21926427e-02 -1.44226871e-03 9.99924627e-01 1.53287140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.769072329 meters Centerline goodness [0,1] 0.8302109954168163 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.05, Z:15.33 [[ 9.99925455e-01 1.25883577e-03 -1.21449580e-02 -2.26568297e+01] [-1.23356746e-03 9.99997060e-01 2.08782684e-03 -2.04674189e+00] [ 1.21475505e-02 -2.07268957e-03 9.99924068e-01 1.53290676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799072329 meters Centerline goodness [0,1] 0.8300376051041535 Centerline is valid? [False, False] Translation: X:-22.66, Y:-2.05, Z:15.33 [[ 9.99923797e-01 1.60070247e-03 -1.22408370e-02 -2.26566502e+01] [-1.56487163e-03 9.99994465e-01 2.93617388e-03 -2.04982573e+00] [ 1.22454692e-02 -2.91679479e-03 9.99920767e-01 1.53289984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.829072329 meters Centerline goodness [0,1] 0.8306113417486777 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.05, Z:15.33 [[ 9.99916754e-01 -3.92639914e-04 -1.28969591e-02 -2.26533686e+01] [ 4.08991659e-04 9.99999116e-01 1.26526297e-03 -2.05378938e+00] [ 1.28964509e-02 -1.27043239e-03 9.99916030e-01 1.53269633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859072329 meters Centerline goodness [0,1] 0.8305357748389285 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.06, Z:15.33 [[ 9.99913892e-01 6.83935547e-05 -1.31226738e-02 -2.26527256e+01] [-4.07197924e-05 9.99997775e-01 2.10910648e-03 -2.05670915e+00] [ 1.31227889e-02 -2.10839052e-03 9.99911670e-01 1.53267297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88907232899999 meters Centerline goodness [0,1] 0.835836727766463 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.06, Z:15.33 [[ 9.99911041e-01 6.22931170e-04 -1.33237230e-02 -2.26521127e+01] [-5.83181314e-04 9.99995369e-01 2.98706677e-03 -2.05968580e+00] [ 1.33255221e-02 -2.97903089e-03 9.99906774e-01 1.53264991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91907232899999 meters Centerline goodness [0,1] 0.8364597037728643 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.07, Z:15.33 [[ 9.99905330e-01 1.94981792e-03 -1.36209052e-02 -2.26512717e+01] [-1.88600251e-03 9.99987193e-01 4.69638312e-03 -2.06579500e+00] [ 1.36298879e-02 -4.67024946e-03 9.99896202e-01 1.53264824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94907232899999 meters Centerline goodness [0,1] 0.8361560337875122 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.07, Z:15.33 [[ 9.99900473e-01 2.55645993e-03 -1.38747276e-02 -2.26505093e+01] [-2.48193164e-03 9.99982415e-01 5.38607714e-03 -2.06783058e+00] [ 1.38882529e-02 -5.35110496e-03 9.99889235e-01 1.53263104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97907232899999 meters Centerline goodness [0,1] 0.8293992782848651 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.07, Z:15.33 [[ 9.99890152e-01 4.30588837e-03 -1.41824917e-02 -2.26492349e+01] [-4.21228271e-03 9.99969193e-01 6.62335832e-03 -2.06969724e+00] [ 1.42105743e-02 -6.56289009e-03 9.99877487e-01 1.53263455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00907232899999 meters Centerline goodness [0,1] 0.8260271654043075 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.07, Z:15.33 [[ 9.99878930e-01 5.28811688e-03 -1.46342650e-02 -2.26478156e+01] [-5.17879031e-03 9.99958476e-01 7.49842771e-03 -2.07111038e+00] [ 1.46733099e-02 -7.42173209e-03 9.99864797e-01 1.53260185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03907232899999 meters Centerline goodness [0,1] 0.8152045050385299 Centerline is valid? [False, False] Translation: X:-22.65, Y:-2.07, Z:15.33 [[ 9.99870541e-01 6.00757974e-03 -1.49268378e-02 -2.26470903e+01] [-5.88563713e-03 9.99949059e-01 8.19989685e-03 -2.07312267e+00] [ 1.49753389e-02 -8.11098135e-03 9.99854965e-01 1.53260957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.069072329 meters Centerline goodness [0,1] 0.779345911415777 Centerline is valid? [False, False] Translation: X:-22.64, Y:-2.08, Z:15.32 [[ 9.99844767e-01 8.38551633e-03 -1.54959661e-02 -2.26442110e+01] [-8.22054085e-03 9.99909181e-01 1.06795542e-02 -2.07996022e+00] [ 1.55841123e-02 -1.05505111e-02 9.99822895e-01 1.53245009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099072329 meters Centerline goodness [0,1] 0.7558980011446256 Centerline is valid? [False, False] Translation: X:-22.64, Y:-2.08, Z:15.32 [[ 9.99826686e-01 9.53436220e-03 -1.59904021e-02 -2.26422034e+01] [-9.34275311e-03 9.99884170e-01 1.20149547e-02 -2.08341168e+00] [ 1.61031049e-02 -1.18634780e-02 9.99799954e-01 1.53233789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.129072329 meters Centerline goodness [0,1] 0.7426132632961261 Centerline is valid? [False, False] Translation: X:-22.64, Y:-2.09, Z:15.32 [[ 9.99811098e-01 1.04551701e-02 -1.63846901e-02 -2.26408988e+01] [-1.02415424e-02 9.99862155e-01 1.30683655e-02 -2.08639944e+00] [ 1.65190635e-02 -1.28980924e-02 9.99780356e-01 1.53229387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159072329 meters Centerline goodness [0,1] 0.7269864750633981 Centerline is valid? [False, False] Translation: X:-22.64, Y:-2.09, Z:15.32 [[ 9.99796082e-01 1.13538100e-02 -1.66998365e-02 -2.26401012e+01] [-1.11171744e-02 9.99837440e-01 1.41951622e-02 -2.08968057e+00] [ 1.68582909e-02 -1.40066126e-02 9.99759778e-01 1.53229976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.189072329 meters Centerline goodness [0,1] 0.7238538909475913 Centerline is valid? [False, False] Translation: X:-22.64, Y:-2.09, Z:15.32 [[ 9.99787588e-01 1.19647382e-02 -1.67816382e-02 -2.26404838e+01] [-1.17103128e-02 9.99816229e-01 1.51781402e-02 -2.09347553e+00] [ 1.69601567e-02 -1.49783979e-02 9.99743968e-01 1.53239011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219072329 meters Centerline goodness [0,1] 0.7153509791081349 Centerline is valid? [False, False] Translation: X:-22.64, Y:-2.10, Z:15.33 [[ 9.99748018e-01 1.41711497e-02 -1.74091491e-02 -2.26402290e+01] [-1.38538967e-02 9.99738185e-01 1.82107560e-02 -2.10450625e+00] [ 1.76626585e-02 -1.79649826e-02 9.99682595e-01 1.53258533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.249072329 meters Centerline goodness [0,1] 0.7093993619673378 Centerline is valid? [False, False] Translation: X:-22.64, Y:-2.11, Z:15.33 [[ 9.99776203e-01 1.16674552e-02 -1.76469467e-02 -2.26390846e+01] [-1.13943582e-02 9.99814977e-01 1.54977677e-02 -2.10687211e+00] [ 1.78245011e-02 -1.52932237e-02 9.99724164e-01 1.53255751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27907232899999 meters Centerline goodness [0,1] 0.7016464819394247 Centerline is valid? [False, False] Translation: X:-22.64, Y:-2.11, Z:15.32 [[ 9.99794748e-01 9.40196122e-03 -1.79461744e-02 -2.26372626e+01] [-9.16799322e-03 9.99872485e-01 1.30752576e-02 -2.10934093e+00] [ 1.80668190e-02 -1.29080435e-02 9.99753456e-01 1.53245954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30907232899999 meters Centerline goodness [0,1] 0.6930282717641835 Centerline is valid? [False, False] Translation: X:-22.63, Y:-2.12, Z:15.32 [[ 9.99790996e-01 8.07719307e-03 -1.87809325e-02 -2.26339247e+01] [-7.84153878e-03 9.99890027e-01 1.25874967e-02 -2.11968614e+00] [ 1.88805387e-02 -1.24375944e-02 9.99744383e-01 1.53230798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33907232899999 meters Centerline goodness [0,1] 0.691214114959064 Centerline is valid? [False, False] Translation: X:-22.63, Y:-2.13, Z:15.32 [[ 9.99800932e-01 5.28764130e-03 -1.92389278e-02 -2.26321806e+01] [-5.08968203e-03 9.99933753e-01 1.03239728e-02 -2.12510569e+00] [ 1.92922427e-02 -1.02239976e-02 9.99761611e-01 1.53222314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36907232899999 meters Centerline goodness [0,1] 0.6746246563755551 Centerline is valid? [False, False] Translation: X:-22.63, Y:-2.13, Z:15.32 [[ 9.99797687e-01 2.89835491e-03 -1.99043832e-02 -2.26296803e+01] [-2.72839329e-03 9.99959634e-01 8.56075831e-03 -2.13139585e+00] [ 1.99283919e-02 -8.50471937e-03 9.99765237e-01 1.53211136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39907232899999 meters Centerline goodness [0,1] 0.6887627599644204 Centerline is valid? [False, False] Translation: X:-22.63, Y:-2.15, Z:15.32 [[ 9.99782822e-01 1.55415273e-03 -2.07820268e-02 -2.26282027e+01] [-1.38284828e-03 9.99964973e-01 8.25474492e-03 -2.14642293e+00] [ 2.07941280e-02 -8.22421379e-03 9.99749952e-01 1.53225440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.429072329 meters Centerline goodness [0,1] 0.6650926491978835 Centerline is valid? [False, False] Translation: X:-22.63, Y:-2.15, Z:15.32 [[ 9.99772429e-01 -6.80490387e-04 -2.13219833e-02 -2.26263278e+01] [ 8.21588562e-04 9.99977820e-01 6.60943668e-03 -2.15264401e+00] [ 2.13170127e-02 -6.62545046e-03 9.99750813e-01 1.53220621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.459072329 meters Centerline goodness [0,1] 0.6758311479570256 Centerline is valid? [False, False] Translation: X:-22.63, Y:-2.17, Z:15.32 [[ 9.99776371e-01 -1.08260875e-03 -2.11195555e-02 -2.26279587e+01] [ 1.25200936e-03 9.99967140e-01 8.00945816e-03 -2.16841871e+00] [ 2.11101904e-02 -8.03410889e-03 9.99744874e-01 1.53239860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.489072329 meters Centerline goodness [0,1] 0.6698119195210188 Centerline is valid? [False, False] Translation: X:-22.63, Y:-2.17, Z:15.32 [[ 9.99757823e-01 -3.15141686e-03 -2.17798768e-02 -2.26258119e+01] [ 3.29027247e-03 9.99974473e-01 6.34251634e-03 -2.17382923e+00] [ 2.17593329e-02 -6.41264206e-03 9.99742672e-01 1.53236044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519072329 meters Centerline goodness [0,1] 0.6649155009810748 Centerline is valid? [False, False] Translation: X:-22.62, Y:-2.18, Z:15.32 [[ 9.99732739e-01 -5.10465861e-03 -2.25475823e-02 -2.26230067e+01] [ 5.21433834e-03 9.99974845e-01 4.80825592e-03 -2.17955065e+00] [ 2.25224707e-02 -4.92454158e-03 9.99734208e-01 1.53226767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.549072329 meters Centerline goodness [0,1] 0.6649155009810748 Centerline is valid? [False, False] Translation: X:-22.62, Y:-2.18, Z:15.32 [[ 9.99732739e-01 -5.10465861e-03 -2.25475823e-02 -2.26230067e+01] [ 5.21433834e-03 9.99974845e-01 4.80825592e-03 -2.17955065e+00] [ 2.25224707e-02 -4.92454158e-03 9.99734208e-01 1.53226767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579072329 meters Centerline goodness [0,1] 0.660137638962414 Centerline is valid? [False, False] Translation: X:-22.62, Y:-2.20, Z:15.32 [[ 9.99708448e-01 -5.56825615e-03 -2.34949711e-02 -2.26198244e+01] [ 5.69617169e-03 9.99969299e-01 5.38097116e-03 -2.19773774e+00] [ 2.34642871e-02 -5.51323371e-03 9.99709474e-01 1.53225563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.609072329 meters Centerline goodness [0,1] 0.6580005077001185 Centerline is valid? [False, False] Translation: X:-22.62, Y:-2.21, Z:15.32 [[ 9.99678718e-01 -7.64701477e-03 -2.41657526e-02 -2.26170622e+01] [ 7.75505873e-03 9.99960335e-01 4.38040239e-03 -2.20706396e+00] [ 2.41312971e-02 -4.56640188e-03 9.99698369e-01 1.53212649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63907232899999 meters Centerline goodness [0,1] 0.656088233429821 Centerline is valid? [False, False] Translation: X:-22.61, Y:-2.22, Z:15.32 [[ 9.99648456e-01 -9.73449799e-03 -2.46617823e-02 -2.26145382e+01] [ 9.82640726e-03 9.99945209e-01 3.60834492e-03 -2.21706873e+00] [ 2.46253056e-02 -3.84941315e-03 9.99689340e-01 1.53197466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66907232899999 meters Centerline goodness [0,1] 0.6617093293843875 Centerline is valid? [False, False] Translation: X:-22.61, Y:-2.23, Z:15.32 [[ 9.99618057e-01 -1.20905362e-02 -2.48507543e-02 -2.26129852e+01] [ 1.21605462e-02 9.99922498e-01 2.66802269e-03 -2.22670859e+00] [ 2.48165705e-02 -2.96920240e-03 9.99687612e-01 1.53185545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69907232899999 meters Centerline goodness [0,1] 0.6628685191460522 Centerline is valid? [False, False] Translation: X:-22.60, Y:-2.25, Z:15.31 [[ 9.99676392e-01 -1.65695674e-02 -1.93018493e-02 -2.25959876e+01] [ 1.67110203e-02 9.99834507e-01 7.19035946e-03 -2.24696675e+00] [ 1.91795138e-02 -7.51058620e-03 9.99787846e-01 1.53148118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72907232899999 meters Centerline goodness [0,1] 0.66368921327336 Centerline is valid? [False, False] Translation: X:-22.60, Y:-2.26, Z:15.32 [[ 9.99626912e-01 -1.91961393e-02 -1.94305200e-02 -2.25957092e+01] [ 1.93172872e-02 9.99794999e-01 6.06654491e-03 -2.25569616e+00] [ 1.93100825e-02 -6.43962649e-03 9.99792804e-01 1.53151596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75907232899999 meters Centerline goodness [0,1] 0.6619822798762135 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.27, Z:15.31 [[ 9.99573738e-01 -2.16374373e-02 -1.96000882e-02 -2.25948113e+01] [ 2.17458567e-02 9.99749294e-01 5.33541484e-03 -2.26546743e+00] [ 1.94797296e-02 -5.75936126e-03 9.99793664e-01 1.53148605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78907232899999 meters Centerline goodness [0,1] 0.6722623089983022 Centerline is valid? [False, False] Translation: X:-22.60, Y:-2.29, Z:15.32 [[ 9.99467934e-01 -2.64411026e-02 -1.90975765e-02 -2.25954858e+01] [ 2.65124491e-02 9.99642383e-01 3.49237677e-03 -2.28822251e+00] [ 1.89984045e-02 -3.99684212e-03 9.99811525e-01 1.53152515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.819072329 meters Centerline goodness [0,1] 0.6692200262389436 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.30, Z:15.32 [[ 9.99403844e-01 -2.86575859e-02 -1.92535797e-02 -2.25946653e+01] [ 2.87202323e-02 9.99583032e-01 2.98509999e-03 -2.29863170e+00] [ 1.91600058e-02 -3.53628768e-03 9.99810176e-01 1.53151862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.849072329 meters Centerline goodness [0,1] 0.6766046334979111 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.31, Z:15.31 [[ 9.99328156e-01 -3.10684742e-02 -1.94418511e-02 -2.25935621e+01] [ 3.11150265e-02 9.99513612e-01 2.09646936e-03 -2.30787812e+00] [ 1.93672607e-02 -2.69999457e-03 9.99808791e-01 1.53148582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879072329 meters Centerline goodness [0,1] 0.6786945578375176 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.33, Z:15.32 [[ 9.99155411e-01 -3.62715099e-02 -1.93091036e-02 -2.25941810e+01] [ 3.62923101e-02 9.99340952e-01 7.27778993e-04 -2.32766761e+00] [ 1.92699803e-02 -1.42793629e-03 9.99813297e-01 1.53162683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.909072329 meters Centerline goodness [0,1] 0.6843799639944933 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.34, Z:15.32 [[ 9.99059323e-01 -3.87739312e-02 -1.94177883e-02 -2.25934863e+01] [ 3.87784807e-02 9.99247822e-01 -1.42327100e-04 -2.33720605e+00] [ 1.94087013e-02 -6.10799114e-04 9.99811447e-01 1.53162871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939072329 meters Centerline goodness [0,1] 0.6973539140022051 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.35, Z:15.32 [[ 9.98850968e-01 -4.37647125e-02 -1.95293272e-02 -2.25924250e+01] [ 4.37316582e-02 9.99041071e-01 -2.11661613e-03 -2.35393188e+00] [ 1.96032331e-02 1.26013421e-03 9.99807044e-01 1.53162098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.969072329 meters Centerline goodness [0,1] 0.6992210651087969 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.36, Z:15.32 [[ 9.98734088e-01 -4.63251319e-02 -1.96010977e-02 -2.25915428e+01] [ 4.62647976e-02 9.98923007e-01 -3.52069752e-03 -2.36157427e+00] [ 1.97430843e-02 2.60939981e-03 9.99801681e-01 1.53159731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999072329 meters Centerline goodness [0,1] 0.7031537534107495 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.37, Z:15.32 [[ 9.98613719e-01 -4.87935786e-02 -1.97440361e-02 -2.25904825e+01] [ 4.87084762e-02 9.98801654e-01 -4.76875534e-03 -2.36971708e+00] [ 1.99530605e-02 3.80044259e-03 9.99793695e-01 1.53157633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02907232899999 meters Centerline goodness [0,1] 0.7023899848254932 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.38, Z:15.32 [[ 9.98489590e-01 -5.12260612e-02 -1.98602515e-02 -2.25890997e+01] [ 5.11167961e-02 9.98674831e-01 -5.97118247e-03 -2.37788693e+00] [ 2.01398135e-02 4.94697110e-03 9.99784935e-01 1.53150621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05907232899999 meters Centerline goodness [0,1] 0.7043999830443813 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.39, Z:15.31 [[ 9.98246827e-01 -5.57031452e-02 -2.00107838e-02 -2.25872924e+01] [ 5.55410005e-02 9.98419630e-01 -8.56968268e-03 -2.39370841e+00] [ 2.04565176e-02 7.44323959e-03 9.99763036e-01 1.53147343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08907232899999 meters Centerline goodness [0,1] 0.7259882218362073 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.40, Z:15.31 [[ 9.98306343e-01 -5.45499782e-02 -2.02174518e-02 -2.25865355e+01] [ 5.44430470e-02 9.98500017e-01 -5.80265779e-03 -2.40264783e+00] [ 2.05036608e-02 4.69213040e-03 9.99778767e-01 1.53145245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11907232899999 meters Centerline goodness [0,1] 0.7021844608767507 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.41, Z:15.31 [[ 9.98361645e-01 -5.34523647e-02 -2.04174074e-02 -2.25861295e+01] [ 5.33924715e-02 9.98567583e-01 -3.46777882e-03 -2.40961683e+00] [ 2.05735221e-02 2.37196153e-03 9.99785529e-01 1.53147167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14907232899999 meters Centerline goodness [0,1] 0.6970146093584586 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.42, Z:15.32 [[ 9.98450758e-01 -5.16853297e-02 -2.06085134e-02 -2.25863244e+01] [ 5.17088612e-02 9.98662016e-01 6.10237229e-04 -2.42325607e+00] [ 2.05493993e-02 -1.67493458e-03 9.99787436e-01 1.53158287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.179072329 meters Centerline goodness [0,1] 0.7168793245730971 Centerline is valid? [False, False] Translation: X:-22.59, Y:-2.43, Z:15.32 [[ 9.98510504e-01 -5.04226904e-02 -2.08405038e-02 -2.25852783e+01] [ 5.05004811e-02 9.98718836e-01 3.22305720e-03 -2.43196684e+00] [ 2.06512885e-02 -4.27071194e-03 9.99777618e-01 1.53154177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.209072329 meters Centerline goodness [0,1] 0.7190261267560867 Centerline is valid? [False, False] Translation: X:-22.58, Y:-2.44, Z:15.31 [[ 9.98549500e-01 -4.95671163e-02 -2.10237132e-02 -2.25841224e+01] [ 4.96889055e-02 9.98750626e-01 5.31035037e-03 -2.44028728e+00] [ 2.07342280e-02 -6.34729300e-03 9.99764874e-01 1.53147521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239072329 meters Centerline goodness [0,1] 0.7076818778865303 Centerline is valid? [False, False] Translation: X:-22.58, Y:-2.45, Z:15.31 [[ 9.98472616e-01 -5.10149144e-02 -2.12111547e-02 -2.25817529e+01] [ 5.11450524e-02 9.98675318e-01 5.63846744e-03 -2.45293550e+00] [ 2.08954108e-02 -6.71470095e-03 9.99759118e-01 1.53131127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.269072329 meters Centerline goodness [0,1] 0.7091787030369774 Centerline is valid? [False, False] Translation: X:-22.58, Y:-2.46, Z:15.31 [[ 9.98513475e-01 -5.01570926e-02 -2.13332191e-02 -2.25815309e+01] [ 5.03298927e-02 9.98703415e-01 7.64143360e-03 -2.45937723e+00] [ 2.09222867e-02 -8.70377304e-03 9.99743218e-01 1.53134192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299072329 meters Centerline goodness [0,1] 0.6829865361077112 Centerline is valid? [False, False] Translation: X:-22.58, Y:-2.46, Z:15.31 [[ 9.98353122e-01 -5.32751152e-02 -2.12792454e-02 -2.25812338e+01] [ 5.33895369e-02 9.98562006e-01 4.84533016e-03 -2.46224612e+00] [ 2.09905105e-02 -5.97343955e-03 9.99761830e-01 1.53135716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.329072329 meters Centerline goodness [0,1] 0.6973271928164364 Centerline is valid? [False, False] Translation: X:-22.58, Y:-2.47, Z:15.32 [[ 9.98207261e-01 -5.59145109e-02 -2.13501997e-02 -2.25816036e+01] [ 5.60165193e-02 9.98420968e-01 4.20962242e-03 -2.47217147e+00] [ 2.10811080e-02 -5.39803954e-03 9.99763196e-01 1.53152444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359072329 meters Centerline goodness [0,1] 0.7427929063708186 Centerline is valid? [False, False] Translation: X:-22.58, Y:-2.48, Z:15.32 [[ 9.98020804e-01 -5.91308764e-02 -2.14012539e-02 -2.25807960e+01] [ 5.91849387e-02 9.98245225e-01 1.90106229e-03 -2.47761162e+00] [ 2.12512881e-02 -3.16393162e-03 9.99769160e-01 1.53152075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38907232899999 meters Centerline goodness [0,1] 0.752383373585865 Centerline is valid? [False, False] Translation: X:-22.58, Y:-2.49, Z:15.31 [[ 9.97408031e-01 -6.86897421e-02 -2.14228598e-02 -2.25771892e+01] [ 6.85782370e-02 9.97628308e-01 -5.89775910e-03 -2.48956420e+00] [ 2.17771670e-02 4.41333033e-03 9.99753108e-01 1.53130573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41907232899999 meters Centerline goodness [0,1] 0.7961550583044438 Centerline is valid? [False, False] Translation: X:-22.56, Y:-2.50, Z:15.31 [[ 9.97264780e-01 -7.21666802e-02 -1.59664668e-02 -2.25625944e+01] [ 7.21888423e-02 9.97390649e-01 8.15335665e-04 -2.49796473e+00] [ 1.58659646e-02 -1.96570630e-03 9.99872195e-01 1.53083254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44907232899999 meters Centerline goodness [0,1] 0.8075765284490799 Centerline is valid? [False, False] Translation: X:-22.56, Y:-2.50, Z:15.31 [[ 9.97018109e-01 -7.55347113e-02 -1.57923323e-02 -2.25623570e+01] [ 7.55197013e-02 9.97143112e-01 -1.54551648e-03 -2.50334699e+00] [ 1.58639555e-02 3.48275703e-04 9.99874099e-01 1.53086078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47907232899999 meters Centerline goodness [0,1] 0.8149794656844066 Centerline is valid? [False, False] Translation: X:-22.56, Y:-2.51, Z:15.31 [[ 9.96760568e-01 -7.88765282e-02 -1.57118913e-02 -2.25619450e+01] [ 7.88246495e-02 9.96880887e-01 -3.89519668e-03 -2.50851920e+00] [ 1.59701237e-02 2.64409413e-03 9.99868973e-01 1.53089158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50907232899999 meters Centerline goodness [0,1] 0.8178082772059135 Centerline is valid? [False, False] Translation: X:-22.56, Y:-2.52, Z:15.31 [[ 9.96230325e-01 -8.53393188e-02 -1.55672508e-02 -2.25607735e+01] [ 8.52262611e-02 9.96331185e-01 -7.78806580e-03 -2.52035909e+00] [ 1.61747656e-02 6.43196875e-03 9.99848492e-01 1.53092939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53907232899999 meters Centerline goodness [0,1] 0.815355249204666 Centerline is valid? [False, False] Translation: X:-22.56, Y:-2.53, Z:15.31 [[ 9.95963637e-01 -8.83953238e-02 -1.55788485e-02 -2.25598107e+01] [ 8.82524984e-02 9.96051586e-01 -9.62992822e-03 -2.52702841e+00] [ 1.63685774e-02 8.21618604e-03 9.99832268e-01 1.53092903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.569072329 meters Centerline goodness [0,1] 0.808192760871408 Centerline is valid? [False, False] Translation: X:-22.56, Y:-2.53, Z:15.31 [[ 9.95693235e-01 -9.13842181e-02 -1.56174786e-02 -2.25584525e+01] [ 9.12116946e-02 9.95765985e-01 -1.14249379e-02 -2.53369543e+00] [ 1.65954130e-02 9.95123666e-03 9.99812765e-01 1.53088946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599072329 meters Centerline goodness [0,1] 0.8040483255616787 Centerline is valid? [False, False] Translation: X:-22.55, Y:-2.55, Z:15.31 [[ 9.95134870e-01 -9.72404492e-02 -1.58393456e-02 -2.25547340e+01] [ 9.70089548e-02 9.95173723e-01 -1.47825690e-02 -2.54719534e+00] [ 1.72003642e-02 1.31740915e-02 9.99765268e-01 1.53070541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.629072329 meters Centerline goodness [0,1] 0.7985320011031205 Centerline is valid? [False, False] Translation: X:-22.55, Y:-2.55, Z:15.31 [[ 9.94839555e-01 -1.00207956e-01 -1.58941881e-02 -2.25529584e+01] [ 9.99438834e-02 9.94854238e-01 -1.66212217e-02 -2.55347389e+00] [ 1.74779790e-02 1.49469220e-02 9.99735520e-01 1.53061686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659072329 meters Centerline goodness [0,1] 0.7972300459541306 Centerline is valid? [False, False] Translation: X:-22.55, Y:-2.56, Z:15.31 [[ 9.94524487e-01 -1.03309465e-01 -1.57543716e-02 -2.25520347e+01] [ 1.03012865e-01 9.94506055e-01 -1.86025848e-02 -2.55970799e+00] [ 1.75896410e-02 1.68778232e-02 9.99702828e-01 1.53059249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.689072329 meters Centerline goodness [0,1] 0.7953422575060175 Centerline is valid? [False, False] Translation: X:-22.55, Y:-2.57, Z:15.31 [[ 9.94200160e-01 -1.06410830e-01 -1.55812981e-02 -2.25515582e+01] [ 1.06083197e-01 9.94145286e-01 -2.05306242e-02 -2.56607541e+00] [ 1.76747548e-02 1.87586360e-02 9.99667803e-01 1.53061920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719072329 meters Centerline goodness [0,1] 0.7846095733741842 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.58, Z:15.30 [[ 9.93550506e-01 -1.13105621e-01 -8.03181337e-03 -2.25387268e+01] [ 1.12949163e-01 9.93441079e-01 -1.78131612e-02 -2.58196371e+00] [ 9.99390200e-03 1.67910887e-02 9.99809072e-01 1.53027762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.749072329 meters Centerline goodness [0,1] 0.7821433869497955 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.59, Z:15.30 [[ 9.93192078e-01 -1.16222191e-01 -7.86761568e-03 -2.25381377e+01] [ 1.16050207e-01 9.93049770e-01 -1.96087797e-02 -2.58909052e+00] [ 1.00919093e-02 1.85622463e-02 9.99776773e-01 1.53031267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77907232899999 meters Centerline goodness [0,1] 0.7623577769773502 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.60, Z:15.30 [[ 9.92469110e-01 -1.22271114e-01 -7.40536037e-03 -2.25372654e+01] [ 1.22068429e-01 9.92244498e-01 -2.34553626e-02 -2.60069999e+00] [ 1.02158414e-02 2.23747622e-02 9.99697458e-01 1.53037456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80907232899999 meters Centerline goodness [0,1] 0.7695517708862905 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.61, Z:15.30 [[ 9.92531508e-01 -1.21741477e-01 -7.76006503e-03 -2.25366864e+01] [ 1.21553938e-01 9.92357266e-01 -2.12531723e-02 -2.60872993e+00] [ 1.02881495e-02 2.01511767e-02 9.99744009e-01 1.53045089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83907232899999 meters Centerline goodness [0,1] 0.7603454480028787 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.62, Z:15.30 [[ 9.92573824e-01 -1.21371583e-01 -8.13281780e-03 -2.25357216e+01] [ 1.21197444e-01 9.92441267e-01 -1.92746370e-02 -2.61701519e+00] [ 1.04107372e-02 1.81458234e-02 9.99781149e-01 1.53049179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86907232899999 meters Centerline goodness [0,1] 0.7584301771766051 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.63, Z:15.30 [[ 9.92417484e-01 -1.22646913e-01 -8.07917299e-03 -2.25344515e+01] [ 1.22484794e-01 9.92303732e-01 -1.81873166e-02 -2.63239166e+00] [ 1.02476117e-02 1.70598352e-02 9.99801955e-01 1.53049106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89907232899999 meters Centerline goodness [0,1] 0.757591789228653 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.64, Z:15.30 [[ 9.92576227e-01 -1.21334658e-01 -8.38660506e-03 -2.25335228e+01] [ 1.21193453e-01 9.92505027e-01 -1.56818107e-02 -2.63975467e+00] [ 1.02264948e-02 1.45489909e-02 9.99841860e-01 1.53047643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.929072329 meters Centerline goodness [0,1] 0.761875555179561 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.65, Z:15.31 [[ 9.92725784e-01 -1.20081328e-01 -8.71733072e-03 -2.25328517e+01] [ 1.19959516e-01 9.92688845e-01 -1.33630616e-02 -2.64652888e+00] [ 1.02582511e-02 1.22201290e-02 9.99872710e-01 1.53050694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.959072329 meters Centerline goodness [0,1] 0.7695314976437523 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.65, Z:15.31 [[ 9.92897141e-01 -1.18633449e-01 -9.02070669e-03 -2.25326817e+01] [ 1.18535132e-01 9.92891670e-01 -1.07496063e-02 -2.65408696e+00] [ 1.02318474e-02 9.60398266e-03 9.99901532e-01 1.53059456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.989072329 meters Centerline goodness [0,1] 0.7799415774099319 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.67, Z:15.31 [[ 9.93279986e-01 -1.15576998e-01 -6.06847636e-03 -2.25408241e+01] [ 1.15520957e-01 9.93265242e-01 -8.89193831e-03 -2.67151704e+00] [ 7.05531019e-03 8.13114816e-03 9.99942052e-01 1.53070425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019072329 meters Centerline goodness [0,1] 0.787104828812053 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.68, Z:15.31 [[ 9.93481039e-01 -1.13823042e-01 -6.30392802e-03 -2.25410222e+01] [ 1.13787046e-01 9.93488218e-01 -5.80249316e-03 -2.68033897e+00] [ 6.92333564e-03 5.04736159e-03 9.99963295e-01 1.53083098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.049072329 meters Centerline goodness [0,1] 0.7852517985611511 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.69, Z:15.31 [[ 9.93648124e-01 -1.12340425e-01 -6.56005567e-03 -2.25407887e+01] [ 1.12322183e-01 9.93667045e-01 -3.08714926e-03 -2.68807804e+00] [ 6.86532279e-03 2.33070030e-03 9.99973717e-01 1.53090192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079072329 meters Centerline goodness [0,1] 0.7917778060036411 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.70, Z:15.31 [[ 9.93931563e-01 -1.09766652e-01 -7.16457426e-03 -2.25388560e+01] [ 1.09783781e-01 9.93953395e-01 2.04185354e-03 -2.70299629e+00] [ 6.89712548e-03 -2.81601673e-03 9.99972249e-01 1.53091202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.109072329 meters Centerline goodness [0,1] 0.7966719325961032 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.71, Z:15.31 [[ 9.94063779e-01 -1.08524249e-01 -7.72602984e-03 -2.25372283e+01] [ 1.08562121e-01 9.94078732e-01 4.66260988e-03 -2.71144476e+00] [ 7.17427572e-03 -5.47368578e-03 9.99959283e-01 1.53091847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13907232899999 meters Centerline goodness [0,1] 0.797317781801339 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.72, Z:15.31 [[ 9.94236939e-01 -1.06900938e-01 -8.06842744e-03 -2.25368346e+01] [ 1.06964206e-01 9.94231766e-01 7.86472959e-03 -2.72168834e+00] [ 7.18113989e-03 -8.68243760e-03 9.99936521e-01 1.53103680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16907232899999 meters Centerline goodness [0,1] 0.8020361512085679 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.73, Z:15.31 [[ 9.94014237e-01 -1.08961121e-01 -7.94804456e-03 -2.25370150e+01] [ 1.09014526e-01 9.94018070e-01 6.62645534e-03 -2.72908307e+00] [ 7.17847391e-03 -7.45324326e-03 9.99946458e-01 1.53116877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19907232899999 meters Centerline goodness [0,1] 0.8084500506243673 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.75, Z:15.31 [[ 9.94037897e-01 -1.08759120e-01 -7.75323543e-03 -2.25366389e+01] [ 1.08823487e-01 9.94025357e-01 8.42837493e-03 -2.74651977e+00] [ 6.79024998e-03 -9.22185821e-03 9.99934423e-01 1.53125461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22907232899999 meters Centerline goodness [0,1] 0.8120413644341997 Centerline is valid? [False, False] Translation: X:-22.54, Y:-2.76, Z:15.31 [[ 9.94209843e-01 -1.07140308e-01 -8.23059283e-03 -2.25351549e+01] [ 1.07231007e-01 9.94167547e-01 1.15064900e-02 -2.75592579e+00] [ 6.94977940e-03 -1.23224404e-02 9.99899924e-01 1.53126038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25907232899999 meters Centerline goodness [0,1] 0.8166130261709156 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.77, Z:15.31 [[ 9.94467197e-01 -1.04658226e-01 -9.03598584e-03 -2.25314589e+01] [ 1.04793490e-01 9.94363958e-01 1.60824118e-02 -2.77310464e+00] [ 7.30190195e-03 -1.69403435e-02 9.99829839e-01 1.53113903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28907232899999 meters Centerline goodness [0,1] 0.818700307431358 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.78, Z:15.31 [[ 9.94580882e-01 -1.03530854e-01 -9.49907344e-03 -2.25302441e+01] [ 1.03692664e-01 9.94437161e-01 1.85084702e-02 -2.78107630e+00] [ 7.53003391e-03 -1.93931548e-02 9.99783579e-01 1.53118203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.319072329 meters Centerline goodness [0,1] 0.8230829404427155 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.80, Z:15.31 [[ 9.94528071e-01 -1.04038414e-01 -9.48281327e-03 -2.25295112e+01] [ 1.04212603e-01 9.94349273e-01 2.02301067e-02 -2.79802182e+00] [ 7.32452027e-03 -2.11076377e-02 9.99750378e-01 1.53133571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.349072329 meters Centerline goodness [0,1] 0.8224223970227522 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.81, Z:15.31 [[ 9.94281592e-01 -1.06373047e-01 -9.42822188e-03 -2.25286844e+01] [ 1.06537355e-01 9.94125439e-01 1.90893550e-02 -2.80679520e+00] [ 7.34224236e-03 -1.99846521e-02 9.99773327e-01 1.53139875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379072329 meters Centerline goodness [0,1] 0.8240879771597758 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.82, Z:15.31 [[ 9.94015556e-01 -1.08830352e-01 -9.43556662e-03 -2.25273995e+01] [ 1.08985945e-01 9.93881418e-01 1.79385036e-02 -2.81595549e+00] [ 7.42558068e-03 -1.88594957e-02 9.99794569e-01 1.53143627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.409072329 meters Centerline goodness [0,1] 0.8258120453391982 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.83, Z:15.31 [[ 9.93738422e-01 -1.11324807e-01 -9.52553806e-03 -2.25254577e+01] [ 1.11472792e-01 9.93626345e-01 1.67482112e-02 -2.82507777e+00] [ 7.60033419e-03 -1.77051793e-02 9.99814364e-01 1.53141392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439072329 meters Centerline goodness [0,1] 0.8258120453391982 Centerline is valid? [False, False] Translation: X:-22.53, Y:-2.83, Z:15.31 [[ 9.93738422e-01 -1.11324807e-01 -9.52553806e-03 -2.25254577e+01] [ 1.11472792e-01 9.93626345e-01 1.67482112e-02 -2.82507777e+00] [ 7.60033419e-03 -1.77051793e-02 9.99814364e-01 1.53141392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.469072329 meters Centerline goodness [0,1] 0.8263282772646385 Centerline is valid? [False, False] Translation: X:-22.52, Y:-2.84, Z:15.31 [[ 9.93180500e-01 -1.16197147e-01 -9.52453333e-03 -2.25212590e+01] [ 1.16324876e-01 9.93110003e-01 1.41790183e-02 -2.84170625e+00] [ 7.81134785e-03 -1.51902646e-02 9.99854109e-01 1.53124626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499072329 meters Centerline goodness [0,1] 0.8239813099848459 Centerline is valid? [False, False] Translation: X:-22.52, Y:-2.85, Z:15.31 [[ 9.92824943e-01 -1.19210849e-01 -9.34908936e-03 -2.25200006e+01] [ 1.19320405e-01 9.92780893e-01 1.21959144e-02 -2.84773893e+00] [ 7.82771196e-03 -1.32239452e-02 9.99881920e-01 1.53120699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52907232899999 meters Centerline goodness [0,1] 0.8229116139781091 Centerline is valid? [False, False] Translation: X:-22.52, Y:-2.86, Z:15.31 [[ 9.92796795e-01 -1.19404733e-01 -9.85053037e-03 -2.25173560e+01] [ 1.19533633e-01 9.92735080e-01 1.37394344e-02 -2.85622809e+00] [ 8.13841355e-03 -1.48179362e-02 9.99857087e-01 1.53114985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55907232899999 meters Centerline goodness [0,1] 0.8189883334392005 Centerline is valid? [False, False] Translation: X:-22.52, Y:-2.86, Z:15.31 [[ 9.92421493e-01 -1.22504134e-01 -9.60819756e-03 -2.25168097e+01] [ 1.22614948e-01 9.92382447e-01 1.19437485e-02 -2.86302929e+00] [ 8.07184804e-03 -1.30313414e-02 9.99882508e-01 1.53120549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58907232899999 meters Centerline goodness [0,1] 0.8089235397555137 Centerline is valid? [False, False] Translation: X:-22.52, Y:-2.88, Z:15.31 [[ 9.91673577e-01 -1.28456178e-01 -9.08441687e-03 -2.25155203e+01] [ 1.28541168e-01 9.91658798e-01 9.48660143e-03 -2.88142742e+00] [ 7.79002935e-03 -1.05753335e-02 9.99913735e-01 1.53145284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61907232899999 meters Centerline goodness [0,1] 0.8040677966101695 Centerline is valid? [False, False] Translation: X:-22.51, Y:-2.89, Z:15.32 [[ 9.91269050e-01 -1.31539830e-01 -9.10730086e-03 -2.25139714e+01] [ 1.31613045e-01 9.91269148e-01 7.96756457e-03 -2.89070459e+00] [ 7.97973429e-03 -9.09663976e-03 9.99926785e-01 1.53151412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64907232899999 meters Centerline goodness [0,1] 0.7917831427361288 Centerline is valid? [False, False] Translation: X:-22.51, Y:-2.90, Z:15.31 [[ 9.90783198e-01 -1.35141204e-01 -9.24713544e-03 -2.25106130e+01] [ 1.35196853e-01 9.90802473e-01 5.68074634e-03 -2.89856486e+00] [ 8.39438176e-03 -6.87857164e-03 9.99941108e-01 1.53136793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.679072329 meters Centerline goodness [0,1] 0.7469928081973821 Centerline is valid? [False, False] Translation: X:-22.50, Y:-2.91, Z:15.31 [[ 9.89896449e-01 -1.41471758e-01 -9.52686665e-03 -2.25039274e+01] [ 1.41494818e-01 9.89937381e-01 1.78826024e-03 -2.91110977e+00] [ 9.17801311e-03 -3.11819473e-03 9.99953019e-01 1.53098808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.709072329 meters Centerline goodness [0,1] 0.7429529631516387 Centerline is valid? [False, False] Translation: X:-22.50, Y:-2.92, Z:15.31 [[ 9.89842258e-01 -1.41807668e-01 -1.01434126e-02 -2.25006132e+01] [ 1.41844310e-01 9.89884477e-01 2.98550856e-03 -2.91844560e+00] [ 9.61743864e-03 -4.39396789e-03 9.99944097e-01 1.53086213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739072329 meters Centerline goodness [0,1] 0.7089055612071888 Centerline is valid? [False, False] Translation: X:-22.50, Y:-2.93, Z:15.31 [[ 9.89784352e-01 -1.42157457e-01 -1.08717241e-02 -2.24969822e+01] [ 1.42208265e-01 9.89828479e-01 4.04870840e-03 -2.92527656e+00] [ 1.01855880e-02 -5.55339724e-03 9.99932705e-01 1.53072172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.769072329 meters Centerline goodness [0,1] 0.7206245906142371 Centerline is valid? [False, False] Translation: X:-22.49, Y:-2.93, Z:15.30 [[ 9.89477607e-01 -1.44228160e-01 -1.15023132e-02 -2.24923859e+01] [ 1.44267564e-01 9.89535118e-01 2.66854497e-03 -2.93078901e+00] [ 1.09970636e-02 -4.29987620e-03 9.99930285e-01 1.53046597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799072329 meters Centerline goodness [0,1] 0.6977994075327973 Centerline is valid? [False, False] Translation: X:-22.49, Y:-2.94, Z:15.30 [[ 9.89019865e-01 -1.47296452e-01 -1.19775456e-02 -2.24881561e+01] [ 1.47330672e-01 9.89085226e-01 2.02191314e-03 -2.94398974e+00] [ 1.15489928e-02 -3.76437211e-03 9.99926222e-01 1.53040517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.829072329 meters Centerline goodness [0,1] 0.6879554312828334 Centerline is valid? [False, False] Translation: X:-22.48, Y:-2.95, Z:15.31 [[ 9.88718149e-01 -1.49018644e-01 -1.51613198e-02 -2.24795894e+01] [ 1.49086105e-01 9.88818321e-01 3.41482932e-03 -2.94993757e+00] [ 1.44829175e-02 -5.63664585e-03 9.99879229e-01 1.53053393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859072329 meters Centerline goodness [0,1] 0.6595067958694685 Centerline is valid? [False, False] Translation: X:-22.48, Y:-2.96, Z:15.30 [[ 9.88616046e-01 -1.49617628e-01 -1.59021992e-02 -2.24758553e+01] [ 1.49695473e-01 9.88724785e-01 3.81644264e-03 -2.95508918e+00] [ 1.51518914e-02 -6.15348367e-03 9.99866268e-01 1.53037312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88907232899999 meters Centerline goodness [0,1] 0.6740792511171824 Centerline is valid? [False, False] Translation: X:-22.45, Y:-2.96, Z:15.30 [[ 9.88907534e-01 -1.48059858e-01 -1.18392073e-02 -2.24549332e+01] [ 1.48078832e-01 9.88975286e-01 7.37553288e-04 -2.95754628e+00] [ 1.15994814e-02 -2.48250799e-03 9.99929642e-01 1.53011788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91907232899999 meters Centerline goodness [0,1] 0.6736195018547959 Centerline is valid? [False, False] Translation: X:-22.45, Y:-2.96, Z:15.30 [[ 9.88444743e-01 -1.51091311e-01 -1.21822154e-02 -2.24507206e+01] [ 1.51087634e-01 9.88519611e-01 -1.22688985e-03 -2.96460301e+00] [ 1.22277313e-02 -6.27869289e-04 9.99925041e-01 1.52989875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94907232899999 meters Centerline goodness [0,1] 0.6675068841347171 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.97, Z:15.30 [[ 9.88738377e-01 -1.49480295e-01 -7.21544430e-03 -2.24315173e+01] [ 1.49450415e-01 9.88758893e-01 -4.51947420e-03 -2.96675474e+00] [ 7.80990705e-03 3.39022644e-03 9.99963755e-01 1.52973159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97907232899999 meters Centerline goodness [0,1] 0.6558412651304772 Centerline is valid? [False, False] Translation: X:-22.43, Y:-2.97, Z:15.30 [[ 9.88658913e-01 -1.49969852e-01 -7.91187770e-03 -2.24278925e+01] [ 1.49943387e-01 9.88687121e-01 -3.84161887e-03 -2.97246500e+00] [ 8.39849859e-03 2.61171700e-03 9.99961321e-01 1.52956948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00907232899999 meters Centerline goodness [0,1] 0.6657925346304325 Centerline is valid? [False, False] Translation: X:-22.41, Y:-2.97, Z:15.29 [[ 9.89191451e-01 -1.46559186e-01 -4.54724374e-03 -2.24064412e+01] [ 1.46532047e-01 9.89188810e-01 -5.81862534e-03 -2.97266783e+00] [ 5.35085562e-03 5.08941751e-03 9.99972733e-01 1.52926514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03907232899999 meters Centerline goodness [0,1] 0.6634544419374565 Centerline is valid? [False, False] Translation: X:-22.39, Y:-2.97, Z:15.29 [[ 9.89673635e-01 -1.43335790e-01 -9.73525200e-04 -2.23854182e+01] [ 1.43321975e-01 9.89637570e-01 -8.73453342e-03 -2.97186886e+00] [ 2.21540836e-03 8.50480988e-03 9.99961379e-01 1.52892290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.069072329 meters Centerline goodness [0,1] 0.65174875390724 Centerline is valid? [False, False] Translation: X:-22.38, Y:-2.97, Z:15.29 [[ 9.90115146e-01 -1.40243114e-01 -1.96620173e-03 -2.23826442e+01] [ 1.40232354e-01 9.90106856e-01 -4.82703343e-03 -2.97498636e+00] [ 2.62370801e-03 4.50359381e-03 9.99986417e-01 1.52879522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099072329 meters Centerline goodness [0,1] 0.6655788425268601 Centerline is valid? [False, False] Translation: X:-22.38, Y:-2.98, Z:15.29 [[ 9.90515654e-01 -1.37367902e-01 -2.96619898e-03 -2.23795866e+01] [ 1.37364727e-01 9.90519747e-01 -1.24973061e-03 -2.97847031e+00] [ 3.10975154e-03 8.30426624e-04 9.99994820e-01 1.52864709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.129072329 meters Centerline goodness [0,1] 0.6626097999788337 Centerline is valid? [False, False] Translation: X:-22.38, Y:-2.98, Z:15.29 [[ 9.90481343e-01 -1.37609995e-01 -3.19354813e-03 -2.23785003e+01] [ 1.37605449e-01 9.90485826e-01 -1.60301594e-03 -2.97806930e+00] [ 3.38375517e-03 1.14830776e-03 9.99993616e-01 1.52856963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159072329 meters Centerline goodness [0,1] 0.6548156628294006 Centerline is valid? [False, False] Translation: X:-22.38, Y:-2.98, Z:15.28 [[ 9.90731905e-01 -1.35773104e-01 -3.99456414e-03 -2.23753500e+01] [ 1.35775712e-01 9.90739525e-01 3.87775855e-04 -2.97844522e+00] [ 3.90492305e-03 -9.26546701e-04 9.99991947e-01 1.52834250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.189072329 meters Centerline goodness [0,1] 0.655257810515621 Centerline is valid? [False, False] Translation: X:-22.37, Y:-2.98, Z:15.28 [[ 9.91043269e-01 -1.33445660e-01 -5.04933723e-03 -2.23717734e+01] [ 1.33459958e-01 9.91050775e-01 2.60788317e-03 -2.97540397e+00] [ 4.65613888e-03 -3.25840939e-03 9.99983851e-01 1.52804860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219072329 meters Centerline goodness [0,1] 0.6562665592742534 Centerline is valid? [False, False] Translation: X:-22.37, Y:-2.97, Z:15.28 [[ 9.90962341e-01 -1.34038600e-01 -5.22412937e-03 -2.23706451e+01] [ 1.34048742e-01 9.90973382e-01 1.64051327e-03 -2.97286742e+00] [ 4.95708105e-03 -2.32597484e-03 9.99985008e-01 1.52793207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.249072329 meters Centerline goodness [0,1] 0.6401023926886543 Centerline is valid? [False, False] Translation: X:-22.36, Y:-2.97, Z:15.27 [[ 9.91161042e-01 -1.32657077e-01 1.37449335e-03 -2.23554833e+01] [ 1.32663307e-01 9.91139150e-01 -6.60549214e-03 -2.96827238e+00] [-4.86048887e-04 6.72945130e-03 9.99977239e-01 1.52725244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27907232899999 meters Centerline goodness [0,1] 0.6326872508270421 Centerline is valid? [False, False] Translation: X:-22.35, Y:-2.96, Z:15.27 [[ 9.90982703e-01 -1.33985623e-01 1.06539956e-03 -2.23527970e+01] [ 1.33989845e-01 9.90947570e-01 -8.34481494e-03 -2.96469530e+00] [ 6.23301305e-05 8.41231998e-03 9.99964614e-01 1.52697820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30907232899999 meters Centerline goodness [0,1] 0.6246914101238579 Centerline is valid? [False, False] Translation: X:-22.33, Y:-2.96, Z:15.26 [[ 9.91223964e-01 -1.32148152e-01 3.45247435e-03 -2.23297195e+01] [ 1.32182480e-01 9.91138448e-01 -1.31288970e-02 -2.95964801e+00] [-1.68692058e-03 1.34700340e-02 9.99907852e-01 1.52645174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33907232899999 meters Centerline goodness [0,1] 0.6200365226992823 Centerline is valid? [False, False] Translation: X:-22.33, Y:-2.96, Z:15.26 [[ 9.91490232e-01 -1.30148500e-01 2.91336501e-03 -2.23270889e+01] [ 1.30172172e-01 9.91436052e-01 -1.04766217e-02 -2.95898230e+00] [-1.52489851e-03 1.07667071e-02 9.99940875e-01 1.52621332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36907232899999 meters Centerline goodness [0,1] 0.6194622767431514 Centerline is valid? [False, False] Translation: X:-22.32, Y:-2.95, Z:15.26 [[ 9.91187898e-01 -1.32439664e-01 2.50710471e-03 -2.23238522e+01] [ 1.32461124e-01 9.91104136e-01 -1.29090066e-02 -2.95432056e+00] [-7.75137349e-04 1.31273450e-02 9.99913532e-01 1.52594551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39907232899999 meters Centerline goodness [0,1] 0.6124258481285229 Centerline is valid? [False, False] Translation: X:-22.30, Y:-2.95, Z:15.26 [[ 9.91200051e-01 -1.32158808e-01 7.51719204e-03 -2.23044462e+01] [ 1.32280247e-01 9.91030292e-01 -1.89972663e-02 -2.94945660e+00] [-4.93910895e-03 1.98244674e-02 9.99791276e-01 1.52559984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.429072329 meters Centerline goodness [0,1] 0.5954461772859048 Centerline is valid? [False, False] Translation: X:-22.30, Y:-2.95, Z:15.26 [[ 9.91536691e-01 -1.29623484e-01 7.26247348e-03 -2.23041711e+01] [ 1.29723974e-01 9.91425883e-01 -1.56974109e-02 -2.94900532e+00] [-5.16545110e-03 1.65066757e-02 9.99850413e-01 1.52559625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.459072329 meters Centerline goodness [0,1] 0.6060483870967741 Centerline is valid? [False, False] Translation: X:-22.30, Y:-2.94, Z:15.25 [[ 9.91679149e-01 -1.28544803e-01 6.97849259e-03 -2.23023639e+01] [ 1.28632606e-01 9.91592436e-01 -1.40745854e-02 -2.94459913e+00] [-5.11060566e-03 1.48551345e-02 9.99876596e-01 1.52541109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.489072329 meters Centerline goodness [0,1] 0.6025725244220297 Centerline is valid? [False, False] Translation: X:-22.30, Y:-2.94, Z:15.25 [[ 9.91526121e-01 -1.29740267e-01 6.58893388e-03 -2.22998340e+01] [ 1.29829802e-01 9.91411510e-01 -1.57302130e-02 -2.94104181e+00] [-4.49150285e-03 1.64523570e-02 9.99854563e-01 1.52518140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519072329 meters Centerline goodness [0,1] 0.5990656190273944 Centerline is valid? [False, False] Translation: X:-22.30, Y:-2.94, Z:15.25 [[ 9.91785258e-01 -1.27771275e-01 6.04173010e-03 -2.22973310e+01] [ 1.27841650e-01 9.91706508e-01 -1.32179500e-02 -2.94057170e+00] [-4.30274873e-03 1.38817527e-02 9.99894386e-01 1.52496542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.549072329 meters Centerline goodness [0,1] 0.5953188602442334 Centerline is valid? [False, False] Translation: X:-22.29, Y:-2.94, Z:15.25 [[ 9.92057771e-01 -1.25674680e-01 5.22056678e-03 -2.22941619e+01] [ 1.25724501e-01 9.92007812e-01 -1.06700767e-02 -2.94002638e+00] [-3.83788456e-03 1.12416856e-02 9.99929445e-01 1.52473189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579072329 meters Centerline goodness [0,1] 0.5896766248381 Centerline is valid? [False, False] Translation: X:-22.29, Y:-2.94, Z:15.24 [[ 9.92286505e-01 -1.23875762e-01 4.72097942e-03 -2.22918872e+01] [ 1.23913651e-01 9.92253785e-01 -8.82236576e-03 -2.93587954e+00] [-3.59153242e-03 9.33930828e-03 9.99949938e-01 1.52448777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.609072329 meters Centerline goodness [0,1] 0.5869153710360082 Centerline is valid? [False, False] Translation: X:-22.29, Y:-2.94, Z:15.24 [[ 9.92675759e-01 -1.20736668e-01 4.18253814e-03 -2.22910875e+01] [ 1.20758187e-01 9.92667572e-01 -5.34346788e-03 -2.93515922e+00] [-3.50671747e-03 5.80940676e-03 9.99976977e-01 1.52444400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63907232899999 meters Centerline goodness [0,1] 0.5861776912001355 Centerline is valid? [False, False] Translation: X:-22.27, Y:-2.93, Z:15.24 [[ 9.92902436e-01 -1.18583224e-01 9.09786320e-03 -2.22721355e+01] [ 1.18675517e-01 9.92878832e-01 -1.03801421e-02 -2.92999027e+00] [-7.80216506e-03 1.13861620e-02 9.99904736e-01 1.52397243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66907232899999 meters Centerline goodness [0,1] 0.580459160960719 Centerline is valid? [False, False] Translation: X:-22.27, Y:-2.92, Z:15.24 [[ 9.93218926e-01 -1.15942071e-01 8.57913759e-03 -2.22714436e+01] [ 1.16012996e-01 9.93213100e-01 -8.28986938e-03 -2.92388197e+00] [-7.55976722e-03 9.22894661e-03 9.99928836e-01 1.52389084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69907232899999 meters Centerline goodness [0,1] 0.5856350066977101 Centerline is valid? [False, False] Translation: X:-22.27, Y:-2.92, Z:15.24 [[ 9.93589559e-01 -1.12763632e-01 8.00952735e-03 -2.22706535e+01] [ 1.12805843e-01 9.93604326e-01 -5.02850907e-03 -2.92194733e+00] [-7.39126807e-03 5.89979559e-03 9.99955280e-01 1.52383824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72907232899999 meters Centerline goodness [0,1] 0.5857753942412054 Centerline is valid? [False, False] Translation: X:-22.27, Y:-2.92, Z:15.24 [[ 9.93956113e-01 -1.09524744e-01 7.45488858e-03 -2.22699773e+01] [ 1.09540133e-01 9.93980942e-01 -1.68706326e-03 -2.92044050e+00] [-7.22524200e-03 2.49347633e-03 9.99970789e-01 1.52380304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75907232899999 meters Centerline goodness [0,1] 0.5821676091670565 Centerline is valid? [False, False] Translation: X:-22.27, Y:-2.92, Z:15.24 [[ 9.94175947e-01 -1.07558734e-01 6.73085320e-03 -2.22678483e+01] [ 1.07563354e-01 9.94198178e-01 -3.27182230e-04 -2.91523604e+00] [-6.65661068e-03 1.04926985e-03 9.99977294e-01 1.52363902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78907232899999 meters Centerline goodness [0,1] 0.5827122746671762 Centerline is valid? [False, False] Translation: X:-22.27, Y:-2.91, Z:15.24 [[ 9.94115777e-01 -1.08115818e-01 6.69264399e-03 -2.22676691e+01] [ 1.08128977e-01 9.94135529e-01 -1.63544891e-03 -2.91110949e+00] [-6.47657727e-03 2.34949431e-03 9.99976267e-01 1.52360023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.819072329 meters Centerline goodness [0,1] 0.5821821736728015 Centerline is valid? [False, False] Translation: X:-22.27, Y:-2.90, Z:15.24 [[ 9.94378340e-01 -1.05707724e-01 6.13134673e-03 -2.22672164e+01] [ 1.05710078e-01 9.94396991e-01 -6.02248317e-05 -2.90297519e+00] [-6.09062651e-03 7.08031409e-04 9.99981201e-01 1.52356539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.849072329 meters Centerline goodness [0,1] 0.5738908394510054 Centerline is valid? [False, False] Translation: X:-22.27, Y:-2.90, Z:15.23 [[ 9.94708780e-01 -1.02575366e-01 5.72170480e-03 -2.22667210e+01] [ 1.02559762e-01 9.94722447e-01 2.95772443e-03 -2.89988117e+00] [-5.99489786e-03 -2.35525777e-03 9.99979257e-01 1.52349943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879072329 meters Centerline goodness [0,1] 0.5731389459854633 Centerline is valid? [False, False] Translation: X:-22.26, Y:-2.90, Z:15.23 [[ 9.94909450e-01 -1.00651955e-01 4.93663202e-03 -2.22635806e+01] [ 1.00628092e-01 9.94912214e-01 4.86553022e-03 -2.89657515e+00] [-5.40124062e-03 -4.34399813e-03 9.99975978e-01 1.52323143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.909072329 meters Centerline goodness [0,1] 0.5753964031073747 Centerline is valid? [False, False] Translation: X:-22.26, Y:-2.89, Z:15.23 [[ 9.95156765e-01 -9.81913259e-02 4.63438604e-03 -2.22624880e+01] [ 9.81539434e-02 9.95141435e-01 7.70246441e-03 -2.89494769e+00] [-5.36818476e-03 -7.21027630e-03 9.99959596e-01 1.52311641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939072329 meters Centerline goodness [0,1] 0.5772701216534681 Centerline is valid? [False, False] Translation: X:-22.25, Y:-2.89, Z:15.23 [[ 9.94956704e-01 -9.97381405e-02 1.06518105e-02 -2.22454737e+01] [ 9.97719693e-02 9.95006688e-01 -2.69183115e-03 -2.88529551e+00] [-1.03301445e-02 3.74100757e-03 9.99939645e-01 1.52256194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.969072329 meters Centerline goodness [0,1] 0.5785220627325891 Centerline is valid? [False, False] Translation: X:-22.25, Y:-2.88, Z:15.23 [[ 9.95218576e-01 -9.70885689e-02 1.06674854e-02 -2.22458949e+01] [ 9.70888455e-02 9.95275596e-01 4.93156820e-04 -2.88481103e+00] [-1.06649678e-02 5.44895016e-04 9.99942979e-01 1.52258912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999072329 meters Centerline goodness [0,1] 0.5594927028232746 Centerline is valid? [False, False] Translation: X:-22.25, Y:-2.88, Z:15.23 [[ 9.95476459e-01 -9.44377377e-02 1.03987010e-02 -2.22453530e+01] [ 9.44052916e-02 9.95527449e-01 3.56916915e-03 -2.88340164e+00] [-1.06892565e-02 -2.57133147e-03 9.99939562e-01 1.52253596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02907232899999 meters Centerline goodness [0,1] 0.5626007978949155 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.88, Z:15.22 [[ 9.95518500e-01 -9.40216643e-02 1.01411101e-02 -2.22429548e+01] [ 9.39809284e-02 9.95564176e-01 4.42237651e-03 -2.87612015e+00] [-1.05119251e-02 -3.44948669e-03 9.99938798e-01 1.52227374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05907232899999 meters Centerline goodness [0,1] 0.557607981867096 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.87, Z:15.22 [[ 9.95451009e-01 -9.47322648e-02 1.01531697e-02 -2.22425814e+01] [ 9.47006097e-02 9.95499449e-01 3.55553350e-03 -2.87397050e+00] [-1.04442986e-02 -2.57784805e-03 9.99942134e-01 1.52222271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08907232899999 meters Centerline goodness [0,1] 0.5627387723915442 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.87, Z:15.22 [[ 9.95381524e-01 -9.54575007e-02 1.01728987e-02 -2.22424529e+01] [ 9.54311511e-02 9.95431373e-01 3.04597601e-03 -2.87350232e+00] [-1.04171838e-02 -2.06109681e-03 9.99943615e-01 1.52223053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11907232899999 meters Centerline goodness [0,1] 0.5487623341272542 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.87, Z:15.22 [[ 9.95292175e-01 -9.63708857e-02 1.03023476e-02 -2.22422590e+01] [ 9.63502167e-02 9.95344392e-01 2.48525210e-03 -2.87318003e+00] [-1.04938899e-02 -1.48091855e-03 9.99943841e-01 1.52220834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14907232899999 meters Centerline goodness [0,1] 0.5477257759554715 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.87, Z:15.22 [[ 9.95027806e-01 -9.90411384e-02 1.05127510e-02 -2.22406352e+01] [ 9.90450608e-02 9.95082938e-01 1.48151793e-04 -2.86837815e+00] [-1.04757323e-02 8.93820908e-04 9.99944729e-01 1.52199020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.179072329 meters Centerline goodness [0,1] 0.5431684472102458 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.87, Z:15.22 [[ 9.94939137e-01 -9.99286000e-02 1.05065801e-02 -2.22398703e+01] [ 9.99436535e-02 9.94992677e-01 -9.16296253e-04 -2.86517293e+00] [-1.03624061e-02 1.96172501e-03 9.99944385e-01 1.52187962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.209072329 meters Centerline goodness [0,1] 0.5374107880302421 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.86, Z:15.22 [[ 9.94854582e-01 -1.00762624e-01 1.05476710e-02 -2.22392420e+01] [ 1.00787722e-01 9.94906187e-01 -1.87433297e-03 -2.86241113e+00] [-1.03050804e-02 2.92776448e-03 9.99942615e-01 1.52177955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239072329 meters Centerline goodness [0,1] 0.5241122687646182 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.86, Z:15.22 [[ 9.94300731e-01 -1.06030335e-01 1.11186179e-02 -2.22389791e+01] [ 1.06116627e-01 9.94325555e-01 -7.48015271e-03 -2.85845891e+00] [-1.02624028e-02 8.61739154e-03 9.99910208e-01 1.52170797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.269072329 meters Centerline goodness [0,1] 0.515542447325426 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.86, Z:15.22 [[ 9.94209195e-01 -1.06886828e-01 1.11032396e-02 -2.22384016e+01] [ 1.06975252e-01 9.94231871e-01 -7.69942983e-03 -2.85967047e+00] [-1.02162271e-02 8.84261580e-03 9.99908714e-01 1.52168835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299072329 meters Centerline goodness [0,1] 0.5118111908909377 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.86, Z:15.22 [[ 9.94114715e-01 -1.07741314e-01 1.13023649e-02 -2.22382999e+01] [ 1.07834462e-01 9.94136818e-01 -7.98224309e-03 -2.86022734e+00] [-1.03760797e-02 9.15404975e-03 9.99904266e-01 1.52166288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.329072329 meters Centerline goodness [0,1] 0.5029197545282739 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.86, Z:15.22 [[ 9.93828954e-01 -1.10255741e-01 1.21524358e-02 -2.22387617e+01] [ 1.10374351e-01 9.93844081e-01 -9.56269570e-03 -2.85814129e+00] [-1.10232842e-02 1.08450011e-02 9.99880429e-01 1.52159171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359072329 meters Centerline goodness [0,1] 0.5029197545282739 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.86, Z:15.22 [[ 9.93828954e-01 -1.10255741e-01 1.21524358e-02 -2.22387617e+01] [ 1.10374351e-01 9.93844081e-01 -9.56269570e-03 -2.85814129e+00] [-1.10232842e-02 1.08450011e-02 9.99880429e-01 1.52159171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38907232899999 meters Centerline goodness [0,1] 0.5024163805163424 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.86, Z:15.22 [[ 9.93763994e-01 -1.10821259e-01 1.23195775e-02 -2.22389967e+01] [ 1.10947764e-01 9.93774846e-01 -1.01069240e-02 -2.85638731e+00] [-1.11228242e-02 1.14107267e-02 9.99873031e-01 1.52158034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41907232899999 meters Centerline goodness [0,1] 0.49742728355162447 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.85, Z:15.22 [[ 9.93709477e-01 -1.11306158e-01 1.23456618e-02 -2.22386607e+01] [ 1.11439220e-01 9.93713972e-01 -1.06696928e-02 -2.85453745e+00] [-1.10804541e-02 1.19783657e-02 9.99866862e-01 1.52152224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44907232899999 meters Centerline goodness [0,1] 0.49515283935427756 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.85, Z:15.21 [[ 9.93558678e-01 -1.12648259e-01 1.23094847e-02 -2.22372263e+01] [ 1.12795709e-01 9.93545466e-01 -1.20223048e-02 -2.85169274e+00] [-1.08757410e-02 1.33333223e-02 9.99851959e-01 1.52136435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47907232899999 meters Centerline goodness [0,1] 0.48242026067606236 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.85, Z:15.21 [[ 9.93532283e-01 -1.12890625e-01 1.22192213e-02 -2.22369680e+01] [ 1.13039366e-01 9.93514940e-01 -1.22542323e-02 -2.85154438e+00] [-1.07565910e-02 1.35562284e-02 9.99850251e-01 1.52137056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50907232899999 meters Centerline goodness [0,1] 0.5183838383838384 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.85, Z:15.21 [[ 9.93512128e-01 -1.13075411e-01 1.21492102e-02 -2.22371586e+01] [ 1.13226776e-01 9.93489407e-01 -1.25895291e-02 -2.85081576e+00] [-1.06465455e-02 1.38834658e-02 9.99846939e-01 1.52142840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53907232899999 meters Centerline goodness [0,1] 0.496060824261934 Centerline is valid? [False, False] Translation: X:-22.23, Y:-2.85, Z:15.21 [[ 9.93376876e-01 -1.12131346e-01 2.50787361e-02 -2.22334909e+01] [ 1.12411137e-01 9.93611105e-01 -1.00353606e-02 -2.84854266e+00] [-2.37932322e-02 1.27880244e-02 9.99635108e-01 1.52071992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.569072329 meters Centerline goodness [0,1] 0.49462593094109686 Centerline is valid? [False, False] Translation: X:-22.23, Y:-2.85, Z:15.21 [[ 9.93759141e-01 -1.08758474e-01 2.47863645e-02 -2.22335523e+01] [ 1.08945493e-01 9.94027634e-01 -6.32004759e-03 -2.84768759e+00] [-2.39509725e-02 8.98096777e-03 9.99672793e-01 1.52070326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599072329 meters Centerline goodness [0,1] 0.5086839711450996 Centerline is valid? [False, False] Translation: X:-22.23, Y:-2.85, Z:15.21 [[ 9.94137484e-01 -1.05315674e-01 2.44800068e-02 -2.22336677e+01] [ 1.05410112e-01 9.94425446e-01 -2.59627380e-03 -2.84683427e+00] [-2.40701134e-02 5.16149336e-03 9.99696948e-01 1.52070129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.629072329 meters Centerline goodness [0,1] 0.4725594227504244 Centerline is valid? [False, False] Translation: X:-22.23, Y:-2.84, Z:15.21 [[ 9.94512106e-01 -1.01812059e-01 2.40826899e-02 -2.22341906e+01] [ 1.01828675e-01 9.94801805e-01 5.38552317e-04 -2.84391263e+00] [-2.40123345e-02 1.91671160e-03 9.99709825e-01 1.52078251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659072329 meters Centerline goodness [0,1] 0.5041918709540486 Centerline is valid? [False, False] Translation: X:-22.23, Y:-2.84, Z:15.21 [[ 9.94522716e-01 -1.01746731e-01 2.39200605e-02 -2.22342568e+01] [ 1.01775635e-01 9.94807378e-01 9.11677945e-06 -2.84198382e+00] [-2.37967803e-02 2.42541250e-03 9.99713874e-01 1.52082990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.689072329 meters Centerline goodness [0,1] 0.5016106472258721 Centerline is valid? [False, False] Translation: X:-22.23, Y:-2.84, Z:15.21 [[ 9.94871038e-01 -9.83813866e-02 2.35099918e-02 -2.22343389e+01] [ 9.83224284e-02 9.95147905e-01 3.65352218e-03 -2.84221607e+00] [-2.37553576e-02 -1.32322392e-03 9.99716926e-01 1.52088899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719072329 meters Centerline goodness [0,1] 0.5048481890899832 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.84, Z:15.21 [[ 9.95085551e-01 -9.61351577e-02 2.37229182e-02 -2.22369507e+01] [ 9.60300267e-02 9.95363052e-01 5.53439014e-03 -2.83977530e+00] [-2.41449657e-02 -3.22907920e-03 9.99703253e-01 1.52110943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.749072329 meters Centerline goodness [0,1] 0.5033225059974948 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.83, Z:15.21 [[ 9.95468465e-01 -9.22383634e-02 2.31218370e-02 -2.22371368e+01] [ 9.20798831e-02 9.95720839e-01 7.82985686e-03 -2.83295567e+00] [-2.37451082e-02 -5.66531954e-03 9.99701993e-01 1.52116187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77907232899999 meters Centerline goodness [0,1] 0.5017272438274876 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.83, Z:15.21 [[ 9.95814221e-01 -8.85883508e-02 2.24975997e-02 -2.22365031e+01] [ 8.83530978e-02 9.96025733e-01 1.12458976e-02 -2.83131354e+00] [-2.34044437e-02 -9.21109213e-03 9.99683644e-01 1.52115367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80907232899999 meters Centerline goodness [0,1] 0.5077489837398375 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.83, Z:15.21 [[ 9.95870262e-01 -8.80737898e-02 2.20324295e-02 -2.22358233e+01] [ 8.78591952e-02 9.96077276e-01 1.05272461e-02 -2.82730197e+00] [-2.28731768e-02 -8.54801981e-03 9.99701830e-01 1.52113495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83907232899999 meters Centerline goodness [0,1] 0.5265139497007001 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.82, Z:15.21 [[ 9.96249879e-01 -8.38528991e-02 2.13276937e-02 -2.22359188e+01] [ 8.35857631e-02 9.96414158e-01 1.31242278e-02 -2.82094936e+00] [-2.23517205e-02 -1.12923188e-02 9.99686393e-01 1.52120092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86907232899999 meters Centerline goodness [0,1] 0.5130436628388275 Centerline is valid? [False, False] Translation: X:-22.24, Y:-2.82, Z:15.21 [[ 9.96572662e-01 -8.00320076e-02 2.09238577e-02 -2.22361590e+01] [ 7.96935697e-02 9.96682206e-01 1.65383023e-02 -2.81879441e+00] [-2.21780302e-02 -1.48141230e-02 9.99644275e-01 1.52125904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89907232899999 meters Centerline goodness [0,1] 0.5479632342015326 Centerline is valid? [False, False] Translation: X:-22.23, Y:-2.81, Z:15.22 [[ 9.97356520e-01 -7.03437291e-02 1.82135272e-02 -2.22289417e+01] [ 7.01011184e-02 9.97446721e-01 1.36335196e-02 -2.81028508e+00] [-1.91260556e-02 -1.23206910e-02 9.99741164e-01 1.52176677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.929072329 meters Centerline goodness [0,1] 0.5464420588110493 Centerline is valid? [False, False] Translation: X:-22.23, Y:-2.81, Z:15.22 [[ 9.97616141e-01 -6.66495498e-02 1.78849693e-02 -2.22292267e+01] [ 6.63519315e-02 9.97655707e-01 1.67484709e-02 -2.80695477e+00] [-1.89593197e-02 -1.55218426e-02 9.99699763e-01 1.52181552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.959072329 meters Centerline goodness [0,1] 0.5324859955864878 Centerline is valid? [False, False] Translation: X:-22.23, Y:-2.80, Z:15.22 [[ 9.97726848e-01 -6.49985028e-02 1.77857230e-02 -2.22310847e+01] [ 6.46918542e-02 9.97755218e-01 1.73057662e-02 -2.80203782e+00] [-1.88706469e-02 -1.61158362e-02 9.99692042e-01 1.52202116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.989072329 meters Centerline goodness [0,1] 0.5551292107438892 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.80, Z:15.22 [[ 9.98188387e-01 -5.83409161e-02 1.47065042e-02 -2.22219677e+01] [ 5.81747698e-02 9.98240368e-01 1.14832135e-02 -2.79601819e+00] [-1.53505674e-02 -1.06068628e-02 9.99825912e-01 1.52244909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019072329 meters Centerline goodness [0,1] 0.5610179172043238 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.79, Z:15.22 [[ 9.98249681e-01 -5.74774370e-02 1.39254635e-02 -2.22181859e+01] [ 5.73149869e-02 9.98286443e-01 1.17970107e-02 -2.79401188e+00] [-1.45796634e-02 -1.09782244e-02 9.99833442e-01 1.52213757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.049072329 meters Centerline goodness [0,1] 0.5603937660791359 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.79, Z:15.22 [[ 9.98243934e-01 -5.75865568e-02 1.38865646e-02 -2.22176981e+01] [ 5.74372198e-02 9.98289358e-01 1.09235497e-02 -2.79035552e+00] [-1.44918593e-02 -1.01067615e-02 9.99843908e-01 1.52204761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079072329 meters Centerline goodness [0,1] 0.549320016999575 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.79, Z:15.22 [[ 9.98225418e-01 -5.79288376e-02 1.37936281e-02 -2.22170818e+01] [ 5.77946759e-02 9.98279061e-01 9.93437263e-03 -2.78653995e+00] [-1.43453768e-02 -9.11954500e-03 9.99855512e-01 1.52196025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.109072329 meters Centerline goodness [0,1] 0.5484083052321266 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.98182045e-01 -5.86973642e-02 1.36829742e-02 -2.22169606e+01] [ 5.85852199e-02 9.98246581e-01 8.45784906e-03 -2.78173493e+00] [-1.41554356e-02 -7.64085303e-03 9.99870612e-01 1.52196834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13907232899999 meters Centerline goodness [0,1] 0.5614726317573293 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.98157733e-01 -5.91323438e-02 1.35833072e-02 -2.22168726e+01] [ 5.90303890e-02 9.98225803e-01 7.78838903e-03 -2.77989739e+00] [-1.40197534e-02 -6.97221283e-03 9.99877410e-01 1.52199017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16907232899999 meters Centerline goodness [0,1] 0.5564847355718339 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.98105472e-01 -6.00249472e-02 1.35082021e-02 -2.22171995e+01] [ 5.99341281e-02 9.98177573e-01 7.03090537e-03 -2.77894811e+00] [-1.39056142e-02 -6.20798281e-03 9.99884041e-01 1.52209021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19907232899999 meters Centerline goodness [0,1] 0.5371676729160046 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.98080212e-01 -6.04317233e-02 1.35608468e-02 -2.22175472e+01] [ 6.03393647e-02 9.98152528e-01 7.11986908e-03 -2.78061330e+00] [-1.39660595e-02 -6.28794756e-03 9.99882699e-01 1.52215847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22907232899999 meters Centerline goodness [0,1] 0.522955994830399 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.97784238e-01 -6.50760150e-02 1.38465357e-02 -2.22173418e+01] [ 6.50425263e-02 9.97878407e-01 2.85578129e-03 -2.78122250e+00] [-1.40030019e-02 -1.94883989e-03 9.99900054e-01 1.52213680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25907232899999 meters Centerline goodness [0,1] 0.5312922582826234 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.97766580e-01 -6.53497382e-02 1.38298017e-02 -2.22170613e+01] [ 6.53175484e-02 9.97860692e-01 2.76707180e-03 -2.78111038e+00] [-1.39810429e-02 -1.85756303e-03 9.99900535e-01 1.52211061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28907232899999 meters Centerline goodness [0,1] 0.5242356923727918 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.97755304e-01 -6.55268220e-02 1.38053835e-02 -2.22171416e+01] [ 6.54995878e-02 9.97849671e-01 2.41620526e-03 -2.77967997e+00] [-1.39340237e-02 -1.50653469e-03 9.99901782e-01 1.52212453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.319072329 meters Centerline goodness [0,1] 0.531037109127068 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.97965048e-01 -6.22426056e-02 1.38426928e-02 -2.22177341e+01] [ 6.21586617e-02 9.98045669e-01 6.41429174e-03 -2.78087675e+00] [-1.42148819e-02 -5.54079571e-03 9.99883612e-01 1.52215997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.349072329 meters Centerline goodness [0,1] 0.5271365396415649 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.97971342e-01 -6.21775848e-02 1.36802161e-02 -2.22176416e+01] [ 6.20975708e-02 9.98050837e-01 6.19832801e-03 -2.77962746e+00] [-1.40389482e-02 -5.33624554e-03 9.99887210e-01 1.52218733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379072329 meters Centerline goodness [0,1] 0.5254477706736673 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.98025482e-01 -6.14035554e-02 1.32189455e-02 -2.22170236e+01] [ 6.13254438e-02 9.98098344e-01 6.23584883e-03 -2.77857540e+00] [-1.35767109e-02 -5.41287834e-03 9.99893181e-01 1.52221276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.409072329 meters Centerline goodness [0,1] 0.5272573124205171 Centerline is valid? [False, False] Translation: X:-22.22, Y:-2.78, Z:15.22 [[ 9.98070616e-01 -6.07673935e-02 1.27424538e-02 -2.22160026e+01] [ 6.06899932e-02 9.98136301e-01 6.37573641e-03 -2.77821334e+00] [-1.31061425e-02 -5.59009573e-03 9.99898485e-01 1.52218677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439072329 meters Centerline goodness [0,1] 0.5378460756921514 Centerline is valid? [False, False] Translation: X:-22.21, Y:-2.78, Z:15.22 [[ 9.98383628e-01 -5.55651085e-02 1.19436248e-02 -2.22148987e+01] [ 5.54404853e-02 9.98406530e-01 1.05239653e-02 -2.77616002e+00] [-1.25093583e-02 -9.84479426e-03 9.99873290e-01 1.52214931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.469072329 meters Centerline goodness [0,1] 0.5423560904664545 Centerline is valid? [False, False] Translation: X:-22.21, Y:-2.77, Z:15.22 [[ 9.98610048e-01 -5.14446180e-02 1.14639840e-02 -2.22143557e+01] [ 5.12798882e-02 9.98582967e-01 1.42278274e-02 -2.77418667e+00] [-1.21796843e-02 -1.36201796e-02 9.99833059e-01 1.52214122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499072329 meters Centerline goodness [0,1] 0.5493594732745746 Centerline is valid? [False, False] Translation: X:-22.21, Y:-2.77, Z:15.22 [[ 9.98828918e-01 -4.71485218e-02 1.08540313e-02 -2.22137704e+01] [ 4.69481641e-02 9.98734628e-01 1.80280894e-02 -2.77241503e+00] [-1.16902947e-02 -1.74974001e-02 9.99778564e-01 1.52216947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52907232899999 meters Centerline goodness [0,1] 0.5660226795464091 Centerline is valid? [False, False] Translation: X:-22.21, Y:-2.77, Z:15.22 [[ 9.99296638e-01 -3.46116658e-02 1.44312515e-02 -2.22114413e+01] [ 3.44342808e-02 9.99330479e-01 1.23642439e-02 -2.77009892e+00] [-1.48495365e-02 -1.18586176e-02 9.99819416e-01 1.52196755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55907232899999 meters Centerline goodness [0,1] 0.5736054536628606 Centerline is valid? [False, False] Translation: X:-22.21, Y:-2.77, Z:15.22 [[ 9.99638033e-01 -2.56275794e-02 8.18722538e-03 -2.22119675e+01] [ 2.55830900e-02 9.99657606e-01 5.49329755e-03 -2.76896376e+00] [-8.32520204e-03 -5.28185463e-03 9.99951395e-01 1.52206584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58907232899999 meters Centerline goodness [0,1] 0.5810950304409193 Centerline is valid? [False, False] Translation: X:-22.21, Y:-2.77, Z:15.22 [[ 9.99744131e-01 -2.12383204e-02 7.78503966e-03 -2.22115700e+01] [ 2.11627006e-02 9.99729274e-01 9.67047308e-03 -2.76907852e+00] [-7.98831665e-03 -9.50324624e-03 9.99922935e-01 1.52210867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61907232899999 meters Centerline goodness [0,1] 0.5952487292371169 Centerline is valid? [False, False] Translation: X:-22.21, Y:-2.77, Z:15.22 [[ 9.99894076e-01 -1.23798820e-02 7.65346141e-03 -2.22123487e+01] [ 1.22419599e-02 9.99766398e-01 1.78124386e-02 -2.76718515e+00] [-7.87218943e-03 -1.77168585e-02 9.99812053e-01 1.52221872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64907232899999 meters Centerline goodness [0,1] 0.6026220422084843 Centerline is valid? [False, False] Translation: X:-22.21, Y:-2.77, Z:15.22 [[ 9.99937620e-01 -8.22252924e-03 7.55956007e-03 -2.22126579e+01] [ 8.05639439e-03 9.99730966e-01 2.17506403e-02 -2.76626548e+00] [-7.73637156e-03 -2.16883807e-02 9.99734846e-01 1.52228070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.679072329 meters Centerline goodness [0,1] 0.6077683555631312 Centerline is valid? [False, False] Translation: X:-22.20, Y:-2.76, Z:15.23 [[ 9.99965479e-01 -2.39680021e-03 7.95590748e-03 -2.22040837e+01] [ 2.28108494e-03 9.99891949e-01 1.45219192e-02 -2.76348483e+00] [-7.98985398e-03 -1.45032698e-02 9.99862899e-01 1.52251414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.709072329 meters Centerline goodness [0,1] 0.6203605514316013 Centerline is valid? [False, False] Translation: X:-22.20, Y:-2.76, Z:15.23 [[ 9.99950784e-01 4.70199231e-03 8.73613227e-03 -2.21968903e+01] [-4.77065339e-03 9.99957767e-01 7.85529272e-03 -2.75900374e+00] [-8.69882779e-03 -7.89658317e-03 9.99930985e-01 1.52287992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739072329 meters Centerline goodness [0,1] 0.6331992936320504 Centerline is valid? [False, False] Translation: X:-22.20, Y:-2.76, Z:15.23 [[ 9.99950588e-01 4.99526920e-03 8.59473660e-03 -2.21964751e+01] [-5.05717794e-03 9.99961317e-01 7.19650764e-03 -2.75604852e+00] [-8.55845563e-03 -7.23961715e-03 9.99937168e-01 1.52284604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.769072329 meters Centerline goodness [0,1] 0.6274927107497819 Centerline is valid? [False, False] Translation: X:-22.20, Y:-2.75, Z:15.23 [[ 9.99952882e-01 5.09690808e-03 8.26167996e-03 -2.21951534e+01] [-5.15021534e-03 9.99965975e-01 6.44396888e-03 -2.75301779e+00] [-8.22855454e-03 -6.48621469e-03 9.99945108e-01 1.52273756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799072329 meters Centerline goodness [0,1] 0.6282907995502662 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.75, Z:15.23 [[ 9.99956713e-01 4.90500857e-03 7.90647499e-03 -2.21933896e+01] [-4.94854038e-03 9.99972654e-01 5.49571636e-03 -2.74995167e+00] [-7.87930224e-03 -5.53460398e-03 9.99953641e-01 1.52257339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.829072329 meters Centerline goodness [0,1] 0.6312301561933986 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.75, Z:15.23 [[ 9.99956776e-01 4.99298998e-03 7.84323834e-03 -2.21929535e+01] [-5.02690582e-03 9.99978075e-01 4.31046795e-03 -2.74548478e+00] [-7.82154426e-03 -4.34970885e-03 9.99959951e-01 1.52250716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859072329 meters Centerline goodness [0,1] 0.6426532611937119 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.74, Z:15.23 [[ 9.99957953e-01 4.85734068e-03 7.77811637e-03 -2.21930233e+01] [-4.88530398e-03 9.99981658e-01 3.58017078e-03 -2.74306566e+00] [-7.76058360e-03 -3.61801871e-03 9.99963341e-01 1.52253737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88907232899999 meters Centerline goodness [0,1] 0.6501331628848408 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.74, Z:15.23 [[ 9.99960096e-01 4.60456258e-03 7.65537962e-03 -2.21930286e+01] [-4.62575377e-03 9.99985512e-01 2.75274601e-03 -2.74048222e+00] [-7.64259352e-03 -2.78804806e-03 9.99966908e-01 1.52257410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91907232899999 meters Centerline goodness [0,1] 0.6449539136173021 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.74, Z:15.23 [[ 9.99962181e-01 4.26573297e-03 7.57887469e-03 -2.21932101e+01] [-4.27628578e-03 9.99989909e-01 1.37673875e-03 -2.73540395e+00] [-7.57292541e-03 -1.40909611e-03 9.99970332e-01 1.52262195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94907232899999 meters Centerline goodness [0,1] 0.650662146413815 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.73, Z:15.23 [[ 9.99964646e-01 3.99791847e-03 7.39752857e-03 -2.21927243e+01] [-4.00300502e-03 9.99991762e-01 6.72921777e-04 -2.73322363e+00] [-7.39477734e-03 -7.02510330e-04 9.99972411e-01 1.52260511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97907232899999 meters Centerline goodness [0,1] 0.6527609449086773 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.73, Z:15.23 [[ 9.99966448e-01 3.77746858e-03 7.26865818e-03 -2.21925548e+01] [-3.77839879e-03 9.99992855e-01 1.14247470e-04 -2.73152322e+00] [-7.26817468e-03 -1.41707526e-04 9.99973576e-01 1.52261615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00907232899999 meters Centerline goodness [0,1] 0.6508007306401598 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.73, Z:15.23 [[ 9.99969532e-01 3.49133376e-03 6.98184529e-03 -2.21919794e+01] [-3.48688066e-03 9.99993710e-01 -6.49881765e-04 -2.72932133e+00] [-6.98407033e-03 6.25517103e-04 9.99975415e-01 1.52261645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03907232899999 meters Centerline goodness [0,1] 0.6301058358481744 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.73, Z:15.23 [[ 9.99971033e-01 3.31262863e-03 6.85265033e-03 -2.21917406e+01] [-3.30565326e-03 9.99994007e-01 -1.02898448e-03 -2.72833867e+00] [-6.85601791e-03 1.00630219e-03 9.99975991e-01 1.52262004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.069072329 meters Centerline goodness [0,1] 0.6462340425531915 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.72, Z:15.23 [[ 9.99972371e-01 3.04906423e-03 6.77939622e-03 -2.21917330e+01] [-3.03578749e-03 9.99993456e-01 -1.96782421e-03 -2.72473870e+00] [-6.78535188e-03 1.94718904e-03 9.99975083e-01 1.52263370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099072329 meters Centerline goodness [0,1] 0.6462519936204147 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.72, Z:15.23 [[ 9.99974238e-01 2.80805721e-03 6.60592704e-03 -2.21910631e+01] [-2.79041848e-03 9.99992521e-01 -2.67784097e-03 -2.72224812e+00] [-6.61339716e-03 2.65933868e-03 9.99974595e-01 1.52258281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.129072329 meters Centerline goodness [0,1] 0.645864773524348 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.72, Z:15.23 [[ 9.99976262e-01 2.59867199e-03 6.38147724e-03 -2.21901723e+01] [-2.57775477e-03 9.99991286e-01 -3.28384236e-03 -2.72004264e+00] [-6.38995526e-03 3.26731452e-03 9.99974246e-01 1.52251544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159072329 meters Centerline goodness [0,1] 0.6454023840274397 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.72, Z:15.22 [[ 9.99974808e-01 4.04838376e-03 5.83041021e-03 -2.21869250e+01] [-4.03526817e-03 9.99989306e-01 -2.25952491e-03 -2.71787384e+00] [-5.83949528e-03 2.23594072e-03 9.99980450e-01 1.52225040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.189072329 meters Centerline goodness [0,1] 0.6487622606258758 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.72, Z:15.22 [[ 9.99975650e-01 3.97660318e-03 5.73459839e-03 -2.21867699e+01] [-3.96013766e-03 9.99988012e-01 -2.87976267e-03 -2.71556924e+00] [-5.74598132e-03 2.85698275e-03 9.99979410e-01 1.52224850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219072329 meters Centerline goodness [0,1] 0.6473405274248132 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.71, Z:15.22 [[ 9.99976665e-01 3.83597277e-03 5.65284899e-03 -2.21867962e+01] [-3.81545420e-03 9.99986110e-01 -3.63610078e-03 -2.71259314e+00] [-5.66671846e-03 3.61444774e-03 9.99977412e-01 1.52227751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.249072329 meters Centerline goodness [0,1] 0.6473405274248132 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.71, Z:15.22 [[ 9.99976665e-01 3.83597277e-03 5.65284899e-03 -2.21867962e+01] [-3.81545420e-03 9.99986110e-01 -3.63610078e-03 -2.71259314e+00] [-5.66671846e-03 3.61444774e-03 9.99977412e-01 1.52227751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27907232899999 meters Centerline goodness [0,1] 0.6474656822184033 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.71, Z:15.22 [[ 9.99978565e-01 3.65770735e-03 5.43059111e-03 -2.21863739e+01] [-3.63290538e-03 9.99982959e-01 -4.56994617e-03 -2.70897972e+00] [-5.44721409e-03 4.55011938e-03 9.99974812e-01 1.52227987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30907232899999 meters Centerline goodness [0,1] 0.6503017937600952 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.70, Z:15.22 [[ 9.99961558e-01 6.92322537e-03 5.38065086e-03 -2.21870863e+01] [-6.91241540e-03 9.99974059e-01 -2.02505313e-03 -2.70436010e+00] [-5.39453117e-03 1.98778199e-03 9.99983474e-01 1.52241206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33907232899999 meters Centerline goodness [0,1] 0.6610699028713524 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.70, Z:15.22 [[ 9.99965010e-01 6.65224002e-03 5.07216812e-03 -2.21864351e+01] [-6.63635329e-03 9.99973041e-01 -3.14256124e-03 -2.70053305e+00] [-5.09293645e-03 3.10879058e-03 9.99982199e-01 1.52240958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36907232899999 meters Centerline goodness [0,1] 0.6635881939863384 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.70, Z:15.22 [[ 9.99967748e-01 6.43411104e-03 4.80679125e-03 -2.21859672e+01] [-6.41396678e-03 9.99970633e-01 -4.19451842e-03 -2.69683553e+00] [-4.83363809e-03 4.16355254e-03 9.99979650e-01 1.52241877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39907232899999 meters Centerline goodness [0,1] 0.6693527810852186 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.69, Z:15.23 [[ 9.99938252e-01 1.00054812e-02 4.83546485e-03 -2.21866698e+01] [-9.99874436e-03 9.99949010e-01 -1.41539534e-03 -2.69313014e+00] [-4.84938000e-03 1.36695937e-03 9.99987307e-01 1.52252905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.429072329 meters Centerline goodness [0,1] 0.6736492770778726 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.69, Z:15.23 [[ 9.99938903e-01 1.00303442e-02 4.64560489e-03 -2.21864048e+01] [-1.00190312e-02 9.99946802e-01 -2.45209951e-03 -2.68896167e+00] [-4.66995316e-03 2.40540523e-03 9.99986203e-01 1.52254683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.459072329 meters Centerline goodness [0,1] 0.6936810559204234 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.69, Z:15.23 [[ 9.99894711e-01 1.37049907e-02 4.76860228e-03 -2.21866111e+01] [-1.37104652e-02 9.99905383e-01 1.11724890e-03 -2.68749272e+00] [-4.75283921e-03 -1.18251103e-03 9.99988006e-01 1.52255910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.489072329 meters Centerline goodness [0,1] 0.701688714960228 Centerline is valid? [False, False] Translation: X:-22.19, Y:-2.68, Z:15.22 [[ 9.99847925e-01 1.68317595e-02 4.56270316e-03 -2.21853288e+01] [-1.68468816e-02 9.99852647e-01 3.29636101e-03 -2.68143759e+00] [-4.50654728e-03 -3.37272703e-03 9.99984158e-01 1.52246298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519072329 meters Centerline goodness [0,1] 0.6753279891131004 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.68, Z:15.22 [[ 9.99853827e-01 1.65502351e-02 4.29120244e-03 -2.21844295e+01] [-1.65602617e-02 9.99860197e-01 2.31165004e-03 -2.67811542e+00] [-4.25234416e-03 -2.38237558e-03 9.99988121e-01 1.52241075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.549072329 meters Centerline goodness [0,1] 0.676773042111078 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.68, Z:15.22 [[ 9.99859495e-01 1.62485540e-02 4.11995750e-03 -2.21838717e+01] [-1.62547537e-02 9.99866794e-01 1.47580393e-03 -2.67570061e+00] [-4.09542901e-03 -1.54256546e-03 9.99990424e-01 1.52238217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579072329 meters Centerline goodness [0,1] 0.716306333092639 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.67, Z:15.22 [[ 9.99865535e-01 1.59145560e-02 3.95467271e-03 -2.21837399e+01] [-1.59170506e-02 9.99873136e-01 6.00129059e-04 -2.67352385e+00] [-3.94462021e-03 -6.62995088e-04 9.99992000e-01 1.52241736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.609072329 meters Centerline goodness [0,1] 0.7178784596104419 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.67, Z:15.22 [[ 9.99868995e-01 1.57134523e-02 3.88327729e-03 -2.21838238e+01] [-1.57145034e-02 9.99876491e-01 2.40316554e-04 -2.67277932e+00] [-3.87902146e-03 -3.01308845e-04 9.99992431e-01 1.52245264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63907232899999 meters Centerline goodness [0,1] 0.6766068142884335 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.67, Z:15.22 [[ 9.99873437e-01 1.54571603e-02 3.76644281e-03 -2.21835729e+01] [-1.54563319e-02 9.99880513e-01 -2.48971140e-04 -2.67145300e+00] [-3.76984115e-03 1.90724239e-04 9.99992876e-01 1.52245482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66907232899999 meters Centerline goodness [0,1] 0.7325894656456163 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.67, Z:15.22 [[ 9.99813341e-01 1.89370261e-02 3.83048558e-03 -2.21837675e+01] [-1.89480989e-02 9.99816334e-01 2.87534738e-03 -2.66816980e+00] [-3.77533152e-03 -2.94739109e-03 9.99988530e-01 1.52249239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69907232899999 meters Centerline goodness [0,1] 0.7418752255407672 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.66, Z:15.22 [[ 9.99814271e-01 1.89299773e-02 3.61664374e-03 -2.21833213e+01] [-1.89371612e-02 9.99818750e-01 1.96252108e-03 -2.66434989e+00] [-3.57883775e-03 -2.03064555e-03 9.99991534e-01 1.52249161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72907232899999 meters Centerline goodness [0,1] 0.7524859535672639 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.66, Z:15.22 [[ 9.99813966e-01 1.90073331e-02 3.27951953e-03 -2.21825463e+01] [-1.90114955e-02 9.99818493e-01 1.24272907e-03 -2.66158116e+00] [-3.25530331e-03 -1.30484645e-03 9.99993850e-01 1.52248226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75907232899999 meters Centerline goodness [0,1] 0.768557192833669 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.66, Z:15.22 [[ 9.99812015e-01 1.91687101e-02 2.91475833e-03 -2.21817666e+01] [-1.91712742e-02 9.99815849e-01 8.54311037e-04 -2.66026134e+00] [-2.89784554e-03 -9.10030070e-04 9.99995387e-01 1.52248086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78907232899999 meters Centerline goodness [0,1] 0.7858748197777966 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.66, Z:15.22 [[ 9.99786941e-01 2.04866194e-02 2.52411472e-03 -2.21809412e+01] [-2.04886539e-02 9.99789779e-01 7.82839208e-04 -2.65852106e+00] [-2.50754637e-03 -8.34388130e-04 9.99996508e-01 1.52246262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.819072329 meters Centerline goodness [0,1] 0.793186474327835 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.66, Z:15.22 [[ 9.99773254e-01 2.11766099e-02 2.23417661e-03 -2.21801847e+01] [-2.11775814e-02 9.99775645e-01 4.12086714e-04 -2.65572615e+00] [-2.22494876e-03 -4.59307732e-04 9.99997419e-01 1.52243236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.849072329 meters Centerline goodness [0,1] 0.7974398709321332 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.65, Z:15.22 [[ 9.99753165e-01 2.20928530e-02 2.34845967e-03 -2.21805749e+01] [-2.20933062e-02 9.99755899e-01 1.67220580e-04 -2.65207817e+00] [-2.34419203e-03 -2.19064543e-04 9.99997228e-01 1.52244564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.879072329 meters Centerline goodness [0,1] 0.8105573589629347 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.65, Z:15.22 [[ 9.99617583e-01 2.75582161e-02 2.28756214e-03 -2.21804652e+01] [-2.75678234e-02 9.99610771e-01 4.28027862e-03 -2.64777356e+00] [-2.16871491e-03 -4.34170488e-03 9.99988223e-01 1.52247540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.909072329 meters Centerline goodness [0,1] 0.8151116199198626 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.65, Z:15.22 [[ 9.99593336e-01 2.84519997e-02 1.90932306e-03 -2.21798533e+01] [-2.84594463e-02 9.99586971e-01 3.99340320e-03 -2.64515539e+00] [-1.79491414e-03 -4.04611750e-03 9.99990204e-01 1.52249954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939072329 meters Centerline goodness [0,1] 0.8083268367712437 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.64, Z:15.22 [[ 9.99562470e-01 2.95391257e-02 1.51942027e-03 -2.21788388e+01] [-2.95449187e-02 9.99555676e-01 3.94304051e-03 -2.64314236e+00] [-1.40227119e-03 -3.98620646e-03 9.99991072e-01 1.52246182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.969072329 meters Centerline goodness [0,1] 0.7877687915260354 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.64, Z:15.22 [[ 9.99393961e-01 3.47756910e-02 1.53674276e-03 -2.21783902e+01] [-3.47868257e-02 9.99363242e-01 7.93641994e-03 -2.64116642e+00] [-1.25976974e-03 -7.98506857e-03 9.99967325e-01 1.52242501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.999072329 meters Centerline goodness [0,1] 0.7751878741561584 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.64, Z:15.22 [[ 9.99372787e-01 3.53868587e-02 1.34304094e-03 -2.21779452e+01] [-3.53958295e-02 9.99346141e-01 7.37732758e-03 -2.63797497e+00] [-1.08110233e-03 -7.42023846e-03 9.99971885e-01 1.52241247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02907232899999 meters Centerline goodness [0,1] 0.752021734977607 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.64, Z:15.22 [[ 9.99357332e-01 3.58270035e-02 1.16162124e-03 -2.21776075e+01] [-3.58341445e-02 9.99334234e-01 6.85582658e-03 -2.63521127e+00] [-9.15224145e-04 -6.89304626e-03 9.99975824e-01 1.52241443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05907232899999 meters Centerline goodness [0,1] 0.706246577650478 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.63, Z:15.22 [[ 9.99304052e-01 3.72934565e-02 7.80642288e-04 -2.21768784e+01] [-3.72980223e-02 9.99279569e-01 7.01435072e-03 -2.63316033e+00] [-5.18490506e-04 -7.03858551e-03 9.99975094e-01 1.52242015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08907232899999 meters Centerline goodness [0,1] 0.7097596194682749 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.63, Z:15.22 [[ 9.99294063e-01 3.75619779e-02 6.88420074e-04 -2.21769168e+01] [-3.75659021e-02 9.99269302e-01 7.04732930e-03 -2.63307280e+00] [-4.23205420e-04 -7.06821545e-03 9.99974930e-01 1.52245296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11907232899999 meters Centerline goodness [0,1] 0.6760741631335823 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.63, Z:15.22 [[ 9.99272119e-01 3.81418571e-02 6.56373301e-04 -2.21770965e+01] [-3.81455640e-02 9.99246911e-01 7.10816392e-03 -2.63213690e+00] [-3.84760421e-04 -7.12802776e-03 9.99974521e-01 1.52248595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14907232899999 meters Centerline goodness [0,1] 0.6742787450584574 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.63, Z:15.22 [[ 9.99272924e-01 3.81227700e-02 5.27046887e-04 -2.21767583e+01] [-3.81254825e-02 9.99249637e-01 6.82717306e-03 -2.63102293e+00] [-2.66380662e-04 -6.84230310e-03 9.99976556e-01 1.52247517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.179072329 meters Centerline goodness [0,1] 0.6784719290840017 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.63, Z:15.22 [[ 9.99274412e-01 3.80849748e-02 4.28917662e-04 -2.21765290e+01] [-3.80869978e-02 9.99251863e-01 6.71522298e-03 -2.63065760e+00] [-1.72847675e-04 -6.72668668e-03 9.99977361e-01 1.52246970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.209072329 meters Centerline goodness [0,1] 0.6748553381801226 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.63, Z:15.22 [[ 9.99407765e-01 3.44099085e-02 2.77771433e-04 -2.21765473e+01] [-3.44104861e-02 9.99404788e-01 2.44693643e-03 -2.62932547e+00] [-1.93407241e-04 -2.45504552e-03 9.99996968e-01 1.52246812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.239072329 meters Centerline goodness [0,1] 0.6953093537378918 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.63, Z:15.23 [[ 9.99620702e-01 2.75399794e-02 -3.04752475e-05 -2.21770012e+01] [-2.75398374e-02 9.99610567e-01 -4.50246460e-03 -2.63183444e+00] [-9.35344028e-05 4.50159611e-03 9.99989863e-01 1.52254201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.269072329 meters Centerline goodness [0,1] 0.6996652116794508 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.63, Z:15.23 [[ 9.99716305e-01 2.38178170e-02 -1.45764081e-04 -2.21771749e+01] [-2.38182109e-02 9.99682592e-01 -8.21022024e-03 -2.63272720e+00] [-4.98317083e-05 8.21136288e-03 9.99966285e-01 1.52256851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.299072329 meters Centerline goodness [0,1] 0.7333884577873893 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.64, Z:15.23 [[ 9.99721391e-01 2.36027692e-02 -2.24326672e-04 -2.21772212e+01] [-2.36037959e-02 9.99691917e-01 -7.67674071e-03 -2.63525219e+00] [ 4.30652215e-05 7.67989686e-03 9.99970508e-01 1.52260564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.329072329 meters Centerline goodness [0,1] 0.7488390831407307 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.64, Z:15.23 [[ 9.99737749e-01 2.28986498e-02 -2.91214163e-04 -2.21771572e+01] [-2.29001283e-02 9.99713218e-01 -7.00464001e-03 -2.63876438e+00] [ 1.30733850e-04 7.00947188e-03 9.99975425e-01 1.52263881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359072329 meters Centerline goodness [0,1] 0.762731997030438 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.64, Z:15.23 [[ 9.99739379e-01 2.28207341e-02 -6.23011411e-04 -2.21761521e+01] [-2.28242454e-02 9.99719169e-01 -6.37471004e-03 -2.64146921e+00] [ 4.77360887e-04 6.38726842e-03 9.99979487e-01 1.52259292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38907232899999 meters Centerline goodness [0,1] 0.7616488588227857 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.65, Z:15.22 [[ 9.99805646e-01 1.96838571e-02 -1.10298215e-03 -2.21745856e+01] [-1.96928209e-02 9.99767259e-01 -8.81030033e-03 -2.64628281e+00] [ 9.29304744e-04 8.83030885e-03 9.99960580e-01 1.52249158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41907232899999 meters Centerline goodness [0,1] 0.7691203175809789 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.65, Z:15.22 [[ 9.99804452e-01 1.97403493e-02 -1.17288784e-03 -2.21744059e+01] [-1.97491283e-02 9.99772835e-01 -8.01559771e-03 -2.64969655e+00] [ 1.01439071e-03 8.03719380e-03 9.99967187e-01 1.52248705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44907232899999 meters Centerline goodness [0,1] 0.7732385152672561 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.65, Z:15.23 [[ 9.99805405e-01 1.96790386e-02 -1.37392146e-03 -2.21741346e+01] [-1.96886016e-02 9.99779265e-01 -7.33344190e-03 -2.65269179e+00] [ 1.22930310e-03 7.35906544e-03 9.99972166e-01 1.52251083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47907232899999 meters Centerline goodness [0,1] 0.7879379082195267 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.66, Z:15.23 [[ 9.99867526e-01 1.62170797e-02 -1.39155537e-03 -2.21754603e+01] [-1.62304081e-02 9.99816546e-01 -1.01709547e-02 -2.65556931e+00] [ 1.22635690e-03 1.01921928e-02 9.99947306e-01 1.52267775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50907232899999 meters Centerline goodness [0,1] 0.7940066969016234 Centerline is valid? [False, False] Translation: X:-22.18, Y:-2.66, Z:15.23 [[ 9.99865313e-01 1.63300488e-02 -1.63887459e-03 -2.21751892e+01] [-1.63446450e-02 9.99822909e-01 -9.32751549e-03 -2.65868771e+00] [ 1.48626558e-03 9.35304602e-03 9.99955155e-01 1.52271468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53907232899999 meters Centerline goodness [0,1] 0.7928011856870634 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.66, Z:15.23 [[ 9.99862540e-01 1.64700116e-02 -1.90781807e-03 -2.21745519e+01] [-1.64857549e-02 9.99827516e-01 -8.55322274e-03 -2.66170480e+00] [ 1.76661732e-03 8.58349883e-03 9.99961601e-01 1.52270444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.569072329 meters Centerline goodness [0,1] 0.7957479280157704 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.66, Z:15.23 [[ 9.99860045e-01 1.66108913e-02 -1.99204418e-03 -2.21742301e+01] [-1.66261210e-02 9.99830651e-01 -7.88932810e-03 -2.66423915e+00] [ 1.86065806e-03 7.92134392e-03 9.99966895e-01 1.52267944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.599072329 meters Centerline goodness [0,1] 0.7956775082106156 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.23 [[ 9.99861213e-01 1.65016875e-02 -2.29108864e-03 -2.21732177e+01] [-1.65172117e-02 9.99839559e-01 -6.93093541e-03 -2.66858920e+00] [ 2.17634892e-03 6.96781589e-03 9.99973356e-01 1.52263113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.629072329 meters Centerline goodness [0,1] 0.7972196910296891 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.23 [[ 9.99861131e-01 1.64874665e-02 -2.42536163e-03 -2.21726929e+01] [-1.65030368e-02 9.99842385e-01 -6.54632029e-03 -2.67030437e+00] [ 2.31704712e-03 6.58543704e-03 9.99975631e-01 1.52259382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.659072329 meters Centerline goodness [0,1] 0.7938926444722287 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.23 [[ 9.99860369e-01 1.64999662e-02 -2.64460097e-03 -2.21717928e+01] [-1.65160807e-02 9.99844427e-01 -6.19196013e-03 -2.67180571e+00] [ 2.54202241e-03 6.23477398e-03 9.99977333e-01 1.52253196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.689072329 meters Centerline goodness [0,1] 0.7931520983806777 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.22 [[ 9.99871581e-01 1.56920003e-02 -3.25303522e-03 -2.21687862e+01] [-1.57134395e-02 9.99854268e-01 -6.67319598e-03 -2.67312530e+00] [ 3.14784536e-03 6.72345538e-03 9.99972443e-01 1.52231732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.719072329 meters Centerline goodness [0,1] 0.7950845766920644 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.22 [[ 9.99868891e-01 1.58575573e-02 -3.27687114e-03 -2.21691999e+01] [-1.58778136e-02 9.99854400e-01 -6.25091733e-03 -2.67474100e+00] [ 3.17726975e-03 6.30212733e-03 9.99975094e-01 1.52238776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.749072329 meters Centerline goodness [0,1] 0.7944452633130488 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.68, Z:15.23 [[ 9.99862422e-01 1.62551819e-02 -3.30258716e-03 -2.21699100e+01] [-1.62733907e-02 9.99852101e-01 -5.56354213e-03 -2.67694100e+00] [ 3.21166232e-03 5.61652099e-03 9.99979070e-01 1.52250484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77907232899999 meters Centerline goodness [0,1] 0.7906311574397763 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.68, Z:15.23 [[ 9.99861036e-01 1.63425849e-02 -3.29062303e-03 -2.21701706e+01] [-1.63610173e-02 9.99850159e-01 -5.65473559e-03 -2.67624400e+00] [ 3.19771697e-03 5.70778773e-03 9.99978598e-01 1.52253953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80907232899999 meters Centerline goodness [0,1] 0.7891293830588334 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.68, Z:15.22 [[ 9.99825755e-01 1.82570127e-02 -3.89116868e-03 -2.21670032e+01] [-1.82715660e-02 9.99826074e-01 -3.73792860e-03 -2.67609895e+00] [ 3.82224849e-03 3.80837503e-03 9.99985443e-01 1.52232375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83907232899999 meters Centerline goodness [0,1] 0.7783311786024627 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.68, Z:15.22 [[ 9.99742404e-01 2.23594524e-02 -3.89614564e-03 -2.21666095e+01] [-2.23590778e-02 9.99749995e-01 1.39677665e-04 -2.67523205e+00] [ 3.89829470e-03 -5.25274609e-05 9.99992400e-01 1.52229583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86907232899999 meters Centerline goodness [0,1] 0.7715704794854923 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.22 [[ 9.99739147e-01 2.24873749e-02 -3.99450890e-03 -2.21662311e+01] [-2.24889512e-02 9.99747030e-01 -3.50148113e-04 -2.67320565e+00] [ 3.98562450e-03 4.39889092e-04 9.99991961e-01 1.52226703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89907232899999 meters Centerline goodness [0,1] 0.7572370792950608 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.22 [[ 9.99735721e-01 2.26003662e-02 -4.20863099e-03 -2.21655277e+01] [-2.26046333e-02 9.99744013e-01 -9.69088953e-04 -2.67073196e+00] [ 4.18565187e-03 1.06396740e-03 9.99990674e-01 1.52222102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.929072329 meters Centerline goodness [0,1] 0.744990776668151 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.22 [[ 9.99732985e-01 2.26950857e-02 -4.34641933e-03 -2.21651070e+01] [-2.27022353e-02 9.99740986e-01 -1.60273037e-03 -2.66836319e+00] [ 4.30891944e-03 1.70097585e-03 9.99989270e-01 1.52219721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.959072329 meters Centerline goodness [0,1] 0.7210421436445349 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.66, Z:15.22 [[ 9.99715049e-01 2.34547159e-02 -4.43812599e-03 -2.21649148e+01] [-2.34647321e-02 9.99722204e-01 -2.21839088e-03 -2.66462838e+00] [ 4.38486137e-03 2.32189818e-03 9.99987691e-01 1.52218353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.989072329 meters Centerline goodness [0,1] 0.7046555719401728 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.66, Z:15.22 [[ 9.99712773e-01 2.35133827e-02 -4.63604640e-03 -2.21644503e+01] [-2.35261659e-02 9.99719515e-01 -2.72237053e-03 -2.66263987e+00] [ 4.57073391e-03 2.83065699e-03 9.99985548e-01 1.52217544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019072329 meters Centerline goodness [0,1] 0.7300837130443998 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.66, Z:15.22 [[ 9.99712646e-01 2.35302416e-02 -4.57750867e-03 -2.21646654e+01] [-2.35449985e-02 9.99717666e-01 -3.19705219e-03 -2.66064904e+00] [ 4.50098887e-03 3.30391093e-03 9.99984413e-01 1.52218300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.049072329 meters Centerline goodness [0,1] 0.710170425640156 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.66, Z:15.22 [[ 9.99704659e-01 2.38770786e-02 -4.52547606e-03 -2.21654344e+01] [-2.38941753e-02 9.99707414e-01 -3.76223058e-03 -2.65760853e+00] [ 4.43432089e-03 3.86925196e-03 9.99982683e-01 1.52228067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079072329 meters Centerline goodness [0,1] 0.7071946103978646 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.66, Z:15.22 [[ 9.99703896e-01 2.38800586e-02 -4.67586100e-03 -2.21652259e+01] [-2.38987814e-02 9.99706421e-01 -3.99007295e-03 -2.65692983e+00] [ 4.57920509e-03 4.10063885e-03 9.99981108e-01 1.52229664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.109072329 meters Centerline goodness [0,1] 0.6970949081431568 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.66, Z:15.22 [[ 9.99702785e-01 2.39192302e-02 -4.71294236e-03 -2.21652985e+01] [-2.39385613e-02 9.99705070e-01 -4.08889498e-03 -2.65665160e+00] [ 4.61374915e-03 4.20050076e-03 9.99980534e-01 1.52232096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13907232899999 meters Centerline goodness [0,1] 0.6649178255372945 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.66, Z:15.22 [[ 9.99692730e-01 2.42967531e-02 -4.91056152e-03 -2.21649094e+01] [-2.43156631e-02 9.99696999e-01 -3.82856021e-03 -2.65731887e+00] [ 4.81605204e-03 3.94678737e-03 9.99980614e-01 1.52232660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16907232899999 meters Centerline goodness [0,1] 0.6649178255372945 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.66, Z:15.22 [[ 9.99692730e-01 2.42967531e-02 -4.91056152e-03 -2.21649094e+01] [-2.43156631e-02 9.99696999e-01 -3.82856021e-03 -2.65731887e+00] [ 4.81605204e-03 3.94678737e-03 9.99980614e-01 1.52232660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19907232899999 meters Centerline goodness [0,1] 0.675909437802086 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.66, Z:15.22 [[ 9.99688123e-01 2.44846096e-02 -4.91539674e-03 -2.21648998e+01] [-2.45020847e-02 9.99693557e-01 -3.52699270e-03 -2.65836589e+00] [ 4.82753341e-03 3.64633018e-03 9.99981699e-01 1.52232536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22907232899999 meters Centerline goodness [0,1] 0.6669189848398831 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.66, Z:15.22 [[ 9.99675060e-01 2.50072293e-02 -4.94102023e-03 -2.21645928e+01] [-2.50213695e-02 9.99682936e-01 -2.82100031e-03 -2.66011131e+00] [ 4.86890821e-03 2.94371475e-03 9.99983814e-01 1.52228885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25907232899999 meters Centerline goodness [0,1] 0.6733136959884719 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.66, Z:15.22 [[ 9.99670513e-01 2.51920700e-02 -4.92193351e-03 -2.21648726e+01] [-2.52050227e-02 9.99678954e-01 -2.58757136e-03 -2.66054042e+00] [ 4.85516706e-03 2.71077624e-03 9.99984539e-01 1.52232256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28907232899999 meters Centerline goodness [0,1] 0.6702835586826601 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.66, Z:15.22 [[ 9.99664004e-01 2.54448630e-02 -4.94350353e-03 -2.21651276e+01] [-2.54557775e-02 9.99673621e-01 -2.15761381e-03 -2.66179214e+00] [ 4.88698989e-03 2.28272958e-03 9.99985453e-01 1.52236746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.319072329 meters Centerline goodness [0,1] 0.6586777207305783 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.67, Z:15.22 [[ 9.99646840e-01 2.60863787e-02 -5.06914834e-03 -2.21649163e+01] [-2.60900882e-02 9.99659373e-01 -6.67018942e-04 -2.66701067e+00] [ 5.05002155e-03 7.99037905e-04 9.99986929e-01 1.52238471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.349072329 meters Centerline goodness [0,1] 0.6471446083611616 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.23 [[ 9.99695278e-01 2.42236228e-02 -4.75048171e-03 -2.21671592e+01] [-2.42368156e-02 9.99702492e-01 -2.73952103e-03 -2.66879709e+00] [ 4.68270728e-03 2.85382279e-03 9.99984964e-01 1.52254492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379072329 meters Centerline goodness [0,1] 0.6550869537588171 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.23 [[ 9.99754147e-01 2.17143592e-02 -4.48699367e-03 -2.21682467e+01] [-2.17398118e-02 9.99747391e-01 -5.70384484e-03 -2.67012325e+00] [ 4.36200488e-03 5.79998892e-03 9.99973666e-01 1.52257650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.409072329 meters Centerline goodness [0,1] 0.6360842105263158 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.67, Z:15.23 [[ 9.99740713e-01 2.23106165e-02 -4.55446170e-03 -2.21678861e+01] [-2.23319818e-02 9.99739584e-01 -4.69537675e-03 -2.67349283e+00] [ 4.44851890e-03 4.79586945e-03 9.99978605e-01 1.52254610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439072329 meters Centerline goodness [0,1] 0.6454759998314299 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.68, Z:15.23 [[ 9.99728192e-01 2.28692261e-02 -4.53213784e-03 -2.21680116e+01] [-2.28866591e-02 9.99730719e-01 -3.83273080e-03 -2.67604994e+00] [ 4.44326583e-03 3.93541453e-03 9.99982385e-01 1.52255580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.469072329 meters Centerline goodness [0,1] 0.6399007675671091 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.68, Z:15.23 [[ 9.99688851e-01 2.45991280e-02 -4.13323711e-03 -2.21697729e+01] [-2.46057885e-02 9.99696001e-01 -1.56838469e-03 -2.68071071e+00] [ 4.09339972e-03 1.66959825e-03 9.99990228e-01 1.52266931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499072329 meters Centerline goodness [0,1] 0.6435047877298534 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.68, Z:15.23 [[ 9.99675088e-01 2.51474210e-02 -4.16233583e-03 -2.21698711e+01] [-2.51503265e-02 9.99683471e-01 -6.47178028e-04 -2.68339551e+00] [ 4.14474347e-03 7.51651857e-04 9.99991128e-01 1.52269262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52907232899999 meters Centerline goodness [0,1] 0.625608702068006 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.69, Z:15.23 [[ 9.99687231e-01 2.45388191e-02 -4.82560376e-03 -2.21676573e+01] [-2.45433959e-02 9.99698368e-01 -8.91508920e-04 -2.69101988e+00] [ 4.80227162e-03 1.00966679e-03 9.99987959e-01 1.52256549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55907232899999 meters Centerline goodness [0,1] 0.6291126620139581 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.69, Z:15.23 [[ 9.99740832e-01 2.23425749e-02 -4.36780719e-03 -2.21697033e+01] [-2.23560877e-02 9.99745359e-01 -3.06975311e-03 -2.69442584e+00] [ 4.29810878e-03 3.16660461e-03 9.99985749e-01 1.52266783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58907232899999 meters Centerline goodness [0,1] 0.6262463405320549 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.70, Z:15.23 [[ 9.99801048e-01 1.94383221e-02 -4.47395363e-03 -2.21697487e+01] [-1.94651655e-02 9.99792311e-01 -6.03668084e-03 -2.69678686e+00] [ 4.35568150e-03 6.12256607e-03 9.99971771e-01 1.52266654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61907232899999 meters Centerline goodness [0,1] 0.6268948964123295 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.71, Z:15.23 [[ 9.99780404e-01 2.04183670e-02 -4.71525697e-03 -2.21686107e+01] [-2.04357099e-02 9.99784471e-01 -3.65960770e-03 -2.70538018e+00] [ 4.63951748e-03 3.75516369e-03 9.99982187e-01 1.52260431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64907232899999 meters Centerline goodness [0,1] 0.6274281109508864 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.71, Z:15.23 [[ 9.99766770e-01 2.10652284e-02 -4.76053286e-03 -2.21687262e+01] [-2.10761289e-02 9.99775339e-01 -2.25131016e-03 -2.70953199e+00] [ 4.71203899e-03 2.35111869e-03 9.99986134e-01 1.52264031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.679072329 meters Centerline goodness [0,1] 0.6227124113625748 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.71, Z:15.23 [[ 9.99819233e-01 1.83797401e-02 -4.86694031e-03 -2.21685817e+01] [-1.84042988e-02 9.99817872e-01 -5.05026974e-03 -2.71139266e+00] [ 4.77323126e-03 5.13892944e-03 9.99975404e-01 1.52261121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.709072329 meters Centerline goodness [0,1] 0.62542175066313 Centerline is valid? [False, False] Translation: X:-22.17, Y:-2.72, Z:15.22 [[ 9.99826554e-01 1.78324583e-02 -5.37267381e-03 -2.21657202e+01] [-1.78593460e-02 9.99828013e-01 -4.99882358e-03 -2.71578986e+00] [ 5.28260847e-03 5.09390900e-03 9.99973073e-01 1.52237880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739072329 meters Centerline goodness [0,1] 0.6216658519478864 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.73, Z:15.22 [[ 9.99860416e-01 1.58515449e-02 -5.27992217e-03 -2.21647915e+01] [-1.58805287e-02 9.99858805e-01 -5.49350223e-03 -2.72671023e+00] [ 5.19209617e-03 5.57658337e-03 9.99970972e-01 1.52222324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.769072329 meters Centerline goodness [0,1] 0.6250106283479295 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.73, Z:15.22 [[ 9.99874743e-01 1.47309809e-02 -5.78759964e-03 -2.21625206e+01] [-1.47656166e-02 9.99873052e-01 -5.98801980e-03 -2.73214674e+00] [ 5.69865551e-03 6.07272724e-03 9.99965323e-01 1.52206832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799072329 meters Centerline goodness [0,1] 0.6268688368147599 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.74, Z:15.22 [[ 9.99909049e-01 1.22063817e-02 -5.73560679e-03 -2.21633224e+01] [-1.22458598e-02 9.99901216e-01 -6.89903731e-03 -2.74092553e+00] [ 5.65082792e-03 6.96864728e-03 9.99959752e-01 1.52216279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.829072329 meters Centerline goodness [0,1] 0.6247077825477112 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.75, Z:15.22 [[ 9.99902341e-01 1.26271033e-02 -5.98875723e-03 -2.21628474e+01] [-1.26599935e-02 9.99904808e-01 -5.48624211e-03 -2.74560375e+00] [ 5.91891181e-03 5.56152395e-03 9.99967017e-01 1.52218137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859072329 meters Centerline goodness [0,1] 0.62486442804585 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.75, Z:15.22 [[ 9.99896791e-01 1.29287457e-02 -6.26534588e-03 -2.21621097e+01] [-1.29548641e-02 9.99907486e-01 -4.14621695e-03 -2.75048261e+00] [ 6.21116086e-03 4.22695573e-03 9.99971777e-01 1.52217199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88907232899999 meters Centerline goodness [0,1] 0.6317199158216951 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.76, Z:15.22 [[ 9.99901398e-01 1.21997040e-02 -6.95429150e-03 -2.21591942e+01] [-1.22277167e-02 9.99917238e-01 -3.99993019e-03 -2.75540346e+00] [ 6.90491799e-03 4.08457089e-03 9.99967819e-01 1.52199953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91907232899999 meters Centerline goodness [0,1] 0.6320892830621034 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.77, Z:15.22 [[ 9.99929206e-01 9.40885010e-03 -7.28398597e-03 -2.21579348e+01] [-9.44735757e-03 9.99941484e-01 -5.27035984e-03 -2.76574008e+00] [ 7.23397171e-03 5.33880115e-03 9.99959583e-01 1.52193570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94907232899999 meters Centerline goodness [0,1] 0.6320235423635516 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.77, Z:15.22 [[ 9.99925491e-01 9.43981378e-03 -7.73960654e-03 -2.21564985e+01] [-9.47291183e-03 9.99946095e-01 -4.25100289e-03 -2.77082582e+00] [ 7.69906066e-03 4.32400277e-03 9.99961013e-01 1.52188641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97907232899999 meters Centerline goodness [0,1] 0.6377802309782609 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.78, Z:15.22 [[ 9.99925794e-01 9.42165251e-03 -7.72259398e-03 -2.21559429e+01] [-9.44248752e-03 9.99951865e-01 -2.66592152e-03 -2.77690116e+00] [ 7.69710487e-03 2.73864419e-03 9.99966627e-01 1.52183886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00907232899999 meters Centerline goodness [0,1] 0.6410169275534694 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.78, Z:15.22 [[ 9.99924089e-01 9.47389671e-03 -7.87792361e-03 -2.21553041e+01] [-9.48991057e-03 9.99952974e-01 -1.99786075e-03 -2.77929141e+00] [ 7.85862561e-03 2.07246988e-03 9.99966973e-01 1.52180115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03907232899999 meters Centerline goodness [0,1] 0.648390384778731 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.78, Z:15.22 [[ 9.99921707e-01 9.49928304e-03 -8.14519050e-03 -2.21543684e+01] [-9.50974651e-03 9.99954004e-01 -1.24685267e-03 -2.78247720e+00] [ 8.13297164e-03 1.32421374e-03 9.99966050e-01 1.52176095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.069072329 meters Centerline goodness [0,1] 0.6401437044280521 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.79, Z:15.22 [[ 9.99948213e-01 6.14446509e-03 -8.11271298e-03 -2.21549762e+01] [-6.17126229e-03 9.99975571e-01 -3.28222093e-03 -2.78979223e+00] [ 8.09234730e-03 3.33211664e-03 9.99961705e-01 1.52185490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099072329 meters Centerline goodness [0,1] 0.6533146532509712 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.79, Z:15.22 [[ 9.99948733e-01 5.83827031e-03 -8.27318334e-03 -2.21546647e+01] [-5.85934659e-03 9.99979644e-01 -2.52559799e-03 -2.79482728e+00] [ 8.25826982e-03 2.57394396e-03 9.99962587e-01 1.52190199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.129072329 meters Centerline goodness [0,1] 0.6860497208245759 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.80, Z:15.22 [[ 9.99963117e-01 2.18783221e-03 -8.30535484e-03 -2.21547165e+01] [-2.23315484e-03 9.99982646e-01 -5.45169030e-03 -2.79843661e+00] [ 8.29328332e-03 5.47003636e-03 9.99950649e-01 1.52191480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159072329 meters Centerline goodness [0,1] 0.6829796264855688 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.80, Z:15.22 [[ 9.99961130e-01 2.25462531e-03 -8.52382675e-03 -2.21538466e+01] [-2.29755933e-03 9.99984707e-01 -5.03050939e-03 -2.79963669e+00] [ 8.51235449e-03 5.04989785e-03 9.99951018e-01 1.52185448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.189072329 meters Centerline goodness [0,1] 0.6790906968352683 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.80, Z:15.22 [[ 9.99959057e-01 2.39096824e-03 -8.72738061e-03 -2.21531131e+01] [-2.43131515e-03 9.99986394e-01 -4.61534880e-03 -2.80071328e+00] [ 8.71622671e-03 4.63637884e-03 9.99951265e-01 1.52181524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219072329 meters Centerline goodness [0,1] 0.6815783339337558 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.80, Z:15.22 [[ 9.99956595e-01 2.63634170e-03 -8.93631965e-03 -2.21525258e+01] [-2.67242597e-03 9.99988315e-01 -4.02840046e-03 -2.80265052e+00] [ 8.92559499e-03 4.05210726e-03 9.99951956e-01 1.52179775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.249072329 meters Centerline goodness [0,1] 0.6877544097693351 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.81, Z:15.22 [[ 9.99954274e-01 3.06964046e-03 -9.05683961e-03 -2.21524926e+01] [-3.09857471e-03 9.99990135e-01 -3.18243971e-03 -2.80553221e+00] [ 9.04698132e-03 3.21035749e-03 9.99953922e-01 1.52183767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27907232899999 meters Centerline goodness [0,1] 0.6834412150442104 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.81, Z:15.22 [[ 9.99951998e-01 3.69858639e-03 -9.07316127e-03 -2.21530176e+01] [-3.71545514e-03 9.99991399e-01 -1.84304061e-03 -2.81027690e+00] [ 9.06626659e-03 1.87666306e-03 9.99957140e-01 1.52194682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30907232899999 meters Centerline goodness [0,1] 0.6781548585771234 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.81, Z:15.22 [[ 9.99951181e-01 3.84292693e-03 -9.10321436e-03 -2.21530417e+01] [-3.85727584e-03 9.99991345e-01 -1.55921386e-03 -2.81114332e+00] [ 9.09714363e-03 1.59425135e-03 9.99957349e-01 1.52196079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33907232899999 meters Centerline goodness [0,1] 0.6741107304487586 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.81, Z:15.22 [[ 9.99949795e-01 4.04883684e-03 -9.16593157e-03 -2.21530793e+01] [-4.06104811e-03 9.99990891e-01 -1.31402566e-03 -2.81128885e+00] [ 9.16052780e-03 1.35118297e-03 9.99957129e-01 1.52197987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36907232899999 meters Centerline goodness [0,1] 0.6622265517460452 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.81, Z:15.22 [[ 9.99947942e-01 4.62662189e-03 -9.09432373e-03 -2.21529539e+01] [-4.63613527e-03 9.99988727e-01 -1.02527604e-03 -2.81129096e+00] [ 9.08947765e-03 1.06738518e-03 9.99958120e-01 1.52192264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39907232899999 meters Centerline goodness [0,1] 0.658997987501324 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.81, Z:15.22 [[ 9.99945999e-01 4.84553957e-03 -9.19341343e-03 -2.21524882e+01] [-4.85392837e-03 9.99987823e-01 -8.90386012e-04 -2.81174914e+00] [ 9.18898708e-03 9.34962101e-04 9.99957343e-01 1.52188089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.429072329 meters Centerline goodness [0,1] 0.6468903176523012 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.81, Z:15.22 [[ 9.99943736e-01 5.09278250e-03 -9.30524442e-03 -2.21522465e+01] [-5.09851762e-03 9.99986827e-01 -5.92713760e-04 -2.81266989e+00] [ 9.30210327e-03 6.40123364e-04 9.99956530e-01 1.52188146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.459072329 meters Centerline goodness [0,1] 0.6440983641340094 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.82, Z:15.22 [[ 9.99940837e-01 5.52126438e-03 -9.37221481e-03 -2.21521535e+01] [-5.52067578e-03 9.99984757e-01 8.86727608e-05 -2.81509274e+00] [ 9.37256154e-03 -3.69265554e-05 9.99956076e-01 1.52189739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.489072329 meters Centerline goodness [0,1] 0.6435068376974451 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.82, Z:15.22 [[ 9.99938377e-01 5.67736464e-03 -9.53988272e-03 -2.21518208e+01] [-5.67384951e-03 9.99983825e-01 3.95490387e-04 -2.81621187e+00] [ 9.54197376e-03 -3.41338157e-04 9.99954416e-01 1.52190459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519072329 meters Centerline goodness [0,1] 0.6426693243988295 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.82, Z:15.22 [[ 9.99936413e-01 5.80562481e-03 -9.66766550e-03 -2.21515005e+01] [-5.79921040e-03 9.99982945e-01 6.91392361e-04 -2.81737266e+00] [ 9.67151458e-03 -6.35283571e-04 9.99953028e-01 1.52190325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.549072329 meters Centerline goodness [0,1] 0.6425401813201979 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.82, Z:15.22 [[ 9.99934610e-01 5.97479371e-03 -9.75079712e-03 -2.21513875e+01] [-5.96489672e-03 9.99981665e-01 1.04376004e-03 -2.81846982e+00] [ 9.75685460e-03 -9.85529287e-04 9.99951915e-01 1.52191298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579072329 meters Centerline goodness [0,1] 0.6392652367806329 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.82, Z:15.22 [[ 9.99931187e-01 6.39508680e-03 -9.83486286e-03 -2.21515072e+01] [-6.37791736e-03 9.99978083e-01 1.77614805e-03 -2.82071780e+00] [ 9.84600594e-03 -1.71329989e-03 9.99950059e-01 1.52196319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.609072329 meters Centerline goodness [0,1] 0.6353153535782544 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.82, Z:15.22 [[ 9.99928493e-01 6.75480100e-03 -9.86815851e-03 -2.21516104e+01] [-6.73127265e-03 9.99974427e-01 2.41554145e-03 -2.82275835e+00] [ 9.88422266e-03 -2.34894346e-03 9.99948391e-01 1.52199366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63907232899999 meters Centerline goodness [0,1] 0.634267793952493 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.83, Z:15.22 [[ 9.99924705e-01 7.12714881e-03 -9.98944512e-03 -2.21515327e+01] [-7.09607459e-03 9.99969884e-01 3.14270524e-03 -2.82546383e+00] [ 1.00115428e-02 -3.07158276e-03 9.99945166e-01 1.52203226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66907232899999 meters Centerline goodness [0,1] 0.6281575431080193 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.83, Z:15.22 [[ 9.99944190e-01 5.03060004e-03 -9.29031015e-03 -2.21543387e+01] [-5.02160628e-03 9.99986900e-01 9.91152759e-04 -2.82898174e+00] [ 9.29517454e-03 -9.44445163e-04 9.99956353e-01 1.52216885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69907232899999 meters Centerline goodness [0,1] 0.6255404832556168 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.83, Z:15.22 [[ 9.99941956e-01 5.45212888e-03 -9.29291600e-03 -2.21544842e+01] [-5.43726237e-03 9.99983899e-01 1.62428277e-03 -2.83078878e+00] [ 9.30162217e-03 -1.57366047e-03 9.99955501e-01 1.52219014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72907232899999 meters Centerline goodness [0,1] 0.6234688254990888 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.83, Z:15.22 [[ 9.99939736e-01 5.77859949e-03 -9.33449129e-03 -2.21544270e+01] [-5.75945833e-03 9.99981259e-01 2.07616568e-03 -2.83199895e+00] [ 9.34631368e-03 -2.02227894e-03 9.99954277e-01 1.52219355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75907232899999 meters Centerline goodness [0,1] 0.6190364975901823 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.84, Z:15.22 [[ 9.99932257e-01 6.81034913e-03 -9.43929122e-03 -2.21542311e+01] [-6.77675663e-03 9.99970607e-01 3.58622207e-03 -2.83645081e+00] [ 9.46343719e-03 -3.52201135e-03 9.99949018e-01 1.52219974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78907232899999 meters Centerline goodness [0,1] 0.6145656599932134 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.84, Z:15.22 [[ 9.99928008e-01 7.21388530e-03 -9.58848212e-03 -2.21534957e+01] [-7.17267911e-03 9.99964923e-01 4.32493125e-03 -2.83939890e+00] [ 9.61934535e-03 -4.25584479e-03 9.99944676e-01 1.52215197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.819072329 meters Centerline goodness [0,1] 0.6147281720338803 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.84, Z:15.22 [[ 9.99946379e-01 4.15358397e-03 -9.48613017e-03 -2.21536742e+01] [-4.14623678e-03 9.99991089e-01 7.94054586e-04 -2.83979312e+00] [ 9.48934381e-03 -7.54680266e-04 9.99954690e-01 1.52209563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.849072329 meters Centerline goodness [0,1] 0.6065921930085376 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.85, Z:15.22 [[ 9.99941673e-01 4.90360178e-03 -9.62318390e-03 -2.21526239e+01] [-4.88131248e-03 9.99985352e-01 2.33833088e-03 -2.84584935e+00] [ 9.63450919e-03 -2.29122072e-03 9.99950962e-01 1.52201172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879072329 meters Centerline goodness [0,1] 0.6077282377919321 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.85, Z:15.22 [[ 9.99938816e-01 5.25392802e-03 -9.73454442e-03 -2.21522964e+01] [-5.22349497e-03 9.99981399e-01 3.14908595e-03 -2.84900124e+00] [ 9.75090842e-03 -3.09804493e-03 9.99947660e-01 1.52201230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.909072329 meters Centerline goodness [0,1] 0.6014488135449196 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.85, Z:15.22 [[ 9.99952562e-01 2.63687831e-03 -9.37660170e-03 -2.21540257e+01] [-2.63380229e-03 9.99996474e-01 3.40386410e-04 -2.85057604e+00] [ 9.37746619e-03 -3.15674148e-04 9.99955981e-01 1.52210517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939072329 meters Centerline goodness [0,1] 0.5937990747421587 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.86, Z:15.22 [[ 9.99960552e-01 1.02330687e-03 -8.82309299e-03 -2.21573858e+01] [-1.02837115e-03 9.99999309e-01 -5.69462217e-04 -2.85767333e+00] [ 8.82250416e-03 5.78513167e-04 9.99960914e-01 1.52239096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.969072329 meters Centerline goodness [0,1] 0.592069550466497 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.86, Z:15.22 [[ 9.99959136e-01 1.57371056e-03 -8.90218350e-03 -2.21573904e+01] [-1.56729665e-03 9.99998507e-01 7.27417154e-04 -2.86222412e+00] [ 8.90331495e-03 -7.13435066e-04 9.99960110e-01 1.52243810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999072329 meters Centerline goodness [0,1] 0.6115905765601476 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.87, Z:15.22 [[ 9.99956552e-01 2.11821660e-03 -9.07784835e-03 -2.21569151e+01] [-2.10036802e-03 9.99995843e-01 1.97525142e-03 -2.86655871e+00] [ 9.08199463e-03 -1.95609878e-03 9.99956845e-01 1.52243902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02907232899999 meters Centerline goodness [0,1] 0.588989697714843 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.87, Z:15.22 [[ 9.99952458e-01 2.47474825e-03 -9.43171612e-03 -2.21545993e+01] [-2.44416398e-03 9.99991722e-01 3.25285228e-03 -2.87295710e+00] [ 9.43968804e-03 -3.22964497e-03 9.99950230e-01 1.52224968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05907232899999 meters Centerline goodness [0,1] 0.588989697714843 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.87, Z:15.22 [[ 9.99952458e-01 2.47474825e-03 -9.43171612e-03 -2.21545993e+01] [-2.44416398e-03 9.99991722e-01 3.25285228e-03 -2.87295710e+00] [ 9.43968804e-03 -3.22964497e-03 9.99950230e-01 1.52224968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08907232899999 meters Centerline goodness [0,1] 0.608367757652791 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.88, Z:15.22 [[ 9.99949880e-01 2.86861838e-03 -9.59212441e-03 -2.21539402e+01] [-2.82925588e-03 9.99987532e-01 4.11468217e-03 -2.87610281e+00] [ 9.60380827e-03 -4.08733737e-03 9.99945529e-01 1.52221438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11907232899999 meters Centerline goodness [0,1] 0.5823462221846181 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.88, Z:15.22 [[ 9.99947173e-01 3.30468825e-03 -9.73294925e-03 -2.21533998e+01] [-3.25581650e-03 9.99982035e-01 5.03284016e-03 -2.87942188e+00] [ 9.74940637e-03 -5.00088560e-03 9.99939968e-01 1.52219263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14907232899999 meters Centerline goodness [0,1] 0.604909248787513 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.88, Z:15.22 [[ 9.99955731e-01 2.20131318e-04 -9.40679148e-03 -2.21544078e+01] [-2.03412541e-04 9.99998398e-01 1.77822895e-03 -2.88062135e+00] [ 9.40716786e-03 -1.77623677e-03 9.99954174e-01 1.52220242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.179072329 meters Centerline goodness [0,1] 0.6137616624257846 Centerline is valid? [False, False] Translation: X:-22.16, Y:-2.89, Z:15.22 [[ 9.99954096e-01 -2.65619637e-03 -9.20599389e-03 -2.21552535e+01] [ 2.65305175e-03 9.99996418e-01 -3.53779865e-04 -2.88597517e+00] [ 9.20690062e-03 3.29339647e-04 9.99957561e-01 1.52226085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.209072329 meters Centerline goodness [0,1] 0.6112920968014892 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.89, Z:15.22 [[ 9.99952596e-01 -2.30202191e-03 -9.46078152e-03 -2.21546656e+01] [ 2.30901431e-03 9.99997069e-01 7.28237117e-04 -2.89008440e+00] [ 9.45907738e-03 -7.50047676e-04 9.99954981e-01 1.52227734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239072329 meters Centerline goodness [0,1] 0.6108793698519914 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.89, Z:15.22 [[ 9.99952066e-01 -1.82240421e-03 -9.62004471e-03 -2.21543507e+01] [ 1.84193155e-03 9.99996261e-01 2.02139070e-03 -2.89463398e+00] [ 9.61632495e-03 -2.03901327e-03 9.99951683e-01 1.52230500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.269072329 meters Centerline goodness [0,1] 0.6112168909198612 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.90, Z:15.22 [[ 9.99939905e-01 -5.10040445e-03 -9.70428222e-03 -2.21537641e+01] [ 5.09660575e-03 9.99986926e-01 -4.16134795e-04 -2.90023681e+00] [ 9.70627779e-03 3.66650887e-04 9.99952826e-01 1.52226721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299072329 meters Centerline goodness [0,1] 0.6122159691956163 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.90, Z:15.22 [[ 9.99941274e-01 -4.60121356e-03 -9.81206990e-03 -2.21537975e+01] [ 4.60874608e-03 9.99989102e-01 7.45205901e-04 -2.90398662e+00] [ 9.80853411e-03 -7.90383477e-04 9.99951583e-01 1.52232063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.329072329 meters Centerline goodness [0,1] 0.6109793792607021 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.91, Z:15.22 [[ 9.99943044e-01 -4.08560844e-03 -9.85986647e-03 -2.21541506e+01] [ 4.10449778e-03 9.99989779e-01 1.89630596e-03 -2.90751492e+00] [ 9.85201813e-03 -1.93666775e-03 9.99949592e-01 1.52240411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359072329 meters Centerline goodness [0,1] 0.6090196989210988 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.91, Z:15.23 [[ 9.99944113e-01 -3.64352314e-03 -9.92454256e-03 -2.21543808e+01] [ 3.67825835e-03 9.99987166e-01 3.48392894e-03 -2.91405279e+00] [ 9.91172141e-03 -3.52023927e-03 9.99944681e-01 1.52251105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38907232899999 meters Centerline goodness [0,1] 0.6068258664412511 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.92, Z:15.23 [[ 9.99945871e-01 -3.08639249e-03 -9.93625716e-03 -2.21547328e+01] [ 3.13258487e-03 9.99984344e-01 4.63666861e-03 -2.91769704e+00] [ 9.92179102e-03 -4.66754380e-03 9.99939884e-01 1.52258210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41907232899999 meters Centerline goodness [0,1] 0.605568445475638 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.92, Z:15.23 [[ 9.99944803e-01 -2.80616389e-03 -1.01250796e-02 -2.21541261e+01] [ 2.86084958e-03 9.99981378e-01 5.39057814e-03 -2.92077139e+00] [ 1.01097642e-02 -5.41924692e-03 9.99934210e-01 1.52257081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44907232899999 meters Centerline goodness [0,1] 0.60465947559873 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.93, Z:15.22 [[ 9.99939569e-01 -2.90661037e-03 -1.06023699e-02 -2.21511655e+01] [ 2.96947460e-03 9.99978077e-01 5.91834675e-03 -2.92562139e+00] [ 1.05849352e-02 -5.94947257e-03 9.99926279e-01 1.52233653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47907232899999 meters Centerline goodness [0,1] 0.6015674510963708 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.93, Z:15.22 [[ 9.99933669e-01 -5.47223908e-03 -1.01347438e-02 -2.21532018e+01] [ 5.50522080e-03 9.99979632e-01 3.22928913e-03 -2.92668220e+00] [ 1.01168660e-02 -3.28486892e-03 9.99943428e-01 1.52243460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50907232899999 meters Centerline goodness [0,1] 0.6007893459403558 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.93, Z:15.22 [[ 9.99934668e-01 -4.98725300e-03 -1.02852816e-02 -2.21528195e+01] [ 5.03094044e-03 9.99978415e-01 4.22607857e-03 -2.93034424e+00] [ 1.02639831e-02 -4.27754711e-03 9.99938175e-01 1.52244333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53907232899999 meters Centerline goodness [0,1] 0.5971512977421397 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.94, Z:15.22 [[ 9.99937524e-01 -4.13940257e-03 -1.03832931e-02 -2.21524478e+01] [ 4.20364416e-03 9.99972112e-01 6.17283955e-03 -2.93793059e+00] [ 1.03574517e-02 -6.21610157e-03 9.99927039e-01 1.52246342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.569072329 meters Centerline goodness [0,1] 0.6166431236954735 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.94, Z:15.22 [[ 9.99937957e-01 -3.79593684e-03 -1.04724849e-02 -2.21522216e+01] [ 3.86945302e-03 9.99967953e-01 7.00862821e-03 -2.94083600e+00] [ 1.04455450e-02 -7.04871617e-03 9.99920600e-01 1.52247178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599072329 meters Centerline goodness [0,1] 0.5935869382258878 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.94, Z:15.22 [[ 9.99937519e-01 -3.59543328e-03 -1.05844715e-02 -2.21518972e+01] [ 3.67613776e-03 9.99964246e-01 7.61524442e-03 -2.94309661e+00] [ 1.05567130e-02 -7.65367858e-03 9.99914985e-01 1.52247377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.629072329 meters Centerline goodness [0,1] 0.5921324179758245 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.95, Z:15.23 [[ 9.99937493e-01 -3.27843866e-03 -1.06893259e-02 -2.21518002e+01] [ 3.36815129e-03 9.99959168e-01 8.38555736e-03 -2.94567054e+00] [ 1.06613979e-02 -8.42103647e-03 9.99907706e-01 1.52250802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659072329 meters Centerline goodness [0,1] 0.6152321929214359 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.95, Z:15.23 [[ 9.99924777e-01 -6.38028673e-03 -1.04753379e-02 -2.21524303e+01] [ 6.44210718e-03 9.99961971e-01 5.87842482e-03 -2.95042519e+00] [ 1.04374335e-02 -5.94546587e-03 9.99927853e-01 1.52253874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.689072329 meters Centerline goodness [0,1] 0.6148831124989451 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.95, Z:15.22 [[ 9.99920373e-01 -6.39915710e-03 -1.08765442e-02 -2.21509446e+01] [ 6.47148726e-03 9.99957094e-01 6.62797061e-03 -2.95494324e+00] [ 1.08336641e-02 -6.69783026e-03 9.99918882e-01 1.52249448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719072329 meters Centerline goodness [0,1] 0.6020567286214018 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.96, Z:15.22 [[ 9.99910603e-01 -6.96736713e-03 -1.14123384e-02 -2.21483699e+01] [ 7.04466393e-03 9.99952425e-01 6.74695262e-03 -2.95870046e+00] [ 1.13647869e-02 -6.82674555e-03 9.99912115e-01 1.52234615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.749072329 meters Centerline goodness [0,1] 0.6243973303577068 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.96, Z:15.22 [[ 9.99875131e-01 -1.09290327e-02 -1.14139338e-02 -2.21477545e+01] [ 1.09705309e-02 9.99933415e-01 3.57948757e-03 -2.96212058e+00] [ 1.13740535e-02 -3.70425752e-03 9.99928452e-01 1.52228663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77907232899999 meters Centerline goodness [0,1] 0.6292798110979929 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.96, Z:15.22 [[ 9.99873794e-01 -1.08581624e-02 -1.15972311e-02 -2.21473472e+01] [ 1.09095349e-02 9.99930915e-01 4.37567839e-03 -2.96492633e+00] [ 1.15489180e-02 -4.50164655e-03 9.99923176e-01 1.52231402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80907232899999 meters Centerline goodness [0,1] 0.6327163750712281 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.97, Z:15.22 [[ 9.99870705e-01 -1.08559301e-02 -1.18625927e-02 -2.21467295e+01] [ 1.09178854e-02 9.99927030e-01 5.17053108e-03 -2.96812131e+00] [ 1.18055961e-02 -5.29937699e-03 9.99916269e-01 1.52234331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83907232899999 meters Centerline goodness [0,1] 0.6394908767997971 Centerline is valid? [False, False] Translation: X:-22.15, Y:-2.97, Z:15.22 [[ 9.99815186e-01 -1.49369841e-02 -1.21028853e-02 -2.21457345e+01] [ 1.49646473e-02 9.99885607e-01 2.19833754e-03 -2.97310271e+00] [ 1.20686643e-02 -2.37904667e-03 9.99924341e-01 1.52233067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86907232899999 meters Centerline goodness [0,1] 0.6507019688857034 Centerline is valid? [False, False] Translation: X:-22.14, Y:-2.98, Z:15.22 [[ 9.99791929e-01 -1.59942907e-02 -1.26602381e-02 -2.21429319e+01] [ 1.60178197e-02 9.99870159e-01 1.75927476e-03 -2.97569813e+00] [ 1.26304560e-02 -1.96169811e-03 9.99918308e-01 1.52216952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89907232899999 meters Centerline goodness [0,1] 0.6561122244488977 Centerline is valid? [False, False] Translation: X:-22.14, Y:-2.98, Z:15.22 [[ 9.99787852e-01 -1.60766369e-02 -1.28760322e-02 -2.21422860e+01] [ 1.61082196e-02 9.99867486e-01 2.35288240e-03 -2.97834095e+00] [ 1.28364995e-02 -2.55979320e-03 9.99914332e-01 1.52217948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.929072329 meters Centerline goodness [0,1] 0.6640983849459179 Centerline is valid? [False, False] Translation: X:-22.14, Y:-2.98, Z:15.22 [[ 9.99758278e-01 -1.76175998e-02 -1.31531447e-02 -2.21395041e+01] [ 1.76448169e-02 9.99842405e-01 1.95606653e-03 -2.98103452e+00] [ 1.31166106e-02 -2.18767853e-03 9.99911580e-01 1.52197464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.959072329 meters Centerline goodness [0,1] 0.6724075915621099 Centerline is valid? [False, False] Translation: X:-22.14, Y:-2.98, Z:15.22 [[ 9.99746644e-01 -1.79350523e-02 -1.36007631e-02 -2.21381752e+01] [ 1.79662328e-02 9.99836231e-01 2.17384068e-03 -2.98288370e+00] [ 1.35595477e-02 -2.41764440e-03 9.99905142e-01 1.52194743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.989072329 meters Centerline goodness [0,1] 0.683009227001119 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.98, Z:15.21 [[ 9.99719124e-01 -2.36855847e-02 -8.16627992e-04 -2.21332565e+01] [ 2.36849852e-02 9.99719200e-01 -7.36145090e-04 -2.98468163e+00] [ 8.33834710e-04 7.16596502e-04 9.99999396e-01 1.52144574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019072329 meters Centerline goodness [0,1] 0.6927626558127703 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.22 [[ 9.99717073e-01 -2.37603387e-02 -1.10509649e-03 -2.21329185e+01] [ 2.37603566e-02 9.99717683e-01 3.04470960e-06 -2.98795475e+00] [ 1.10471215e-03 -2.93013347e-05 9.99999389e-01 1.52153535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.049072329 meters Centerline goodness [0,1] 0.712080138930069 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.22 [[ 9.99715201e-01 -2.38206904e-02 -1.44657723e-03 -2.21321764e+01] [ 2.38214890e-02 9.99716084e-01 5.37331723e-04 -2.99044364e+00] [ 1.43336691e-03 -5.71638315e-04 9.99998809e-01 1.52156276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079072329 meters Centerline goodness [0,1] 0.7079044351251748 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.22 [[ 9.99712128e-01 -2.39293394e-02 -1.74584410e-03 -2.21311862e+01] [ 2.39307875e-02 9.99713287e-01 8.13333612e-04 -2.99192711e+00] [ 1.72588100e-03 -8.54878900e-04 9.99998145e-01 1.52152478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.109072329 meters Centerline goodness [0,1] 0.7257001123571686 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99699946e-01 -2.44076522e-02 -2.06976060e-03 -2.21295565e+01] [ 2.44092001e-02 9.99701788e-01 7.25946876e-04 -2.99240911e+00] [ 2.05142471e-03 -7.76250254e-04 9.99997595e-01 1.52140308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13907232899999 meters Centerline goodness [0,1] 0.7563876932210937 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99771957e-01 -2.12135992e-02 -2.45317826e-03 -2.21282029e+01] [ 2.12250969e-02 9.99763392e-01 4.75985949e-03 -2.99468443e+00] [ 2.35162406e-03 -4.81084298e-03 9.99985663e-01 1.52137976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16907232899999 meters Centerline goodness [0,1] 0.7550847636987026 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99770250e-01 -2.12919538e-02 -2.46998598e-03 -2.21279774e+01] [ 2.13032337e-02 9.99762320e-01 4.63412217e-03 -2.99423070e+00] [ 2.37072940e-03 -4.68567617e-03 9.99986212e-01 1.52134782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19907232899999 meters Centerline goodness [0,1] 0.7333573532840219 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99771381e-01 -2.12297502e-02 -2.54615478e-03 -2.21278871e+01] [ 2.12413703e-02 9.99763669e-01 4.62702920e-03 -2.99382929e+00] [ 2.44732237e-03 -4.68005519e-03 9.99986054e-01 1.52134884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22907232899999 meters Centerline goodness [0,1] 0.732001187900386 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99767423e-01 -2.13940691e-02 -2.71909419e-03 -2.21271681e+01] [ 2.14055236e-02 9.99761818e-01 4.25572881e-03 -2.99283106e+00] [ 2.62739920e-03 -4.31294266e-03 9.99987248e-01 1.52128847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25907232899999 meters Centerline goodness [0,1] 0.7237274133073485 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99767799e-01 -2.13560662e-02 -2.87516568e-03 -2.21269435e+01] [ 2.13680381e-02 9.99762857e-01 4.19966607e-03 -2.99276765e+00] [ 2.78479551e-03 -4.26012756e-03 9.99987048e-01 1.52130467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28907232899999 meters Centerline goodness [0,1] 0.7412482580972087 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99769301e-01 -2.12641808e-02 -3.02979506e-03 -2.21267469e+01] [ 2.12766490e-02 9.99765037e-01 4.14415645e-03 -2.99270312e+00] [ 2.94096108e-03 -4.20766428e-03 9.99986823e-01 1.52132043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.319072329 meters Centerline goodness [0,1] 0.7042482968730166 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99773187e-01 -2.10894246e-02 -2.96820426e-03 -2.21269599e+01] [ 2.11007784e-02 9.99769951e-01 3.84727951e-03 -2.99113100e+00] [ 2.88638451e-03 -3.90903832e-03 9.99988194e-01 1.52130624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.349072329 meters Centerline goodness [0,1] 0.7156213643574828 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.99, Z:15.21 [[ 9.99833075e-01 -1.79208799e-02 -3.55864069e-03 -2.21246573e+01] [ 1.79462168e-02 9.99812883e-01 7.22031994e-03 -2.99170759e+00] [ 3.42858032e-03 -7.28297883e-03 9.99967601e-01 1.52117983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379072329 meters Centerline goodness [0,1] 0.7136037177862273 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.99, Z:15.21 [[ 9.99832977e-01 -1.79229586e-02 -3.57572576e-03 -2.21246238e+01] [ 1.79467261e-02 9.99816298e-01 6.72936704e-03 -2.98961689e+00] [ 3.45445873e-03 -6.79241565e-03 9.99970964e-01 1.52115459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.409072329 meters Centerline goodness [0,1] 0.7068097172845776 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99848064e-01 -1.71165049e-02 -3.29756471e-03 -2.21263779e+01] [ 1.71386230e-02 9.99829998e-01 6.80016372e-03 -2.98730066e+00] [ 3.18060908e-03 -6.85564625e-03 9.99971442e-01 1.52126154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439072329 meters Centerline goodness [0,1] 0.6988700205643537 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99849677e-01 -1.70163760e-02 -3.32649885e-03 -2.21264870e+01] [ 1.70383986e-02 9.99832333e-01 6.70808149e-03 -2.98674610e+00] [ 3.21179387e-03 -6.76375133e-03 9.99971968e-01 1.52127773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.469072329 meters Centerline goodness [0,1] 0.6979014463291193 Centerline is valid? [False, False] Translation: X:-22.13, Y:-2.99, Z:15.21 [[ 9.99848168e-01 -1.70878283e-02 -3.41272563e-03 -2.21261858e+01] [ 1.71095261e-02 9.99832925e-01 6.43325671e-03 -2.98598187e+00] [ 3.30222506e-03 -6.49067006e-03 9.99973483e-01 1.52125623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49907232899999 meters Centerline goodness [0,1] 0.6940852236591053 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99838915e-01 -1.75735138e-02 -3.64904946e-03 -2.21246387e+01] [ 1.75931002e-02 9.99830611e-01 5.40667150e-03 -2.98289404e+00] [ 3.55341714e-03 -5.46999866e-03 9.99978726e-01 1.52107463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52907232899999 meters Centerline goodness [0,1] 0.6974987801514734 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99831870e-01 -1.79359042e-02 -3.81247269e-03 -2.21236136e+01] [ 1.79542929e-02 9.99827069e-01 4.84506027e-03 -2.98144221e+00] [ 3.72491286e-03 -4.91269592e-03 9.99980995e-01 1.52096617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55907232899999 meters Centerline goodness [0,1] 0.6992509919582423 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99820625e-01 -1.84536759e-02 -4.26382998e-03 -2.21219437e+01] [ 1.84722973e-02 9.99819823e-01 4.36998359e-03 -2.98099846e+00] [ 4.18241947e-03 -4.44796245e-03 9.99981361e-01 1.52086939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58907232899999 meters Centerline goodness [0,1] 0.7076510866329264 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99821090e-01 -1.84001740e-02 -4.38413789e-03 -2.21219250e+01] [ 1.84207823e-02 9.99819241e-01 4.70755690e-03 -2.98224590e+00] [ 4.29672554e-03 -4.78747392e-03 9.99979309e-01 1.52091749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61907232899999 meters Centerline goodness [0,1] 0.7153114608264672 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99814343e-01 -1.86996645e-02 -4.64773200e-03 -2.21213772e+01] [ 1.87212664e-02 9.99813935e-01 4.64862126e-03 -2.98319022e+00] [ 4.55993956e-03 -4.73476964e-03 9.99978394e-01 1.52094078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64907232899999 meters Centerline goodness [0,1] 0.7231308411214954 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99815293e-01 -1.86190039e-02 -4.76574296e-03 -2.21218471e+01] [ 1.86430554e-02 9.99813434e-01 5.05307547e-03 -2.98425140e+00] [ 4.67077060e-03 -5.14099014e-03 9.99975877e-01 1.52106233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.679072329 meters Centerline goodness [0,1] 0.7322525958889595 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99797117e-01 -1.94442646e-02 -5.25794039e-03 -2.21204218e+01] [ 1.94685432e-02 9.99799858e-01 4.60641779e-03 -2.98427598e+00] [ 5.16731965e-03 -4.70784767e-03 9.99975567e-01 1.52104502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.709072329 meters Centerline goodness [0,1] 0.7418682767124453 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99793445e-01 -1.95750327e-02 -5.46667446e-03 -2.21197785e+01] [ 1.96001691e-02 9.99797394e-01 4.58303070e-03 -2.98424545e+00] [ 5.37585391e-03 -4.68923180e-03 9.99974555e-01 1.52101908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739072329 meters Centerline goodness [0,1] 0.7434690415606446 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99781400e-01 -2.00621717e-02 -5.88745979e-03 -2.21179534e+01] [ 2.00860725e-02 9.99790137e-01 4.02894548e-03 -2.98368761e+00] [ 5.80539483e-03 -4.14632069e-03 9.99974552e-01 1.52089439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.769072329 meters Centerline goodness [0,1] 0.7452236075060636 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99780098e-01 -2.00783320e-02 -6.05115729e-03 -2.21173348e+01] [ 2.01028899e-02 9.99789814e-01 4.02523720e-03 -2.98380807e+00] [ 5.96906537e-03 -4.14599779e-03 9.99973590e-01 1.52085301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799072329 meters Centerline goodness [0,1] 0.7680531179294158 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99764960e-01 -2.07052293e-02 -6.42787019e-03 -2.21153556e+01] [ 2.07261190e-02 9.99780068e-01 3.20043373e-03 -2.98263310e+00] [ 6.36019079e-03 -3.33290631e-03 9.99974220e-01 1.52068781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.829072329 meters Centerline goodness [0,1] 0.7639242655798947 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99763924e-01 -2.07623423e-02 -6.40472715e-03 -2.21153936e+01] [ 2.07819411e-02 9.99779505e-01 3.00883188e-03 -2.98153412e+00] [ 6.34084454e-03 -3.14122423e-03 9.99974963e-01 1.52067531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859072329 meters Centerline goodness [0,1] 0.7699750179955117 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.21 [[ 9.99758191e-01 -2.10146153e-02 -6.47654045e-03 -2.21149966e+01] [ 2.10318830e-02 9.99775399e-01 2.60970793e-03 -2.98025744e+00] [ 6.42024381e-03 -2.74529072e-03 9.99975622e-01 1.52063340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88907232899999 meters Centerline goodness [0,1] 0.7916781599439835 Centerline is valid? [False, False] Translation: X:-22.12, Y:-2.98, Z:15.21 [[ 9.99754665e-01 -2.11294596e-02 -6.64496783e-03 -2.21151733e+01] [ 2.11475457e-02 9.99772818e-01 2.66337834e-03 -2.98016585e+00] [ 6.58718247e-03 -2.80324968e-03 9.99974375e-01 1.52072171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91907232899999 meters Centerline goodness [0,1] 0.7974605601206022 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.21 [[ 9.99749802e-01 -2.12764432e-02 -6.90270116e-03 -2.21147879e+01] [ 2.12960958e-02 9.99769330e-01 2.78618320e-03 -2.98100645e+00] [ 6.84182885e-03 -2.93248669e-03 9.99972295e-01 1.52075974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94907232899999 meters Centerline goodness [0,1] 0.8079232711609057 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.21 [[ 9.99741427e-01 -2.15427317e-02 -7.27934421e-03 -2.21140124e+01] [ 2.15634164e-02 9.99763631e-01 2.77511730e-03 -2.98163883e+00] [ 7.21784000e-03 -2.93136726e-03 9.99969654e-01 1.52077733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97907232899999 meters Centerline goodness [0,1] 0.8079232711609057 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.21 [[ 9.99741427e-01 -2.15427317e-02 -7.27934421e-03 -2.21140124e+01] [ 2.15634164e-02 9.99763631e-01 2.77511730e-03 -2.98163883e+00] [ 7.21784000e-03 -2.93136726e-03 9.99969654e-01 1.52077733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00907232899999 meters Centerline goodness [0,1] 0.8201246660730187 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.21 [[ 9.99717306e-01 -2.25014336e-02 -7.68069154e-03 -2.21124770e+01] [ 2.25194646e-02 9.99743829e-01 2.26921276e-03 -2.98158573e+00] [ 7.62766344e-03 -2.44153633e-03 9.99967928e-01 1.52072346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03907232899999 meters Centerline goodness [0,1] 0.8159741302785645 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.21 [[ 9.99699289e-01 -2.31632720e-02 -8.04949099e-03 -2.21109101e+01] [ 2.31774904e-02 9.99729958e-01 1.67759168e-03 -2.98102158e+00] [ 8.00845878e-03 -1.86365421e-03 9.99966195e-01 1.52062742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.069072329 meters Centerline goodness [0,1] 0.8267236249256142 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.21 [[ 9.99692147e-01 -2.34052576e-02 -8.23433768e-03 -2.21104204e+01] [ 2.34188323e-02 9.99724531e-01 1.55599775e-03 -2.98082409e+00] [ 8.19565085e-03 -1.74835731e-03 9.99964887e-01 1.52061753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099072329 meters Centerline goodness [0,1] 0.8289546167210475 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.20 [[ 9.99655069e-01 -2.47711305e-02 -8.72552644e-03 -2.21081576e+01] [ 2.47767655e-02 9.99692864e-01 5.38282024e-04 -2.97978145e+00] [ 8.70951266e-03 -7.54286676e-04 9.99961787e-01 1.52048781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.129072329 meters Centerline goodness [0,1] 0.8295011030035635 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.21 [[ 9.99650926e-01 -2.48956293e-02 -8.84498573e-03 -2.21080157e+01] [ 2.49012313e-02 9.99689779e-01 5.23771603e-04 -2.97953268e+00] [ 8.82920221e-03 -7.43839803e-04 9.99960745e-01 1.52050828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159072329 meters Centerline goodness [0,1] 0.8311263899499194 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.20 [[ 9.99642807e-01 -2.51731880e-02 -8.97597407e-03 -2.21076328e+01] [ 2.51763335e-02 9.99682998e-01 2.37588099e-04 -2.97877128e+00] [ 8.96714781e-03 -4.63485350e-04 9.99959687e-01 1.52049545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.189072329 meters Centerline goodness [0,1] 0.8295647018970189 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.20 [[ 9.99617958e-01 -2.60321778e-02 -9.28785414e-03 -2.21067071e+01] [ 2.60265487e-02 9.99660988e-01 -7.26445915e-04 -2.97649015e+00] [ 9.30361641e-03 4.84437594e-04 9.99956603e-01 1.52047465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219072329 meters Centerline goodness [0,1] 0.8281256615436725 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.20 [[ 9.99609021e-01 -2.62926274e-02 -9.51325500e-03 -2.21062453e+01] [ 2.62844882e-02 9.99654023e-01 -9.79602067e-04 -2.97594381e+00] [ 9.53571995e-03 7.29168024e-04 9.99954268e-01 1.52047997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24907232899999 meters Centerline goodness [0,1] 0.8251326682233071 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.98, Z:15.21 [[ 9.99603810e-01 -2.64464806e-02 -9.63362889e-03 -2.21062241e+01] [ 2.64362900e-02 9.99649799e-01 -1.18364516e-03 -2.97514192e+00] [ 9.66155843e-03 9.28498808e-04 9.99952895e-01 1.52051743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27907232899999 meters Centerline goodness [0,1] 0.8253638253638254 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.97, Z:15.20 [[ 9.99592462e-01 -2.68210365e-02 -9.77455955e-03 -2.21058104e+01] [ 2.68052100e-02 9.99639150e-01 -1.74660688e-03 -2.97349279e+00] [ 9.81787821e-03 1.48388595e-03 9.99950702e-01 1.52049731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30907232899999 meters Centerline goodness [0,1] 0.8201333446577204 Centerline is valid? [False, False] Translation: X:-22.11, Y:-2.97, Z:15.20 [[ 9.99649963e-01 -2.45704983e-02 -9.81032970e-03 -2.21050571e+01] [ 2.45838296e-02 9.99697002e-01 1.24062000e-03 -2.97266906e+00] [ 9.77687454e-03 -1.48136121e-03 9.99951108e-01 1.52047802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33907232899999 meters Centerline goodness [0,1] 0.8154993308265885 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.97, Z:15.20 [[ 9.99639876e-01 -2.48999781e-02 -1.00054896e-02 -2.21045767e+01] [ 2.49090783e-02 9.99689412e-01 7.85921005e-04 -2.97129908e+00] [ 9.98281264e-03 -1.03486550e-03 9.99949635e-01 1.52046794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36907232899999 meters Centerline goodness [0,1] 0.8105193895527774 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.97, Z:15.20 [[ 9.99620838e-01 -2.55458978e-02 -1.02755267e-02 -2.21038011e+01] [ 2.55450223e-02 9.99673649e-01 -2.16461109e-04 -2.96851538e+00] [ 1.02777029e-02 -4.61095225e-05 9.99947182e-01 1.52043724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39907232899999 meters Centerline goodness [0,1] 0.8098949508641139 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.97, Z:15.20 [[ 9.99605343e-01 -2.60785110e-02 -1.04436273e-02 -2.21029459e+01] [ 2.60691637e-02 9.99659611e-01 -1.03018045e-03 -2.96645786e+00] [ 1.04669380e-02 7.57517249e-04 9.99944933e-01 1.52036355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.429072329 meters Centerline goodness [0,1] 0.8041677287789957 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.97, Z:15.20 [[ 9.99681762e-01 -2.28941732e-02 -1.05939604e-02 -2.21023819e+01] [ 2.29245695e-02 9.99733397e-01 2.75671291e-03 -2.96686874e+00] [ 1.05280233e-02 -2.99869760e-03 9.99940082e-01 1.52036320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.459072329 meters Centerline goodness [0,1] 0.7944560003396018 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.96, Z:15.20 [[ 9.99664711e-01 -2.35234857e-02 -1.08217795e-02 -2.21015160e+01] [ 2.35443539e-02 9.99721164e-01 1.80499187e-03 -2.96410198e+00] [ 1.07763023e-02 -2.05917848e-03 9.99939814e-01 1.52030456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.489072329 meters Centerline goodness [0,1] 0.7757798087321615 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.96, Z:15.20 [[ 9.99633543e-01 -2.46534327e-02 -1.11797904e-02 -2.20999948e+01] [ 2.46587544e-02 9.99695869e-01 3.38398991e-04 -2.96045197e+00] [ 1.11680476e-02 -6.13954688e-04 9.99937447e-01 1.52020738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519072329 meters Centerline goodness [0,1] 0.7657402879074613 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.96, Z:15.20 [[ 9.99624914e-01 -2.49421707e-02 -1.13101404e-02 -2.20995961e+01] [ 2.49435611e-02 9.99688861e-01 -1.81341775e-05 -2.95954684e+00] [ 1.13070737e-02 -2.63987803e-04 9.99936038e-01 1.52019255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.549072329 meters Centerline goodness [0,1] 0.7743716032608696 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.96, Z:15.20 [[ 9.99606924e-01 -2.55219845e-02 -1.16028541e-02 -2.20985011e+01] [ 2.55155895e-02 9.99674180e-01 -6.98880301e-04 -2.95836645e+00] [ 1.16169105e-02 4.02551925e-04 9.99932440e-01 1.52013418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579072329 meters Centerline goodness [0,1] 0.7647233600033957 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.95, Z:15.20 [[ 9.99575211e-01 -2.66413307e-02 -1.18168397e-02 -2.20972897e+01] [ 2.66162668e-02 9.99643140e-01 -2.27328295e-03 -2.95404523e+00] [ 1.18731860e-02 1.95779713e-03 9.99927595e-01 1.52003234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.609072329 meters Centerline goodness [0,1] 0.7586945457629994 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.95, Z:15.20 [[ 9.99554956e-01 -2.73244286e-02 -1.19693754e-02 -2.20964944e+01] [ 2.72836792e-02 9.99621411e-01 -3.55466411e-03 -2.94996451e+00] [ 1.20619731e-02 3.22651353e-03 9.99922046e-01 1.51995351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63907232899999 meters Centerline goodness [0,1] 0.75673608159796 Centerline is valid? [False, False] Translation: X:-22.10, Y:-2.95, Z:15.20 [[ 9.99641551e-01 -2.37887852e-02 -1.22826623e-02 -2.20959376e+01] [ 2.37920056e-02 9.99716923e-01 1.16111394e-04 -2.94898926e+00] [ 1.22764232e-02 -4.08298943e-04 9.99924559e-01 1.51996417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66907232899999 meters Centerline goodness [0,1] 0.752567040054311 Centerline is valid? [False, False] Translation: X:-22.09, Y:-2.94, Z:15.20 [[ 9.99618104e-01 -2.46227375e-02 -1.25446150e-02 -2.20949156e+01] [ 2.46011825e-02 9.99695597e-01 -1.86971572e-03 -2.94264243e+00] [ 1.25868339e-02 1.56038932e-03 9.99919565e-01 1.51987111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69907232899999 meters Centerline goodness [0,1] 0.7531047975501871 Centerline is valid? [False, False] Translation: X:-22.09, Y:-2.94, Z:15.20 [[ 9.99608864e-01 -2.49219625e-02 -1.26891246e-02 -2.20946334e+01] [ 2.48907433e-02 9.99686764e-01 -2.61234958e-03 -2.94042850e+00] [ 1.27502548e-02 2.29548605e-03 9.99916077e-01 1.51986542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72907232899999 meters Centerline goodness [0,1] 0.7676253499618224 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.94, Z:15.19 [[ 9.99749823e-01 -2.14427672e-02 -6.36396365e-03 -2.20806059e+01] [ 2.13854752e-02 9.99731350e-01 -8.93805976e-03 -2.93703557e+00] [ 6.55391071e-03 8.79972727e-03 9.99939804e-01 1.51934178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75907232899999 meters Centerline goodness [0,1] 0.7771978954514596 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.93, Z:15.19 [[ 9.99875900e-01 -1.43528310e-02 -6.49468221e-03 -2.20805685e+01] [ 1.43397947e-02 9.99895080e-01 -2.04936987e-03 -2.93359869e+00] [ 6.52341505e-03 1.95598313e-03 9.99976809e-01 1.51938230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78907232899999 meters Centerline goodness [0,1] 0.7753756808884933 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.93, Z:15.19 [[ 9.99919260e-01 -1.07745657e-02 -6.73663606e-03 -2.20799446e+01] [ 1.07819552e-02 9.99941310e-01 1.06154923e-03 -2.93037035e+00] [ 6.72480295e-03 -1.13409763e-03 9.99976745e-01 1.51935358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.819072329 meters Centerline goodness [0,1] 0.7897770619649063 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.93, Z:15.19 [[ 9.99951455e-01 -7.10700802e-03 -6.82474992e-03 -2.20796098e+01] [ 7.13498558e-03 9.99966206e-01 4.08386693e-03 -2.92679197e+00] [ 6.79549521e-03 -4.13236317e-03 9.99968372e-01 1.51931852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.849072329 meters Centerline goodness [0,1] 0.8019762091558703 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.92, Z:15.19 [[ 9.99972090e-01 -3.06778330e-03 -6.81236699e-03 -2.20799731e+01] [ 3.10892938e-03 9.99976941e-01 6.03755760e-03 -2.91827843e+00] [ 6.79368799e-03 -6.05856826e-03 9.99958569e-01 1.51928963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879072329 meters Centerline goodness [0,1] 0.8075535752174836 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.91, Z:15.19 [[ 9.99972849e-01 -3.02433296e-03 -6.71974569e-03 -2.20803299e+01] [ 3.05746981e-03 9.99983191e-01 4.92647760e-03 -2.91387303e+00] [ 6.70473343e-03 -4.94688926e-03 9.99965287e-01 1.51927969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.909072329 meters Centerline goodness [0,1] 0.8139953419436798 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.91, Z:15.19 [[ 9.99972110e-01 -3.21056316e-03 -6.74324932e-03 -2.20802612e+01] [ 3.23511421e-03 9.99988167e-01 3.63308650e-03 -2.90963149e+00] [ 6.73150528e-03 -3.65480035e-03 9.99970664e-01 1.51925117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939072329 meters Centerline goodness [0,1] 0.8123969736675261 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.91, Z:15.19 [[ 9.99972294e-01 -3.30149709e-03 -6.67163860e-03 -2.20806568e+01] [ 3.31826814e-03 9.99991359e-01 2.50427842e-03 -2.90530104e+00] [ 6.66331308e-03 -2.52634733e-03 9.99974609e-01 1.51926295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.969072329 meters Centerline goodness [0,1] 0.8189267215759531 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.90, Z:15.19 [[ 9.99979131e-01 2.67754728e-04 -6.45493257e-03 -2.20818846e+01] [-2.37119615e-04 9.99988708e-01 4.74629880e-03 -2.89795302e+00] [ 6.45613052e-03 -4.74466916e-03 9.99967903e-01 1.51934242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99907232899999 meters Centerline goodness [0,1] 0.8180390492359932 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.89, Z:15.19 [[ 9.99979406e-01 -2.64782895e-05 -6.41772627e-03 -2.20819077e+01] [ 4.82726409e-05 9.99994233e-01 3.39583039e-03 -2.89275732e+00] [ 6.41759934e-03 -3.39607026e-03 9.99973640e-01 1.51930470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02907232899999 meters Centerline goodness [0,1] 0.8204478242501057 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.89, Z:15.19 [[ 9.99981189e-01 2.64734644e-04 -6.12795026e-03 -2.20834353e+01] [-2.49997678e-04 9.99997075e-01 2.40551801e-03 -2.88552072e+00] [ 6.12856916e-03 -2.40394079e-03 9.99978331e-01 1.51938790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05907232899999 meters Centerline goodness [0,1] 0.8197601613074392 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.88, Z:15.19 [[ 9.99981650e-01 4.57002147e-05 -6.05790540e-03 -2.20837059e+01] [-3.58582528e-05 9.99998679e-01 1.62474633e-03 -2.88233938e+00] [ 6.05797166e-03 -1.62449929e-03 9.99980331e-01 1.51938978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08907232899999 meters Centerline goodness [0,1] 0.820864179199457 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.88, Z:15.19 [[ 9.99981274e-01 -4.64264610e-04 -6.10212329e-03 -2.20833074e+01] [ 4.66900331e-04 9.99999798e-01 4.30517580e-04 -2.87853198e+00] [ 6.10192219e-03 -4.33358601e-04 9.99981289e-01 1.51933415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11907232899999 meters Centerline goodness [0,1] 0.8191268191268191 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.87, Z:15.19 [[ 9.99981256e-01 -1.07526041e-03 -6.02748920e-03 -2.20830417e+01] [ 1.06767128e-03 9.99998634e-01 -1.26216303e-03 -2.87134275e+00] [ 6.02883812e-03 1.25570399e-03 9.99981038e-01 1.51925370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14907232899999 meters Centerline goodness [0,1] 0.8173486921657227 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.87, Z:15.19 [[ 9.99980037e-01 -1.48789304e-03 -6.14095658e-03 -2.20825310e+01] [ 1.47450006e-03 9.99996526e-01 -2.18487898e-03 -2.86841998e+00] [ 6.14418611e-03 2.17578052e-03 9.99978757e-01 1.51920359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.179072329 meters Centerline goodness [0,1] 0.8170436701608454 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.87, Z:15.19 [[ 9.99978823e-01 -1.86044238e-03 -6.23631767e-03 -2.20821986e+01] [ 1.84158811e-03 9.99993721e-01 -3.02768206e-03 -2.86578466e+00] [ 6.24191134e-03 3.01613321e-03 9.99975970e-01 1.51917765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.209072329 meters Centerline goodness [0,1] 0.8172155020302303 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.86, Z:15.19 [[ 9.99978648e-01 -2.35320646e-03 -6.09646115e-03 -2.20825216e+01] [ 2.32549673e-03 9.99986952e-01 -4.54832418e-03 -2.86024178e+00] [ 6.10708475e-03 4.53404976e-03 9.99971073e-01 1.51916298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239072329 meters Centerline goodness [0,1] 0.8170918042527906 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.86, Z:15.19 [[ 9.99978748e-01 5.29978757e-04 -6.49786273e-03 -2.20806445e+01] [-5.40747058e-04 9.99998483e-01 -1.65556165e-03 -2.85856023e+00] [ 6.49697547e-03 1.65904017e-03 9.99977518e-01 1.51904941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.269072329 meters Centerline goodness [0,1] 0.81710707842513 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.85, Z:15.19 [[ 9.99978648e-01 1.63252227e-04 -6.53273274e-03 -2.20804657e+01] [-1.81465343e-04 9.99996098e-01 -2.78748247e-03 -2.85406984e+00] [ 6.53225219e-03 2.78860842e-03 9.99974776e-01 1.51901655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299072329 meters Centerline goodness [0,1] 0.8174714104193138 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.85, Z:15.19 [[ 9.99978138e-01 -2.13381130e-04 -6.60890537e-03 -2.20800891e+01] [ 1.87227701e-04 9.99992151e-01 -3.95766707e-03 -2.84993249e+00] [ 6.60969799e-03 3.95634318e-03 9.99970329e-01 1.51897250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.329072329 meters Centerline goodness [0,1] 0.8180428783697729 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.85, Z:15.19 [[ 9.99971886e-01 3.23369150e-03 -6.76544223e-03 -2.20797756e+01] [-3.24179228e-03 9.99994041e-01 -1.18675291e-03 -2.84585294e+00] [ 6.76156433e-03 1.20865171e-03 9.99976410e-01 1.51898424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359072329 meters Centerline goodness [0,1] 0.8215520349515386 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.84, Z:15.19 [[ 9.99972598e-01 3.10997212e-03 -6.71795791e-03 -2.20798765e+01] [-3.12506873e-03 9.99992613e-01 -2.23787502e-03 -2.84195683e+00] [ 6.71094856e-03 2.25880778e-03 9.99974930e-01 1.51896963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38907232899999 meters Centerline goodness [0,1] 0.8201623873490903 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.84, Z:15.19 [[ 9.99972652e-01 3.84535694e-03 -6.31728194e-03 -2.20819782e+01] [-3.86073325e-03 9.99989610e-01 -2.42361824e-03 -2.83832978e+00] [ 6.30789663e-03 2.44794130e-03 9.99977109e-01 1.51911665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41907232899999 meters Centerline goodness [0,1] 0.8172686925314816 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.83, Z:15.19 [[ 9.99950809e-01 7.61609940e-03 -6.35413310e-03 -2.20818926e+01] [-7.61707559e-03 9.99970981e-01 -1.29443864e-04 -2.83208365e+00] [ 6.35296285e-03 1.77837409e-04 9.99979804e-01 1.51910720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44907232899999 meters Centerline goodness [0,1] 0.8148226754674534 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.83, Z:15.19 [[ 9.99949856e-01 7.71305818e-03 -6.38703477e-03 -2.20816541e+01] [-7.72173573e-03 9.99969296e-01 -1.33507555e-03 -2.82708096e+00] [ 6.37654114e-03 1.38432760e-03 9.99978711e-01 1.51904931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47907232899999 meters Centerline goodness [0,1] 0.8100481615853011 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.82, Z:15.19 [[ 9.99948801e-01 7.83403786e-03 -6.40495489e-03 -2.20812809e+01] [-7.85015037e-03 9.99966076e-01 -2.49437346e-03 -2.82215267e+00] [ 6.38519659e-03 2.54452560e-03 9.99976377e-01 1.51896663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50907232899999 meters Centerline goodness [0,1] 0.7854155609807876 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.82, Z:15.19 [[ 9.99913323e-01 1.15224358e-02 -6.37024438e-03 -2.20808825e+01] [-1.15244180e-02 9.99933554e-01 -2.74547044e-04 -2.81553560e+00] [ 6.36665765e-03 3.47936606e-04 9.99979672e-01 1.51888837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53907232899999 meters Centerline goodness [0,1] 0.7660427807486632 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.81, Z:15.19 [[ 9.99913719e-01 1.15138491e-02 -6.32346652e-03 -2.20810485e+01] [-1.15226905e-02 9.99932682e-01 -1.36353072e-03 -2.81145516e+00] [ 6.30734135e-03 1.43627642e-03 9.99979077e-01 1.51887768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.569072329 meters Centerline goodness [0,1] 0.7535881617163815 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.81, Z:15.19 [[ 9.99913804e-01 1.15254284e-02 -6.28874512e-03 -2.20813642e+01] [-1.15398689e-02 9.99930849e-01 -2.26481319e-03 -2.80808032e+00] [ 6.26220730e-03 2.33718927e-03 9.99977661e-01 1.51889816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599072329 meters Centerline goodness [0,1] 0.7422343786442762 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.81, Z:15.19 [[ 9.99913274e-01 1.15628618e-02 -6.30437099e-03 -2.20815287e+01] [-1.15821203e-02 9.99928344e-01 -3.02688737e-03 -2.80533108e+00] [ 6.26891977e-03 3.09964284e-03 9.99975546e-01 1.51891295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.629072329 meters Centerline goodness [0,1] 0.70467277820219 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.80, Z:15.19 [[ 9.99892298e-01 1.33359746e-02 -6.12730966e-03 -2.20836761e+01] [-1.33510779e-02 9.99907916e-01 -2.43064704e-03 -2.80170147e+00] [ 6.09433039e-03 2.51219144e-03 9.99978274e-01 1.51910781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659072329 meters Centerline goodness [0,1] 0.6993484858131194 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.80, Z:15.19 [[ 9.99893829e-01 1.31974355e-02 -6.17727696e-03 -2.20834298e+01] [-1.32178137e-02 9.99907295e-01 -3.26977901e-03 -2.79879428e+00] [ 6.13355159e-03 3.35108195e-03 9.99975575e-01 1.51907571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.689072329 meters Centerline goodness [0,1] 0.6889096348475525 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.80, Z:15.19 [[ 9.99834046e-01 1.71514212e-02 -6.14085349e-03 -2.20833983e+01] [-1.71499907e-02 9.99852887e-01 2.85539478e-04 -2.79668698e+00] [ 6.14484750e-03 -1.80176511e-04 9.99981104e-01 1.51907958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719072329 meters Centerline goodness [0,1] 0.6860170029184114 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.79, Z:15.19 [[ 9.99835039e-01 1.70658876e-02 -6.21696423e-03 -2.20829395e+01] [-1.70682062e-02 9.99854276e-01 -3.20079366e-04 -2.79458107e+00] [ 6.21059583e-03 4.26138992e-04 9.99980623e-01 1.51902409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74907232899999 meters Centerline goodness [0,1] 0.6788079470198676 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.79, Z:15.19 [[ 9.99837017e-01 1.69575742e-02 -6.19523804e-03 -2.20827648e+01] [-1.69625170e-02 9.99855848e-01 -7.46165168e-04 -2.79316099e+00] [ 6.18169183e-03 8.51130386e-04 9.99980531e-01 1.51898428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77907232899999 meters Centerline goodness [0,1] 0.6792788971367975 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.79, Z:15.19 [[ 9.99838229e-01 1.68327957e-02 -6.33818715e-03 -2.20822228e+01] [-1.68398240e-02 9.99857641e-01 -1.05715399e-03 -2.79241469e+00] [ 6.31948999e-03 1.16371693e-03 9.99979355e-01 1.51894752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80907232899999 meters Centerline goodness [0,1] 0.6770024194575321 Centerline is valid? [False, False] Translation: X:-22.09, Y:-2.79, Z:15.19 [[ 9.99880652e-01 1.42810407e-02 -5.89358090e-03 -2.20853473e+01] [-1.43050211e-02 9.99889488e-01 -4.04700139e-03 -2.79175339e+00] [ 5.83513420e-03 4.13082619e-03 9.99974443e-01 1.51919721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83907232899999 meters Centerline goodness [0,1] 0.6753277054256989 Centerline is valid? [False, False] Translation: X:-22.09, Y:-2.79, Z:15.19 [[ 9.99880224e-01 1.42658979e-02 -6.00183170e-03 -2.20853516e+01] [-1.42888494e-02 9.99890693e-01 -3.79873365e-03 -2.79301171e+00] [ 5.94698331e-03 3.88403792e-03 9.99974774e-01 1.51924033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86907232899999 meters Centerline goodness [0,1] 0.6753277054256989 Centerline is valid? [False, False] Translation: X:-22.09, Y:-2.79, Z:15.19 [[ 9.99880224e-01 1.42658979e-02 -6.00183170e-03 -2.20853516e+01] [-1.42888494e-02 9.99890693e-01 -3.79873365e-03 -2.79301171e+00] [ 5.94698331e-03 3.88403792e-03 9.99974774e-01 1.51924033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89907232899999 meters Centerline goodness [0,1] 0.6897634454227219 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.79, Z:15.19 [[ 9.99893043e-01 1.31074523e-02 -6.48829423e-03 -2.20827907e+01] [-1.31367953e-02 9.99903580e-01 -4.50067836e-03 -2.79391426e+00] [ 6.42867620e-03 4.58543237e-03 9.99968822e-01 1.51904982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.929072329 meters Centerline goodness [0,1] 0.6833492518306272 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.79, Z:15.19 [[ 9.99894382e-01 1.28938300e-02 -6.70626134e-03 -2.20818406e+01] [-1.29241981e-02 9.99906331e-01 -4.50486927e-03 -2.79437299e+00] [ 6.64754815e-03 4.59106652e-03 9.99967366e-01 1.51898235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.959072329 meters Centerline goodness [0,1] 0.6872134488028527 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.80, Z:15.19 [[ 9.99894960e-01 1.27630437e-02 -6.86824523e-03 -2.20812013e+01] [-1.27930680e-02 9.99908723e-01 -4.34543137e-03 -2.79533500e+00] [ 6.81215739e-03 4.43284086e-03 9.99966972e-01 1.51894295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.989072329 meters Centerline goodness [0,1] 0.7004794026558059 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.80, Z:15.19 [[ 9.99893945e-01 1.26364526e-02 -7.24005572e-03 -2.20802819e+01] [-1.26659590e-02 9.99911605e-01 -4.04418018e-03 -2.79693470e+00] [ 7.18831165e-03 4.13545352e-03 9.99965613e-01 1.51893268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019072329 meters Centerline goodness [0,1] 0.7179307711885976 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.80, Z:15.19 [[ 9.99934474e-01 8.87298413e-03 -7.23313840e-03 -2.20810309e+01] [-8.92747010e-03 9.99931755e-01 -7.53566720e-03 -2.79845737e+00] [ 7.16578092e-03 7.59974704e-03 9.99945446e-01 1.51901797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.049072329 meters Centerline goodness [0,1] 0.7182083986609602 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.80, Z:15.19 [[ 9.99932353e-01 8.94113364e-03 -7.43949502e-03 -2.20808853e+01] [-8.99282373e-03 9.99935454e-01 -6.94386792e-03 -2.80085664e+00] [ 7.37692878e-03 7.01030025e-03 9.99948217e-01 1.51907259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079072329 meters Centerline goodness [0,1] 0.7260828126654665 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.80, Z:15.19 [[ 9.99929559e-01 9.20492758e-03 -7.49308387e-03 -2.20810811e+01] [-9.25086699e-03 9.99938485e-01 -6.11951203e-03 -2.80367181e+00] [ 7.43629326e-03 6.18839849e-03 9.99953202e-01 1.51912879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.109072329 meters Centerline goodness [0,1] 0.7222398712328186 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.81, Z:15.19 [[ 9.99926612e-01 9.40777892e-03 -7.63306789e-03 -2.20808587e+01] [-9.44871087e-03 9.99941079e-01 -5.34422735e-03 -2.80661842e+00] [ 7.58234083e-03 5.41595780e-03 9.99956587e-01 1.51914795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13907232899999 meters Centerline goodness [0,1] 0.7305889588768001 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.81, Z:15.19 [[ 9.99923925e-01 9.56664912e-03 -7.78606406e-03 -2.20800266e+01] [-9.60102594e-03 9.99944273e-01 -4.38983578e-03 -2.81022263e+00] [ 7.74363415e-03 4.46425603e-03 9.99960052e-01 1.51908265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16907232899999 meters Centerline goodness [0,1] 0.7406201091324394 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.81, Z:15.19 [[ 9.99921896e-01 9.60935685e-03 -7.99141190e-03 -2.20793516e+01] [-9.64292163e-03 9.99944802e-01 -4.17223453e-03 -2.81104149e+00] [ 7.95087830e-03 4.24896922e-03 9.99959364e-01 1.51904834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19907232899999 meters Centerline goodness [0,1] 0.7307618987100464 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.81, Z:15.19 [[ 9.99918862e-01 9.86713552e-03 -8.05662376e-03 -2.20792814e+01] [-9.89715870e-03 9.99944194e-01 -3.69519411e-03 -2.81225654e+00] [ 8.01971318e-03 3.77463197e-03 9.99960717e-01 1.51905795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22907232899999 meters Centerline goodness [0,1] 0.7148790980566682 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.82, Z:15.19 [[ 9.99910425e-01 1.06087342e-02 -8.16071917e-03 -2.20793042e+01] [-1.06282833e-02 9.99940743e-01 -2.35588249e-03 -2.81635543e+00] [ 8.13524266e-03 2.44240589e-03 9.99963926e-01 1.51910110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25907232899999 meters Centerline goodness [0,1] 0.7129362927821077 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.82, Z:15.19 [[ 9.99905544e-01 1.10072560e-02 -8.23060627e-03 -2.20791311e+01] [-1.10208826e-02 9.99937969e-01 -1.61208004e-03 -2.81899135e+00] [ 8.21235114e-03 1.70263631e-03 9.99964829e-01 1.51910363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28907232899999 meters Centerline goodness [0,1] 0.7030734759448719 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.82, Z:15.19 [[ 9.99894583e-01 1.18631944e-02 -8.37183629e-03 -2.20790665e+01] [-1.18647305e-02 9.99929603e-01 -1.33844968e-04 -2.82428608e+00] [ 8.36965910e-03 2.33160440e-04 9.99964947e-01 1.51915201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.319072329 meters Centerline goodness [0,1] 0.6960528271439794 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.83, Z:15.19 [[ 9.99889683e-01 1.23260408e-02 -8.28797007e-03 -2.20795649e+01] [-1.23213993e-02 9.99923902e-01 6.10863075e-04 -2.82652401e+00] [ 8.29486890e-03 -5.08676297e-04 9.99965468e-01 1.51919952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.349072329 meters Centerline goodness [0,1] 0.6923207323275131 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.83, Z:15.19 [[ 9.99885050e-01 1.26848574e-02 -8.30548717e-03 -2.20795963e+01] [-1.26749287e-02 9.99918892e-01 1.24697937e-03 -2.82854613e+00] [ 8.32063128e-03 -1.14156457e-03 9.99964731e-01 1.51921161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379072329 meters Centerline goodness [0,1] 0.6868569250963289 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.83, Z:15.19 [[ 9.99914825e-01 1.01582525e-02 -8.19471239e-03 -2.20803433e+01] [-1.01703661e-02 9.99947247e-01 -1.43790353e-03 -2.83023896e+00] [ 8.17967351e-03 1.52112428e-03 9.99965389e-01 1.51922658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.409072329 meters Centerline goodness [0,1] 0.6858727403581559 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.83, Z:15.19 [[ 9.99909529e-01 1.06850144e-02 -8.17094650e-03 -2.20805330e+01] [-1.06887910e-02 9.99942786e-01 -4.18662321e-04 -2.83339982e+00] [ 8.16600559e-03 5.05961983e-04 9.99966530e-01 1.51925211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439072329 meters Centerline goodness [0,1] 0.6797513695743784 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.84, Z:15.19 [[ 9.99903677e-01 1.11573500e-02 -8.25536722e-03 -2.20803473e+01] [-1.11529100e-02 9.99937634e-01 5.83684790e-04 -2.83690888e+00] [ 8.26136474e-03 -4.91557200e-04 9.99965754e-01 1.51926261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.469072329 meters Centerline goodness [0,1] 0.6773650426181206 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.84, Z:15.19 [[ 9.99932962e-01 8.21539267e-03 -8.15957770e-03 -2.20809662e+01] [-8.23797508e-03 9.99962319e-01 -2.73785278e-03 -2.83771792e+00] [ 8.13677771e-03 2.80488763e-03 9.99962962e-01 1.51927301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49907232899999 meters Centerline goodness [0,1] 0.6732955746227651 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.84, Z:15.19 [[ 9.99950283e-01 6.24984128e-03 -7.76984667e-03 -2.20832245e+01] [-6.28392689e-03 9.99970706e-01 -4.37026293e-03 -2.84283903e+00] [ 7.74230561e-03 4.41887081e-03 9.99960264e-01 1.51942891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52907232899999 meters Centerline goodness [0,1] 0.6675281755783409 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.85, Z:15.19 [[ 9.99945952e-01 6.81093038e-03 -7.85516860e-03 -2.20832174e+01] [-6.83551166e-03 9.99971812e-01 -3.10672302e-03 -2.84711978e+00] [ 7.83378750e-03 3.16024921e-03 9.99964322e-01 1.51946545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55907232899999 meters Centerline goodness [0,1] 0.666687818601011 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.85, Z:15.19 [[ 9.99942040e-01 7.22888059e-03 -7.97877388e-03 -2.20828136e+01] [-7.24560756e-03 9.99971609e-01 -2.06952199e-03 -2.85103483e+00] [ 7.96358703e-03 2.12721310e-03 9.99966028e-01 1.51945868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58907232899999 meters Centerline goodness [0,1] 0.6651822635027673 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.86, Z:15.19 [[ 9.99935800e-01 8.05432292e-03 -7.97019579e-03 -2.20827582e+01] [-8.05726657e-03 9.99967483e-01 -3.37291055e-04 -2.85635390e+00] [ 7.96721997e-03 4.01487392e-04 9.99968181e-01 1.51945929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61907232899999 meters Centerline goodness [0,1] 0.6605761281980627 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.86, Z:15.19 [[ 9.99932393e-01 8.24136704e-03 -8.20300249e-03 -2.20819520e+01] [-8.23969218e-03 9.99966025e-01 2.37952157e-04 -2.85864459e+00] [ 8.20468484e-03 -1.70345854e-04 9.99966326e-01 1.51941898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64907232899999 meters Centerline goodness [0,1] 0.6652102907802923 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.86, Z:15.19 [[ 9.99954967e-01 4.93157641e-03 -8.10827654e-03 -2.20824102e+01] [-4.95800273e-03 9.99982453e-01 -3.24231351e-03 -2.85942916e+00] [ 8.09214455e-03 3.28236835e-03 9.99961871e-01 1.51941635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.679072329 meters Centerline goodness [0,1] 0.6722591045029376 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.87, Z:15.20 [[ 9.99965182e-01 2.07360699e-03 -8.08302229e-03 -2.20830742e+01] [-2.11350929e-03 9.99985608e-01 -4.93114569e-03 -2.86696666e+00] [ 8.07268070e-03 4.94805754e-03 9.99955173e-01 1.51951059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.709072329 meters Centerline goodness [0,1] 0.665948594479292 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.87, Z:15.20 [[ 9.99962252e-01 2.21117781e-03 -8.40271427e-03 -2.20822008e+01] [-2.24350885e-03 9.99990110e-01 -3.84021434e-03 -2.87176493e+00] [ 8.39413976e-03 3.85892094e-03 9.99957323e-01 1.51950979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739072329 meters Centerline goodness [0,1] 0.6826459900278881 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.88, Z:15.19 [[ 9.99964122e-01 -1.32524498e-03 -8.36655516e-03 -2.20819053e+01] [ 1.27197145e-03 9.99978905e-01 -6.36955200e-03 -2.87701437e+00] [ 8.37481989e-03 6.35868145e-03 9.99944713e-01 1.51946594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.769072329 meters Centerline goodness [0,1] 0.690834676393248 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.88, Z:15.19 [[ 9.99962246e-01 -1.08967815e-03 -8.62085580e-03 -2.20812257e+01] [ 1.04542612e-03 9.99986264e-01 -5.13597871e-03 -2.88133075e+00] [ 8.62633395e-03 5.12677233e-03 9.99949650e-01 1.51946736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799072329 meters Centerline goodness [0,1] 0.6982997734442822 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.89, Z:15.19 [[ 9.99959404e-01 -9.91010290e-04 -8.95594325e-03 -2.20803917e+01] [ 9.55883632e-04 9.99991838e-01 -3.92559146e-03 -2.88604206e+00] [ 8.95976045e-03 3.91687125e-03 9.99952189e-01 1.51947807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.829072329 meters Centerline goodness [0,1] 0.7102224486330446 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.89, Z:15.19 [[ 9.99956566e-01 -9.61731578e-04 -9.27045726e-03 -2.20795441e+01] [ 9.38153381e-04 9.99996315e-01 -2.54738251e-03 -2.89186324e+00] [ 9.27287300e-03 2.53857475e-03 9.99953784e-01 1.51949888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859072329 meters Centerline goodness [0,1] 0.7429566991033867 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.90, Z:15.20 [[ 9.99926063e-01 -8.03593031e-03 -9.12647129e-03 -2.20806798e+01] [ 7.96252958e-03 9.99935890e-01 -8.05067662e-03 -2.90019164e+00] [ 9.19058087e-03 7.97741158e-03 9.99925944e-01 1.51965176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88907232899999 meters Centerline goodness [0,1] 0.7548888464233391 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.91, Z:15.20 [[ 9.99918429e-01 -8.63081732e-03 -9.41508816e-03 -2.20793764e+01] [ 8.56263143e-03 9.99936995e-01 -7.25862119e-03 -2.90689787e+00] [ 9.47714279e-03 7.17741117e-03 9.99929332e-01 1.51962464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91907232899999 meters Centerline goodness [0,1] 0.7724158411641177 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.91, Z:15.20 [[ 9.99913247e-01 -8.81321722e-03 -9.78904441e-03 -2.20779878e+01] [ 8.75408212e-03 9.99943274e-01 -6.06745754e-03 -2.91314326e+00] [ 9.84196294e-03 5.98123708e-03 9.99933678e-01 1.51959632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94907232899999 meters Centerline goodness [0,1] 0.7952642401373667 Centerline is valid? [False, False] Translation: X:-22.08, Y:-2.92, Z:15.19 [[ 9.99870720e-01 -1.24176964e-02 -1.02148677e-02 -2.20752167e+01] [ 1.23343180e-02 9.99890426e-01 -8.18536009e-03 -2.92024812e+00] [ 1.03153918e-02 8.05830847e-03 9.99914325e-01 1.51939393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97907232899999 meters Centerline goodness [0,1] 0.79990230849279 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.92, Z:15.19 [[ 9.99870504e-01 -1.21135113e-02 -1.05942931e-02 -2.20740270e+01] [ 1.20410043e-02 9.99903827e-01 -6.88118132e-03 -2.92497606e+00] [ 1.06766295e-02 6.75272430e-03 9.99920202e-01 1.51935677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00907232899999 meters Centerline goodness [0,1] 0.804852141400408 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.93, Z:15.19 [[ 9.99870133e-01 -1.18144593e-02 -1.09606008e-02 -2.20728652e+01] [ 1.17528262e-02 9.99914854e-01 -5.67062217e-03 -2.92950924e+00] [ 1.10266629e-02 5.54106771e-03 9.99923852e-01 1.51931434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03907232899999 meters Centerline goodness [0,1] 0.8092299208924519 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.94, Z:15.19 [[ 9.99864470e-01 -1.18131202e-02 -1.14669474e-02 -2.20706083e+01] [ 1.17664656e-02 9.99922254e-01 -4.12759354e-03 -2.93807244e+00] [ 1.15148156e-02 3.99210869e-03 9.99925733e-01 1.51920697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.069072329 meters Centerline goodness [0,1] 0.8138185207150724 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.94, Z:15.19 [[ 9.99870132e-01 -1.11856980e-02 -1.16016668e-02 -2.20707040e+01] [ 1.11566574e-02 9.99934473e-01 -2.56484931e-03 -2.94322119e+00] [ 1.16295962e-02 2.43508040e-03 9.99929409e-01 1.51928470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099072329 meters Centerline goodness [0,1] 0.8096787225447045 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.95, Z:15.19 [[ 9.99874547e-01 -1.05992462e-02 -1.17705620e-02 -2.20708289e+01] [ 1.05881832e-02 9.99943442e-01 -1.00180701e-03 -2.94852487e+00] [ 1.17805147e-02 8.77052462e-04 9.99930223e-01 1.51938048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.129072329 meters Centerline goodness [0,1] 0.8117657038639352 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.96, Z:15.19 [[ 9.99930429e-01 -1.17842256e-02 5.18550398e-04 -2.20666644e+01] [ 1.17835391e-02 9.99929717e-01 1.30751518e-03 -2.95621008e+00] [-5.33922007e-04 -1.30131386e-03 9.99999011e-01 1.51902249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159072329 meters Centerline goodness [0,1] 0.8076931205748705 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.96, Z:15.19 [[ 9.99935441e-01 -1.13562684e-02 3.86419000e-04 -2.20667414e+01] [ 1.13553739e-02 9.99933010e-01 2.24304733e-03 -2.95901677e+00] [-4.11865761e-04 -2.23851459e-03 9.99997410e-01 1.51908720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.189072329 meters Centerline goodness [0,1] 0.8082891668433326 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.96, Z:15.19 [[ 9.99942525e-01 -1.07152602e-02 3.61486509e-04 -2.20672786e+01] [ 1.07139815e-02 9.99936921e-01 3.37109619e-03 -2.96191414e+00] [-3.97585880e-04 -3.36702947e-03 9.99994253e-01 1.51918049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219072329 meters Centerline goodness [0,1] 0.7907522021081093 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.97, Z:15.19 [[ 9.99951353e-01 -9.86294788e-03 1.21494990e-04 -2.20665544e+01] [ 9.86225237e-03 9.99939880e-01 4.79295749e-03 -2.96689527e+00] [-1.68760375e-04 -4.79152611e-03 9.99988506e-01 1.51915554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24907232899999 meters Centerline goodness [0,1] 0.7789297375227918 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.97, Z:15.19 [[ 9.99957203e-01 -9.25157150e-03 1.49009267e-05 -2.20664334e+01] [ 9.25132876e-03 9.99940324e-01 5.81040745e-03 -2.96997382e+00] [-6.86554374e-05 -5.81002093e-03 9.99983119e-01 1.51917587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27907232899999 meters Centerline goodness [0,1] 0.7656491950024393 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.97, Z:15.19 [[ 9.99963160e-01 -8.58354477e-03 -2.42033316e-05 -2.20666367e+01] [ 8.58350657e-03 9.99939185e-01 6.92458298e-03 -2.97350985e+00] [-3.52356083e-05 -6.92453563e-03 9.99976024e-01 1.51922575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30907232899999 meters Centerline goodness [0,1] 0.7583869874618774 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.98, Z:15.19 [[ 9.99967754e-01 -8.03037942e-03 -6.96998950e-05 -2.20667930e+01] [ 8.03067943e-03 9.99936578e-01 7.89612871e-03 -2.97687548e+00] [ 6.28656501e-06 -7.89643383e-03 9.99968823e-01 1.51927435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33907232899999 meters Centerline goodness [0,1] 0.7396734520780323 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.98, Z:15.19 [[ 9.99977236e-01 -6.74250446e-03 2.57735879e-04 -2.20684406e+01] [ 6.73961433e-03 9.99928025e-01 9.92587959e-03 -2.98211378e+00] [-3.24642616e-04 -9.92391660e-03 9.99950704e-01 1.51941916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36907232899999 meters Centerline goodness [0,1] 0.7551958644943964 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.98, Z:15.19 [[ 9.99979247e-01 -6.44235831e-03 2.49449680e-05 -2.20679191e+01] [ 6.44173908e-03 9.99923878e-01 1.05234225e-02 -2.98418233e+00] [-9.27387273e-05 -1.05230434e-02 9.99944627e-01 1.51942358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39907232899999 meters Centerline goodness [0,1] 0.7199331966260067 Centerline is valid? [False, False] Translation: X:-22.07, Y:-2.99, Z:15.19 [[ 9.99982632e-01 -5.87125570e-03 -5.14459914e-04 -2.20660289e+01] [ 5.87699578e-03 9.99911033e-01 1.19744045e-02 -2.99079711e+00] [ 4.44109353e-04 -1.19772200e-02 9.99928172e-01 1.51935142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.429072329 meters Centerline goodness [0,1] 0.7325977848838441 Centerline is valid? [False, False] Translation: X:-22.06, Y:-2.99, Z:15.19 [[ 9.99983146e-01 -5.74144817e-03 -8.61925298e-04 -2.20645802e+01] [ 5.75182205e-03 9.99904593e-01 1.25587558e-02 -2.99460394e+00] [ 7.89737618e-04 -1.25635018e-02 9.99920764e-01 1.51927474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.459072329 meters Centerline goodness [0,1] 0.7198795180722892 Centerline is valid? [False, False] Translation: X:-22.06, Y:-3.00, Z:15.19 [[ 9.99985166e-01 -5.33426237e-03 -1.10144080e-03 -2.20639310e+01] [ 5.34865659e-03 9.99894462e-01 1.35076206e-02 -2.99849075e+00] [ 1.02927137e-03 -1.35133114e-02 9.99908161e-01 1.51927846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.489072329 meters Centerline goodness [0,1] 0.7019267414778743 Centerline is valid? [False, False] Translation: X:-22.07, Y:-3.00, Z:15.19 [[ 9.99969537e-01 -7.77992888e-03 -6.31402672e-04 -2.20663455e+01] [ 7.78636622e-03 9.99909960e-01 1.09290765e-02 -3.00014563e+00] [ 5.46318383e-04 -1.09336599e-02 9.99940077e-01 1.51943770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519072329 meters Centerline goodness [0,1] 0.7099697245569835 Centerline is valid? [False, False] Translation: X:-22.07, Y:-3.01, Z:15.19 [[ 9.99975388e-01 -6.95894673e-03 -8.91980682e-04 -2.20658894e+01] [ 6.96982720e-03 9.99893295e-01 1.28382646e-02 -3.00676572e+00] [ 8.02544703e-04 -1.28441656e-02 9.99917188e-01 1.51949557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.549072329 meters Centerline goodness [0,1] 0.703245388746206 Centerline is valid? [False, False] Translation: X:-22.07, Y:-3.01, Z:15.19 [[ 9.99977661e-01 -6.61055819e-03 -9.88830356e-04 -2.20654953e+01] [ 6.62341679e-03 9.99885292e-01 1.36210661e-02 -3.00963997e+00] [ 8.98674080e-04 -1.36273112e-02 9.99906740e-01 1.51948291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579072329 meters Centerline goodness [0,1] 0.7201434726319587 Centerline is valid? [False, False] Translation: X:-22.06, Y:-3.01, Z:15.19 [[ 9.99978743e-01 -6.39725075e-03 -1.26074503e-03 -2.20645330e+01] [ 6.41466387e-03 9.99876759e-01 1.43289647e-02 -3.01269599e+00] [ 1.16892368e-03 -1.43367473e-02 9.99896540e-01 1.51944471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.609072329 meters Centerline goodness [0,1] 0.6983355271538363 Centerline is valid? [False, False] Translation: X:-22.06, Y:-3.02, Z:15.19 [[ 9.99980214e-01 -6.03037078e-03 -1.79077613e-03 -2.20629460e+01] [ 6.05786335e-03 9.99857362e-01 1.57657154e-02 -3.01973492e+00] [ 1.69544759e-03 -1.57762517e-02 9.99874110e-01 1.51943225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63907232899999 meters Centerline goodness [0,1] 0.7106123662306778 Centerline is valid? [False, False] Translation: X:-22.06, Y:-3.02, Z:15.19 [[ 9.99981874e-01 -5.67852497e-03 -2.00160625e-03 -2.20626538e+01] [ 5.71114660e-03 9.99844446e-01 1.66873124e-02 -3.02353755e+00] [ 1.90653557e-03 -1.66984414e-02 9.99858754e-01 1.51948497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66907232899999 meters Centerline goodness [0,1] 0.6878292209592459 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.03, Z:15.19 [[ 9.99993641e-01 -3.37733560e-03 -1.14515303e-03 -2.20540197e+01] [ 3.38312133e-03 9.99981330e-01 5.08863884e-03 -3.02846584e+00] [ 1.12794560e-03 -5.09248067e-03 9.99986397e-01 1.51946062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69907232899999 meters Centerline goodness [0,1] 0.7002604389035949 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.03, Z:15.19 [[ 9.99993247e-01 -3.38205683e-03 -1.43783689e-03 -2.20527836e+01] [ 3.38997113e-03 9.99978919e-01 5.53797597e-03 -3.03152626e+00] [ 1.41907683e-03 -5.54281280e-03 9.99983632e-01 1.51939764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72907232899999 meters Centerline goodness [0,1] 0.6941254464190244 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.03, Z:15.19 [[ 9.99992135e-01 -3.55793580e-03 -1.75260784e-03 -2.20512134e+01] [ 3.56779679e-03 9.99977641e-01 5.65584140e-03 -3.03357964e+00] [ 1.73244553e-03 -5.66204987e-03 9.99982470e-01 1.51928565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75907232899999 meters Centerline goodness [0,1] 0.6932843516370198 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.04, Z:15.19 [[ 9.99991361e-01 -3.56555159e-03 -2.13662055e-03 -2.20494180e+01] [ 3.57882178e-03 9.99974130e-01 6.23953263e-03 -3.03728897e+00] [ 2.11431790e-03 -6.24712531e-03 9.99978251e-01 1.51917568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78907232899999 meters Centerline goodness [0,1] 0.6932843516370198 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.04, Z:15.19 [[ 9.99991361e-01 -3.56555159e-03 -2.13662055e-03 -2.20494180e+01] [ 3.57882178e-03 9.99974130e-01 6.23953263e-03 -3.03728897e+00] [ 2.11431790e-03 -6.24712531e-03 9.99978251e-01 1.51917568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.819072329 meters Centerline goodness [0,1] 0.6861573111573112 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.04, Z:15.19 [[ 9.99991514e-01 -3.41233519e-03 -2.30839842e-03 -2.20487458e+01] [ 3.42763083e-03 9.99971981e-01 6.65490121e-03 -3.03931170e+00] [ 2.28562499e-03 -6.66275707e-03 9.99975191e-01 1.51914459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.849072329 meters Centerline goodness [0,1] 0.6800824026889298 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.04, Z:15.19 [[ 9.99991396e-01 -3.27520800e-03 -2.54578384e-03 -2.20479311e+01] [ 3.29298827e-03 9.99969996e-01 7.01167480e-03 -3.04135987e+00] [ 2.52274277e-03 -7.01999770e-03 9.99972177e-01 1.51911436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879072329 meters Centerline goodness [0,1] 0.682064623322111 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.04, Z:15.19 [[ 9.99978855e-01 -6.14394690e-03 -2.13104855e-03 -2.20497274e+01] [ 6.15165667e-03 9.99974489e-01 3.63034071e-03 -3.04104434e+00] [ 2.10868956e-03 -3.64337343e-03 9.99991140e-01 1.51917891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.909072329 meters Centerline goodness [0,1] 0.6767953981601422 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.05, Z:15.19 [[ 9.99978292e-01 -6.03754232e-03 -2.63902260e-03 -2.20478406e+01] [ 6.04870419e-03 9.99972708e-01 4.24222776e-03 -3.04522667e+00] [ 2.61333794e-03 -4.25809833e-03 9.99987519e-01 1.51909275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939072329 meters Centerline goodness [0,1] 0.6752307692307693 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.05, Z:15.19 [[ 9.99975188e-01 -6.33521672e-03 -3.08019133e-03 -2.20458919e+01] [ 6.34829105e-03 9.99970803e-01 4.25356469e-03 -3.04728367e+00] [ 3.05315415e-03 -4.27301311e-03 9.99986210e-01 1.51897561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.969072329 meters Centerline goodness [0,1] 0.675998762595015 Centerline is valid? [False, False] Translation: X:-22.05, Y:-3.05, Z:15.19 [[ 9.99976932e-01 -5.99041462e-03 -3.20155243e-03 -2.20455297e+01] [ 6.00653560e-03 9.99969211e-01 5.04969737e-03 -3.05012426e+00] [ 3.17120408e-03 -5.06881113e-03 9.99982125e-01 1.51897726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99907232899999 meters Centerline goodness [0,1] 0.6769227375989766 Centerline is valid? [False, False] Translation: X:-22.04, Y:-3.05, Z:15.19 [[ 9.99976104e-01 -6.00295760e-03 -3.42878058e-03 -2.20445737e+01] [ 6.02137599e-03 9.99967362e-01 5.38687931e-03 -3.05223427e+00] [ 3.39633146e-03 -5.40739656e-03 9.99979612e-01 1.51892744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02907232899999 meters Centerline goodness [0,1] 0.6776680584089956 Centerline is valid? [False, False] Translation: X:-22.04, Y:-3.06, Z:15.19 [[ 9.99973025e-01 -6.23252623e-03 -3.88645864e-03 -2.20433164e+01] [ 6.25697336e-03 9.99960515e-01 6.31022746e-03 -3.05692768e+00] [ 3.84697653e-03 -6.33437471e-03 9.99972538e-01 1.51897720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05907232899999 meters Centerline goodness [0,1] 0.6913473093871011 Centerline is valid? [False, False] Translation: X:-22.04, Y:-3.06, Z:15.19 [[ 9.99973779e-01 -5.93598876e-03 -4.14788017e-03 -2.20433233e+01] [ 5.96697163e-03 9.99954090e-01 7.49754868e-03 -3.06091680e+00] [ 4.10318438e-03 -7.52210237e-03 9.99963290e-01 1.51911295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08907232899999 meters Centerline goodness [0,1] 0.6886155222545292 Centerline is valid? [False, False] Translation: X:-22.04, Y:-3.07, Z:15.19 [[ 9.99940495e-01 -9.96479333e-03 -4.43944613e-03 -2.20425481e+01] [ 9.98505662e-03 9.99939724e-01 4.56583139e-03 -3.06667004e+00] [ 4.39368098e-03 -4.60988782e-03 9.99979722e-01 1.51916516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11907232899999 meters Centerline goodness [0,1] 0.7086490253827649 Centerline is valid? [False, False] Translation: X:-22.04, Y:-3.07, Z:15.19 [[ 9.99939122e-01 -9.93317984e-03 -4.80468853e-03 -2.20419125e+01] [ 9.95990445e-03 9.99934882e-01 5.57061908e-03 -3.07085138e+00] [ 4.74904170e-03 -5.61813419e-03 9.99972941e-01 1.51924801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14907232899999 meters Centerline goodness [0,1] 0.71747245333933 Centerline is valid? [False, False] Translation: X:-22.04, Y:-3.07, Z:15.19 [[ 9.99927405e-01 -1.07187691e-02 -5.50384219e-03 -2.20392419e+01] [ 1.07489964e-02 9.99927145e-01 5.49215050e-03 -3.07368562e+00] [ 5.44457211e-03 -5.55091258e-03 9.99969772e-01 1.51914327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.179072329 meters Centerline goodness [0,1] 0.7344142188453973 Centerline is valid? [False, False] Translation: X:-22.04, Y:-3.08, Z:15.19 [[ 9.99913045e-01 -1.17582654e-02 -5.97042209e-03 -2.20366365e+01] [ 1.17925433e-02 9.99913997e-01 5.73891999e-03 -3.07760778e+00] [ 5.90242887e-03 -5.80882742e-03 9.99965709e-01 1.51902854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.209072329 meters Centerline goodness [0,1] 0.7411873630964478 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.08, Z:15.19 [[ 9.99899299e-01 -1.25482562e-02 -6.62816467e-03 -2.20338303e+01] [ 1.25837651e-02 9.99906546e-01 5.34302614e-03 -3.07883930e+00] [ 6.56049958e-03 -5.42589536e-03 9.99963759e-01 1.51886516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239072329 meters Centerline goodness [0,1] 0.7423424241049145 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.08, Z:15.19 [[ 9.99829594e-01 -1.71133028e-02 -6.92230854e-03 -2.20317536e+01] [ 1.71217923e-02 9.99852728e-01 1.16899430e-03 -3.08094513e+00] [ 6.90128372e-03 -1.28731742e-03 9.99975357e-01 1.51869689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.269072329 meters Centerline goodness [0,1] 0.7664905247813412 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.08, Z:15.19 [[ 9.99826260e-01 -1.71277236e-02 -7.35461269e-03 -2.20307613e+01] [ 1.71423415e-02 9.99851198e-01 1.92914848e-03 -3.08441558e+00] [ 7.32047639e-03 -2.05488859e-03 9.99971094e-01 1.51873644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299072329 meters Centerline goodness [0,1] 0.7736815624571194 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.09, Z:15.19 [[ 9.99820011e-01 -1.72842395e-02 -7.82312762e-03 -2.20294572e+01] [ 1.73033230e-02 9.99847458e-01 2.37828390e-03 -3.08715822e+00] [ 7.78082743e-03 -2.51322194e-03 9.99966571e-01 1.51873331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.329072329 meters Centerline goodness [0,1] 0.7862842206630898 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.09, Z:15.19 [[ 9.99814762e-01 -1.74192837e-02 -8.18592701e-03 -2.20284102e+01] [ 1.74413654e-02 9.99844419e-01 2.63391897e-03 -3.08865696e+00] [ 8.13877245e-03 -2.77620482e-03 9.99963026e-01 1.51871974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359072329 meters Centerline goodness [0,1] 0.78674635341531 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.09, Z:15.19 [[ 9.99806472e-01 -1.77341987e-02 -8.51571578e-03 -2.20270096e+01] [ 1.77576194e-02 9.99838722e-01 2.68258942e-03 -3.08949573e+00] [ 8.46676881e-03 -2.83328910e-03 9.99960142e-01 1.51864522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38907232899999 meters Centerline goodness [0,1] 0.7887884681386569 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.09, Z:15.19 [[ 9.99803031e-01 -1.77965154e-02 -8.78543614e-03 -2.20263023e+01] [ 1.78210020e-02 9.99837502e-01 2.71679314e-03 -3.08993997e+00] [ 8.73565908e-03 -2.87282329e-03 9.99957717e-01 1.51863510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41907232899999 meters Centerline goodness [0,1] 0.787526960671837 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.09, Z:15.19 [[ 9.99801267e-01 -1.77774095e-02 -9.02161606e-03 -2.20258287e+01] [ 1.78036844e-02 9.99837467e-01 2.84052839e-03 -3.09051753e+00] [ 8.96965251e-03 -3.00058189e-03 9.99955270e-01 1.51864714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44907232899999 meters Centerline goodness [0,1] 0.7764838294744579 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.09, Z:15.19 [[ 9.99800676e-01 -1.77203548e-02 -9.19773270e-03 -2.20252985e+01] [ 1.77465182e-02 9.99838679e-01 2.77076600e-03 -3.09048936e+00] [ 9.14714995e-03 -2.93344145e-03 9.99953861e-01 1.51861771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47907232899999 meters Centerline goodness [0,1] 0.7698254763375192 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.09, Z:15.19 [[ 9.99795722e-01 -1.78867206e-02 -9.41171125e-03 -2.20244998e+01] [ 1.79089915e-02 9.99837005e-01 2.28735235e-03 -3.08916916e+00] [ 9.36926395e-03 -2.45543935e-03 9.99953093e-01 1.51855389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50907232899999 meters Centerline goodness [0,1] 0.7803755438516143 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.09, Z:15.19 [[ 9.99801136e-01 -1.76512388e-02 -9.28023151e-03 -2.20250291e+01] [ 1.76729365e-02 9.99841264e-01 2.26126095e-03 -3.08825913e+00] [ 9.23884435e-03 -2.42482021e-03 9.99954381e-01 1.51857182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53907232899999 meters Centerline goodness [0,1] 0.7353001809560895 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.09, Z:15.19 [[ 9.99807038e-01 -1.73030621e-02 -9.30001287e-03 -2.20254619e+01] [ 1.73233995e-02 9.99847711e-01 2.11072389e-03 -3.08725012e+00] [ 9.26207459e-03 -2.27142444e-03 9.99954526e-01 1.51860876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.569072329 meters Centerline goodness [0,1] 0.7647933733009931 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.09, Z:15.19 [[ 9.99806537e-01 -1.72535664e-02 -9.44469239e-03 -2.20253511e+01] [ 1.72738491e-02 9.99848653e-01 2.07016494e-03 -3.08722428e+00] [ 9.40754523e-03 -2.23291063e-03 9.99953255e-01 1.51863514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599072329 meters Centerline goodness [0,1] 0.7598664654502219 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.09, Z:15.19 [[ 9.99804420e-01 -1.72708682e-02 -9.63532308e-03 -2.20249638e+01] [ 1.72906113e-02 9.99848566e-01 1.96949854e-03 -3.08711072e+00] [ 9.59984902e-03 -2.13571397e-03 9.99951640e-01 1.51863644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.629072329 meters Centerline goodness [0,1] 0.7369297445255474 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.09, Z:15.19 [[ 9.99845898e-01 -1.41049302e-02 -1.04513539e-02 -2.20220527e+01] [ 1.41631795e-02 9.99884458e-01 5.52047309e-03 -3.08797226e+00] [ 1.03722805e-02 -5.66764678e-03 9.99930144e-01 1.51851704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659072329 meters Centerline goodness [0,1] 0.743480441323972 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.09, Z:15.18 [[ 9.99836706e-01 -1.45428263e-02 -1.07269184e-02 -2.20206259e+01] [ 1.45952555e-02 9.99881839e-01 4.82564604e-03 -3.08634222e+00] [ 1.06554723e-02 -4.98142016e-03 9.99930821e-01 1.51838981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.689072329 meters Centerline goodness [0,1] 0.7363399826539463 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.09, Z:15.18 [[ 9.99832452e-01 -1.46868121e-02 -1.09254180e-02 -2.20199292e+01] [ 1.47381577e-02 9.99880649e-01 4.63407161e-03 -3.08589780e+00] [ 1.08560543e-02 -4.79431571e-03 9.99929578e-01 1.51835283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719072329 meters Centerline goodness [0,1] 0.7358404140805717 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.09, Z:15.18 [[ 9.99826183e-01 -1.48068737e-02 -1.13295997e-02 -2.20192015e+01] [ 1.48609923e-02 9.99878488e-01 4.70755977e-03 -3.08699078e+00] [ 1.12585187e-02 -4.87511061e-03 9.99924737e-01 1.51839608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74907232899999 meters Centerline goodness [0,1] 0.7438245461413429 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.09, Z:15.18 [[ 9.99820504e-01 -1.50283199e-02 -1.15372905e-02 -2.20186504e+01] [ 1.50809408e-02 9.99876206e-01 4.48756003e-03 -3.08663577e+00] [ 1.14684217e-02 -4.66074773e-03 9.99923373e-01 1.51838787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77907232899999 meters Centerline goodness [0,1] 0.7440043853638482 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.09, Z:15.18 [[ 9.99810587e-01 -1.55099212e-02 -1.17571936e-02 -2.20175841e+01] [ 1.55557985e-02 9.99871701e-01 3.82070012e-03 -3.08509204e+00] [ 1.16964265e-02 -4.00286897e-03 9.99923582e-01 1.51830715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80907232899999 meters Centerline goodness [0,1] 0.7625205254515599 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.08, Z:15.18 [[ 9.99808122e-01 -1.56385966e-02 -1.17963167e-02 -2.20173721e+01] [ 1.56811732e-02 9.99870828e-01 3.52548905e-03 -3.08362721e+00] [ 1.17396592e-02 -3.70979267e-03 9.99924206e-01 1.51827995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83907232899999 meters Centerline goodness [0,1] 0.7475333983533308 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.08, Z:15.18 [[ 9.99796887e-01 -1.61484494e-02 -1.20586949e-02 -2.20163660e+01] [ 1.61816985e-02 9.99865517e-01 2.66480370e-03 -3.08099763e+00] [ 1.20140407e-02 -2.85939261e-03 9.99923740e-01 1.51820556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86907232899999 meters Centerline goodness [0,1] 0.7670092334218108 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.08, Z:15.18 [[ 9.99795128e-01 -1.61153634e-02 -1.22473171e-02 -2.20165322e+01] [ 1.61517919e-02 9.99865400e-01 2.88133836e-03 -3.08138556e+00] [ 1.21992348e-02 -3.07856417e-03 9.99920847e-01 1.51830508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89907232899999 meters Centerline goodness [0,1] 0.7720180265869511 Centerline is valid? [False, False] Translation: X:-22.02, Y:-3.08, Z:15.18 [[ 9.99786396e-01 -1.64428888e-02 -1.25216991e-02 -2.20161023e+01] [ 1.64787428e-02 9.99860392e-01 2.76556987e-03 -3.08183709e+00] [ 1.24744770e-02 -2.97132099e-03 9.99917776e-01 1.51835919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.929072329 meters Centerline goodness [0,1] 0.7699715176997152 Centerline is valid? [False, False] Translation: X:-22.01, Y:-3.08, Z:15.18 [[ 9.99764557e-01 -1.73995626e-02 -1.29647993e-02 -2.20146410e+01] [ 1.74278049e-02 9.99845984e-01 2.06858916e-03 -3.08126072e+00] [ 1.29268100e-02 -2.29405012e-03 9.99913814e-01 1.51833772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.959072329 meters Centerline goodness [0,1] 0.7830352120598493 Centerline is valid? [False, False] Translation: X:-22.01, Y:-3.08, Z:15.18 [[ 9.99746903e-01 -1.81487851e-02 -1.32948185e-02 -2.20129366e+01] [ 1.81651667e-02 9.99834381e-01 1.11245292e-03 -3.07932769e+00] [ 1.32724270e-02 -1.35367396e-03 9.99911001e-01 1.51820079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.989072329 meters Centerline goodness [0,1] 0.8072188843133283 Centerline is valid? [False, False] Translation: X:-22.01, Y:-3.08, Z:15.18 [[ 9.99727924e-01 -1.89748562e-02 -1.35658503e-02 -2.20112683e+01] [ 1.89753260e-02 9.99819948e-01 -9.40925123e-05 -3.07555421e+00] [ 1.35651931e-02 -1.63349520e-04 9.99907975e-01 1.51803760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019072329 meters Centerline goodness [0,1] 0.8093008598568405 Centerline is valid? [False, False] Translation: X:-22.01, Y:-3.07, Z:15.18 [[ 9.99720825e-01 -1.92422308e-02 -1.37116450e-02 -2.20106951e+01] [ 1.92384653e-02 9.99814841e-01 -4.06479223e-04 -3.07464404e+00] [ 1.37169277e-02 1.42574738e-04 9.99905908e-01 1.51800355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.049072329 meters Centerline goodness [0,1] 0.814840545931288 Centerline is valid? [False, False] Translation: X:-22.00, Y:-3.07, Z:15.17 [[ 9.99793511e-01 -1.85430370e-02 -8.31207557e-03 -2.19951083e+01] [ 1.84596322e-02 9.99779586e-01 -1.00010336e-02 -3.07101697e+00] [ 8.49569301e-03 9.84553063e-03 9.99915441e-01 1.51741411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079072329 meters Centerline goodness [0,1] 0.8333968909127616 Centerline is valid? [False, False] Translation: X:-21.99, Y:-3.07, Z:15.17 [[ 9.99776195e-01 -1.92889637e-02 -8.68878687e-03 -2.19939015e+01] [ 1.91993053e-02 9.99762757e-01 -1.02867213e-02 -3.07116765e+00] [ 8.88514571e-03 1.01176004e-02 9.99909340e-01 1.51740890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.109072329 meters Centerline goodness [0,1] 0.835442470938697 Centerline is valid? [False, False] Translation: X:-21.99, Y:-3.07, Z:15.17 [[ 9.99829522e-01 -1.60953553e-02 -9.04804239e-03 -2.19926681e+01] [ 1.60405222e-02 9.99852732e-01 -6.10047002e-03 -3.07299789e+00] [ 9.14489913e-03 5.95429470e-03 9.99940457e-01 1.51742855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13907232899999 meters Centerline goodness [0,1] 0.8401444464381841 Centerline is valid? [False, False] Translation: X:-21.99, Y:-3.07, Z:15.17 [[ 9.99872880e-01 -1.28490613e-02 -9.44061529e-03 -2.19914072e+01] [ 1.28302159e-02 9.99915580e-01 -2.05405866e-03 -3.07399959e+00] [ 9.46621104e-03 1.93267241e-03 9.99953327e-01 1.51744057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16907232899999 meters Centerline goodness [0,1] 0.8425093173246446 Centerline is valid? [False, False] Translation: X:-21.99, Y:-3.07, Z:15.17 [[ 9.99896284e-01 -1.02526099e-02 -1.01145995e-02 -2.19884932e+01] [ 1.02637276e-02 9.99946778e-01 1.04787550e-03 -3.07428440e+00] [ 1.01033177e-02 -1.15158031e-03 9.99948297e-01 1.51730631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19907232899999 meters Centerline goodness [0,1] 0.8447059348903675 Centerline is valid? [False, False] Translation: X:-21.99, Y:-3.07, Z:15.17 [[ 9.99890594e-01 -1.05926337e-02 -1.03245070e-02 -2.19883727e+01] [ 1.06000213e-02 9.99943600e-01 6.61084171e-04 -3.07287875e+00] [ 1.03169221e-02 -7.70451839e-04 9.99946482e-01 1.51736453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22907232899999 meters Centerline goodness [0,1] 0.8482063576629373 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.07, Z:15.17 [[ 9.99939859e-01 -9.64584187e-03 -5.21877063e-03 -2.19718264e+01] [ 9.60357136e-03 9.99921360e-01 -8.06502642e-03 -3.06996764e+00] [ 5.29615420e-03 8.01442255e-03 9.99953859e-01 1.51682972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25907232899999 meters Centerline goodness [0,1] 0.8502613143556099 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.07, Z:15.17 [[ 9.99963530e-01 -6.58242095e-03 -5.44153820e-03 -2.19709250e+01] [ 6.56007787e-03 9.99970021e-01 -4.11372514e-03 -3.07198739e+00] [ 5.46845334e-03 4.07787820e-03 9.99976733e-01 1.51686568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28907232899999 meters Centerline goodness [0,1] 0.8489631488574825 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.07, Z:15.17 [[ 9.99977092e-01 -3.71904979e-03 -5.65539243e-03 -2.19698249e+01] [ 3.71577200e-03 9.99992922e-01 -5.89982367e-04 -3.07163212e+00] [ 5.65754658e-03 5.68954703e-04 9.99983834e-01 1.51687308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.319072329 meters Centerline goodness [0,1] 0.850905335325657 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.07, Z:15.17 [[ 9.99975574e-01 -3.93639494e-03 -5.77547891e-03 -2.19693555e+01] [ 3.93085552e-03 9.99991804e-01 -9.70164055e-04 -3.07031193e+00] [ 5.77925052e-03 9.47437785e-04 9.99982851e-01 1.51683666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.349072329 meters Centerline goodness [0,1] 0.8480931970546214 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.07, Z:15.17 [[ 9.99973867e-01 -4.19511582e-03 -5.88778279e-03 -2.19688241e+01] [ 4.18680114e-03 9.99990222e-01 -1.42380663e-03 -3.06883396e+00] [ 5.89369825e-03 1.39911845e-03 9.99981653e-01 1.51678865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379072329 meters Centerline goodness [0,1] 0.8471624308909333 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.06, Z:15.17 [[ 9.99973813e-01 -4.45538303e-03 -5.70285255e-03 -2.19690791e+01] [ 4.44231454e-03 9.99987483e-01 -2.30218986e-03 -3.06413244e+00] [ 5.71303831e-03 2.27679571e-03 9.99981089e-01 1.51674144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.409072329 meters Centerline goodness [0,1] 0.8441938087654617 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.06, Z:15.17 [[ 9.99973239e-01 -4.63167561e-03 -5.66291107e-03 -2.19692587e+01] [ 4.61578733e-03 9.99985384e-01 -2.81553054e-03 -3.06163197e+00] [ 5.67586892e-03 2.78931640e-03 9.99980002e-01 1.51674407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439072329 meters Centerline goodness [0,1] 0.8418247985443202 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.06, Z:15.17 [[ 9.99975281e-01 -4.37012691e-03 -5.50816342e-03 -2.19708782e+01] [ 4.35488188e-03 9.99986662e-01 -2.77667677e-03 -3.06007740e+00] [ 5.52022438e-03 2.75262073e-03 9.99980975e-01 1.51692904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.469072329 meters Centerline goodness [0,1] 0.8407805551957863 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.06, Z:15.17 [[ 9.99975293e-01 -4.24474249e-03 -5.60312288e-03 -2.19712220e+01] [ 4.22963069e-03 9.99987393e-01 -2.70613109e-03 -3.06000979e+00] [ 5.61453908e-03 2.68236509e-03 9.99980641e-01 1.51701047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49907232899999 meters Centerline goodness [0,1] 0.8396236570715009 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.06, Z:15.17 [[ 9.99974632e-01 -4.23082497e-03 -5.73020343e-03 -2.19713431e+01] [ 4.21445739e-03 9.99987014e-01 -2.86544008e-03 -3.05915890e+00] [ 5.74225220e-03 2.84121770e-03 9.99979477e-01 1.51706375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52907232899999 meters Centerline goodness [0,1] 0.8363324764353042 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.06, Z:15.17 [[ 9.99981768e-01 -6.87732995e-04 -5.99926368e-03 -2.19703504e+01] [ 6.91221086e-04 9.99999593e-01 5.79365906e-04 -3.05698241e+00] [ 5.99886279e-03 -5.83502161e-04 9.99981836e-01 1.51702230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55907232899999 meters Centerline goodness [0,1] 0.8360543636208223 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.05, Z:15.17 [[ 9.99981426e-01 -8.50988801e-04 -6.03524906e-03 -2.19700257e+01] [ 8.50115995e-04 9.99999628e-01 -1.47182015e-04 -3.05407302e+00] [ 6.03537207e-03 1.42048619e-04 9.99981777e-01 1.51696304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58907232899999 meters Centerline goodness [0,1] 0.8369836429165511 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.05, Z:15.17 [[ 9.99981635e-01 -7.97421133e-04 -6.00779185e-03 -2.19702158e+01] [ 7.94570731e-04 9.99999571e-01 -4.76822826e-04 -3.05232490e+00] [ 6.00816950e-03 4.72040453e-04 9.99981839e-01 1.51696636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61907232899999 meters Centerline goodness [0,1] 0.8366188769414575 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.05, Z:15.17 [[ 9.99981965e-01 -5.52396287e-04 -5.98040527e-03 -2.19708171e+01] [ 5.49315901e-04 9.99999716e-01 -5.16710019e-04 -3.05132092e+00] [ 5.98068899e-03 5.13415568e-04 9.99981984e-01 1.51703124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64907232899999 meters Centerline goodness [0,1] 0.8343483816013628 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.05, Z:15.17 [[ 9.99982572e-01 -2.19887344e-04 -5.89980248e-03 -2.19715456e+01] [ 2.16605861e-04 9.99999822e-01 -5.56835261e-04 -3.05035278e+00] [ 5.89992386e-03 5.55547625e-04 9.99982441e-01 1.51709513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.679072329 meters Centerline goodness [0,1] 0.8343483816013628 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.05, Z:15.17 [[ 9.99982572e-01 -2.19887344e-04 -5.89980248e-03 -2.19715456e+01] [ 2.16605861e-04 9.99999822e-01 -5.56835261e-04 -3.05035278e+00] [ 5.89992386e-03 5.55547625e-04 9.99982441e-01 1.51709513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.709072329 meters Centerline goodness [0,1] 0.8285897435897436 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.05, Z:15.17 [[ 9.99982608e-01 1.26048988e-03 -5.76150226e-03 -2.19735553e+01] [-1.26263063e-03 9.99999135e-01 -3.67938303e-04 -3.04662796e+00] [ 5.76103349e-03 3.75206553e-04 9.99983335e-01 1.51723188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739072329 meters Centerline goodness [0,1] 0.8218247098801051 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.04, Z:15.17 [[ 9.99983049e-01 1.53090187e-03 -5.61767795e-03 -2.19739573e+01] [-1.53622278e-03 9.99998375e-01 -9.42979448e-04 -3.04329708e+00] [ 5.61622521e-03 9.51593469e-04 9.99983776e-01 1.51720096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.769072329 meters Centerline goodness [0,1] 0.7879582826796341 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.04, Z:15.17 [[ 9.99967417e-01 5.55733226e-03 -5.85499153e-03 -2.19730852e+01] [-5.54470473e-03 9.99982272e-01 2.17074002e-03 -3.03970928e+00] [ 5.86695125e-03 -2.13820509e-03 9.99980503e-01 1.51711417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799072329 meters Centerline goodness [0,1] 0.779150018162005 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.04, Z:15.17 [[ 9.99966087e-01 5.75820118e-03 -5.88794477e-03 -2.19730792e+01] [-5.74799837e-03 9.99981952e-01 1.74828702e-03 -3.03806105e+00] [ 5.89790550e-03 -1.71438384e-03 9.99981138e-01 1.51709038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.829072329 meters Centerline goodness [0,1] 0.7585519547325102 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.04, Z:15.17 [[ 9.99964694e-01 5.95159654e-03 -5.93212308e-03 -2.19732486e+01] [-5.94249999e-03 9.99981142e-01 1.54988761e-03 -3.03743844e+00] [ 5.94123552e-03 -1.51458125e-03 9.99981204e-01 1.51711457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859072329 meters Centerline goodness [0,1] 0.746085728952772 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.04, Z:15.17 [[ 9.99962100e-01 6.29458864e-03 -6.01477959e-03 -2.19735344e+01] [-6.28567083e-03 9.99979119e-01 1.50040504e-03 -3.03690555e+00] [ 6.02409843e-03 -1.46254125e-03 9.99980785e-01 1.51716254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88907232899999 meters Centerline goodness [0,1] 0.7222722400857449 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.04, Z:15.17 [[ 9.99922063e-01 1.10536056e-02 -5.80391276e-03 -2.19746399e+01] [-1.10199275e-02 9.99922441e-01 5.80292747e-03 -3.03612714e+00] [ 5.86760589e-03 -5.73851651e-03 9.99966320e-01 1.51725218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91907232899999 meters Centerline goodness [0,1] 0.7136584634496348 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.03, Z:15.17 [[ 9.99918933e-01 1.13675134e-02 -5.73654387e-03 -2.19746054e+01] [-1.13375244e-02 9.99922033e-01 5.23343642e-03 -3.03305098e+00] [ 5.79558776e-03 -5.16797395e-03 9.99969851e-01 1.51716885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94907232899999 meters Centerline goodness [0,1] 0.7058182051446533 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.03, Z:15.17 [[ 9.99916017e-01 1.16126394e-02 -5.75380534e-03 -2.19743630e+01] [-1.15859631e-02 9.99922077e-01 4.64814559e-03 -3.03022733e+00] [ 5.80733423e-03 -4.58109185e-03 9.99972644e-01 1.51708853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97907232899999 meters Centerline goodness [0,1] 0.6886863110141019 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.03, Z:15.17 [[ 9.99900205e-01 1.28453646e-02 -5.88014583e-03 -2.19747636e+01] [-1.28173703e-02 9.99906458e-01 4.77399035e-03 -3.02873079e+00] [ 5.94091944e-03 -4.69814593e-03 9.99971316e-01 1.51708463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00907232899999 meters Centerline goodness [0,1] 0.682327530901159 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99924808e-01 1.07068897e-02 -5.97842400e-03 -2.19762546e+01] [-1.06972769e-02 9.99941442e-01 1.63758017e-03 -3.02731146e+00] [ 5.99560730e-03 -1.57350418e-03 9.99980788e-01 1.51719513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03907232899999 meters Centerline goodness [0,1] 0.6776050662061025 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99919784e-01 1.11176905e-02 -6.06815836e-03 -2.19765720e+01] [-1.11060869e-02 9.99936439e-01 1.94257891e-03 -3.02821794e+00] [ 6.08936965e-03 -1.87502959e-03 9.99979702e-01 1.51725974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.069072329 meters Centerline goodness [0,1] 0.6654982259650323 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99909275e-01 1.21952466e-02 -5.71996148e-03 -2.19780755e+01] [-1.21817067e-02 9.99922930e-01 2.39604067e-03 -3.02772911e+00] [ 5.74874095e-03 -2.32614440e-03 9.99980770e-01 1.51731334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099072329 meters Centerline goodness [0,1] 0.6630940689183996 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99908316e-01 1.23133195e-02 -5.63394894e-03 -2.19779296e+01] [-1.23015094e-02 9.99922073e-01 2.12610009e-03 -3.02627994e+00] [ 5.65968925e-03 -2.05659909e-03 9.99981869e-01 1.51724261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.129072329 meters Centerline goodness [0,1] 0.6567463706233988 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99907932e-01 1.23212357e-02 -5.68453549e-03 -2.19774445e+01] [-1.23109720e-02 9.99922530e-01 1.83703148e-03 -3.02526657e+00] [ 5.70672961e-03 -1.76688019e-03 9.99982156e-01 1.51717017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159072329 meters Centerline goodness [0,1] 0.6488385002989154 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99901583e-01 1.27580607e-02 -5.83568742e-03 -2.19768851e+01] [-1.27453881e-02 9.99916346e-01 2.20363566e-03 -3.02689635e+00] [ 5.86331336e-03 -2.12904068e-03 9.99980544e-01 1.51711572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.189072329 meters Centerline goodness [0,1] 0.6417336296802872 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99939435e-01 9.33955884e-03 -5.82233406e-03 -2.19771935e+01] [-9.35063687e-03 9.99954518e-01 -1.87836915e-03 -3.02623947e+00] [ 5.80452611e-03 1.93269791e-03 9.99981286e-01 1.51707238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219072329 meters Centerline goodness [0,1] 0.6382182494707354 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99936369e-01 9.56441750e-03 -5.98164609e-03 -2.19768009e+01] [-9.57277302e-03 9.99953242e-01 -1.36979241e-03 -3.02869284e+00] [ 5.96826514e-03 1.42696619e-03 9.99981172e-01 1.51707597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24907232899999 meters Centerline goodness [0,1] 0.6279124905701046 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99962404e-01 6.40163719e-03 -5.84894098e-03 -2.19775405e+01] [-6.42932441e-03 9.99968158e-01 -4.72723836e-03 -3.02997257e+00] [ 5.81849268e-03 4.76466537e-03 9.99971721e-01 1.51708149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27907232899999 meters Centerline goodness [0,1] 0.6424101169666365 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99961672e-01 6.33817089e-03 -6.04011427e-03 -2.19768200e+01] [-6.36537821e-03 9.99969634e-01 -4.49591000e-03 -3.03136907e+00] [ 6.01143501e-03 4.53418529e-03 9.99971652e-01 1.51704879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30907232899999 meters Centerline goodness [0,1] 0.6455685238518005 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99961154e-01 6.28959744e-03 -6.17514090e-03 -2.19762083e+01] [-6.31602294e-03 9.99970940e-01 -4.26920122e-03 -3.03269218e+00] [ 6.14810989e-03 4.30803771e-03 9.99971820e-01 1.51701382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33907232899999 meters Centerline goodness [0,1] 0.6215353894905911 Centerline is valid? [False, False] Translation: X:-21.98, Y:-3.03, Z:15.17 [[ 9.99959602e-01 6.32109313e-03 -6.39045980e-03 -2.19756011e+01] [-6.34617453e-03 9.99972210e-01 -3.91218958e-03 -3.03437725e+00] [ 6.36555289e-03 3.95258651e-03 9.99971928e-01 1.51700790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36907232899999 meters Centerline goodness [0,1] 0.6373523589933221 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.04, Z:15.17 [[ 9.99957557e-01 6.08637476e-03 -6.91670148e-03 -2.19738433e+01] [-6.11014491e-03 9.99975482e-01 -3.42071124e-03 -3.03897257e+00] [ 6.89571216e-03 3.46282810e-03 9.99970229e-01 1.51696140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39907232899999 meters Centerline goodness [0,1] 0.6175466246388233 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.04, Z:15.17 [[ 9.99954378e-01 6.23869603e-03 -7.23329296e-03 -2.19732905e+01] [-6.25784628e-03 9.99976966e-01 -2.62791141e-03 -3.04246057e+00] [ 7.21673161e-03 2.67305636e-03 9.99970386e-01 1.51701006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.429072329 meters Centerline goodness [0,1] 0.6342942520653894 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.05, Z:15.17 [[ 9.99952106e-01 6.22802120e-03 -7.54968845e-03 -2.19723663e+01] [-6.24407415e-03 9.99978291e-01 -2.10460306e-03 -3.04555997e+00] [ 7.53641704e-03 2.15164307e-03 9.99969286e-01 1.51699942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.459072329 meters Centerline goodness [0,1] 0.6544770868150234 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.05, Z:15.17 [[ 9.99951820e-01 5.56170834e-03 -8.08859810e-03 -2.19697055e+01] [-5.57820122e-03 9.99982406e-01 -2.01790019e-03 -3.04903675e+00] [ 8.07723282e-03 2.06292280e-03 9.99965251e-01 1.51683285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.489072329 meters Centerline goodness [0,1] 0.6604680916771447 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.05, Z:15.17 [[ 9.99951455e-01 5.44959236e-03 -8.20906648e-03 -2.19688871e+01] [-5.46545229e-03 9.99983239e-01 -1.91080857e-03 -3.04979117e+00] [ 8.19851576e-03 1.95558208e-03 9.99964479e-01 1.51675994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519072329 meters Centerline goodness [0,1] 0.6588077016386935 Centerline is valid? [False, False] Translation: X:-21.97, Y:-3.05, Z:15.17 [[ 9.99951280e-01 4.85778498e-03 -8.59300523e-03 -2.19667844e+01] [-4.87812590e-03 9.99985346e-01 -2.34777545e-03 -3.05000677e+00] [ 8.58147432e-03 2.38957883e-03 9.99960323e-01 1.51659259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.549072329 meters Centerline goodness [0,1] 0.6673256769664793 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.05, Z:15.16 [[ 9.99949345e-01 4.10897276e-03 -9.18823500e-03 -2.19642193e+01] [-4.12978871e-03 9.99988946e-01 -2.24767526e-03 -3.05333093e+00] [ 9.17889780e-03 2.28550687e-03 9.99955261e-01 1.51647027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579072329 meters Centerline goodness [0,1] 0.6713443789614144 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.06, Z:15.16 [[ 9.99946691e-01 3.98172493e-03 -9.52683272e-03 -2.19632533e+01] [-3.99966427e-03 9.99990263e-01 -1.86472203e-03 -3.05590374e+00] [ 9.51931514e-03 1.90272675e-03 9.99952880e-01 1.51646708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.609072329 meters Centerline goodness [0,1] 0.6670451509484371 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.06, Z:15.16 [[ 9.99943377e-01 3.51108507e-03 -1.00456567e-02 -2.19613929e+01] [-3.53005872e-03 9.99992018e-01 -1.87163392e-03 -3.05815631e+00] [ 1.00390051e-02 1.90698970e-03 9.99947790e-01 1.51639662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63907232899999 meters Centerline goodness [0,1] 0.682224007856792 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.06, Z:15.16 [[ 9.99944383e-01 2.11661886e-03 -1.03320302e-02 -2.19590409e+01] [-2.13991679e-03 9.99995192e-01 -2.24438821e-03 -3.06158041e+00] [ 1.03272300e-02 2.26637307e-03 9.99944104e-01 1.51625904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66907232899999 meters Centerline goodness [0,1] 0.6869903259679617 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.06, Z:15.16 [[ 9.99942093e-01 2.02556542e-03 -1.05691554e-02 -2.19585108e+01] [-2.04409274e-03 9.99996393e-01 -1.74245347e-03 -3.06376339e+00] [ 1.05655878e-02 1.76395691e-03 9.99942627e-01 1.51628996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69907232899999 meters Centerline goodness [0,1] 0.6912949367371075 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.07, Z:15.16 [[ 9.99937627e-01 1.31770296e-03 -1.10908122e-02 -2.19564188e+01] [-1.33975412e-03 9.99997140e-01 -1.98104215e-03 -3.06524571e+00] [ 1.10881701e-02 1.99577755e-03 9.99936533e-01 1.51619400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72907232899999 meters Centerline goodness [0,1] 0.6992874215381866 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.07, Z:15.16 [[ 9.99935111e-01 8.75989227e-04 -1.13580606e-02 -2.19553615e+01] [-8.92434054e-04 9.99998561e-01 -1.44286771e-03 -3.06809755e+00] [ 1.13567803e-02 1.45291040e-03 9.99934454e-01 1.51620349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75907232899999 meters Centerline goodness [0,1] 0.7015789001525075 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.07, Z:15.16 [[ 9.99933671e-01 1.10935343e-03 -1.14640171e-02 -2.19554524e+01] [-1.11847810e-03 9.99999063e-01 -7.89559489e-04 -3.07005140e+00] [ 1.14631304e-02 8.02329370e-04 9.99933974e-01 1.51626641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78907232899999 meters Centerline goodness [0,1] 0.7032920051303976 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.07, Z:15.16 [[ 9.99932453e-01 1.36591313e-03 -1.15422533e-02 -2.19557367e+01] [-1.36776141e-03 9.99999053e-01 -1.52238963e-04 -3.07193714e+00] [ 1.15420345e-02 1.68015729e-04 9.99933374e-01 1.51635027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.819072329 meters Centerline goodness [0,1] 0.7022488350629179 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.07, Z:15.16 [[ 9.99932987e-01 1.59535109e-03 -1.14663517e-02 -2.19564131e+01] [-1.59142470e-03 9.99998672e-01 3.51543172e-04 -3.07334016e+00] [ 1.14668973e-02 -3.33271779e-04 9.99934197e-01 1.51644110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.849072329 meters Centerline goodness [0,1] 0.7017048636781146 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.07, Z:15.16 [[ 9.99930951e-01 1.40627043e-03 -1.16668375e-02 -2.19557712e+01] [-1.40400852e-03 9.99998994e-01 2.02063003e-04 -3.07329144e+00] [ 1.16671099e-02 -1.85668712e-04 9.99931920e-01 1.51641727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879072329 meters Centerline goodness [0,1] 0.702637673989791 Centerline is valid? [False, False] Translation: X:-21.96, Y:-3.07, Z:15.16 [[ 9.99928727e-01 1.49066045e-03 -1.18456039e-02 -2.19555848e+01] [-1.48487175e-03 9.99998774e-01 4.97458825e-04 -3.07419926e+00] [ 1.18463309e-02 -4.79834167e-04 9.99929715e-01 1.51645540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.909072329 meters Centerline goodness [0,1] 0.7035423077787013 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99925731e-01 1.21692645e-03 -1.21264656e-02 -2.19543469e+01] [-1.21213332e-03 9.99999184e-01 4.02603817e-04 -3.07520627e+00] [ 1.21269456e-02 -3.87875023e-04 9.99926391e-01 1.51638186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939072329 meters Centerline goodness [0,1] 0.7011127697109513 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99923745e-01 1.34763271e-03 -1.22755111e-02 -2.19539066e+01] [-1.33525350e-03 9.99998592e-01 1.01658785e-03 -3.07800985e+00] [ 1.22768638e-02 -1.00011941e-03 9.99924136e-01 1.51638581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.969072329 meters Centerline goodness [0,1] 0.7177944523310575 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99921540e-01 1.10982932e-03 -1.24772922e-02 -2.19530043e+01] [-1.09734424e-03 9.99998890e-01 1.00742533e-03 -3.07897414e+00] [ 1.24783964e-02 -9.93654405e-04 9.99921648e-01 1.51633872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99907232899999 meters Centerline goodness [0,1] 0.7031331297364551 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99920707e-01 1.21276271e-03 -1.25342785e-02 -2.19529036e+01] [-1.19523868e-03 9.99998298e-01 1.40548481e-03 -3.08043011e+00] [ 1.25359617e-02 -1.39039192e-03 9.99920455e-01 1.51635258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02907232899999 meters Centerline goodness [0,1] 0.7033702782175979 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99919140e-01 1.03371197e-03 -1.26746055e-02 -2.19520683e+01] [-1.01542872e-03 9.99998435e-01 1.44886131e-03 -3.08142996e+00] [ 1.26760834e-02 -1.43587400e-03 9.99918624e-01 1.51629025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05907232899999 meters Centerline goodness [0,1] 0.7027730028046684 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99919226e-01 9.41658261e-04 -1.26750028e-02 -2.19517610e+01] [-9.26574351e-04 9.99998856e-01 1.19587158e-03 -3.08091175e+00] [ 1.26761144e-02 -1.18403065e-03 9.99918954e-01 1.51624069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08907232899999 meters Centerline goodness [0,1] 0.6929261536382677 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99917803e-01 8.58541668e-04 -1.27925646e-02 -2.19511812e+01] [-8.45698341e-04 9.99999133e-01 1.00934383e-03 -3.08074746e+00] [ 1.27934201e-02 -9.98442213e-04 9.99917662e-01 1.51619294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11907232899999 meters Centerline goodness [0,1] 0.7043358038122436 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99917574e-01 1.31925383e-03 -1.27712100e-02 -2.19516318e+01] [-1.29752959e-03 9.99997698e-01 1.70916906e-03 -3.08274310e+00] [ 1.27734354e-02 -1.69245715e-03 9.99916984e-01 1.51625339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14907232899999 meters Centerline goodness [0,1] 0.7024999433376397 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99915441e-01 1.22239233e-03 -1.29466906e-02 -2.19509040e+01] [-1.20049469e-03 9.99997836e-01 1.69900674e-03 -3.08354262e+00] [ 1.29487394e-02 -1.68332064e-03 9.99914745e-01 1.51620994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.179072329 meters Centerline goodness [0,1] 0.698336859827543 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99914654e-01 1.21582136e-03 -1.30079719e-02 -2.19504214e+01] [-1.19296971e-03 9.99997732e-01 1.76435761e-03 -3.08428492e+00] [ 1.30100875e-02 -1.74868892e-03 9.99913836e-01 1.51616036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.209072329 meters Centerline goodness [0,1] 0.6994524298425735 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99914137e-01 1.03538668e-03 -1.30631714e-02 -2.19493742e+01] [-1.01584159e-03 9.99998355e-01 1.50274430e-03 -3.08450722e+00] [ 1.30647058e-02 -1.48934515e-03 9.99913544e-01 1.51602206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239072329 meters Centerline goodness [0,1] 0.6958717161378369 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.08, Z:15.16 [[ 9.99913102e-01 8.96998747e-04 -1.31523060e-02 -2.19487494e+01] [-8.79905384e-04 9.99998761e-01 1.30537663e-03 -3.08451779e+00] [ 1.31534606e-02 -1.29369041e-03 9.99912653e-01 1.51595759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.269072329 meters Centerline goodness [0,1] 0.7096264762427904 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.09, Z:15.16 [[ 9.99914757e-01 1.39602904e-03 -1.29818694e-02 -2.19499841e+01] [-1.37079831e-03 9.99997155e-01 1.95223116e-03 -3.08575879e+00] [ 1.29845578e-02 -1.93426923e-03 9.99913826e-01 1.51608236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299072329 meters Centerline goodness [0,1] 0.6862942076303111 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.09, Z:15.16 [[ 9.99914572e-01 1.45266947e-03 -1.29899154e-02 -2.19500053e+01] [-1.42762894e-03 9.99997105e-01 1.93675541e-03 -3.08601020e+00] [ 1.29926913e-02 -1.91804518e-03 9.99913752e-01 1.51608491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.329072329 meters Centerline goodness [0,1] 0.6969898286447356 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.09, Z:15.16 [[ 9.99914801e-01 1.65306056e-03 -1.29482847e-02 -2.19504186e+01] [-1.62627445e-03 9.99996517e-01 2.07895543e-03 -3.08608568e+00] [ 1.29516763e-02 -2.05772084e-03 9.99914006e-01 1.51612593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359072329 meters Centerline goodness [0,1] 0.6889914967541373 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.09, Z:15.16 [[ 9.99914000e-01 1.68593493e-03 -1.30057641e-02 -2.19502357e+01] [-1.66090764e-03 9.99996749e-01 1.93488434e-03 -3.08584265e+00] [ 1.30089839e-02 -1.91311657e-03 9.99913549e-01 1.51611141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38907232899999 meters Centerline goodness [0,1] 0.6775315080399826 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.09, Z:15.16 [[ 9.99915303e-01 1.96291444e-03 -1.28660071e-02 -2.19503825e+01] [-1.93999679e-03 9.99996510e-01 1.79349422e-03 -3.08539231e+00] [ 1.28694827e-02 -1.76838230e-03 9.99915621e-01 1.51605554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41907232899999 meters Centerline goodness [0,1] 0.6768299672176246 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.09, Z:15.16 [[ 9.99915063e-01 1.89836084e-03 -1.28942628e-02 -2.19497909e+01] [-1.87726432e-03 9.99996880e-01 1.64802366e-03 -3.08543489e+00] [ 1.28973511e-02 -1.62367775e-03 9.99915507e-01 1.51597441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44907232899999 meters Centerline goodness [0,1] 0.6742904381372279 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.09, Z:15.16 [[ 9.99912755e-01 1.72567681e-03 -1.30959608e-02 -2.19487789e+01] [-1.70696462e-03 9.99997506e-01 1.43989529e-03 -3.08558999e+00] [ 1.30984129e-02 -1.41741532e-03 9.99913207e-01 1.51589011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47907232899999 meters Centerline goodness [0,1] 0.6716962932341188 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.09, Z:15.16 [[ 9.99911391e-01 1.53403858e-03 -1.32233137e-02 -2.19478327e+01] [-1.51754634e-03 9.99998058e-01 1.25715343e-03 -3.08589798e+00] [ 1.32252165e-02 -1.23697504e-03 9.99911778e-01 1.51579758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50907232899999 meters Centerline goodness [0,1] 0.6883092945025575 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.09, Z:15.16 [[ 9.99910300e-01 1.43249821e-03 -1.33168753e-02 -2.19470155e+01] [-1.41404797e-03 9.99998028e-01 1.39479100e-03 -3.08719210e+00] [ 1.33188470e-02 -1.37583519e-03 9.99910354e-01 1.51571933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53907232899999 meters Centerline goodness [0,1] 0.671854167624477 Centerline is valid? [False, False] Translation: X:-21.95, Y:-3.09, Z:15.16 [[ 9.99907137e-01 1.03257181e-03 -1.35886488e-02 -2.19455630e+01] [-1.01858065e-03 9.99998944e-01 1.03650178e-03 -3.08729729e+00] [ 1.35897047e-02 -1.02256439e-03 9.99907133e-01 1.51560704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.569072329 meters Centerline goodness [0,1] 0.6860516060599073 Centerline is valid? [False, False] Translation: X:-21.94, Y:-3.09, Z:15.16 [[ 9.99903203e-01 8.04686244e-04 -1.38902121e-02 -2.19444077e+01] [-7.85610628e-04 9.99998741e-01 1.37871529e-03 -3.08988754e+00] [ 1.38913040e-02 -1.36766954e-03 9.99902576e-01 1.51557895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599072329 meters Centerline goodness [0,1] 0.6860516060599073 Centerline is valid? [False, False] Translation: X:-21.94, Y:-3.09, Z:15.16 [[ 9.99903203e-01 8.04686244e-04 -1.38902121e-02 -2.19444077e+01] [-7.85610628e-04 9.99998741e-01 1.37871529e-03 -3.08988754e+00] [ 1.38913040e-02 -1.36766954e-03 9.99902576e-01 1.51557895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.629072329 meters Centerline goodness [0,1] 0.6742709367567943 Centerline is valid? [False, False] Translation: X:-21.94, Y:-3.09, Z:15.16 [[ 9.99900440e-01 8.42295679e-04 -1.40854976e-02 -2.19441272e+01] [-8.17279887e-04 9.99998079e-01 1.78165821e-03 -3.09200825e+00] [ 1.40869712e-02 -1.76996904e-03 9.99899207e-01 1.51562307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659072329 meters Centerline goodness [0,1] 0.6864788667298316 Centerline is valid? [False, False] Translation: X:-21.94, Y:-3.09, Z:15.16 [[ 9.99898529e-01 1.00940982e-03 -1.42095687e-02 -2.19442738e+01] [-9.77142091e-04 9.99996929e-01 2.27760495e-03 -3.09382246e+00] [ 1.42118241e-02 -2.26348907e-03 9.99896445e-01 1.51569945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.689072329 meters Centerline goodness [0,1] 0.671956451538497 Centerline is valid? [False, False] Translation: X:-21.94, Y:-3.10, Z:15.16 [[ 9.99895304e-01 9.95720774e-04 -1.44356934e-02 -2.19440465e+01] [-9.55294230e-04 9.99995604e-01 2.80708251e-03 -3.09603450e+00] [ 1.44384250e-02 -2.79299829e-03 9.99891860e-01 1.51577832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719072329 meters Centerline goodness [0,1] 0.6876516114127296 Centerline is valid? [False, False] Translation: X:-21.94, Y:-3.10, Z:15.16 [[ 9.99894534e-01 9.97219601e-04 -1.44888445e-02 -2.19438125e+01] [-9.54914014e-04 9.99995262e-01 2.92649797e-03 -3.09657074e+00] [ 1.44916942e-02 -2.91235372e-03 9.99890749e-01 1.51576635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74907232899999 meters Centerline goodness [0,1] 0.666527874161462 Centerline is valid? [False, False] Translation: X:-21.94, Y:-3.10, Z:15.16 [[ 9.99892704e-01 9.20903585e-04 -1.46195934e-02 -2.19431616e+01] [-8.78716913e-04 9.99995433e-01 2.89178685e-03 -3.09699689e+00] [ 1.46221897e-02 -2.87863009e-03 9.99888946e-01 1.51571654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77907232899999 meters Centerline goodness [0,1] 0.6834201227450252 Centerline is valid? [False, False] Translation: X:-21.94, Y:-3.10, Z:15.16 [[ 9.99885876e-01 5.68436923e-04 -1.50967218e-02 -2.19411145e+01] [-5.25896030e-04 9.99995881e-01 2.82170981e-03 -3.09940731e+00] [ 1.50982636e-02 -2.81344848e-03 9.99882057e-01 1.51559492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80907232899999 meters Centerline goodness [0,1] 0.6731248399040588 Centerline is valid? [False, False] Translation: X:-21.93, Y:-3.10, Z:15.15 [[ 9.99953861e-01 1.65681758e-03 -9.46204203e-03 -2.19263343e+01] [-1.72261851e-03 9.99974363e-01 -6.95028856e-03 -3.09779952e+00] [ 9.45028409e-03 6.96626737e-03 9.99931079e-01 1.51497299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83907232899999 meters Centerline goodness [0,1] 0.6781239061953097 Centerline is valid? [False, False] Translation: X:-21.93, Y:-3.10, Z:15.15 [[ 9.99951967e-01 2.01992753e-03 -9.59082200e-03 -2.19266010e+01] [-2.07950294e-03 9.99978582e-01 -6.20580715e-03 -3.10015021e+00] [ 9.57808130e-03 6.22545321e-03 9.99934750e-01 1.51506573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86907232899999 meters Centerline goodness [0,1] 0.6784827327679115 Centerline is valid? [False, False] Translation: X:-21.93, Y:-3.10, Z:15.15 [[ 9.99951944e-01 2.50033804e-03 -9.47939071e-03 -2.19274328e+01] [-2.55161638e-03 9.99982158e-01 -5.40122554e-03 -3.10214389e+00] [ 9.46571669e-03 5.42515375e-03 9.99940482e-01 1.51515921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89907232899999 meters Centerline goodness [0,1] 0.6756217738151102 Centerline is valid? [False, False] Translation: X:-21.93, Y:-3.10, Z:15.15 [[ 9.99950361e-01 2.40809839e-03 -9.66833920e-03 -2.19265079e+01] [-2.45852350e-03 9.99983421e-01 -5.20699569e-03 -3.10323659e+00] [ 9.65563996e-03 5.23050706e-03 9.99939703e-01 1.51510126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.929072329 meters Centerline goodness [0,1] 0.6817776317025073 Centerline is valid? [False, False] Translation: X:-21.93, Y:-3.10, Z:15.15 [[ 9.99950033e-01 2.54624803e-03 -9.66680785e-03 -2.19263363e+01] [-2.59372305e-03 9.99984622e-01 -4.90178053e-03 -3.10415108e+00] [ 9.65417805e-03 4.92660863e-03 9.99941261e-01 1.51507915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.959072329 meters Centerline goodness [0,1] 0.6725300636642302 Centerline is valid? [False, False] Translation: X:-21.93, Y:-3.11, Z:15.15 [[ 9.99948139e-01 2.79607160e-03 -9.79290248e-03 -2.19261652e+01] [-2.83877962e-03 9.99986510e-01 -4.34993797e-03 -3.10600858e+00] [ 9.78060763e-03 4.37751227e-03 9.99942587e-01 1.51510296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.989072329 meters Centerline goodness [0,1] 0.6700746127691726 Centerline is valid? [False, False] Translation: X:-21.93, Y:-3.11, Z:15.15 [[ 9.99945637e-01 2.86658495e-03 -1.00252602e-02 -2.19252953e+01] [-2.90663665e-03 9.99987844e-01 -3.98279176e-03 -3.10856036e+00] [ 1.00137213e-02 4.01171503e-03 9.99941814e-01 1.51506282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019072329 meters Centerline goodness [0,1] 0.6697728458291838 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.11, Z:15.15 [[ 9.99941360e-01 2.91433941e-03 -1.04298947e-02 -2.19238635e+01] [-2.95029504e-03 9.99989753e-01 -3.43363853e-03 -3.11267697e+00] [ 1.04197810e-02 3.46420845e-03 9.99939712e-01 1.51501027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.049072329 meters Centerline goodness [0,1] 0.6725039205436487 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.11, Z:15.15 [[ 9.99940905e-01 2.99873840e-03 -1.04495928e-02 -2.19236574e+01] [-3.03245564e-03 9.99990243e-01 -3.21230648e-03 -3.11378027e+00] [ 1.04398580e-02 3.24380457e-03 9.99940242e-01 1.51499199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079072329 meters Centerline goodness [0,1] 0.6590242856121452 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.11, Z:15.15 [[ 9.99941481e-01 3.34522414e-03 -1.02880367e-02 -2.19243560e+01] [-3.37382915e-03 9.99990488e-01 -2.76431709e-03 -3.11467647e+00] [ 1.02786916e-02 2.79886540e-03 9.99943256e-01 1.51503649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.109072329 meters Centerline goodness [0,1] 0.6655000833273814 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.12, Z:15.15 [[ 9.99940604e-01 3.63036967e-03 -1.02766368e-02 -2.19243983e+01] [-3.65546763e-03 9.99990380e-01 -2.42450645e-03 -3.11591589e+00] [ 1.02677361e-02 2.46192835e-03 9.99944255e-01 1.51503172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13907232899999 meters Centerline goodness [0,1] 0.64696340823434 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.12, Z:15.15 [[ 9.99938360e-01 3.67720425e-03 -1.04764131e-02 -2.19236675e+01] [-3.70070424e-03 9.99990678e-01 -2.22463101e-03 -3.11759230e+00] [ 1.04681350e-02 2.26326399e-03 9.99942646e-01 1.51499682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16907232899999 meters Centerline goodness [0,1] 0.651159434234581 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.12, Z:15.15 [[ 9.99933142e-01 3.97352603e-03 -1.08591843e-02 -2.19226529e+01] [-3.98920790e-03 9.99991031e-01 -1.42283248e-03 -3.12275325e+00] [ 1.08534333e-02 1.46605690e-03 9.99940025e-01 1.51498787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19907232899999 meters Centerline goodness [0,1] 0.6512266172328285 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.12, Z:15.15 [[ 9.99932415e-01 4.08495181e-03 -1.08847687e-02 -2.19224002e+01] [-4.09910079e-03 9.99990782e-01 -1.27789513e-03 -3.12371897e+00] [ 1.08794483e-02 1.32242653e-03 9.99939943e-01 1.51495588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22907232899999 meters Centerline goodness [0,1] 0.640168776371308 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.12, Z:15.15 [[ 9.99933701e-01 4.11199181e-03 -1.07557206e-02 -2.19223007e+01] [-4.12784815e-03 9.99990426e-01 -1.45244024e-03 -3.12325244e+00] [ 1.07496452e-02 1.49674193e-03 9.99941101e-01 1.51488220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25907232899999 meters Centerline goodness [0,1] 0.630076600664836 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.12, Z:15.15 [[ 9.99935563e-01 4.30144378e-03 -1.05055705e-02 -2.19224725e+01] [-4.32044681e-03 9.99989070e-01 -1.78682791e-03 -3.12167342e+00] [ 1.04977698e-02 1.83210153e-03 9.99943219e-01 1.51477987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28907232899999 meters Centerline goodness [0,1] 0.6244867397710255 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.12, Z:15.15 [[ 9.99935109e-01 4.51842500e-03 -1.04576492e-02 -2.19227270e+01] [-4.53463358e-03 9.99988553e-01 -1.52673359e-03 -3.12273709e+00] [ 1.04506310e-02 1.57405613e-03 9.99944152e-01 1.51479644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.319072329 meters Centerline goodness [0,1] 0.6289180009704027 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.12, Z:15.15 [[ 9.99932627e-01 4.77356805e-03 -1.05808650e-02 -2.19228172e+01] [-4.78552725e-03 9.99987939e-01 -1.10523636e-03 -3.12463994e+00] [ 1.05754614e-02 1.15579692e-03 9.99943410e-01 1.51485107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.349072329 meters Centerline goodness [0,1] 0.616772282516328 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.13, Z:15.15 [[ 9.99928571e-01 5.26723265e-03 -1.07288743e-02 -2.19231573e+01] [-5.27021954e-03 9.99986081e-01 -2.50144086e-04 -3.12842018e+00] [ 1.07274074e-02 3.06669742e-04 9.99942413e-01 1.51495848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379072329 meters Centerline goodness [0,1] 0.6195135042818455 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.13, Z:15.15 [[ 9.99928745e-01 5.37988334e-03 -1.06565706e-02 -2.19231773e+01] [-5.38231609e-03 9.99985495e-01 -1.99620418e-04 -3.12892408e+00] [ 1.06553421e-02 2.56963225e-04 9.99943197e-01 1.51492994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.409072329 meters Centerline goodness [0,1] 0.6209403899177708 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.13, Z:15.15 [[ 9.99929414e-01 5.20618194e-03 -1.06800203e-02 -2.19225366e+01] [-5.21273323e-03 9.99986242e-01 -5.85669560e-04 -3.12814172e+00] [ 1.06768243e-02 6.41300316e-04 9.99942795e-01 1.51483400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439072329 meters Centerline goodness [0,1] 0.6127990285367335 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.13, Z:15.15 [[ 9.99930140e-01 4.93406440e-03 -1.07410781e-02 -2.19217086e+01] [-4.94706891e-03 9.99987062e-01 -1.18449464e-03 -3.12660464e+00] [ 1.07350947e-02 1.23754874e-03 9.99941611e-01 1.51471513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.469072329 meters Centerline goodness [0,1] 0.6086235489220564 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.13, Z:15.15 [[ 9.99931307e-01 5.40428858e-03 -1.04006835e-02 -2.19229934e+01] [-5.41276530e-03 9.99985041e-01 -7.87038971e-04 -3.12677838e+00] [ 1.03962745e-02 8.43281366e-04 9.99945602e-01 1.51477699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49907232899999 meters Centerline goodness [0,1] 0.6061272891757745 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.13, Z:15.15 [[ 9.99928731e-01 5.57327949e-03 -1.05580380e-02 -2.19230229e+01] [-5.57749777e-03 9.99984377e-01 -3.70130277e-04 -3.12856458e+00] [ 1.05558103e-02 4.28991332e-04 9.99944194e-01 1.51483970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52907232899999 meters Centerline goodness [0,1] 0.62052097346215 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.13, Z:15.15 [[ 9.99926290e-01 5.49709535e-03 -1.08257075e-02 -2.19223769e+01] [-5.49930758e-03 9.99984863e-01 -1.74592959e-04 -3.13021878e+00] [ 1.08245839e-02 2.34113985e-04 9.99941385e-01 1.51485127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55907232899999 meters Centerline goodness [0,1] 0.6096992591865771 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.13, Z:15.15 [[ 9.99924513e-01 5.41029463e-03 -1.10316806e-02 -2.19216846e+01] [-5.41035501e-03 9.99985364e-01 2.43705645e-05 -3.13148864e+00] [ 1.10316510e-02 3.53165835e-05 9.99939149e-01 1.51483663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58907232899999 meters Centerline goodness [0,1] 0.6331311543845002 Centerline is valid? [False, False] Translation: X:-21.92, Y:-3.13, Z:15.15 [[ 9.99923774e-01 4.09737482e-03 -1.16472472e-02 -2.19180650e+01] [-4.10490512e-03 9.99991381e-01 -6.22697760e-04 -3.13228669e+00] [ 1.16445954e-02 6.70461139e-04 9.99931975e-01 1.51459111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61907232899999 meters Centerline goodness [0,1] 0.6179797335427043 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.13, Z:15.14 [[ 9.99919433e-01 3.10932138e-03 -1.23068540e-02 -2.19148791e+01] [-3.12512964e-03 9.99994316e-01 -1.26548554e-03 -3.13287007e+00] [ 1.23028493e-02 1.30384410e-03 9.99923467e-01 1.51438509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64907232899999 meters Centerline goodness [0,1] 0.646123897294367 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.13, Z:15.14 [[ 9.99914613e-01 2.52289796e-03 -1.28219529e-02 -2.19127509e+01] [-2.53983408e-03 9.99995923e-01 -1.30475681e-03 -3.13477656e+00] [ 1.28186089e-02 1.33721104e-03 9.99916944e-01 1.51429381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.679072329 meters Centerline goodness [0,1] 0.6521998064468101 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.14, Z:15.14 [[ 9.99914355e-01 -1.81154411e-03 -1.29615408e-02 -2.19120951e+01] [ 1.74630046e-03 9.99985758e-01 -5.04318209e-03 -3.13744125e+00] [ 1.29704922e-02 5.02011542e-03 9.99903278e-01 1.51427317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.709072329 meters Centerline goodness [0,1] 0.6624361707401716 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.14, Z:15.14 [[ 9.99905501e-01 -2.17617579e-03 -1.35740250e-02 -2.19105615e+01] [ 2.11389845e-03 9.99987183e-01 -4.60064055e-03 -3.14038812e+00] [ 1.35838628e-02 4.57151169e-03 9.99897285e-01 1.51431716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739072329 meters Centerline goodness [0,1] 0.6668327561723013 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.14, Z:15.14 [[ 9.99900635e-01 -2.19330468e-03 -1.39251217e-02 -2.19100236e+01] [ 2.13966972e-03 9.99990240e-01 -3.86539997e-03 -3.14314223e+00] [ 1.39334638e-02 3.83522073e-03 9.99895569e-01 1.51440321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.769072329 meters Centerline goodness [0,1] 0.6891247346734923 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.15, Z:15.14 [[ 9.99897034e-01 -2.54805778e-03 -1.41219142e-02 -2.19091850e+01] [ 2.50357083e-03 9.99991851e-01 -3.16699046e-03 -3.14569061e+00] [ 1.41298688e-02 3.13130915e-03 9.99895265e-01 1.51443400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799072329 meters Centerline goodness [0,1] 0.7314988378195997 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.15, Z:15.14 [[ 9.99897422e-01 -2.53500856e-03 -1.40967989e-02 -2.19091840e+01] [ 2.49396579e-03 9.99992603e-01 -2.92831343e-03 -3.14615083e+00] [ 1.41041180e-02 2.89285611e-03 9.99896347e-01 1.51443752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.829072329 meters Centerline goodness [0,1] 0.6844902440241529 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.15, Z:15.14 [[ 9.99894385e-01 -2.63797015e-03 -1.42919731e-02 -2.19085432e+01] [ 2.59819827e-03 9.99992703e-01 -2.80066556e-03 -3.14705729e+00] [ 1.42992569e-02 2.76323639e-03 9.99893942e-01 1.51442425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859072329 meters Centerline goodness [0,1] 0.720944294676375 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.15, Z:15.15 [[ 9.99893153e-01 -2.09537596e-03 -1.44669585e-02 -2.19086575e+01] [ 2.07451513e-03 9.99996787e-01 -1.45682012e-03 -3.15237231e+00] [ 1.44699646e-02 1.42665254e-03 9.99894287e-01 1.51453644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88907232899999 meters Centerline goodness [0,1] 0.6809798925246613 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.15, Z:15.15 [[ 9.99889102e-01 -2.05005651e-03 -1.47506531e-02 -2.19079980e+01] [ 2.03422083e-03 9.99997339e-01 -1.08848154e-03 -3.15467491e+00] [ 1.47528453e-02 1.05835475e-03 9.99890611e-01 1.51455391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91907232899999 meters Centerline goodness [0,1] 0.715684785909505 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.16, Z:15.15 [[ 9.99891285e-01 -1.46392340e-03 -1.46722440e-02 -2.19085592e+01] [ 1.46147856e-03 9.99998916e-01 -1.77350882e-04 -3.15753230e+00] [ 1.46724877e-02 1.55888432e-04 9.99892341e-01 1.51460535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94907232899999 meters Centerline goodness [0,1] 0.7096790510635069 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.16, Z:15.15 [[ 9.99892849e-01 -1.34573264e-03 -1.45766779e-02 -2.19085725e+01] [ 1.34377108e-03 9.99999087e-01 -1.44362139e-04 -3.15780203e+00] [ 1.45768588e-02 1.24758952e-04 9.99893744e-01 1.51456026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97907232899999 meters Centerline goodness [0,1] 0.7081492764661081 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.16, Z:15.15 [[ 9.99895526e-01 -1.17110995e-03 -1.44071530e-02 -2.19087920e+01] [ 1.17130771e-03 9.99999314e-01 5.28842030e-06 -3.15824553e+00] [ 1.44071370e-02 -2.21630772e-05 9.99896212e-01 1.51452719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00907232899999 meters Centerline goodness [0,1] 0.685770198490355 Centerline is valid? [False, False] Translation: X:-21.91, Y:-3.16, Z:15.15 [[ 9.99898378e-01 -8.20629551e-04 -1.42323926e-02 -2.19092829e+01] [ 8.25125490e-04 9.99999612e-01 3.10025678e-04 -3.15929646e+00] [ 1.42321326e-02 -3.21737682e-04 9.99898666e-01 1.51451955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03907232899999 meters Centerline goodness [0,1] 0.6703285499451992 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.16, Z:15.14 [[ 9.99959782e-01 1.92643804e-03 -8.75923196e-03 -2.18942778e+01] [-1.99458450e-03 9.99967763e-01 -7.77788951e-03 -3.16024187e+00] [ 8.74396596e-03 7.79504773e-03 9.99931388e-01 1.51390445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.069072329 meters Centerline goodness [0,1] 0.6857047599507591 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.16, Z:15.14 [[ 9.99959250e-01 2.44279481e-03 -8.69089616e-03 -2.18947788e+01] [-2.50335867e-03 9.99972613e-01 -6.96461474e-03 -3.16290470e+00] [ 8.67364502e-03 6.98608736e-03 9.99937979e-01 1.51395336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099072329 meters Centerline goodness [0,1] 0.6622450288646569 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.17, Z:15.14 [[ 9.99957252e-01 2.57386403e-03 -8.88086804e-03 -2.18941852e+01] [-2.63177587e-03 9.99975311e-01 -6.51545357e-03 -3.16511565e+00] [ 8.86387889e-03 6.53854751e-03 9.99939338e-01 1.51394003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.129072329 meters Centerline goodness [0,1] 0.6542674106220294 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.17, Z:15.14 [[ 9.99956398e-01 3.14180255e-03 -8.79381637e-03 -2.18943096e+01] [-3.19023188e-03 9.99979794e-01 -5.49860318e-03 -3.16936328e+00] [ 8.77636316e-03 5.52641775e-03 9.99946216e-01 1.51393170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159072329 meters Centerline goodness [0,1] 0.6623847508546565 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.17, Z:15.14 [[ 9.99955211e-01 3.32840385e-03 -8.85994761e-03 -2.18940620e+01] [-3.37283930e-03 9.99981786e-01 -5.00510978e-03 -3.17169913e+00] [ 8.84312721e-03 5.03476879e-03 9.99948224e-01 1.51392656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.189072329 meters Centerline goodness [0,1] 0.6578591138647368 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.17, Z:15.14 [[ 9.99953406e-01 3.82571359e-03 -8.86279886e-03 -2.18945011e+01] [-3.86178334e-03 9.99984317e-01 -4.05625936e-03 -3.17484310e+00] [ 8.84714178e-03 4.09029657e-03 9.99952498e-01 1.51400057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219072329 meters Centerline goodness [0,1] 0.6484880083420229 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.18, Z:15.14 [[ 9.99950872e-01 3.89325098e-03 -9.11571877e-03 -2.18937559e+01] [-3.92594311e-03 9.99985917e-01 -3.57120380e-03 -3.17762117e+00] [ 9.10168680e-03 3.60681614e-03 9.99952074e-01 1.51399578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24907232899999 meters Centerline goodness [0,1] 0.6496434563758389 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.18, Z:15.14 [[ 9.99947030e-01 3.93967484e-03 -9.50871099e-03 -2.18919667e+01] [-3.96716418e-03 9.99988001e-01 -2.87383598e-03 -3.18297322e+00] [ 9.49727492e-03 2.91140637e-03 9.99950662e-01 1.51389040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27907232899999 meters Centerline goodness [0,1] 0.6519634919382413 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.19, Z:15.14 [[ 9.99946546e-01 4.03902555e-03 -9.51791356e-03 -2.18914548e+01] [-4.06314895e-03 9.99988579e-01 -2.51655438e-03 -3.18523066e+00] [ 9.50764043e-03 2.55509257e-03 9.99951537e-01 1.51382357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30907232899999 meters Centerline goodness [0,1] 0.6505367814268338 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.19, Z:15.14 [[ 9.99945739e-01 4.28806050e-03 -9.49381582e-03 -2.18914527e+01] [-4.30660266e-03 9.99988857e-01 -1.93349686e-03 -3.18771242e+00] [ 9.48541908e-03 1.97427803e-03 9.99953063e-01 1.51382643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33907232899999 meters Centerline goodness [0,1] 0.6592045725172659 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.19, Z:15.14 [[ 9.99943432e-01 4.26108217e-03 -9.74552931e-03 -2.18905408e+01] [-4.27601537e-03 9.99989715e-01 -1.51199077e-03 -3.19031975e+00] [ 9.73898635e-03 1.55357727e-03 9.99951368e-01 1.51380319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36907232899999 meters Centerline goodness [0,1] 0.6561264822134387 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.19, Z:15.14 [[ 9.99955055e-01 5.51095837e-04 -9.46494368e-03 -2.18906322e+01] [-5.97852788e-04 9.99987630e-01 -4.93789494e-03 -3.19426952e+00] [ 9.46210534e-03 4.94333165e-03 9.99943014e-01 1.51370135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39907232899999 meters Centerline goodness [0,1] 0.6625238235846778 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.20, Z:15.14 [[ 9.99950474e-01 6.16397048e-04 -9.93327615e-03 -2.18894935e+01] [-6.56172468e-04 9.99991779e-01 -4.00149857e-03 -3.19848799e+00] [ 9.93072797e-03 4.00781833e-03 9.99942657e-01 1.51374828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.429072329 meters Centerline goodness [0,1] 0.6783080787618507 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.21, Z:15.14 [[ 9.99947911e-01 1.23231058e-04 -1.02058797e-02 -2.18878003e+01] [-1.52871824e-04 9.99995773e-01 -2.90355415e-03 -3.20582709e+00] [ 1.02054788e-02 2.90496310e-03 9.99943703e-01 1.51374732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.459072329 meters Centerline goodness [0,1] 0.6808038733061048 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.21, Z:15.14 [[ 9.99942769e-01 -5.55077868e-05 -1.06983580e-02 -2.18862142e+01] [ 3.11563472e-05 9.99997409e-01 -2.27633800e-03 -3.20920365e+00] [ 1.06984566e-02 2.27587440e-03 9.99940180e-01 1.51374214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.489072329 meters Centerline goodness [0,1] 0.6808038733061048 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.21, Z:15.14 [[ 9.99942769e-01 -5.55077868e-05 -1.06983580e-02 -2.18862142e+01] [ 3.11563472e-05 9.99997409e-01 -2.27633800e-03 -3.20920365e+00] [ 1.06984566e-02 2.27587440e-03 9.99940180e-01 1.51374214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519072329 meters Centerline goodness [0,1] 0.6812117918761038 Centerline is valid? [False, False] Translation: X:-21.89, Y:-3.21, Z:15.14 [[ 9.99938504e-01 -1.41156052e-04 -1.10890852e-02 -2.18850444e+01] [ 1.23981069e-04 9.99998792e-01 -1.54949094e-03 -3.21251022e+00] [ 1.10892905e-02 1.54802082e-03 9.99937314e-01 1.51376545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.549072329 meters Centerline goodness [0,1] 0.7087189878963799 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.22, Z:15.14 [[ 9.99934848e-01 -6.96654562e-04 -1.13936302e-02 -2.18834295e+01] [ 6.92789414e-04 9.99999701e-01 -3.43180964e-04 -3.21902531e+00] [ 1.13938659e-02 3.35265218e-04 9.99935032e-01 1.51381521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579072329 meters Centerline goodness [0,1] 0.715490104836723 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.22, Z:15.14 [[ 9.99927165e-01 -1.16650855e-03 -1.20126502e-02 -2.18811872e+01] [ 1.16599006e-03 9.99999319e-01 -5.01659067e-05 -3.22200900e+00] [ 1.20127005e-02 3.61556222e-05 9.99927844e-01 1.51376454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.609072329 meters Centerline goodness [0,1] 0.7307054400707651 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.22, Z:15.14 [[ 9.99921117e-01 -1.27035938e-03 -1.24958671e-02 -2.18796847e+01] [ 1.27667295e-03 9.99999061e-01 4.97288242e-04 -3.22491847e+00] [ 1.24952236e-02 -5.13202150e-04 9.99921800e-01 1.51375213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63907232899999 meters Centerline goodness [0,1] 0.7258544652701213 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.23, Z:15.13 [[ 9.99904299e-01 -2.49764417e-03 -1.36071388e-02 -2.18746798e+01] [ 2.49950028e-03 9.99996869e-01 1.19402838e-04 -3.22801364e+00] [ 1.36067979e-02 -1.53402458e-04 9.99907411e-01 1.51349614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66907232899999 meters Centerline goodness [0,1] 0.7354168393710796 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.23, Z:15.13 [[ 9.99899623e-01 -2.71318756e-03 -1.39062129e-02 -2.18733495e+01] [ 2.71745729e-03 9.99996266e-01 2.88151180e-04 -3.22942331e+00] [ 1.39053791e-02 -3.25911795e-04 9.99903262e-01 1.51344011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69907232899999 meters Centerline goodness [0,1] 0.757090183249702 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.23, Z:15.13 [[ 9.99894896e-01 -2.78693954e-03 -1.42277938e-02 -2.18723061e+01] [ 2.79715296e-03 9.99995844e-01 6.98000849e-04 -3.23141244e+00] [ 1.42257894e-02 -7.37724802e-04 9.99898536e-01 1.51343386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72907232899999 meters Centerline goodness [0,1] 0.7659532911074528 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.14 [[ 9.99889427e-01 -2.85946371e-03 -1.45930365e-02 -2.18714101e+01] [ 2.88563063e-03 9.99994266e-01 1.77236931e-03 -3.23707717e+00] [ 1.45878848e-02 -1.81428345e-03 9.99891945e-01 1.51353361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75907232899999 meters Centerline goodness [0,1] 0.7743249274715465 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.14 [[ 9.99885323e-01 -2.89136928e-03 -1.48654202e-02 -2.18708120e+01] [ 2.92440297e-03 9.99993302e-01 2.20092632e-03 -3.23947642e+00] [ 1.48589570e-02 -2.24414640e-03 9.99887081e-01 1.51357580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78907232899999 meters Centerline goodness [0,1] 0.7753057397923488 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.14 [[ 9.99886681e-01 -2.64905873e-03 -1.48191816e-02 -2.18710112e+01] [ 2.68947748e-03 9.99992716e-01 2.70819774e-03 -3.24125480e+00] [ 1.48118995e-02 -2.74774671e-03 9.99886522e-01 1.51360173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.819072329 meters Centerline goodness [0,1] 0.7774945375091041 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.14 [[ 9.99883956e-01 -2.85124341e-03 -1.49647831e-02 -2.18700573e+01] [ 2.89067333e-03 9.99992406e-01 2.61387931e-03 -3.24171449e+00] [ 1.49572166e-02 -2.65683429e-03 9.99884605e-01 1.51352494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.849072329 meters Centerline goodness [0,1] 0.7805062440499524 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.13 [[ 9.99879752e-01 -3.25363760e-03 -1.51622970e-02 -2.18681535e+01] [ 3.28240648e-03 9.99992859e-01 1.87289631e-03 -3.24109271e+00] [ 1.51560950e-02 -1.92243992e-03 9.99883292e-01 1.51327967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879072329 meters Centerline goodness [0,1] 0.7743404873686563 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.13 [[ 9.99881509e-01 -3.06830357e-03 -1.50848553e-02 -2.18682786e+01] [ 3.09710117e-03 9.99993425e-01 1.88605042e-03 -3.24128038e+00] [ 1.50789691e-02 -1.93254626e-03 9.99884438e-01 1.51324736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.909072329 meters Centerline goodness [0,1] 0.7633010629690595 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.13 [[ 9.99880592e-01 -3.00242739e-03 -1.51587315e-02 -2.18681376e+01] [ 3.02870265e-03 9.99993950e-01 1.71068191e-03 -3.24110105e+00] [ 1.51535036e-02 -1.75638893e-03 9.99883636e-01 1.51322619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939072329 meters Centerline goodness [0,1] 0.73454525083331 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.13 [[ 9.99888856e-01 -2.17679479e-03 -1.47491632e-02 -2.18699597e+01] [ 2.20622966e-03 9.99995607e-01 1.97972115e-03 -3.24179286e+00] [ 1.47447890e-02 -2.01204116e-03 9.99889265e-01 1.51326296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.969072329 meters Centerline goodness [0,1] 0.7402790228597041 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.13 [[ 9.99891059e-01 -1.96199763e-03 -1.46294648e-02 -2.18703951e+01] [ 1.98946013e-03 9.99996286e-01 1.86288797e-03 -3.24151722e+00] [ 1.46257555e-02 -1.89178977e-03 9.99891248e-01 1.51324759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99907232899999 meters Centerline goodness [0,1] 0.7106287634785045 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.13 [[ 9.99895350e-01 -1.76794693e-03 -1.43584265e-02 -2.18708732e+01] [ 1.78942131e-03 9.99997300e-01 1.48288496e-03 -3.24031663e+00] [ 1.43557661e-02 -1.50842305e-03 9.99895813e-01 1.51316725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02907232899999 meters Centerline goodness [0,1] 0.6867297380758541 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.24, Z:15.13 [[ 9.99907997e-01 -4.89641784e-04 -1.35557115e-02 -2.18735949e+01] [ 5.01046264e-04 9.99999523e-01 8.37921042e-04 -3.23615080e+00] [ 1.35552947e-02 -8.44635990e-04 9.99907766e-01 1.51303408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05907232899999 meters Centerline goodness [0,1] 0.6801377919677365 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.23, Z:15.13 [[ 9.99913591e-01 -3.44771248e-05 -1.31457206e-02 -2.18749523e+01] [ 3.97445985e-05 9.99999919e-01 4.00437709e-04 -3.23381167e+00] [ 1.31457058e-02 -4.00925579e-04 9.99913511e-01 1.51299466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08907232899999 meters Centerline goodness [0,1] 0.6618246185833497 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.23, Z:15.13 [[ 9.99920354e-01 5.82786910e-04 -1.26073663e-02 -2.18768290e+01] [-5.80256508e-04 9.99999811e-01 2.04365166e-04 -3.23205543e+00] [ 1.26074830e-02 -1.97033383e-04 9.99920503e-01 1.51299130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11907232899999 meters Centerline goodness [0,1] 0.6442862747295859 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.23, Z:15.13 [[ 9.99923168e-01 1.42013011e-03 -1.23142616e-02 -2.18784115e+01] [-1.42369147e-03 9.99998947e-01 -2.80444745e-04 -3.22932009e+00] [ 1.23138504e-02 2.97954907e-04 9.99924137e-01 1.51296239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14907232899999 meters Centerline goodness [0,1] 0.6411830357142857 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.23, Z:15.13 [[ 9.99921135e-01 1.31790190e-03 -1.24894987e-02 -2.18777625e+01] [-1.32717741e-03 9.99998850e-01 -7.34405056e-04 -3.22856612e+00] [ 1.24885164e-02 7.50922918e-04 9.99921733e-01 1.51289955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.179072329 meters Centerline goodness [0,1] 0.6390448261416004 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.23, Z:15.13 [[ 9.99922209e-01 1.66490498e-03 -1.23613622e-02 -2.18784919e+01] [-1.67283344e-03 9.99998402e-01 -6.31078402e-04 -3.22868800e+00] [ 1.23602917e-02 6.51707810e-04 9.99923396e-01 1.51293063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.209072329 meters Centerline goodness [0,1] 0.6351962481156831 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.23, Z:15.13 [[ 9.99925379e-01 1.80012883e-03 -1.20829114e-02 -2.18791908e+01] [-1.81421368e-03 9.99997688e-01 -1.15482407e-03 -3.22666645e+00] [ 1.20808046e-02 1.17665887e-03 9.99926332e-01 1.51287341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239072329 meters Centerline goodness [0,1] 0.634649135025211 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.22, Z:15.13 [[ 9.99926053e-01 1.57604546e-03 -1.20584100e-02 -2.18789442e+01] [-1.59532241e-03 9.99997465e-01 -1.58917934e-03 -3.22472643e+00] [ 1.20558748e-02 1.60829888e-03 9.99926032e-01 1.51282817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.269072329 meters Centerline goodness [0,1] 0.6332868303571428 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.22, Z:15.13 [[ 9.99927475e-01 1.47463868e-03 -1.19528290e-02 -2.18788774e+01] [-1.49688151e-03 9.99997164e-01 -1.85215148e-03 -3.22351259e+00] [ 1.19500638e-02 1.86990913e-03 9.99926847e-01 1.51277898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299072329 meters Centerline goodness [0,1] 0.6322264592089515 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.22, Z:15.13 [[ 9.99926672e-01 1.50830505e-03 -1.20156614e-02 -2.18789021e+01] [-1.52970257e-03 9.99997260e-01 -1.77181073e-03 -3.22318997e+00] [ 1.20129560e-02 1.79006119e-03 9.99926240e-01 1.51281325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.329072329 meters Centerline goodness [0,1] 0.6296961822353689 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.23, Z:15.13 [[ 9.99902983e-01 4.63328226e-03 -1.31360876e-02 -2.18756928e+01] [-4.59711248e-03 9.99985563e-01 2.78232693e-03 -3.22573252e+00] [ 1.31487892e-02 -2.72166893e-03 9.99909847e-01 1.51294071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359072329 meters Centerline goodness [0,1] 0.6286857682794653 Centerline is valid? [False, False] Translation: X:-21.88, Y:-3.23, Z:15.13 [[ 9.99902346e-01 4.55411014e-03 -1.32120803e-02 -2.18756767e+01] [-4.51833508e-03 9.99986048e-01 2.73634117e-03 -3.22506306e+00] [ 1.32243576e-02 -2.67637735e-03 9.99908973e-01 1.51298082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38907232899999 meters Centerline goodness [0,1] 0.6290618230294951 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.22, Z:15.13 [[ 9.99899005e-01 4.08534469e-03 -1.36120994e-02 -2.18743326e+01] [-4.05554244e-03 9.99989320e-01 2.21627916e-03 -3.22414299e+00] [ 1.36210083e-02 -2.16085089e-03 9.99904895e-01 1.51293480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41907232899999 meters Centerline goodness [0,1] 0.6377379463665416 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.22, Z:15.13 [[ 9.99894497e-01 3.66767065e-03 -1.40550091e-02 -2.18729740e+01] [-3.64124070e-03 9.99991555e-01 1.90559422e-03 -3.22382894e+00] [ 1.40618795e-02 -1.85421550e-03 9.99899408e-01 1.51291781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44907232899999 meters Centerline goodness [0,1] 0.6314754280015513 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.22, Z:15.13 [[ 9.99891601e-01 3.17093017e-03 -1.43781283e-02 -2.18716417e+01] [-3.15313794e-03 9.99994235e-01 1.25995132e-03 -3.22236207e+00] [ 1.43820407e-02 -1.21447852e-03 9.99895836e-01 1.51284741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47907232899999 meters Centerline goodness [0,1] 0.6301335698054646 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.22, Z:15.13 [[ 9.99894620e-01 3.22169665e-03 -1.41551914e-02 -2.18723237e+01] [-3.20685855e-03 9.99994285e-01 1.07081702e-03 -3.22065416e+00] [ 1.41585603e-02 -1.02531048e-03 9.99899237e-01 1.51286171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50907232899999 meters Centerline goodness [0,1] 0.6374816902965481 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.22, Z:15.13 [[ 9.99895819e-01 2.81156690e-03 -1.41578884e-02 -2.18721699e+01] [-2.80805794e-03 9.99996022e-01 2.67718246e-04 -3.21642528e+00] [ 1.41585848e-02 -2.27934184e-04 9.99899736e-01 1.51283963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53907232899999 meters Centerline goodness [0,1] 0.6363811622142661 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.21, Z:15.13 [[ 9.99891466e-01 2.06979143e-03 -1.45866831e-02 -2.18702092e+01] [-2.07903074e-03 9.99997648e-01 -6.18271885e-04 -3.21457085e+00] [ 1.45853691e-02 6.48530945e-04 9.99893418e-01 1.51271790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.569072329 meters Centerline goodness [0,1] 0.6376863512359117 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.21, Z:15.13 [[ 9.99887037e-01 1.70384526e-03 -1.49335160e-02 -2.18688810e+01] [-1.71806887e-03 9.99998083e-01 -9.39685032e-04 -3.21391687e+00] [ 1.49318863e-02 9.65235692e-04 9.99888047e-01 1.51266478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599072329 meters Centerline goodness [0,1] 0.6377527098215516 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.21, Z:15.13 [[ 9.99881106e-01 1.15768020e-03 -1.53763935e-02 -2.18673269e+01] [-1.18316997e-03 9.99997941e-01 -1.64872740e-03 -3.21205751e+00] [ 1.53744531e-02 1.66672426e-03 9.99880417e-01 1.51260398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.629072329 meters Centerline goodness [0,1] 0.6382774067661527 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.21, Z:15.13 [[ 9.99877182e-01 6.62783954e-04 -1.56582615e-02 -2.18662474e+01] [-7.00063996e-04 9.99996933e-01 -2.37549324e-03 -3.20993497e+00] [ 1.56566390e-02 2.38616328e-03 9.99874580e-01 1.51255013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659072329 meters Centerline goodness [0,1] 0.6420797075752203 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.21, Z:15.13 [[ 9.99877824e-01 4.65561919e-04 -1.56243364e-02 -2.18666501e+01] [-5.13218407e-04 9.99995228e-01 -3.04627377e-03 -3.20560673e+00] [ 1.56228436e-02 3.05392028e-03 9.99873292e-01 1.51258751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.689072329 meters Centerline goodness [0,1] 0.6438861704163363 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.20, Z:15.13 [[ 9.99878366e-01 5.14901140e-04 -1.55880560e-02 -2.18673396e+01] [-5.63909637e-04 9.99994912e-01 -3.13974537e-03 -3.20377728e+00] [ 1.55863601e-02 3.14815373e-03 9.99873569e-01 1.51267813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719072329 meters Centerline goodness [0,1] 0.6476872216606104 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.20, Z:15.13 [[ 9.99878186e-01 5.93887974e-04 -1.55967793e-02 -2.18679965e+01] [-6.41405410e-04 9.99995168e-01 -3.04179296e-03 -3.20275906e+00] [ 1.55948974e-02 3.05142629e-03 9.99873736e-01 1.51279165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74907232899999 meters Centerline goodness [0,1] 0.6476047904191617 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.20, Z:15.13 [[ 9.99874588e-01 4.27997565e-04 -1.58311585e-02 -2.18678502e+01] [-4.76674541e-04 9.99995171e-01 -3.07111208e-03 -3.20204858e+00] [ 1.58297676e-02 3.07827323e-03 9.99869963e-01 1.51287472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77907232899999 meters Centerline goodness [0,1] 0.6527796674739449 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.20, Z:15.13 [[ 9.99868386e-01 -1.39501193e-04 -1.62231892e-02 -2.18667562e+01] [ 8.35441384e-05 9.99994046e-01 -3.44982844e-03 -3.20039594e+00] [ 1.62235739e-02 3.44801904e-03 9.99862444e-01 1.51289726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80907232899999 meters Centerline goodness [0,1] 0.6577666603224666 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.20, Z:15.13 [[ 9.99862481e-01 -8.05029809e-04 -1.65641488e-02 -2.18650198e+01] [ 7.36763437e-04 9.99991212e-01 -4.12702262e-03 -3.19847799e+00] [ 1.65673257e-02 4.11425121e-03 9.99854288e-01 1.51278688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83907232899999 meters Centerline goodness [0,1] 0.6548162967368677 Centerline is valid? [False, False] Translation: X:-21.86, Y:-3.20, Z:15.13 [[ 9.99839335e-01 1.58567779e-03 -1.78547056e-02 -2.18603189e+01] [-1.59438873e-03 9.99998617e-01 -4.73654882e-04 -3.19933490e+00] [ 1.78539298e-02 5.02046124e-04 9.99840480e-01 1.51274398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86907232899999 meters Centerline goodness [0,1] 0.6712657306852785 Centerline is valid? [False, False] Translation: X:-21.86, Y:-3.20, Z:15.13 [[ 9.99835198e-01 1.12388641e-03 -1.81194032e-02 -2.18593227e+01] [-1.13895755e-03 9.99999014e-01 -8.21469930e-04 -3.19828796e+00] [ 1.81184621e-02 8.41971782e-04 9.99835493e-01 1.51272335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89907232899999 meters Centerline goodness [0,1] 0.6741645939223532 Centerline is valid? [False, False] Translation: X:-21.86, Y:-3.20, Z:15.13 [[ 9.99843058e-01 -2.45045235e-03 -1.75457885e-02 -2.18625831e+01] [ 2.36939083e-03 9.99986431e-01 -4.63929693e-03 -3.19601365e+00] [ 1.75569188e-02 4.59699600e-03 9.99835298e-01 1.51297916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.929072329 meters Centerline goodness [0,1] 0.6843625175429127 Centerline is valid? [False, False] Translation: X:-21.86, Y:-3.20, Z:15.13 [[ 9.99841495e-01 -2.15537270e-03 -1.76731293e-02 -2.18634425e+01] [ 2.08767521e-03 9.99990417e-01 -3.84808725e-03 -3.19742434e+00] [ 1.76812540e-02 3.81058155e-03 9.99836413e-01 1.51319259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.959072329 meters Centerline goodness [0,1] 0.7 Centerline is valid? [False, False] Translation: X:-21.86, Y:-3.20, Z:15.13 [[ 9.99836727e-01 -2.20459977e-03 -1.79348661e-02 -2.18633438e+01] [ 2.14204711e-03 9.99991559e-01 -3.50623101e-03 -3.19787372e+00] [ 1.79424445e-02 3.46724121e-03 9.99833010e-01 1.51330847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.989072329 meters Centerline goodness [0,1] 0.7019885442559171 Centerline is valid? [False, False] Translation: X:-21.86, Y:-3.20, Z:15.13 [[ 9.99824955e-01 -3.15596333e-03 -1.84417837e-02 -2.18609262e+01] [ 3.07597804e-03 9.99985747e-01 -4.36393486e-03 -3.19544008e+00] [ 1.84552933e-02 4.30644445e-03 9.99820412e-01 1.51317650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019072329 meters Centerline goodness [0,1] 0.7078208089380673 Centerline is valid? [False, False] Translation: X:-21.86, Y:-3.20, Z:15.13 [[ 9.99814192e-01 -2.78310383e-04 -1.92744229e-02 -2.18574603e+01] [ 2.68210880e-04 9.99999825e-01 -5.26567786e-04 -3.19673828e+00] [ 1.92745661e-02 5.21300336e-04 9.99814092e-01 1.51309897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.049072329 meters Centerline goodness [0,1] 0.7109083590500469 Centerline is valid? [False, False] Translation: X:-21.86, Y:-3.20, Z:15.13 [[ 9.99811722e-01 -7.23885312e-04 -1.93906340e-02 -2.18564596e+01] [ 7.03540810e-04 9.99999195e-01 -1.05599336e-03 -3.19523619e+00] [ 1.93913828e-02 1.04215244e-03 9.99811426e-01 1.51300267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079072329 meters Centerline goodness [0,1] 0.7236167485580004 Centerline is valid? [False, False] Translation: X:-21.85, Y:-3.20, Z:15.13 [[ 9.99770113e-01 7.53701256e-04 -2.14278766e-02 -2.18497688e+01] [-6.60352539e-04 9.99990263e-01 4.36315681e-03 -3.19780596e+00] [ 2.14309565e-02 -4.34800383e-03 9.99760876e-01 1.51340854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.109072329 meters Centerline goodness [0,1] 0.7426800139556105 Centerline is valid? [False, False] Translation: X:-21.85, Y:-3.20, Z:15.13 [[ 9.99782187e-01 -2.51773816e-03 -2.07180748e-02 -2.18526526e+01] [ 2.52445035e-03 9.99996769e-01 2.97829948e-04 -3.19522991e+00] [ 2.07172580e-02 -3.50066828e-04 9.99785313e-01 1.51348454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13907232899999 meters Centerline goodness [0,1] 0.748230563002681 Centerline is valid? [False, False] Translation: X:-21.85, Y:-3.20, Z:15.14 [[ 9.99781290e-01 -2.48525383e-03 -2.07652357e-02 -2.18528601e+01] [ 2.49238029e-03 9.99996844e-01 3.17318995e-04 -3.19503500e+00] [ 2.07643815e-02 -3.69004459e-04 9.99784329e-01 1.51353697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16907232899999 meters Centerline goodness [0,1] 0.7341590091889733 Centerline is valid? [False, False] Translation: X:-21.84, Y:-3.19, Z:15.13 [[ 9.99872797e-01 -9.70657030e-06 -1.59495757e-02 -2.18355918e+01] [-1.09860678e-04 9.99971901e-01 -7.49568533e-03 -3.18988885e+00] [ 1.59492003e-02 7.49648409e-03 9.99844701e-01 1.51300949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19907232899999 meters Centerline goodness [0,1] 0.7210071481916143 Centerline is valid? [False, False] Translation: X:-21.84, Y:-3.19, Z:15.13 [[ 9.99874928e-01 -1.20755395e-04 -1.58149659e-02 -2.18356306e+01] [-5.22441201e-06 9.99968274e-01 -7.96557662e-03 -3.18791139e+00] [ 1.58154261e-02 7.96466298e-03 9.99843206e-01 1.51295701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22907232899999 meters Centerline goodness [0,1] 0.7181356247838464 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.19, Z:15.13 [[ 9.99860537e-01 4.03676268e-03 -1.62052698e-02 -2.18349188e+01] [-4.09265953e-03 9.99985785e-01 -3.41762020e-03 -3.18877976e+00] [ 1.61912433e-02 3.48346622e-03 9.99862845e-01 1.51304274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25907232899999 meters Centerline goodness [0,1] 0.7028014616321558 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.19, Z:15.13 [[ 9.99862100e-01 3.94156354e-03 -1.61321072e-02 -2.18348374e+01] [-4.00469956e-03 9.99984441e-01 -3.88325576e-03 -3.18695879e+00] [ 1.61165501e-02 3.94732450e-03 9.99862328e-01 1.51298796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28907232899999 meters Centerline goodness [0,1] 0.695505291773338 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.19, Z:15.13 [[ 9.99827651e-01 7.51141681e-03 -1.69778324e-02 -2.18325594e+01] [-7.50739590e-03 9.99971774e-01 3.00555578e-04 -3.18846662e+00] [ 1.69796108e-02 -1.73044468e-04 9.99855821e-01 1.51303167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.319072329 meters Centerline goodness [0,1] 0.6787923650399197 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.19, Z:15.13 [[ 9.99831129e-01 8.28570024e-03 -1.64030872e-02 -2.18346603e+01] [-8.28420676e-03 9.99965673e-01 1.58995978e-04 -3.18606763e+00] [ 1.64038416e-02 -2.30825618e-05 9.99865448e-01 1.51305308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.349072329 meters Centerline goodness [0,1] 0.6715655121279526 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.18, Z:15.13 [[ 9.99832458e-01 8.21652128e-03 -1.63567654e-02 -2.18345175e+01] [-8.22219923e-03 9.99966158e-01 -2.79912114e-04 -3.18480133e+00] [ 1.63539119e-02 4.14353800e-04 9.99866180e-01 1.51299359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379072329 meters Centerline goodness [0,1] 0.6637871641316445 Centerline is valid? [False, False] Translation: X:-21.84, Y:-3.18, Z:15.13 [[ 9.99834478e-01 8.39221798e-03 -1.61426969e-02 -2.18351476e+01] [-8.40016899e-03 9.99964628e-01 -4.24802241e-04 -3.18398887e+00] [ 1.61385608e-02 5.60333309e-04 9.99869608e-01 1.51299095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.409072329 meters Centerline goodness [0,1] 0.6637871641316445 Centerline is valid? [False, False] Translation: X:-21.84, Y:-3.18, Z:15.13 [[ 9.99834478e-01 8.39221798e-03 -1.61426969e-02 -2.18351476e+01] [-8.40016899e-03 9.99964628e-01 -4.24802241e-04 -3.18398887e+00] [ 1.61385608e-02 5.60333309e-04 9.99869608e-01 1.51299095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439072329 meters Centerline goodness [0,1] 0.6589676429346245 Centerline is valid? [False, False] Translation: X:-21.84, Y:-3.18, Z:15.13 [[ 9.99835901e-01 8.38063706e-03 -1.60603820e-02 -2.18353122e+01] [-8.39278365e-03 9.99964543e-01 -6.89055621e-04 -3.18322409e+00] [ 1.60540378e-02 8.23733859e-04 9.99870786e-01 1.51296973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.469072329 meters Centerline goodness [0,1] 0.6505606685708241 Centerline is valid? [False, False] Translation: X:-21.84, Y:-3.18, Z:15.13 [[ 9.99836242e-01 8.94189106e-03 -1.57331633e-02 -2.18372413e+01] [-8.94875201e-03 9.99959892e-01 -3.65734170e-04 -3.18293523e+00] [ 1.57292619e-02 5.06466455e-04 9.99876159e-01 1.51311078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49907232899999 meters Centerline goodness [0,1] 0.645746791903691 Centerline is valid? [False, False] Translation: X:-21.84, Y:-3.18, Z:15.13 [[ 9.99837297e-01 9.12294031e-03 -1.55612269e-02 -2.18378802e+01] [-9.12769079e-03 9.99958314e-01 -2.34279512e-04 -3.18324492e+00] [ 1.55584409e-02 3.76279461e-04 9.99878889e-01 1.51314165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52907232899999 meters Centerline goodness [0,1] 0.6417855256207079 Centerline is valid? [False, False] Translation: X:-21.84, Y:-3.18, Z:15.13 [[ 9.99836120e-01 9.20115422e-03 -1.55907673e-02 -2.18379647e+01] [-9.20337201e-03 9.99957646e-01 -7.05059960e-05 -3.18388974e+00] [ 1.55894583e-02 2.13982073e-04 9.99878454e-01 1.51316847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55907232899999 meters Centerline goodness [0,1] 0.6420612444750284 Centerline is valid? [False, False] Translation: X:-21.84, Y:-3.18, Z:15.13 [[ 9.99838081e-01 9.20793410e-03 -1.54604782e-02 -2.18378957e+01] [-9.20706031e-03 9.99957606e-01 1.27695256e-04 -3.18491247e+00] [ 1.54609986e-02 1.46709758e-05 9.99880472e-01 1.51312864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58907232899999 meters Centerline goodness [0,1] 0.6402986260027004 Centerline is valid? [False, False] Translation: X:-21.84, Y:-3.19, Z:15.13 [[ 9.99837692e-01 8.86864211e-03 -1.56823834e-02 -2.18366749e+01] [-8.87008462e-03 9.99960660e-01 -2.24274079e-05 -3.18539417e+00] [ 1.56815676e-02 1.61527836e-04 9.99877024e-01 1.51304846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61907232899999 meters Centerline goodness [0,1] 0.6686799882925791 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.19, Z:15.13 [[ 9.99835917e-01 8.18553812e-03 -1.61597253e-02 -2.18344420e+01] [-8.18542763e-03 9.99966496e-01 7.29803422e-05 -3.18772976e+00] [ 1.61597812e-02 5.93058943e-05 9.99869420e-01 1.51296033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64907232899999 meters Centerline goodness [0,1] 0.6497973549488054 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.19, Z:15.13 [[ 9.99833365e-01 8.04759236e-03 -1.63852902e-02 -2.18338095e+01] [-8.04239457e-03 9.99967586e-01 3.83092362e-04 -3.18954720e+00] [ 1.63878420e-02 -2.51251557e-04 9.99865679e-01 1.51297784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.679072329 meters Centerline goodness [0,1] 0.6806641928508503 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.19, Z:15.13 [[ 9.99828127e-01 7.80002601e-03 -1.68188937e-02 -2.18327840e+01] [-7.78914615e-03 9.99969410e-01 7.12293842e-04 -3.19158554e+00] [ 1.68239351e-02 -5.81166597e-04 9.99858299e-01 1.51302593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.709072329 meters Centerline goodness [0,1] 0.673024523160763 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.19, Z:15.13 [[ 9.99821950e-01 7.77668954e-03 -1.71927871e-02 -2.18322741e+01] [-7.75719300e-03 9.99969192e-01 1.20039443e-03 -3.19389539e+00] [ 1.72015925e-02 -1.06681293e-03 9.99851473e-01 1.51311095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739072329 meters Centerline goodness [0,1] 0.7049167071001132 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.19, Z:15.13 [[ 9.99852519e-01 4.00854724e-03 -1.66994539e-02 -2.18338378e+01] [-4.05425217e-03 9.99988126e-01 -2.70395667e-03 -3.19387351e+00] [ 1.66884166e-02 2.77126169e-03 9.99856898e-01 1.51313507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.769072329 meters Centerline goodness [0,1] 0.7102028767711464 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.19, Z:15.13 [[ 9.99846126e-01 3.48985355e-03 -1.71914377e-02 -2.18318118e+01] [-3.54012132e-03 9.99989545e-01 -2.89443631e-03 -3.19457912e+00] [ 1.71811568e-02 2.95485070e-03 9.99848027e-01 1.51304308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799072329 meters Centerline goodness [0,1] 0.7152759120949976 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.20, Z:15.13 [[ 9.99840549e-01 3.17507625e-03 -1.75725743e-02 -2.18302001e+01] [-3.22562769e-03 9.99990739e-01 -2.84912836e-03 -3.19582579e+00] [ 1.75633654e-02 2.90535665e-03 9.99841531e-01 1.51296931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.829072329 meters Centerline goodness [0,1] 0.7227362231273433 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.20, Z:15.13 [[ 9.99833127e-01 1.65186375e-03 -1.81931244e-02 -2.18258186e+01] [-1.71025832e-03 9.99993435e-01 -3.19461435e-03 -3.19970515e+00] [ 1.81877279e-02 3.22519620e-03 9.99829388e-01 1.51269601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859072329 meters Centerline goodness [0,1] 0.7413821094215055 Centerline is valid? [False, False] Translation: X:-21.83, Y:-3.20, Z:15.13 [[ 9.99829781e-01 1.63782539e-03 -1.83773309e-02 -2.18251146e+01] [-1.68661229e-03 9.99995094e-01 -2.63954750e-03 -3.20211875e+00] [ 1.83729177e-02 2.67009363e-03 9.99827638e-01 1.51269386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88907232899999 meters Centerline goodness [0,1] 0.7648749796604654 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.21, Z:15.13 [[ 9.99826997e-01 1.00146022e-03 -1.85734770e-02 -2.18233156e+01] [-1.04214105e-03 9.99997079e-01 -2.18071471e-03 -3.20534997e+00] [ 1.85712389e-02 2.19969362e-03 9.99825120e-01 1.51262079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91907232899999 meters Centerline goodness [0,1] 0.767447555301608 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.21, Z:15.13 [[ 9.99822493e-01 9.36362520e-04 -1.88176744e-02 -2.18225592e+01] [-9.66886205e-04 9.99998232e-01 -1.61304268e-03 -3.20756391e+00] [ 1.88161307e-02 1.63095090e-03 9.99821631e-01 1.51264254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94907232899999 meters Centerline goodness [0,1] 0.7697683271698934 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.21, Z:15.13 [[ 9.99809766e-01 5.22760722e-04 -1.94976539e-02 -2.18206153e+01] [-5.46488554e-04 9.99999117e-01 -1.21165001e-03 -3.21021280e+00] [ 1.94970033e-02 1.22207476e-03 9.99809168e-01 1.51266527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97907232899999 meters Centerline goodness [0,1] 0.7710291900781143 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.21, Z:15.13 [[ 9.99812629e-01 -3.02182401e-03 -1.91200327e-02 -2.18220114e+01] [ 2.93794698e-03 9.99985945e-01 -4.41343625e-03 -3.21355850e+00] [ 1.91331006e-02 4.35643565e-03 9.99807454e-01 1.51273061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00907232899999 meters Centerline goodness [0,1] 0.7696828868234008 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.13 [[ 9.99808035e-01 -2.92728560e-03 -1.93733068e-02 -2.18215674e+01] [ 2.85342756e-03 9.99988560e-01 -3.83890659e-03 -3.21572569e+00] [ 1.93843227e-02 3.78288933e-03 9.99804950e-01 1.51278481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03907232899999 meters Centerline goodness [0,1] 0.7678605736242624 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.13 [[ 9.99808277e-01 -2.78579661e-03 -1.93816652e-02 -2.18214512e+01] [ 2.71843591e-03 9.99990177e-01 -3.50096438e-03 -3.21676543e+00] [ 1.93912277e-02 3.44760535e-03 9.99806028e-01 1.51278285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.069072329 meters Centerline goodness [0,1] 0.7698319120348789 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.13 [[ 9.99808632e-01 -2.77136683e-03 -1.93654155e-02 -2.18211024e+01] [ 2.70449985e-03 9.99990294e-01 -3.47824346e-03 -3.21676180e+00] [ 1.93748670e-02 3.42520407e-03 9.99806423e-01 1.51273257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099072329 meters Centerline goodness [0,1] 0.770382786952818 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.13 [[ 9.99811478e-01 -2.63134450e-03 -1.92375929e-02 -2.18208612e+01] [ 2.56415084e-03 9.99990529e-01 -3.51666343e-03 -3.21665625e+00] [ 1.92466643e-02 3.46667238e-03 9.99808756e-01 1.51263137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.129072329 meters Centerline goodness [0,1] 0.7677594877572893 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.13 [[ 9.99810030e-01 -2.66846932e-03 -1.93076157e-02 -2.18201401e+01] [ 2.59861115e-03 9.99989990e-01 -3.64235147e-03 -3.21684154e+00] [ 1.93171420e-02 3.59148655e-03 9.99806956e-01 1.51254660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159072329 meters Centerline goodness [0,1] 0.7648044846253195 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.12 [[ 9.99807132e-01 -2.70551981e-03 -1.94519539e-02 -2.18193390e+01] [ 2.63403272e-03 9.99989687e-01 -3.69974176e-03 -3.21731098e+00] [ 1.94617630e-02 3.64779112e-03 9.99803947e-01 1.51247588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.189072329 meters Centerline goodness [0,1] 0.7605053632644034 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.12 [[ 9.99806968e-01 -2.35561335e-03 -1.95058337e-02 -2.18191325e+01] [ 2.29426133e-03 9.99992353e-01 -3.16709739e-03 -3.21974201e+00] [ 1.95131450e-02 3.12173456e-03 9.99804727e-01 1.51246030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219072329 meters Centerline goodness [0,1] 0.7644687430969737 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.12 [[ 9.99807654e-01 -2.21684877e-03 -1.94869181e-02 -2.18191225e+01] [ 2.15802574e-03 9.99993053e-01 -3.03910141e-03 -3.22035702e+00] [ 1.94935200e-02 2.99646358e-03 9.99805493e-01 1.51244836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24907232899999 meters Centerline goodness [0,1] 0.7612735037994343 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.12 [[ 9.99812898e-01 -1.86063130e-03 -1.92537771e-02 -2.18198051e+01] [ 1.80575970e-03 9.99994260e-01 -2.86690661e-03 -3.22038620e+00] [ 1.92590008e-02 2.83160251e-03 9.99810519e-01 1.51244418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27907232899999 meters Centerline goodness [0,1] 0.7601777483370594 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.13 [[ 9.99792791e-01 1.64933744e-03 -2.02892860e-02 -2.18170878e+01] [-1.61614427e-03 9.99997329e-01 1.65228321e-03 -3.22318618e+00] [ 2.02919570e-02 -1.61915042e-03 9.99792786e-01 1.51252204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30907232899999 meters Centerline goodness [0,1] 0.759993360812194 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.13 [[ 9.99794572e-01 1.70181218e-03 -2.01969668e-02 -2.18173573e+01] [-1.67162697e-03 9.99997461e-01 1.51133056e-03 -3.22259508e+00] [ 2.01994875e-02 -1.47725830e-03 9.99794878e-01 1.51251309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33907232899999 meters Centerline goodness [0,1] 0.7513573407202216 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.13 [[ 9.99794585e-01 1.84347864e-03 -2.01838955e-02 -2.18176057e+01] [-1.81197326e-03 9.99997112e-01 1.57909338e-03 -3.22283651e+00] [ 2.01867482e-02 -1.54219634e-03 9.99795037e-01 1.51253615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36907232899999 meters Centerline goodness [0,1] 0.7518228015908086 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.13 [[ 9.99790733e-01 1.66473414e-03 -2.03891742e-02 -2.18168556e+01] [-1.63622948e-03 9.99997661e-01 1.41463149e-03 -3.22297542e+00] [ 2.03914815e-02 -1.38097408e-03 9.99791118e-01 1.51250161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39907232899999 meters Centerline goodness [0,1] 0.7552641044796768 Centerline is valid? [False, False] Translation: X:-21.82, Y:-3.22, Z:15.12 [[ 9.99789871e-01 1.57605247e-03 -2.04384556e-02 -2.18165398e+01] [-1.55157331e-03 9.99998060e-01 1.21350362e-03 -3.22256629e+00] [ 2.04403285e-02 -1.18153687e-03 9.99790376e-01 1.51246982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.429072329 meters Centerline goodness [0,1] 0.7540021491747719 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99755471e-01 4.83442058e-03 -2.15783857e-02 -2.18130338e+01] [-4.72057461e-03 9.99974687e-01 5.32374893e-03 -3.22441801e+00] [ 2.16035767e-02 -5.22058474e-03 9.99752985e-01 1.51247008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.459072329 meters Centerline goodness [0,1] 0.742958904109589 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99762388e-01 4.51795022e-03 -2.13250106e-02 -2.18124955e+01] [-4.44276970e-03 9.99983753e-01 3.57152315e-03 -3.21825987e+00] [ 2.13408001e-02 -3.47593241e-03 9.99766217e-01 1.51218938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.489072329 meters Centerline goodness [0,1] 0.7384151357279956 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99767943e-01 4.69750423e-03 -2.10236584e-02 -2.18133563e+01] [-4.63446300e-03 9.99984621e-01 3.04630367e-03 -3.21563270e+00] [ 2.10376451e-02 -2.94816339e-03 9.99774337e-01 1.51215615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519072329 meters Centerline goodness [0,1] 0.7152792990142387 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.21, Z:15.12 [[ 9.99772428e-01 4.93443443e-03 -2.07543573e-02 -2.18142045e+01] [-4.88067993e-03 9.99984605e-01 2.63989096e-03 -3.21404782e+00] [ 2.07670641e-02 -2.53799482e-03 9.99781120e-01 1.51213173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.549072329 meters Centerline goodness [0,1] 0.6776396332671328 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.21, Z:15.11 [[ 9.99844054e-01 8.10591463e-03 -1.56895507e-02 -2.17988523e+01] [-8.20245203e-03 9.99947763e-01 -6.09843361e-03 -3.20914457e+00] [ 1.56392978e-02 6.22617537e-03 9.99858314e-01 1.51149943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579072329 meters Centerline goodness [0,1] 0.6822660098522167 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.21, Z:15.11 [[ 9.99848637e-01 8.11848817e-03 -1.53880965e-02 -2.17993681e+01] [-8.22068413e-03 9.99944497e-01 -6.58965534e-03 -3.20661873e+00] [ 1.53337444e-02 6.71515859e-03 9.99859882e-01 1.51144665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.609072329 meters Centerline goodness [0,1] 0.6764173621802663 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.20, Z:15.11 [[ 9.99853748e-01 8.12159189e-03 -1.50506351e-02 -2.18000587e+01] [-8.22950140e-03 9.99940776e-01 -7.12175462e-03 -3.20334340e+00] [ 1.49919037e-02 7.24457227e-03 9.99861370e-01 1.51140770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63907232899999 meters Centerline goodness [0,1] 0.6646017228544081 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.20, Z:15.11 [[ 9.99812092e-01 1.14386919e-02 -1.56504641e-02 -2.17977531e+01] [-1.15014867e-02 9.99926140e-01 -3.92821363e-03 -3.20018332e+00] [ 1.56043745e-02 4.10747909e-03 9.99869808e-01 1.51133615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66907232899999 meters Centerline goodness [0,1] 0.663232350193514 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.20, Z:15.11 [[ 9.99814714e-01 1.15208444e-02 -1.54209888e-02 -2.17983348e+01] [-1.15909641e-02 9.99922852e-01 -4.46539643e-03 -3.19734384e+00] [ 1.53683539e-02 4.64331318e-03 9.99871118e-01 1.51130418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69907232899999 meters Centerline goodness [0,1] 0.6617604080873563 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.19, Z:15.11 [[ 9.99815795e-01 1.17537547e-02 -1.51731988e-02 -2.17994950e+01] [-1.18343637e-02 9.99916274e-01 -5.23378017e-03 -3.19262932e+00] [ 1.51104118e-02 5.41238124e-03 9.99871182e-01 1.51131799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72907232899999 meters Centerline goodness [0,1] 0.6474104639475216 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.19, Z:15.11 [[ 9.99815131e-01 1.18859426e-02 -1.51138412e-02 -2.18003331e+01] [-1.19681850e-02 9.99913998e-01 -5.36277427e-03 -3.19102386e+00] [ 1.50487997e-02 5.54266811e-03 9.99871398e-01 1.51140911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75907232899999 meters Centerline goodness [0,1] 0.6546635338842102 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.19, Z:15.12 [[ 9.99813256e-01 1.19657662e-02 -1.51747874e-02 -2.18010221e+01] [-1.20491576e-02 9.99912739e-01 -5.41591770e-03 -3.18959126e+00] [ 1.51086576e-02 5.59774971e-03 9.99870188e-01 1.51153039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78907232899999 meters Centerline goodness [0,1] 0.6507551595983025 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.18, Z:15.12 [[ 9.99816185e-01 1.20556239e-02 -1.49083221e-02 -2.18024272e+01] [-1.21478213e-02 9.99907549e-01 -6.10927055e-03 -3.18491677e+00] [ 1.48332927e-02 6.28925120e-03 9.99870201e-01 1.51160941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.819072329 meters Centerline goodness [0,1] 0.6472419114377632 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.18, Z:15.12 [[ 9.99756080e-01 1.52736067e-02 -1.59530069e-02 -2.17993415e+01] [-1.53137800e-02 9.99879859e-01 -2.39910478e-03 -3.18473484e+00] [ 1.59144473e-02 2.64282043e-03 9.99869864e-01 1.51161255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.849072329 meters Centerline goodness [0,1] 0.6468463752944256 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.18, Z:15.12 [[ 9.99759489e-01 1.51250333e-02 -1.58807450e-02 -2.17994208e+01] [-1.51755666e-02 9.99880143e-01 -3.06637123e-03 -3.18155186e+00] [ 1.58324626e-02 3.30663304e-03 9.99869191e-01 1.51158225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879072329 meters Centerline goodness [0,1] 0.6466889317956479 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.18, Z:15.11 [[ 9.99765035e-01 1.47913298e-02 -1.58458882e-02 -2.17989743e+01] [-1.48556344e-02 9.99881854e-01 -3.94812173e-03 -3.17851927e+00] [ 1.57856181e-02 4.18259478e-03 9.99866651e-01 1.51148383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.909072329 meters Centerline goodness [0,1] 0.6417304509722797 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.17, Z:15.11 [[ 9.99772287e-01 1.47240849e-02 -1.54459098e-02 -2.17997378e+01] [-1.48013002e-02 9.99878464e-01 -4.89672480e-03 -3.17231574e+00] [ 1.53719328e-02 5.12422929e-03 9.99868714e-01 1.51142860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939072329 meters Centerline goodness [0,1] 0.6428922519725779 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.17, Z:15.11 [[ 9.99775798e-01 1.46132453e-02 -1.53234243e-02 -2.18000553e+01] [-1.46982931e-02 9.99877109e-01 -5.45232150e-03 -3.16924765e+00] [ 1.52418651e-02 5.67632726e-03 9.99867724e-01 1.51141818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.969072329 meters Centerline goodness [0,1] 0.6452070334656834 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.17, Z:15.12 [[ 9.99773775e-01 1.49557542e-02 -1.51236550e-02 -2.18019843e+01] [-1.50425500e-02 9.99870938e-01 -5.64169248e-03 -3.16557405e+00] [ 1.50373273e-02 5.86791452e-03 9.99869715e-01 1.51161168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99907232899999 meters Centerline goodness [0,1] 0.636433749807188 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.16, Z:15.12 [[ 9.99769871e-01 1.52322203e-02 -1.51057486e-02 -2.18030731e+01] [-1.53155473e-02 9.99868042e-01 -5.41598022e-03 -3.16488648e+00] [ 1.50212579e-02 5.64608666e-03 9.99871233e-01 1.51176807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02907232899999 meters Centerline goodness [0,1] 0.6404897290097844 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.16, Z:15.12 [[ 9.99766506e-01 1.54336183e-02 -1.51240792e-02 -2.18040108e+01] [-1.55158584e-02 9.99865386e-01 -5.33552071e-03 -3.16393281e+00] [ 1.50396969e-02 5.56893797e-03 9.99871389e-01 1.51190757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05907232899999 meters Centerline goodness [0,1] 0.6482195277600511 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.16, Z:15.12 [[ 9.99765941e-01 1.57715084e-02 -1.48095406e-02 -2.18057959e+01] [-1.58581992e-02 9.99857691e-01 -5.75463286e-03 -3.15942475e+00] [ 1.47166738e-02 5.98813858e-03 9.99873773e-01 1.51202228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08907232899999 meters Centerline goodness [0,1] 0.6348413406397349 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.16, Z:15.12 [[ 9.99768983e-01 1.56027354e-02 -1.47829364e-02 -2.18057462e+01] [-1.56981340e-02 9.99856553e-01 -6.35937534e-03 -3.15635663e+00] [ 1.46815922e-02 6.58997074e-03 9.99870503e-01 1.51199222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11907232899999 meters Centerline goodness [0,1] 0.646805164497882 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.15, Z:15.12 [[ 9.99773427e-01 1.52321385e-02 -1.48686238e-02 -2.18051363e+01] [-1.53392784e-02 9.99857006e-01 -7.11851291e-03 -3.15351678e+00] [ 1.47580675e-02 7.34497401e-03 9.99864116e-01 1.51192644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14907232899999 meters Centerline goodness [0,1] 0.6412056989301831 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.15, Z:15.12 [[ 9.99773905e-01 1.52119510e-02 -1.48571703e-02 -2.18054716e+01] [-1.53260194e-02 9.99853710e-01 -7.59421999e-03 -3.15074308e+00] [ 1.47394739e-02 7.82020425e-03 9.99860786e-01 1.51195450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.179072329 meters Centerline goodness [0,1] 0.65084917617237 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99774072e-01 1.50147868e-02 -1.50453231e-02 -2.18048267e+01] [-1.51349190e-02 9.99854229e-01 -7.90288864e-03 -3.14977355e+00] [ 1.49244698e-02 8.12881290e-03 9.99855581e-01 1.51192485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.209072329 meters Centerline goodness [0,1] 0.6523224908239463 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99773874e-01 1.47479422e-02 -1.53199165e-02 -2.18039840e+01] [-1.48754647e-02 9.99855371e-01 -8.24363104e-03 -3.14863942e+00] [ 1.51961242e-02 8.46965781e-03 9.99848660e-01 1.51189995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239072329 meters Centerline goodness [0,1] 0.652533582939108 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99776256e-01 1.42088341e-02 -1.56699366e-02 -2.18025827e+01] [-1.43492118e-02 9.99857589e-01 -8.88265536e-03 -3.14681850e+00] [ 1.55414929e-02 9.10551916e-03 9.99837763e-01 1.51182322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.269072329 meters Centerline goodness [0,1] 0.6545707774120031 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99775468e-01 1.40566357e-02 -1.58563463e-02 -2.18020122e+01] [-1.42004616e-02 9.99858711e-01 -8.99472292e-03 -3.14634667e+00] [ 1.57276704e-02 9.21787075e-03 9.99833822e-01 1.51181127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299072329 meters Centerline goodness [0,1] 0.6545707774120031 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99775468e-01 1.40566357e-02 -1.58563463e-02 -2.18020122e+01] [-1.42004616e-02 9.99858711e-01 -8.99472292e-03 -3.14634667e+00] [ 1.57276704e-02 9.21787075e-03 9.99833822e-01 1.51181127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.329072329 meters Centerline goodness [0,1] 0.6581203064552833 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99773543e-01 1.38727998e-02 -1.61371535e-02 -2.18014597e+01] [-1.40181918e-02 9.99861847e-01 -8.93181705e-03 -3.14643906e+00] [ 1.60110148e-02 9.15600809e-03 9.99829893e-01 1.51184926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359072329 meters Centerline goodness [0,1] 0.6590874678241558 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99770591e-01 1.40117085e-02 -1.61999318e-02 -2.18017267e+01] [-1.41514950e-02 9.99863336e-01 -8.54663282e-03 -3.14723355e+00] [ 1.60779649e-02 8.77392540e-03 9.99832245e-01 1.51192743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38907232899999 meters Centerline goodness [0,1] 0.6600238028917982 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99765663e-01 1.43139625e-02 -1.62397738e-02 -2.18023750e+01] [-1.44451473e-02 9.99863742e-01 -7.98965296e-03 -3.14842289e+00] [ 1.61231974e-02 8.22236661e-03 9.99836204e-01 1.51204482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41907232899999 meters Centerline goodness [0,1] 0.6701463488613097 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99760361e-01 1.45259572e-02 -1.63773128e-02 -2.18027216e+01] [-1.46530984e-02 9.99863218e-01 -7.67016023e-03 -3.14891810e+00] [ 1.62636563e-02 7.90830054e-03 9.99836463e-01 1.51214188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44907232899999 meters Centerline goodness [0,1] 0.6608511496571199 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99759763e-01 1.46311313e-02 -1.63201284e-02 -2.18028642e+01] [-1.47596274e-02 9.99860795e-01 -7.78100008e-03 -3.14758606e+00] [ 1.62040117e-02 8.02000981e-03 9.99836541e-01 1.51213169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47907232899999 meters Centerline goodness [0,1] 0.6641119374763645 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99760839e-01 1.45226053e-02 -1.63510782e-02 -2.18024303e+01] [-1.46550619e-02 9.99860522e-01 -8.01031598e-03 -3.14632316e+00] [ 1.62324670e-02 8.24802629e-03 9.99834225e-01 1.51207790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50907232899999 meters Centerline goodness [0,1] 0.6570105453904815 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99762356e-01 1.43810929e-02 -1.63834254e-02 -2.18019584e+01] [-1.45176887e-02 9.99860584e-01 -8.24923306e-03 -3.14549270e+00] [ 1.62625083e-02 8.48512215e-03 9.99831753e-01 1.51202151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53907232899999 meters Centerline goodness [0,1] 0.6538024971623155 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99751459e-01 1.48288966e-02 -1.66470277e-02 -2.18022341e+01] [-1.49528697e-02 9.99861203e-01 -7.34755085e-03 -3.14845453e+00] [ 1.65357611e-02 7.59464552e-03 9.99834431e-01 1.51216518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.569072329 meters Centerline goodness [0,1] 0.6606908393091606 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99740616e-01 1.53099839e-02 -1.68613250e-02 -2.18027373e+01] [-1.54208882e-02 9.99860176e-01 -6.46717333e-03 -3.15118102e+00] [ 1.67599550e-02 6.72551246e-03 9.99836922e-01 1.51231850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599072329 meters Centerline goodness [0,1] 0.6620598881210924 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99732621e-01 1.55747166e-02 -1.70913809e-02 -2.18027925e+01] [-1.56777115e-02 9.99859638e-01 -5.90877318e-03 -3.15310727e+00] [ 1.69969545e-02 6.17514703e-03 9.99836472e-01 1.51240691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.629072329 meters Centerline goodness [0,1] 0.6653311694898063 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99733829e-01 1.54089114e-02 -1.71707925e-02 -2.18018031e+01] [-1.55105132e-02 9.99862884e-01 -5.79974562e-03 -3.15435376e+00] [ 1.70790703e-02 6.06452970e-03 9.99835750e-01 1.51230874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659072329 meters Centerline goodness [0,1] 0.6599603718945283 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99735655e-01 1.52718931e-02 -1.71869209e-02 -2.18010534e+01] [-1.53743372e-02 9.99864728e-01 -5.84431481e-03 -3.15451293e+00] [ 1.70953422e-02 6.10700740e-03 9.99835213e-01 1.51221166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.689072329 meters Centerline goodness [0,1] 0.6659709318604119 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.15, Z:15.12 [[ 9.99737866e-01 1.52000798e-02 -1.71218469e-02 -2.18005200e+01] [-1.53030377e-02 9.99865504e-01 -5.89835945e-03 -3.15465228e+00] [ 1.70298886e-02 6.15882955e-03 9.99836012e-01 1.51211340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719072329 meters Centerline goodness [0,1] 0.6462024832368763 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.16, Z:15.12 [[ 9.99733023e-01 1.57425535e-02 -1.69131800e-02 -2.18011797e+01] [-1.58313529e-02 9.99861520e-01 -5.12930263e-03 -3.15727379e+00] [ 1.68300895e-02 5.39569175e-03 9.99843805e-01 1.51213728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74907232899999 meters Centerline goodness [0,1] 0.6508580024987889 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.16, Z:15.12 [[ 9.99723796e-01 1.62649789e-02 -1.69641182e-02 -2.18019276e+01] [-1.63403417e-02 9.99857184e-01 -4.31336714e-03 -3.15961179e+00] [ 1.68915386e-02 4.58937526e-03 9.99846795e-01 1.51226786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77907232899999 meters Centerline goodness [0,1] 0.655625415324848 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.16, Z:15.12 [[ 9.99716972e-01 1.66785162e-02 -1.69647389e-02 -2.18025860e+01] [-1.67441776e-02 9.99852827e-01 -3.73580497e-03 -3.16164064e+00] [ 1.68999345e-02 4.01880824e-03 9.99849109e-01 1.51235802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80907232899999 meters Centerline goodness [0,1] 0.6605806797579223 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.16, Z:15.12 [[ 9.99708865e-01 1.72119515e-02 -1.69095995e-02 -2.18033049e+01] [-1.72653921e-02 9.99846383e-01 -3.01947513e-03 -3.16413865e+00] [ 1.68550309e-02 3.31054692e-03 9.99852463e-01 1.51243773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83907232899999 meters Centerline goodness [0,1] 0.6598997815752281 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.17, Z:15.13 [[ 9.99703683e-01 1.76221653e-02 -1.67930114e-02 -2.18040897e+01] [-1.76665424e-02 9.99840814e-01 -2.49790581e-03 -3.16554443e+00] [ 1.67463197e-02 2.79384009e-03 9.99855867e-01 1.51250316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86907232899999 meters Centerline goodness [0,1] 0.6467934587583944 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.17, Z:15.13 [[ 9.99694583e-01 1.80775322e-02 -1.68506119e-02 -2.18046550e+01] [-1.81103550e-02 9.99834379e-01 -1.79730465e-03 -3.16775032e+00] [ 1.68153303e-02 2.10192629e-03 9.99856403e-01 1.51260442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89907232899999 meters Centerline goodness [0,1] 0.6431547079980335 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.17, Z:15.13 [[ 9.99749155e-01 1.62160316e-02 -1.54488347e-02 -2.18100245e+01] [-1.62897733e-02 9.99856456e-01 -4.65945965e-03 -3.17033553e+00] [ 1.53710592e-02 4.90994887e-03 9.99869803e-01 1.51269274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.929072329 meters Centerline goodness [0,1] 0.6489458026128574 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.17, Z:15.13 [[ 9.99746836e-01 1.64368374e-02 -1.53653886e-02 -2.18099821e+01] [-1.65067687e-02 9.99853916e-01 -4.43552103e-03 -3.17143446e+00] [ 1.52902380e-02 4.68803103e-03 9.99872107e-01 1.51264729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.959072329 meters Centerline goodness [0,1] 0.6386887794765483 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.17, Z:15.13 [[ 9.99746578e-01 1.67942326e-02 -1.49910925e-02 -2.18105159e+01] [-1.68610220e-02 9.99848423e-01 -4.34004479e-03 -3.17127111e+00] [ 1.49159325e-02 4.59171007e-03 9.99878208e-01 1.51256959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.989072329 meters Centerline goodness [0,1] 0.6399979339910129 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.17, Z:15.12 [[ 9.99750845e-01 1.66602110e-02 -1.48554547e-02 -2.18096275e+01] [-1.67351733e-02 9.99847773e-01 -4.93615236e-03 -3.16984255e+00] [ 1.47709560e-02 5.18353111e-03 9.99877467e-01 1.51236684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019072329 meters Centerline goodness [0,1] 0.6302453446755537 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.17, Z:15.12 [[ 9.99745696e-01 1.74523928e-02 -1.42813378e-02 -2.18103879e+01] [-1.75217438e-02 9.99835221e-01 -4.74541502e-03 -3.17036131e+00] [ 1.41961656e-02 4.99444218e-03 9.99886756e-01 1.51220280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.049072329 meters Centerline goodness [0,1] 0.6216321749316673 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.17, Z:15.12 [[ 9.99740461e-01 1.77062192e-02 -1.43352606e-02 -2.18102003e+01] [-1.77715515e-02 9.99832202e-01 -4.44295609e-03 -3.17226681e+00] [ 1.42541872e-02 4.69656279e-03 9.99887374e-01 1.51218178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079072329 meters Centerline goodness [0,1] 0.6201022590911462 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.18, Z:15.12 [[ 9.99733979e-01 1.80016254e-02 -1.44191650e-02 -2.18100690e+01] [-1.80600482e-02 9.99829173e-01 -3.93182309e-03 -3.17536147e+00] [ 1.43459226e-02 4.19118796e-03 9.99888308e-01 1.51218700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.109072329 meters Centerline goodness [0,1] 0.6162839577531396 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.18, Z:15.12 [[ 9.99789796e-01 1.51257408e-02 -1.38410761e-02 -2.18127281e+01] [-1.52187560e-02 9.99862142e-01 -6.63975547e-03 -3.18027189e+00] [ 1.37387367e-02 6.84900373e-03 9.99882162e-01 1.51229720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13907232899999 meters Centerline goodness [0,1] 0.6173626663153735 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.18, Z:15.12 [[ 9.99783215e-01 1.54941292e-02 -1.39088230e-02 -2.18129793e+01] [-1.55733402e-02 9.99863019e-01 -5.60488326e-03 -3.18366857e+00] [ 1.38200749e-02 5.82027504e-03 9.99887559e-01 1.51239004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16907232899999 meters Centerline goodness [0,1] 0.6181165729966489 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.19, Z:15.12 [[ 9.99780690e-01 1.56935580e-02 -1.38666346e-02 -2.18129115e+01] [-1.57639000e-02 9.99863350e-01 -4.97809228e-03 -3.18605682e+00] [ 1.37866158e-02 5.19559278e-03 9.99891462e-01 1.51238748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19907232899999 meters Centerline goodness [0,1] 0.6252625980587687 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.19, Z:15.12 [[ 9.99779516e-01 1.55668478e-02 -1.40923072e-02 -2.18112926e+01] [-1.56295587e-02 9.99868385e-01 -4.35086126e-03 -3.19046215e+00] [ 1.40227232e-02 4.57015850e-03 9.99891233e-01 1.51227096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22907232899999 meters Centerline goodness [0,1] 0.6325964640942908 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.19, Z:15.12 [[ 9.99771598e-01 1.58668587e-02 -1.43176492e-02 -2.18110291e+01] [-1.59174918e-02 9.99867428e-01 -3.42941023e-03 -3.19408703e+00] [ 1.42613371e-02 3.65652801e-03 9.99891616e-01 1.51233460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25907232899999 meters Centerline goodness [0,1] 0.6258373975025457 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.20, Z:15.12 [[ 9.99762637e-01 1.61070890e-02 -1.46707628e-02 -2.18106317e+01] [-1.61437178e-02 9.99866845e-01 -2.38171784e-03 -3.19852100e+00] [ 1.46304468e-02 2.61799316e-03 9.99889542e-01 1.51243923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28907232899999 meters Centerline goodness [0,1] 0.6329049257904926 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.20, Z:15.13 [[ 9.99754601e-01 1.62594354e-02 -1.50455524e-02 -2.18101431e+01] [-1.62811924e-02 9.99866575e-01 -1.32471265e-03 -3.20308676e+00] [ 1.50220059e-02 1.56934710e-03 9.99885932e-01 1.51255211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.319072329 meters Centerline goodness [0,1] 0.6324515849832306 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.21, Z:15.13 [[ 9.99751967e-01 1.58500577e-02 -1.56454711e-02 -2.18079697e+01] [-1.58578775e-02 9.99874185e-01 -3.75871317e-04 -3.20959854e+00] [ 1.56375450e-02 6.23882052e-04 9.99877531e-01 1.51254689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.349072329 meters Centerline goodness [0,1] 0.6420812513578101 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.21, Z:15.12 [[ 9.99750200e-01 1.59153063e-02 -1.56920530e-02 -2.18073879e+01] [-1.59182143e-02 9.99873295e-01 -6.04184557e-05 -3.21153272e+00] [ 1.56891032e-02 3.10192825e-04 9.99876870e-01 1.51248540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379072329 meters Centerline goodness [0,1] 0.6322457857531267 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.21, Z:15.12 [[ 9.99750387e-01 1.58576488e-02 -1.57384246e-02 -2.18065716e+01] [-1.58613894e-02 9.99874194e-01 -1.12870976e-04 -3.21262867e+00] [ 1.57346547e-02 3.62476083e-04 9.99876137e-01 1.51237432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.409072329 meters Centerline goodness [0,1] 0.6302488867032756 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.21, Z:15.12 [[ 9.99747943e-01 1.63321188e-02 -1.54049208e-02 -2.18068508e+01] [-1.63311526e-02 9.99866620e-01 1.88524728e-04 -3.21457634e+00] [ 1.54059451e-02 6.31029037e-05 9.99881319e-01 1.51226013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439072329 meters Centerline goodness [0,1] 0.6221566860544496 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99745623e-01 1.65970352e-02 -1.52717823e-02 -2.18071956e+01] [-1.65934788e-02 9.99862254e-01 3.59568828e-04 -3.21546315e+00] [ 1.52756464e-02 -1.06065367e-04 9.99883315e-01 1.51224882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.469072329 meters Centerline goodness [0,1] 0.6183709787816565 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99737257e-01 1.72117993e-02 -1.51383884e-02 -2.18080331e+01] [-1.72012578e-02 9.99851706e-01 8.26285140e-04 -3.21744650e+00] [ 1.51503654e-02 -5.65668717e-04 9.99885067e-01 1.51227883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49907232899999 meters Centerline goodness [0,1] 0.6178067913763783 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99735441e-01 1.74545298e-02 -1.49795467e-02 -2.18084317e+01] [-1.74420166e-02 9.99847410e-01 9.65604276e-04 -3.21822262e+00] [ 1.49941151e-02 -7.04075315e-04 9.99887334e-01 1.51226607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52907232899999 meters Centerline goodness [0,1] 0.6113836288399879 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99733097e-01 1.75671681e-02 -1.50042957e-02 -2.18082922e+01] [-1.75549673e-02 9.99845454e-01 9.44488408e-04 -3.21866819e+00] [ 1.50185688e-02 -6.80836402e-04 9.99886983e-01 1.51223405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55907232899999 meters Centerline goodness [0,1] 0.6180093483640363 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99731402e-01 1.78285271e-02 -1.48076892e-02 -2.18087575e+01] [-1.78169603e-02 9.99840849e-01 9.12698342e-04 -3.21879341e+00] [ 1.48216046e-02 -6.48625184e-04 9.99889944e-01 1.51219587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58907232899999 meters Centerline goodness [0,1] 0.6100749855796962 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99731956e-01 1.81939699e-02 -1.43176725e-02 -2.18093687e+01] [-1.81892438e-02 9.99834456e-01 4.60246165e-04 -3.21749452e+00] [ 1.43236760e-02 -1.99695162e-04 9.99897391e-01 1.51202493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61907232899999 meters Centerline goodness [0,1] 0.6157351487866476 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99733690e-01 1.83176433e-02 -1.40361608e-02 -2.18098411e+01] [-1.83158965e-02 9.99832218e-01 2.53004768e-04 -3.21673161e+00] [ 1.40384402e-02 4.14747680e-06 9.99901456e-01 1.51196692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64907232899999 meters Centerline goodness [0,1] 0.6130307105414825 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99733973e-01 1.83653114e-02 -1.39534358e-02 -2.18100056e+01] [-1.83644657e-02 9.99831341e-01 1.88747147e-04 -3.21672932e+00] [ 1.39545489e-02 6.75504590e-05 9.99902628e-01 1.51195031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.679072329 meters Centerline goodness [0,1] 0.6157562039362906 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99796967e-01 1.53570340e-02 -1.30455770e-02 -2.18131740e+01] [-1.54042857e-02 9.99875118e-01 -3.52931250e-03 -3.21731859e+00] [ 1.29897481e-02 3.72955373e-03 9.99908674e-01 1.51195330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.709072329 meters Centerline goodness [0,1] 0.6143250688705234 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99794681e-01 1.53516752e-02 -1.32258121e-02 -2.18127307e+01] [-1.53962911e-02 9.99876096e-01 -3.27819778e-03 -3.21826792e+00] [ 1.31738475e-02 3.48115316e-03 9.99907161e-01 1.51197390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739072329 meters Centerline goodness [0,1] 0.6212221304706853 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99796409e-01 1.51686496e-02 -1.33060839e-02 -2.18121035e+01] [-1.52166182e-02 9.99878056e-01 -3.51119936e-03 -3.21781134e+00] [ 1.32512012e-02 3.71295811e-03 9.99905305e-01 1.51191209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.769072329 meters Centerline goodness [0,1] 0.6193009537460721 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99803539e-01 1.46703664e-02 -1.33290663e-02 -2.18110890e+01] [-1.47256517e-02 9.99883333e-01 -4.05908907e-03 -3.21587452e+00] [ 1.32679629e-02 4.25457080e-03 9.99902925e-01 1.51179525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799072329 meters Centerline goodness [0,1] 0.6220567629200209 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99804095e-01 1.40556683e-02 -1.39359244e-02 -2.18089647e+01] [-1.41171128e-02 9.99891014e-01 -4.32054410e-03 -3.21575084e+00] [ 1.38736775e-02 4.51643270e-03 9.99893556e-01 1.51174702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.829072329 meters Centerline goodness [0,1] 0.6265777434823347 Centerline is valid? [False, False] Translation: X:-21.81, Y:-3.22, Z:15.12 [[ 9.99800852e-01 1.37479525e-02 -1.44654778e-02 -2.18073601e+01] [-1.38083107e-02 9.99896333e-01 -4.08099266e-03 -3.21748177e+00] [ 1.44078729e-02 4.27992375e-03 9.99887041e-01 1.51174639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859072329 meters Centerline goodness [0,1] 0.6391305548650814 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.22, Z:15.12 [[ 9.99847603e-01 8.31302697e-03 -1.53513638e-02 -2.18034661e+01] [-8.44830672e-03 9.99925867e-01 -8.76850604e-03 -3.21864892e+00] [ 1.52773329e-02 8.89686278e-03 9.99843712e-01 1.51155698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88907232899999 meters Centerline goodness [0,1] 0.6482684281805368 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.22, Z:15.12 [[ 9.99837531e-01 7.21707247e-03 -1.65174522e-02 -2.17997734e+01] [-7.35650221e-03 9.99937691e-01 -8.39622359e-03 -3.22108082e+00] [ 1.64558269e-02 8.51637014e-03 9.99828324e-01 1.51159988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91907232899999 meters Centerline goodness [0,1] 0.6515436019219086 Centerline is valid? [False, False] Translation: X:-21.80, Y:-3.22, Z:15.12 [[ 9.99828167e-01 6.25083560e-03 -1.74517584e-02 -2.17968053e+01] [-6.39019340e-03 9.99948052e-01 -7.94100343e-03 -3.22367351e+00] [ 1.74012139e-02 8.05115902e-03 9.99816171e-01 1.51166355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94907232899999 meters Centerline goodness [0,1] 0.6753381021571476 Centerline is valid? [False, False] Translation: X:-21.79, Y:-3.23, Z:15.12 [[ 9.99837227e-01 9.93671651e-04 -1.80147606e-02 -2.17943203e+01] [-1.20869699e-03 9.99928115e-01 -1.19291078e-02 -3.22550789e+00] [ 1.80016120e-02 1.19489405e-02 9.99766555e-01 1.51163571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97907232899999 meters Centerline goodness [0,1] 0.6943698231475264 Centerline is valid? [False, False] Translation: X:-21.79, Y:-3.23, Z:15.12 [[ 9.99819551e-01 1.49950935e-04 -1.89958866e-02 -2.17913299e+01] [-3.66583162e-04 9.99934937e-01 -1.14011964e-02 -3.22805018e+00] [ 1.89929411e-02 1.14061026e-02 9.99754554e-01 1.51169450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00907232899999 meters Centerline goodness [0,1] 0.7106467829359395 Centerline is valid? [False, False] Translation: X:-21.79, Y:-3.23, Z:15.12 [[ 9.99802126e-01 -6.41705725e-04 -1.98820918e-02 -2.17883490e+01] [ 4.22430858e-04 9.99939067e-01 -1.10310000e-02 -3.23062742e+00] [ 1.98879590e-02 1.10204184e-02 9.99741476e-01 1.51169260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03907232899999 meters Centerline goodness [0,1] 0.7493474050579616 Centerline is valid? [False, False] Translation: X:-21.78, Y:-3.23, Z:15.12 [[ 9.99775501e-01 -1.95067498e-03 -2.10984136e-02 -2.17839022e+01] [ 1.71669972e-03 9.99936896e-01 -1.11021411e-02 -3.23248273e+00] [ 2.11187389e-02 1.10634291e-02 9.99715759e-01 1.51162623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.069072329 meters Centerline goodness [0,1] 0.7872017536464042 Centerline is valid? [False, False] Translation: X:-21.77, Y:-3.23, Z:15.12 [[ 9.99702827e-01 -7.26287597e-03 -2.32703291e-02 -2.17717520e+01] [ 7.00000490e-03 9.99910994e-01 -1.13580191e-02 -3.23452806e+00] [ 2.33507498e-02 1.11917514e-02 9.99664687e-01 1.51160318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099072329 meters Centerline goodness [0,1] 0.8000224820143885 Centerline is valid? [False, False] Translation: X:-21.77, Y:-3.24, Z:15.12 [[ 9.99676059e-01 -8.10001801e-03 -2.41281515e-02 -2.17688852e+01] [ 7.83924636e-03 9.99910051e-01 -1.08828278e-02 -3.23711073e+00] [ 2.42141323e-02 1.06901558e-02 9.99649637e-01 1.51164402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.129072329 meters Centerline goodness [0,1] 0.8055650005667007 Centerline is valid? [False, False] Translation: X:-21.77, Y:-3.24, Z:15.12 [[ 9.99614802e-01 -1.28794809e-02 -2.45838569e-02 -2.17676089e+01] [ 1.25340456e-02 9.99821264e-01 -1.41540582e-02 -3.24014758e+00] [ 2.47617598e-02 1.38404709e-02 9.99597567e-01 1.51179420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159072329 meters Centerline goodness [0,1] 0.8039432624113475 Centerline is valid? [False, False] Translation: X:-21.77, Y:-3.24, Z:15.12 [[ 9.99594894e-01 -1.31360477e-02 -2.52486242e-02 -2.17664153e+01] [ 1.28094419e-02 9.99832740e-01 -1.30540923e-02 -3.24329313e+00] [ 2.54158803e-02 1.27253833e-02 9.99595967e-01 1.51200295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.189072329 meters Centerline goodness [0,1] 0.8040502158600318 Centerline is valid? [False, False] Translation: X:-21.76, Y:-3.24, Z:15.12 [[ 9.99572547e-01 -1.35251219e-02 -2.59189947e-02 -2.17647068e+01] [ 1.32018733e-02 9.99833432e-01 -1.26022981e-02 -3.24490467e+00] [ 2.60851250e-02 1.22547319e-02 9.99584608e-01 1.51207778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219072329 meters Centerline goodness [0,1] 0.8040502158600318 Centerline is valid? [False, False] Translation: X:-21.76, Y:-3.25, Z:15.12 [[ 9.99602625e-01 -1.10066291e-02 -2.59508323e-02 -2.17633464e+01] [ 1.07625945e-02 9.99896718e-01 -9.52472971e-03 -3.24746313e+00] [ 2.60529872e-02 9.24164654e-03 9.99617844e-01 1.51200126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24907232899999 meters Centerline goodness [0,1] 0.8053710327598933 Centerline is valid? [False, False] Translation: X:-21.76, Y:-3.25, Z:15.12 [[ 9.99621331e-01 -9.15621626e-03 -2.59491608e-02 -2.17609039e+01] [ 9.00408043e-03 9.99941619e-01 -5.97363645e-03 -3.25018184e+00] [ 2.60023418e-02 5.73772609e-03 9.99645415e-01 1.51196757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27907232899999 meters Centerline goodness [0,1] 0.8077271954192414 Centerline is valid? [False, False] Translation: X:-21.76, Y:-3.25, Z:15.12 [[ 9.99584171e-01 -1.06246607e-02 -2.68067642e-02 -2.17563363e+01] [ 1.04381638e-02 9.99920403e-01 -7.08745524e-03 -3.24838944e+00] [ 2.68799322e-02 6.80469467e-03 9.99615509e-01 1.51170394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30907232899999 meters Centerline goodness [0,1] 0.8090622246226442 Centerline is valid? [False, False] Translation: X:-21.76, Y:-3.25, Z:15.12 [[ 9.99571821e-01 -1.08623790e-02 -2.71695179e-02 -2.17553248e+01] [ 1.06758009e-02 9.99918490e-01 -7.00284241e-03 -3.24856185e+00] [ 2.72433709e-02 6.70978758e-03 9.99606311e-01 1.51172290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33907232899999 meters Centerline goodness [0,1] 0.8082336182336183 Centerline is valid? [False, False] Translation: X:-21.76, Y:-3.25, Z:15.12 [[ 9.99565268e-01 -1.08100708e-02 -2.74302237e-02 -2.17550749e+01] [ 1.06358551e-02 9.99922381e-01 -6.48920790e-03 -3.24979841e+00] [ 2.74982434e-02 6.19464295e-03 9.99602658e-01 1.51182005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36907232899999 meters Centerline goodness [0,1] 0.8119232083855532 Centerline is valid? [False, False] Translation: X:-21.76, Y:-3.25, Z:15.12 [[ 9.99560842e-01 -1.07380307e-02 -2.76191403e-02 -2.17550088e+01] [ 1.05756033e-02 9.99925953e-01 -6.02034243e-03 -3.25081764e+00] [ 2.76817418e-02 5.72560949e-03 9.99600389e-01 1.51191693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39907232899999 meters Centerline goodness [0,1] 0.8113330870442468 Centerline is valid? [False, False] Translation: X:-21.75, Y:-3.25, Z:15.12 [[ 9.99527995e-01 -8.43206439e-03 -2.95412806e-02 -2.17493791e+01] [ 8.42760788e-03 9.99964449e-01 -2.75364537e-04 -3.25383313e+00] [ 2.95425523e-02 2.62722343e-05 9.99563523e-01 1.51233212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.429072329 meters Centerline goodness [0,1] 0.8095102829223952 Centerline is valid? [False, False] Translation: X:-21.75, Y:-3.25, Z:15.12 [[ 9.99522921e-01 -8.74471965e-03 -2.96219467e-02 -2.17487210e+01] [ 8.72542354e-03 9.99961628e-01 -7.80613073e-04 -3.25193089e+00] [ 2.96276363e-02 5.21776628e-04 9.99560869e-01 1.51226359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.459072329 meters Centerline goodness [0,1] 0.8097700175170933 Centerline is valid? [False, False] Translation: X:-21.75, Y:-3.25, Z:15.12 [[ 9.99511748e-01 -5.45746330e-03 -3.07649532e-02 -2.17454565e+01] [ 5.57054347e-03 9.99978036e-01 3.59110597e-03 -3.25350235e+00] [ 3.07446791e-02 -3.76073011e-03 9.99520196e-01 1.51234643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.489072329 meters Centerline goodness [0,1] 0.8118319099598439 Centerline is valid? [False, False] Translation: X:-21.73, Y:-3.25, Z:15.12 [[ 9.99665632e-01 -3.58560782e-03 -2.56079792e-02 -2.17287416e+01] [ 3.44432382e-03 9.99978616e-01 -5.55916585e-03 -3.24897367e+00] [ 2.56273646e-02 5.46910487e-03 9.99656605e-01 1.51170117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519072329 meters Centerline goodness [0,1] 0.8118012422360248 Centerline is valid? [False, False] Translation: X:-21.73, Y:-3.25, Z:15.12 [[ 9.99642299e-01 1.32756324e-04 -2.67442804e-02 -2.17266590e+01] [-1.43410537e-04 9.99999911e-01 -3.96455884e-04 -3.25225840e+00] [ 2.67442254e-02 4.00149483e-04 9.99642229e-01 1.51197500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.549072329 meters Centerline goodness [0,1] 0.8148660474832736 Centerline is valid? [False, False] Translation: X:-21.73, Y:-3.25, Z:15.12 [[ 9.99635160e-01 -1.33242413e-04 -2.70097908e-02 -2.17259913e+01] [ 1.10157287e-04 9.99999627e-01 -8.56180867e-04 -3.25096471e+00] [ 2.70098948e-02 8.52893173e-04 9.99634802e-01 1.51196613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579072329 meters Centerline goodness [0,1] 0.8181971498440004 Centerline is valid? [False, False] Translation: X:-21.72, Y:-3.25, Z:15.12 [[ 9.99598922e-01 3.34963394e-03 -2.81207244e-02 -2.17232108e+01] [-3.24862398e-03 9.99988110e-01 3.63692921e-03 -3.25276384e+00] [ 2.81325724e-02 -3.54411686e-03 9.99597918e-01 1.51209199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60907232899999 meters Centerline goodness [0,1] 0.8164767796657615 Centerline is valid? [False, False] Translation: X:-21.72, Y:-3.25, Z:15.12 [[ 9.99600685e-01 3.15403264e-03 -2.80806308e-02 -2.17226889e+01] [-3.09135956e-03 9.99992634e-01 2.27502982e-03 -3.24789379e+00] [ 2.80875995e-02 -2.18731404e-03 9.99603072e-01 1.51189493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63907232899999 meters Centerline goodness [0,1] 0.8174285474344261 Centerline is valid? [False, False] Translation: X:-21.72, Y:-3.25, Z:15.12 [[ 9.99605411e-01 3.09368033e-03 -2.79186555e-02 -2.17228187e+01] [-3.04859901e-03 9.99993980e-01 1.65715856e-03 -3.24567335e+00] [ 2.79236141e-02 -1.57139188e-03 9.99608825e-01 1.51181493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66907232899999 meters Centerline goodness [0,1] 0.8165912012968863 Centerline is valid? [False, False] Translation: X:-21.72, Y:-3.24, Z:15.11 [[ 9.99865249e-01 5.99716052e-04 -1.64049875e-02 -2.17152078e+01] [-5.81699913e-04 9.99999223e-01 1.10296071e-03 -3.24228734e+00] [ 1.64056362e-02 -1.09326930e-03 9.99864821e-01 1.51095236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69907232899999 meters Centerline goodness [0,1] 0.8166792095214204 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.24, Z:15.11 [[ 9.99865263e-01 5.02309922e-04 -1.64074354e-02 -2.17149879e+01] [-4.98329792e-04 9.99999845e-01 2.46668431e-04 -3.23919147e+00] [ 1.64075567e-02 -2.38458882e-04 9.99865359e-01 1.51085901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72907232899999 meters Centerline goodness [0,1] 0.8161957309257092 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.24, Z:15.11 [[ 9.99865491e-01 4.07433842e-04 -1.63961695e-02 -2.17148058e+01] [-4.11416579e-04 9.99999887e-01 -2.39534221e-04 -3.23752079e+00] [ 1.63960700e-02 2.46247657e-04 9.99865545e-01 1.51080164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75907232899999 meters Centerline goodness [0,1] 0.8114644723673968 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.24, Z:15.11 [[ 9.99861704e-01 -1.44967193e-05 -1.66304784e-02 -2.17137700e+01] [-3.15014504e-06 9.99999437e-01 -1.06108917e-03 -3.23536084e+00] [ 1.66304844e-02 1.06099482e-03 9.99861141e-01 1.51071388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78907232899999 meters Centerline goodness [0,1] 0.8117061782607488 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.24, Z:15.11 [[ 9.99860358e-01 -4.84749909e-05 -1.67111538e-02 -2.17136869e+01] [ 3.18013882e-05 9.99999501e-01 -9.98017220e-04 -3.23528982e+00] [ 1.67111939e-02 9.97346417e-04 9.99859861e-01 1.51074740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.819072329 meters Centerline goodness [0,1] 0.8108994856110108 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.24, Z:15.11 [[ 9.99859834e-01 1.54900076e-05 -1.67425453e-02 -2.17138986e+01] [-2.97020060e-05 9.99999639e-01 -8.48606977e-04 -3.23530750e+00] [ 1.67425261e-02 8.48985318e-04 9.99859474e-01 1.51079939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.849072329 meters Centerline goodness [0,1] 0.8069009443105979 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.23, Z:15.11 [[ 9.99860060e-01 4.00723630e-05 -1.67289695e-02 -2.17143014e+01] [-5.24841076e-05 9.99999724e-01 -7.41492839e-04 -3.23448074e+00] [ 1.67289352e-02 7.42267080e-04 9.99859786e-01 1.51088314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879072329 meters Centerline goodness [0,1] 0.8037152902743556 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.23, Z:15.11 [[ 9.99856680e-01 -1.56744858e-04 -1.69291002e-02 -2.17137119e+01] [ 1.41298107e-04 9.99999573e-01 -9.13630025e-04 -3.23364864e+00] [ 1.69292362e-02 9.11107034e-04 9.99856275e-01 1.51088295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.909072329 meters Centerline goodness [0,1] 0.8029602987965141 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.23, Z:15.11 [[ 9.99851845e-01 -5.88580916e-04 -1.72029808e-02 -2.17123152e+01] [ 5.64832442e-04 9.99998881e-01 -1.38531213e-03 -3.23258975e+00] [ 1.72037769e-02 1.37539008e-03 9.99851058e-01 1.51079079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939072329 meters Centerline goodness [0,1] 0.799229724862154 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.23, Z:15.11 [[ 9.99846010e-01 -1.07360896e-03 -1.75158117e-02 -2.17107321e+01] [ 1.04229164e-03 9.99997842e-01 -1.79697701e-03 -3.23178520e+00] [ 1.75177031e-02 1.77844371e-03 9.99844972e-01 1.51069696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.969072329 meters Centerline goodness [0,1] 0.7962962962962963 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.23, Z:15.11 [[ 9.99834135e-01 -1.74120347e-03 -1.81292597e-02 -2.17085401e+01] [ 1.70808920e-03 9.99996845e-01 -1.84188927e-03 -3.23246023e+00] [ 1.81324096e-02 1.81061738e-03 9.99833955e-01 1.51067997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99907232899999 meters Centerline goodness [0,1] 0.7936015940665302 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.23, Z:15.11 [[ 9.99825851e-01 -2.04405837e-03 -1.85496605e-02 -2.17075206e+01] [ 2.01118360e-03 9.99996374e-01 -1.79073932e-03 -3.23319442e+00] [ 1.85532537e-02 1.75312069e-03 9.99826337e-01 1.51072053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02907232899999 meters Centerline goodness [0,1] 0.796138589142556 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.23, Z:15.11 [[ 9.99822633e-01 -1.97572121e-03 -1.87296356e-02 -2.17076613e+01] [ 1.95008881e-03 9.99997137e-01 -1.38671304e-03 -3.23388429e+00] [ 1.87323217e-02 1.34994263e-03 9.99823623e-01 1.51083672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05907232899999 meters Centerline goodness [0,1] 0.7927035649882092 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.23, Z:15.11 [[ 9.99819068e-01 -2.08361981e-03 -1.89074235e-02 -2.17075461e+01] [ 2.05887779e-03 9.99996999e-01 -1.32795887e-03 -3.23307807e+00] [ 1.89101337e-02 1.28879052e-03 9.99820357e-01 1.51091525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08907232899999 meters Centerline goodness [0,1] 0.7913173818908565 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.23, Z:15.11 [[ 9.99814197e-01 -2.31214612e-03 -1.91370325e-02 -2.17067649e+01] [ 2.28321837e-03 9.99996218e-01 -1.53332230e-03 -3.23235116e+00] [ 1.91405054e-02 1.48934338e-03 9.99815694e-01 1.51089402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11907232899999 meters Centerline goodness [0,1] 0.7972800088997664 Centerline is valid? [False, False] Translation: X:-21.71, Y:-3.23, Z:15.11 [[ 9.99808225e-01 -2.54644867e-03 -1.94172186e-02 -2.17056549e+01] [ 2.51445090e-03 9.99995441e-01 -1.67214334e-03 -3.23232203e+00] [ 1.94213881e-02 1.62299903e-03 9.99810070e-01 1.51084696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14907232899999 meters Centerline goodness [0,1] 0.7974528328177688 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.23, Z:15.11 [[ 9.99796822e-01 -3.09286714e-03 -1.99185494e-02 -2.17034210e+01] [ 3.04833553e-03 9.99992787e-01 -2.26565966e-03 -3.23157256e+00] [ 1.99254132e-02 2.20448090e-03 9.99799039e-01 1.51070027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.179072329 meters Centerline goodness [0,1] 0.799883005097635 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.23, Z:15.11 [[ 9.99796020e-01 -3.32873968e-03 -1.99208086e-02 -2.17028371e+01] [ 3.27692478e-03 9.99991164e-01 -2.63312209e-03 -3.23022612e+00] [ 1.99293976e-02 2.56730599e-03 9.99798094e-01 1.51062133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.209072329 meters Centerline goodness [0,1] 0.7982436576526345 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.23, Z:15.11 [[ 9.99791089e-01 -3.64134119e-03 -2.01126630e-02 -2.17020598e+01] [ 3.57948784e-03 9.99988756e-01 -3.11048817e-03 -3.22786716e+00] [ 2.01237632e-02 3.03784532e-03 9.99792881e-01 1.51058192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239072329 meters Centerline goodness [0,1] 0.7988438663776333 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.23, Z:15.11 [[ 9.99773069e-01 -1.70458846e-04 -2.13021550e-02 -2.16992723e+01] [ 2.07003428e-04 9.99998511e-01 1.71334124e-03 -3.23132764e+00] [ 2.13018312e-02 -1.71736205e-03 9.99771615e-01 1.51075059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.269072329 meters Centerline goodness [0,1] 0.7989048863194175 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.23, Z:15.11 [[ 9.99772108e-01 1.86773503e-06 -2.13479018e-02 -2.16996884e+01] [ 3.81033753e-05 9.99998247e-01 1.87196025e-03 -3.23148200e+00] [ 2.13478679e-02 -1.87234707e-03 9.99770355e-01 1.51082610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299072329 meters Centerline goodness [0,1] 0.7971671861086376 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.23, Z:15.11 [[ 9.99767446e-01 -1.70305494e-04 -2.15644351e-02 -2.16989095e+01] [ 2.03692938e-04 9.99998784e-01 1.54607719e-03 -3.23120541e+00] [ 2.15641456e-02 -1.55011017e-03 9.99766265e-01 1.51077850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.329072329 meters Centerline goodness [0,1] 0.8026326751645422 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.23, Z:15.11 [[ 9.99767880e-01 -9.01512050e-05 -2.15448120e-02 -2.16989465e+01] [ 1.08167197e-04 9.99999645e-01 8.35046350e-04 -3.22918905e+00] [ 2.15447291e-02 -8.37182960e-04 9.99767535e-01 1.51069843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35907232899999 meters Centerline goodness [0,1] 0.7986346228561914 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.23, Z:15.11 [[ 9.99767832e-01 -1.83305509e-04 -2.15464075e-02 -2.16988753e+01] [ 1.89218070e-04 9.99999945e-01 2.72372149e-04 -3.22726352e+00] [ 2.15463563e-02 -2.76385883e-04 9.99767812e-01 1.51065537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38907232899999 meters Centerline goodness [0,1] 0.7961251037918627 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.22, Z:15.10 [[ 9.99865555e-01 3.42567327e-03 -1.60354895e-02 -2.16829394e+01] [-3.53457566e-03 9.99970851e-01 -6.76792796e-03 -3.22406307e+00] [ 1.60118373e-02 6.82369670e-03 9.99848518e-01 1.51005640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41907232899999 meters Centerline goodness [0,1] 0.7954965135187277 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.23, Z:15.10 [[ 9.99838151e-01 8.07680091e-03 -1.60759916e-02 -2.16839417e+01] [-8.10530431e-03 9.99965692e-01 -1.70867655e-03 -3.22529355e+00] [ 1.60616394e-02 1.83870081e-03 9.99869313e-01 1.51027167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44907232899999 meters Centerline goodness [0,1] 0.7964604198106736 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99789717e-01 1.34851877e-02 -1.54489703e-02 -2.16872487e+01] [-1.34452667e-02 9.99906003e-01 2.68501737e-03 -3.22269011e+00] [ 1.54837261e-02 -2.47673723e-03 9.99877052e-01 1.51045314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47907232899999 meters Centerline goodness [0,1] 0.7997981341044247 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.11 [[ 9.99716046e-01 1.78392605e-02 -1.57983893e-02 -2.16869110e+01] [-1.77271090e-02 9.99816861e-01 7.21074591e-03 -3.22397859e+00] [ 1.59241304e-02 -6.92863861e-03 9.99849197e-01 1.51056947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50907232899999 meters Centerline goodness [0,1] 0.7848332696610817 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.11 [[ 9.99689062e-01 1.97286547e-02 -1.52498961e-02 -2.16902315e+01] [-1.96216313e-02 9.99782011e-01 7.13603746e-03 -3.22050742e+00] [ 1.53873562e-02 -6.83459075e-03 9.99858249e-01 1.51060307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53907232899999 meters Centerline goodness [0,1] 0.7784938015400579 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.11 [[ 9.99685152e-01 2.02338023e-02 -1.48388126e-02 -2.16917592e+01] [-2.01348503e-02 9.99774231e-01 6.78782793e-03 -3.21835889e+00] [ 1.49728060e-02 -6.48691353e-03 9.99866859e-01 1.51060283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.569072329 meters Centerline goodness [0,1] 0.7664497862957014 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.11 [[ 9.99681983e-01 2.06457609e-02 -1.44804994e-02 -2.16931908e+01] [-2.05545976e-02 9.99768142e-01 6.41642848e-03 -3.21603400e+00] [ 1.46096140e-02 -6.11674711e-03 9.99874564e-01 1.51061672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599072329 meters Centerline goodness [0,1] 0.7524009032293169 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.21, Z:15.11 [[ 9.99676508e-01 2.11646431e-02 -1.41044829e-02 -2.16950066e+01] [-2.10768471e-02 9.99757727e-01 6.34454358e-03 -3.21436644e+00] [ 1.42353458e-02 -6.04521315e-03 9.99880398e-01 1.51069808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.629072329 meters Centerline goodness [0,1] 0.7340963462374945 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.21, Z:15.11 [[ 9.99665997e-01 2.19951692e-02 -1.35686261e-02 -2.16975610e+01] [-2.19096472e-02 9.99739343e-01 6.41971444e-03 -3.21261694e+00] [ 1.37062921e-02 -6.12028642e-03 9.99887333e-01 1.51081180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659072329 meters Centerline goodness [0,1] 0.7308153804199617 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.21, Z:15.11 [[ 9.99670273e-01 2.17553521e-02 -1.36399952e-02 -2.16967355e+01] [-2.16764235e-02 9.99747583e-01 5.90795387e-03 -3.21173778e+00] [ 1.37650818e-02 -5.61033955e-03 9.99889517e-01 1.51069831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.689072329 meters Centerline goodness [0,1] 0.7300339904826649 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.21, Z:15.11 [[ 9.99679079e-01 2.11112136e-02 -1.40019548e-02 -2.16946276e+01] [-2.10423481e-02 9.99765844e-01 5.04751297e-03 -3.21047740e+00] [ 1.41052352e-02 -4.75125911e-03 9.99889228e-01 1.51051015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719072329 meters Centerline goodness [0,1] 0.74548918220166 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.21, Z:15.10 [[ 9.99691531e-01 2.01454732e-02 -1.45259401e-02 -2.16916432e+01] [-2.00879875e-02 9.99789840e-01 4.09256953e-03 -3.20980750e+00] [ 1.46053341e-02 -3.79951019e-03 9.99886117e-01 1.51027350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74907232899999 meters Centerline goodness [0,1] 0.7516668934548918 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.21, Z:15.10 [[ 9.99770446e-01 1.62680871e-02 -1.39428749e-02 -2.16928758e+01] [-1.62782848e-02 9.99867309e-01 -6.18201814e-04 -3.20736401e+00] [ 1.39309678e-02 8.45025991e-04 9.99902602e-01 1.51014507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77907232899999 meters Centerline goodness [0,1] 0.7585275337008132 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.21, Z:15.10 [[ 9.99832993e-01 1.25206863e-02 -1.33123584e-02 -2.16945599e+01] [-1.25872124e-02 9.99908647e-01 -4.92533255e-03 -3.20551226e+00] [ 1.32494737e-02 5.09207547e-03 9.99899256e-01 1.51010268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80907232899999 meters Centerline goodness [0,1] 0.7623991715718335 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.21, Z:15.10 [[ 9.99831277e-01 1.18149445e-02 -1.40650493e-02 -2.16920933e+01] [-1.18802011e-02 9.99919007e-01 -4.56514713e-03 -3.20839215e+00] [ 1.40099732e-02 4.73147249e-03 9.99890661e-01 1.51011990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83907232899999 meters Centerline goodness [0,1] 0.766362815143303 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.21, Z:15.10 [[ 9.99829179e-01 1.16863247e-02 -1.43192821e-02 -2.16911645e+01] [-1.17504776e-02 9.99921261e-01 -4.40425609e-03 -3.20973802e+00] [ 1.42666851e-02 4.57176216e-03 9.99887774e-01 1.51009147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86907232899999 meters Centerline goodness [0,1] 0.7796024674434544 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.21, Z:15.10 [[ 9.99827771e-01 1.15094030e-02 -1.45589006e-02 -2.16902052e+01] [-1.15740007e-02 9.99923511e-01 -4.36054077e-03 -3.21055507e+00] [ 1.45075998e-02 4.52829448e-03 9.99884505e-01 1.51005603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89907232899999 meters Centerline goodness [0,1] 0.7810703228659885 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.21, Z:15.10 [[ 9.99826052e-01 1.13289244e-02 -1.48162343e-02 -2.16890600e+01] [-1.13895280e-02 9.99927087e-01 -4.01237909e-03 -3.21246288e+00] [ 1.47696981e-02 4.18043106e-03 9.99882183e-01 1.51002155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.929072329 meters Centerline goodness [0,1] 0.7822249193170221 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.21, Z:15.10 [[ 9.99823961e-01 1.10560939e-02 -1.51594560e-02 -2.16878713e+01] [-1.11165538e-02 9.99930565e-01 -3.90981136e-03 -3.21349670e+00] [ 1.51151762e-02 4.07764399e-03 9.99877445e-01 1.51000600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.959072329 meters Centerline goodness [0,1] 0.7904672536085888 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99817929e-01 1.10391364e-02 -1.55642770e-02 -2.16870346e+01] [-1.10923743e-02 9.99932905e-01 -3.33834517e-03 -3.21563526e+00] [ 1.55263803e-02 3.51038213e-03 9.99873296e-01 1.51006978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.989072329 meters Centerline goodness [0,1] 0.7906000607516638 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99813032e-01 1.10757315e-02 -1.58502173e-02 -2.16864661e+01] [-1.11222898e-02 9.99934077e-01 -2.85225593e-03 -3.21757498e+00] [ 1.58175816e-02 3.02801336e-03 9.99870309e-01 1.51011926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019072329 meters Centerline goodness [0,1] 0.7869775141398814 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99808190e-01 1.12708217e-02 -1.60172321e-02 -2.16862258e+01] [-1.13077899e-02 9.99933602e-01 -2.21933249e-03 -3.22009442e+00] [ 1.59911549e-02 2.40002629e-03 9.99869253e-01 1.51016833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.049072329 meters Centerline goodness [0,1] 0.7825894585476467 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99806626e-01 1.15620811e-02 -1.59069018e-02 -2.16865706e+01] [-1.15944889e-02 9.99930887e-01 -1.94662741e-03 -3.22099224e+00] [ 1.58832954e-02 2.13068338e-03 9.99871582e-01 1.51016966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079072329 meters Centerline goodness [0,1] 0.7852548106249654 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99806699e-01 1.16843593e-02 -1.58126389e-02 -2.16865685e+01] [-1.17166673e-02 9.99929452e-01 -1.95207234e-03 -3.22127119e+00] [ 1.57887146e-02 2.13696643e-03 9.99873067e-01 1.51012048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10907232899999 meters Centerline goodness [0,1] 0.7852548106249654 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99806699e-01 1.16843593e-02 -1.58126389e-02 -2.16865685e+01] [-1.17166673e-02 9.99929452e-01 -1.95207234e-03 -3.22127119e+00] [ 1.57887146e-02 2.13696643e-03 9.99873067e-01 1.51012048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13907232899999 meters Centerline goodness [0,1] 0.770117182063629 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99806954e-01 1.22348231e-02 -1.53741576e-02 -2.16874036e+01] [-1.22646173e-02 9.99923084e-01 -1.84514665e-03 -3.22168059e+00] [ 1.53504001e-02 2.03334861e-03 9.99880108e-01 1.51002762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16907232899999 meters Centerline goodness [0,1] 0.767911425941936 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99807269e-01 1.25741586e-02 -1.50769651e-02 -2.16882065e+01] [-1.26002129e-02 9.99919279e-01 -1.63433814e-03 -3.22236427e+00] [ 1.50551976e-02 1.82399612e-03 9.99885000e-01 1.51002317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19907232899999 meters Centerline goodness [0,1] 0.7619167435488832 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99804421e-01 1.30688509e-02 -1.48433194e-02 -2.16892729e+01] [-1.30864648e-02 9.99913774e-01 -1.09014491e-03 -3.22371857e+00] [ 1.48277926e-02 1.28417828e-03 9.99889238e-01 1.51008707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22907232899999 meters Centerline goodness [0,1] 0.7492953029499596 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.23, Z:15.10 [[ 9.99801145e-01 1.37812248e-02 -1.44134522e-02 -2.16908221e+01] [-1.37899267e-02 9.99904787e-01 -5.04513383e-04 -3.22543628e+00] [ 1.44051271e-02 7.03173507e-04 9.99895994e-01 1.51012804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25907232899999 meters Centerline goodness [0,1] 0.7468713171333969 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.23, Z:15.10 [[ 9.99800525e-01 1.40686473e-02 -1.41768824e-02 -2.16915158e+01] [-1.40751872e-02 9.99900874e-01 -3.61630030e-04 -3.22556900e+00] [ 1.41703894e-02 5.61100167e-04 9.99899438e-01 1.51012869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28907232899999 meters Centerline goodness [0,1] 0.7359517628339335 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.23, Z:15.10 [[ 9.99800712e-01 1.41197170e-02 -1.41127606e-02 -2.16913612e+01] [-1.41304681e-02 9.99899941e-01 -6.62367765e-04 -3.22503525e+00] [ 1.41019961e-02 8.61655677e-04 9.99900191e-01 1.51004903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.319072329 meters Centerline goodness [0,1] 0.7213577315267495 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99800172e-01 1.44883156e-02 -1.37733621e-02 -2.16921846e+01] [-1.45004529e-02 9.99894557e-01 -7.81755709e-04 -3.22445965e+00] [ 1.37605834e-02 9.81319480e-04 9.99904837e-01 1.50999790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.349072329 meters Centerline goodness [0,1] 0.6958951574594127 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99796850e-01 1.53640650e-02 -1.30462149e-02 -2.16941278e+01] [-1.53802547e-02 9.99881065e-01 -1.14152269e-03 -3.22337948e+00] [ 1.30271249e-02 1.34194490e-03 9.99914243e-01 1.50987741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379072329 meters Centerline goodness [0,1] 0.6871070057314562 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.22, Z:15.10 [[ 9.99795331e-01 1.55520433e-02 -1.29395085e-02 -2.16943887e+01] [-1.55700378e-02 9.99877946e-01 -1.29107868e-03 -3.22322478e+00] [ 1.29178503e-02 1.49228307e-03 9.99915448e-01 1.50984397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.409072329 meters Centerline goodness [0,1] 0.6766470407679215 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.22, Z:15.10 [[ 9.99790814e-01 1.60602461e-02 -1.26648009e-02 -2.16955471e+01] [-1.60739059e-02 9.99870329e-01 -9.77508450e-04 -3.22411782e+00] [ 1.26474596e-02 1.18087679e-03 9.99919320e-01 1.50988111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439072329 meters Centerline goodness [0,1] 0.6646856951535951 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.22, Z:15.10 [[ 9.99784672e-01 1.68249722e-02 -1.21462085e-02 -2.16975114e+01] [-1.68341305e-02 9.99858083e-01 -6.52152628e-04 -3.22463877e+00] [ 1.21335123e-02 8.56483060e-04 9.99926019e-01 1.50992233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.469072329 meters Centerline goodness [0,1] 0.6576687459789086 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.22, Z:15.10 [[ 9.99782610e-01 1.72828079e-02 -1.16634693e-02 -2.16990754e+01] [-1.72894502e-02 9.99850416e-01 -4.68892395e-04 -3.22450431e+00] [ 1.16536209e-02 6.70445435e-04 9.99931869e-01 1.50994996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49907232899999 meters Centerline goodness [0,1] 0.6522858261988697 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.22, Z:15.10 [[ 9.99780433e-01 1.75813906e-02 -1.14008969e-02 -2.16999433e+01] [-1.75873977e-02 9.99845239e-01 -4.26841696e-04 -3.22428945e+00] [ 1.13916280e-02 6.27260083e-04 9.99934917e-01 1.50995455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52907232899999 meters Centerline goodness [0,1] 0.6491443910077173 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.22, Z:15.10 [[ 9.99780845e-01 1.75933840e-02 -1.13461291e-02 -2.16995793e+01] [-1.76028275e-02 9.99844790e-01 -7.32981978e-04 -3.22410842e+00] [ 1.13314725e-02 9.32545296e-04 9.99935362e-01 1.50984173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55907232899999 meters Centerline goodness [0,1] 0.6541635199015412 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.22, Z:15.10 [[ 9.99782951e-01 1.73981134e-02 -1.14611222e-02 -2.16986348e+01] [-1.74107894e-02 9.99847913e-01 -1.00714453e-03 -3.22404861e+00] [ 1.14418567e-02 1.20647311e-03 9.99933812e-01 1.50973829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58907232899999 meters Centerline goodness [0,1] 0.6522480230251209 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.22, Z:15.10 [[ 9.99785885e-01 1.71365778e-02 -1.15983671e-02 -2.16975135e+01] [-1.71536483e-02 9.99851921e-01 -1.37392002e-03 -3.22382743e+00] [ 1.15731053e-02 1.57258016e-03 9.99931793e-01 1.50961890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61907232899999 meters Centerline goodness [0,1] 0.654248311047571 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.22, Z:15.10 [[ 9.99784904e-01 1.71044640e-02 -1.17295417e-02 -2.16969800e+01] [-1.71214525e-02 9.99852507e-01 -1.34946380e-03 -3.22440494e+00] [ 1.17047298e-02 1.55000033e-03 9.99930296e-01 1.50958696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64907232899999 meters Centerline goodness [0,1] 0.6557115685835757 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.23, Z:15.10 [[ 9.99786490e-01 1.65638027e-02 -1.23537504e-02 -2.16947565e+01] [-1.65791749e-02 9.99861903e-01 -1.14296008e-03 -3.22698111e+00] [ 1.23331126e-02 1.34753104e-03 9.99923036e-01 1.50955580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.679072329 meters Centerline goodness [0,1] 0.6733840196715751 Centerline is valid? [False, False] Translation: X:-21.70, Y:-3.23, Z:15.09 [[ 9.99850479e-01 1.25548323e-02 -1.18910054e-02 -2.16955168e+01] [-1.26232046e-02 9.99904121e-01 -5.69241454e-03 -3.22559751e+00] [ 1.18183980e-02 5.84166599e-03 9.99913096e-01 1.50942234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.709072329 meters Centerline goodness [0,1] 0.6629095749199966 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.23, Z:15.09 [[ 9.99848100e-01 1.22379316e-02 -1.24101017e-02 -2.16939426e+01] [-1.23037826e-02 9.99910555e-01 -5.24385182e-03 -3.22799387e+00] [ 1.23448178e-02 5.39574647e-03 9.99909242e-01 1.50944325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739072329 meters Centerline goodness [0,1] 0.683979868807962 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.23, Z:15.09 [[ 9.99847249e-01 1.14078982e-02 -1.32415670e-02 -2.16908931e+01] [-1.14705353e-02 9.99923334e-01 -4.66406421e-03 -3.23176788e+00] [ 1.31873447e-02 4.81523963e-03 9.99901449e-01 1.50944439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.769072329 meters Centerline goodness [0,1] 0.6969102640629885 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.23, Z:15.09 [[ 9.99845711e-01 1.11573865e-02 -1.35670912e-02 -2.16897297e+01] [-1.12175123e-02 9.99927560e-01 -4.36374553e-03 -3.23315398e+00] [ 1.35174204e-02 4.51526127e-03 9.99898441e-01 1.50944270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799072329 meters Centerline goodness [0,1] 0.7143711381303568 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.23, Z:15.09 [[ 9.99844124e-01 1.07489933e-02 -1.40066903e-02 -2.16880969e+01] [-1.08089080e-02 9.99932724e-01 -4.20891290e-03 -3.23441423e+00] [ 1.39605064e-02 4.35965385e-03 9.99893043e-01 1.50941408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.829072329 meters Centerline goodness [0,1] 0.7278995250901185 Centerline is valid? [False, False] Translation: X:-21.69, Y:-3.24, Z:15.10 [[ 9.99839068e-01 1.01085772e-02 -1.48207259e-02 -2.16856958e+01] [-1.01577662e-02 9.99943135e-01 -3.24742070e-03 -3.23872083e+00] [ 1.47870563e-02 3.39744355e-03 9.99884894e-01 1.50953150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85907232899999 meters Centerline goodness [0,1] 0.7433820793864293 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.24, Z:15.10 [[ 9.99832222e-01 9.95253883e-03 -1.53777559e-02 -2.16845898e+01] [-9.99164359e-03 9.99947036e-01 -2.46820837e-03 -3.24139414e+00] [ 1.53523765e-02 2.62144331e-03 9.99878709e-01 1.50965594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88907232899999 meters Centerline goodness [0,1] 0.7411808498453785 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.24, Z:15.10 [[ 9.99826708e-01 9.63622795e-03 -1.59278499e-02 -2.16830834e+01] [-9.67040751e-03 9.99951097e-01 -2.07027242e-03 -3.24312905e+00] [ 1.59071214e-02 2.22394246e-03 9.99871000e-01 1.50970670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91907232899999 meters Centerline goodness [0,1] 0.7340163699845459 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.24, Z:15.10 [[ 9.99825104e-01 8.81569873e-03 -1.64938031e-02 -2.16802070e+01] [-8.85775795e-03 9.99957697e-01 -2.47868575e-03 -3.24358210e+00] [ 1.64712540e-02 2.62435035e-03 9.99860896e-01 1.50954567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94907232899999 meters Centerline goodness [0,1] 0.7527919363152168 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.24, Z:15.09 [[ 9.99825098e-01 8.57113167e-03 -1.66225489e-02 -2.16792859e+01] [-8.61837714e-03 9.99959017e-01 -2.77270147e-03 -3.24318547e+00] [ 1.65981025e-02 2.91547592e-03 9.99857991e-01 1.50946000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97907232899999 meters Centerline goodness [0,1] 0.7448269940757277 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.24, Z:15.09 [[ 9.99824914e-01 8.63786551e-03 -1.65990437e-02 -2.16793804e+01] [-8.68309309e-03 9.99958778e-01 -2.65457263e-03 -3.24345440e+00] [ 1.65754296e-02 2.79823889e-03 9.99858703e-01 1.50947269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00907232899999 meters Centerline goodness [0,1] 0.7422698171169361 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.25, Z:15.10 [[ 9.99822653e-01 9.35309821e-03 -1.63456931e-02 -2.16813165e+01] [-9.38039368e-03 9.99954733e-01 -1.59401535e-03 -3.24574535e+00] [ 1.63300442e-02 1.74706169e-03 9.99865130e-01 1.50968365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03907232899999 meters Centerline goodness [0,1] 0.7446302084826933 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.25, Z:15.10 [[ 9.99820293e-01 9.39712956e-03 -1.64643615e-02 -2.16811795e+01] [-9.42146518e-03 9.99954635e-01 -1.40113628e-03 -3.24653613e+00] [ 1.64504479e-02 1.55600290e-03 9.99863471e-01 1.50971615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.069072329 meters Centerline goodness [0,1] 0.740230944222075 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.25, Z:15.10 [[ 9.99819590e-01 9.35606190e-03 -1.65303185e-02 -2.16808431e+01] [-9.38057659e-03 9.99955013e-01 -1.40609826e-03 -3.24655531e+00] [ 1.65164193e-02 1.56090850e-03 9.99862376e-01 1.50969159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099072329 meters Centerline goodness [0,1] 0.7493878021376509 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.25, Z:15.10 [[ 9.99820796e-01 9.02684468e-03 -1.66400477e-02 -2.16798157e+01] [-9.05852372e-03 9.99957297e-01 -1.82939336e-03 -3.24547416e+00] [ 1.66228235e-02 1.97979980e-03 9.99859871e-01 1.50958521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.129072329 meters Centerline goodness [0,1] 0.7456072462521857 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.25, Z:15.10 [[ 9.99769678e-01 1.19516596e-02 -1.78254906e-02 -2.16756029e+01] [-1.19120279e-02 9.99926340e-01 2.32783987e-03 -3.24745310e+00] [ 1.78519991e-02 -2.11496598e-03 9.99838403e-01 1.50958117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159072329 meters Centerline goodness [0,1] 0.7482284763462146 Centerline is valid? [False, False] Translation: X:-21.67, Y:-3.25, Z:15.10 [[ 9.99770847e-01 1.16143192e-02 -1.79822643e-02 -2.16746548e+01] [-1.15792186e-02 9.99930847e-01 2.05484559e-03 -3.24761509e+00] [ 1.80048864e-02 -1.84615415e-03 9.99836194e-01 1.50951218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.189072329 meters Centerline goodness [0,1] 0.7500933344820654 Centerline is valid? [False, False] Translation: X:-21.68, Y:-3.25, Z:15.09 [[ 9.99818157e-01 7.80301954e-03 -1.74001473e-02 -2.16761903e+01] [-7.84903270e-03 9.99965874e-01 -2.57768813e-03 -3.24555164e+00] [ 1.73794398e-02 2.71379372e-03 9.99845283e-01 1.50941583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219072329 meters Centerline goodness [0,1] 0.7615846476485966 Centerline is valid? [False, False] Translation: X:-21.67, Y:-3.25, Z:15.10 [[ 9.99805888e-01 6.86500472e-03 -1.84677736e-02 -2.16731164e+01] [-6.90114493e-03 9.99974393e-01 -1.89391548e-03 -3.24877212e+00] [ 1.84542990e-02 2.02099663e-03 9.99827662e-01 1.50955050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24907232899999 meters Centerline goodness [0,1] 0.7734370514954935 Centerline is valid? [False, False] Translation: X:-21.67, Y:-3.25, Z:15.09 [[ 9.99799332e-01 6.21784112e-03 -1.90429669e-02 -2.16708294e+01] [-6.25797432e-03 9.99978320e-01 -2.04864214e-03 -3.24935185e+00] [ 1.90298160e-02 2.16740144e-03 9.99816567e-01 1.50948872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27907232899999 meters Centerline goodness [0,1] 0.7721315244883882 Centerline is valid? [False, False] Translation: X:-21.67, Y:-3.25, Z:15.09 [[ 9.99795716e-01 5.90260536e-03 -1.93309478e-02 -2.16695492e+01] [-5.94479279e-03 9.99980070e-01 -2.12564011e-03 -3.24969286e+00] [ 1.93180157e-02 2.24012436e-03 9.99810880e-01 1.50943389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30907232899999 meters Centerline goodness [0,1] 0.7794062706555163 Centerline is valid? [False, False] Translation: X:-21.67, Y:-3.25, Z:15.09 [[ 9.99793156e-01 5.54683523e-03 -1.95672511e-02 -2.16683302e+01] [-5.59254119e-03 9.99981758e-01 -2.28189233e-03 -3.24968650e+00] [ 1.95542369e-02 2.39085099e-03 9.99805939e-01 1.50937043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33907232899999 meters Centerline goodness [0,1] 0.7876710364017097 Centerline is valid? [False, False] Translation: X:-21.67, Y:-3.25, Z:15.09 [[ 9.99787902e-01 4.85251547e-03 -2.00151182e-02 -2.16664423e+01] [-4.90040676e-03 9.99985245e-01 -2.34440411e-03 -3.24960187e+00] [ 2.00034467e-02 2.44198909e-03 9.99796929e-01 1.50935501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36907232899999 meters Centerline goodness [0,1] 0.7850971612273602 Centerline is valid? [False, False] Translation: X:-21.67, Y:-3.25, Z:15.09 [[ 9.99785521e-01 4.78189100e-03 -2.01505754e-02 -2.16661937e+01] [-4.82830646e-03 9.99985800e-01 -2.25540885e-03 -3.24947071e+00] [ 2.01395041e-02 2.35221827e-03 9.99794413e-01 1.50938980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39907232899999 meters Centerline goodness [0,1] 0.7923653637040005 Centerline is valid? [False, False] Translation: X:-21.67, Y:-3.25, Z:15.09 [[ 9.99780709e-01 4.42679181e-03 -2.04679406e-02 -2.16650687e+01] [-4.47939385e-03 9.99986780e-01 -2.52483987e-03 -3.24879538e+00] [ 2.04564931e-02 2.61597016e-03 9.99787322e-01 1.50936000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.429072329 meters Centerline goodness [0,1] 0.7998854524627721 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.25, Z:15.09 [[ 9.99775759e-01 4.08038921e-03 -2.07793499e-02 -2.16640966e+01] [-4.13827469e-03 9.99987674e-01 -2.74348343e-03 -3.24784318e+00] [ 2.07678993e-02 2.82885889e-03 9.99780322e-01 1.50936007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.459072329 meters Centerline goodness [0,1] 0.8026931580005168 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.25, Z:15.09 [[ 9.99772252e-01 3.97575067e-03 -2.09675237e-02 -2.16636892e+01] [-4.03260129e-03 9.99988305e-01 -2.66978120e-03 -3.24793256e+00] [ 2.09566641e-02 2.75372683e-03 9.99776593e-01 1.50939264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.489072329 meters Centerline goodness [0,1] 0.8079905790441176 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.25, Z:15.09 [[ 9.99768546e-01 3.73667113e-03 -2.11870809e-02 -2.16629462e+01] [-3.79302271e-03 9.99989374e-01 -2.62015216e-03 -3.24821176e+00] [ 2.11770652e-02 2.69990879e-03 9.99772095e-01 1.50940281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519072329 meters Centerline goodness [0,1] 0.8136200716845878 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.25, Z:15.09 [[ 9.99752388e-01 2.48457399e-03 -2.21131117e-02 -2.16594747e+01] [-2.55753723e-03 9.99991377e-01 -3.27187732e-03 -3.24720826e+00] [ 2.21047918e-02 3.32762227e-03 9.99750121e-01 1.50932762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.549072329 meters Centerline goodness [0,1] 0.8165219136067876 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.25, Z:15.09 [[ 9.99748647e-01 2.24767071e-03 -2.23067388e-02 -2.16589481e+01] [-2.32347443e-03 9.99991612e-01 -3.37290706e-03 -3.24634761e+00] [ 2.22989706e-02 3.42388841e-03 9.99745484e-01 1.50934793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579072329 meters Centerline goodness [0,1] 0.8155856036133902 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.25, Z:15.09 [[ 9.99740759e-01 1.77169285e-03 -2.26997046e-02 -2.16577270e+01] [-1.85324433e-03 9.99991903e-01 -3.57208994e-03 -3.24555223e+00] [ 2.26931922e-02 3.61323200e-03 9.99735947e-01 1.50936219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60907232899999 meters Centerline goodness [0,1] 0.8160844333181612 Centerline is valid? [False, False] Translation: X:-21.66, Y:-3.25, Z:15.09 [[ 9.99723021e-01 8.69110521e-04 -2.35186088e-02 -2.16553663e+01] [-9.56682799e-04 9.99992651e-01 -3.71253609e-03 -3.24501306e+00] [ 2.35152093e-02 3.73400765e-03 9.99716506e-01 1.50942646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63907232899999 meters Centerline goodness [0,1] 0.8181947608200455 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.24, Z:15.09 [[ 9.99711933e-01 3.08344761e-04 -2.39990816e-02 -2.16536036e+01] [-4.06205685e-04 9.99991623e-01 -4.07292637e-03 -3.24416020e+00] [ 2.39976247e-02 4.08150165e-03 9.99703684e-01 1.50938313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66907232899999 meters Centerline goodness [0,1] 0.8185873394703944 Centerline is valid? [False, False] Translation: X:-21.65, Y:-3.24, Z:15.09 [[ 9.99698601e-01 -5.23845928e-04 -2.45444983e-02 -2.16510281e+01] [ 4.02847734e-04 9.99987744e-01 -4.93443334e-03 -3.24233920e+00] [ 2.45467824e-02 4.92305842e-03 9.99686560e-01 1.50922926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69907232899999 meters Centerline goodness [0,1] 0.8181612894120304 Centerline is valid? [False, False] Translation: X:-21.64, Y:-3.24, Z:15.09 [[ 9.99650444e-01 2.94763362e-04 -2.64367781e-02 -2.16424282e+01] [-3.47144578e-04 9.99997986e-01 -1.97680908e-03 -3.24127096e+00] [ 2.64361421e-02 1.98529546e-03 9.99648533e-01 1.50910457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72907232899999 meters Centerline goodness [0,1] 0.8204387009012073 Centerline is valid? [False, False] Translation: X:-21.64, Y:-3.24, Z:15.09 [[ 9.99643135e-01 -1.02137073e-04 -2.67131502e-02 -2.16412794e+01] [ 3.82598186e-05 9.99997139e-01 -2.39172899e-03 -3.24032641e+00] [ 2.67133180e-02 2.38985343e-03 9.99640279e-01 1.50905113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75907232899999 meters Centerline goodness [0,1] 0.8184184467392842 Centerline is valid? [False, False] Translation: X:-21.64, Y:-3.24, Z:15.09 [[ 9.99628518e-01 -6.58421541e-04 -2.72468942e-02 -2.16396538e+01] [ 5.83872115e-04 9.99996065e-01 -2.74393598e-03 -3.23961415e+00] [ 2.72485936e-02 2.72700796e-03 9.99624968e-01 1.50904289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78907232899999 meters Centerline goodness [0,1] 0.8198004691518526 Centerline is valid? [False, False] Translation: X:-21.64, Y:-3.24, Z:15.09 [[ 9.99619472e-01 -8.95528577e-04 -2.75700752e-02 -2.16391001e+01] [ 8.22285459e-04 9.99996103e-01 -2.66783930e-03 -3.23928190e+00] [ 2.75723569e-02 2.64415364e-03 9.99616313e-01 1.50912155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.819072329 meters Centerline goodness [0,1] 0.8192975031739315 Centerline is valid? [False, False] Translation: X:-21.64, Y:-3.24, Z:15.09 [[ 9.99593236e-01 -1.92865551e-03 -2.84542359e-02 -2.16367303e+01] [ 1.84509603e-03 9.99993909e-01 -2.96259064e-03 -3.23807661e+00] [ 2.84597764e-02 2.90888477e-03 9.99590706e-01 1.50921432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.849072329 meters Centerline goodness [0,1] 0.8186532878604245 Centerline is valid? [False, False] Translation: X:-21.64, Y:-3.24, Z:15.09 [[ 9.99576483e-01 -2.38005899e-03 -2.90032915e-02 -2.16355009e+01] [ 2.29570843e-03 9.99993039e-01 -2.94126143e-03 -3.23766265e+00] [ 2.90100900e-02 2.87343266e-03 9.99574989e-01 1.50930122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879072329 meters Centerline goodness [0,1] 0.8154398462234282 Centerline is valid? [False, False] Translation: X:-21.63, Y:-3.24, Z:15.09 [[ 9.99552843e-01 -3.09807195e-03 -2.97408096e-02 -2.16335672e+01] [ 3.00897158e-03 9.99990852e-01 -3.04018306e-03 -3.23698157e+00] [ 2.97499562e-02 2.94933437e-03 9.99553021e-01 1.50936984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.909072329 meters Centerline goodness [0,1] 0.816189965270915 Centerline is valid? [False, False] Translation: X:-21.63, Y:-3.24, Z:15.09 [[ 9.99531798e-01 -3.90217625e-03 -3.03472775e-02 -2.16312544e+01] [ 3.79327715e-03 9.99986162e-01 -3.64517446e-03 -3.23537031e+00] [ 3.03610817e-02 3.52835215e-03 9.99532769e-01 1.50930295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939072329 meters Centerline goodness [0,1] 0.8107917125978688 Centerline is valid? [False, False] Translation: X:-21.63, Y:-3.23, Z:15.09 [[ 9.99519528e-01 -4.42576782e-03 -3.06777718e-02 -2.16299679e+01] [ 4.30097516e-03 9.99982211e-01 -4.13264799e-03 -3.23343148e+00] [ 3.06955162e-02 3.99871803e-03 9.99520783e-01 1.50926600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.969072329 meters Centerline goodness [0,1] 0.8126550169109358 Centerline is valid? [False, False] Translation: X:-21.63, Y:-3.24, Z:15.09 [[ 9.99486995e-01 -1.42722232e-03 -3.19954553e-02 -2.16263405e+01] [ 1.44194423e-03 9.99998865e-01 4.37056035e-04 -3.23501921e+00] [ 3.19947952e-02 -4.82967486e-04 9.99487919e-01 1.50943515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99907232899999 meters Centerline goodness [0,1] 0.8079391891891892 Centerline is valid? [False, False] Translation: X:-21.62, Y:-3.23, Z:15.09 [[ 9.99460619e-01 -2.46984836e-03 -3.27470674e-02 -2.16241398e+01] [ 2.45407545e-03 9.99996853e-01 -5.21842789e-04 -3.23139221e+00] [ 3.27482532e-02 4.41197543e-04 9.99463535e-01 1.50944131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02907232899999 meters Centerline goodness [0,1] 0.8079391891891892 Centerline is valid? [False, False] Translation: X:-21.62, Y:-3.23, Z:15.09 [[ 9.99460619e-01 -2.46984836e-03 -3.27470674e-02 -2.16241398e+01] [ 2.45407545e-03 9.99996853e-01 -5.21842789e-04 -3.23139221e+00] [ 3.27482532e-02 4.41197543e-04 9.99463535e-01 1.50944131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05907232899999 meters Centerline goodness [0,1] 0.810056653231489 Centerline is valid? [False, False] Translation: X:-21.62, Y:-3.23, Z:15.10 [[ 9.99453300e-01 -2.63328476e-03 -3.29570358e-02 -2.16238853e+01] [ 2.61390869e-03 9.99996385e-01 -6.30990130e-04 -3.23051839e+00] [ 3.29585783e-02 5.44498485e-04 9.99456570e-01 1.50950277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08907232899999 meters Centerline goodness [0,1] 0.8089094656014454 Centerline is valid? [False, False] Translation: X:-21.62, Y:-3.23, Z:15.10 [[ 9.99435153e-01 -3.10192248e-03 -3.34627216e-02 -2.16226671e+01] [ 3.06780933e-03 9.99994721e-01 -1.07073226e-03 -3.22919539e+00] [ 3.34658662e-02 9.67470211e-04 9.99439393e-01 1.50952646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11907232899999 meters Centerline goodness [0,1] 0.8060779848753198 Centerline is valid? [False, False] Translation: X:-21.62, Y:-3.23, Z:15.10 [[ 9.99375500e-01 -5.98690865e-04 -3.53306171e-02 -2.16179182e+01] [ 7.18211718e-04 9.99994063e-01 3.37033130e-03 -3.22960734e+00] [ 3.53283895e-02 -3.39360139e-03 9.99369996e-01 1.50980812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14907232899999 meters Centerline goodness [0,1] 0.8074221822676705 Centerline is valid? [False, False] Translation: X:-21.62, Y:-3.23, Z:15.10 [[ 9.99357713e-01 -1.39376524e-03 -3.58080753e-02 -2.16160791e+01] [ 1.47868306e-03 9.99996157e-01 2.34509773e-03 -3.22651615e+00] [ 3.58046692e-02 -2.39654030e-03 9.99355934e-01 1.50972001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.179072329 meters Centerline goodness [0,1] 0.8071280586818971 Centerline is valid? [False, False] Translation: X:-21.61, Y:-3.23, Z:15.10 [[ 9.99305115e-01 1.39953124e-03 -3.72468466e-02 -2.16117724e+01] [-1.17003993e-03 9.99980204e-01 6.18244682e-03 -3.22662958e+00] [ 3.72547617e-02 -6.13457044e-03 9.99286971e-01 1.50976844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.209072329 meters Centerline goodness [0,1] 0.8067627463551975 Centerline is valid? [False, False] Translation: X:-21.61, Y:-3.22, Z:15.10 [[ 9.99235707e-01 3.91523517e-03 -3.88931015e-02 -2.16068962e+01] [-3.54404254e-03 9.99947559e-01 9.60828486e-03 -3.22419931e+00] [ 3.89286806e-02 -9.46310250e-03 9.99197182e-01 1.50983290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239072329 meters Centerline goodness [0,1] 0.8096165618565307 Centerline is valid? [False, False] Translation: X:-21.59, Y:-3.22, Z:15.09 [[ 9.99408223e-01 4.67809062e-03 -3.40781479e-02 -2.15894770e+01] [-4.69760637e-03 9.99988845e-01 -4.92632423e-04 -3.21934398e+00] [ 3.40754631e-02 6.52426619e-04 9.99419050e-01 1.50914775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.269072329 meters Centerline goodness [0,1] 0.8102838361048439 Centerline is valid? [False, False] Translation: X:-21.59, Y:-3.22, Z:15.09 [[ 9.99395675e-01 4.24570351e-03 -3.45001186e-02 -2.15883654e+01] [-4.28287427e-03 9.99990325e-01 -1.00357890e-03 -3.21779768e+00] [ 3.44955240e-02 1.15073208e-03 9.99404190e-01 1.50914829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299072329 meters Centerline goodness [0,1] 0.808231732718638 Centerline is valid? [False, False] Translation: X:-21.59, Y:-3.21, Z:15.09 [[ 9.99371059e-01 3.27693195e-03 -3.53093091e-02 -2.15856425e+01] [-3.35690136e-03 9.99991933e-01 -2.20577959e-03 -3.21425472e+00] [ 3.53017961e-02 2.32292216e-03 9.99373998e-01 1.50905770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.329072329 meters Centerline goodness [0,1] 0.8063371496687273 Centerline is valid? [False, False] Translation: X:-21.58, Y:-3.21, Z:15.09 [[ 9.99351968e-01 2.46323697e-03 -3.59106611e-02 -2.15833304e+01] [-2.57519962e-03 9.99991966e-01 -3.07189075e-03 -3.21186291e+00] [ 3.59028058e-02 3.16237718e-03 9.99350283e-01 1.50895934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35907232899999 meters Centerline goodness [0,1] 0.8017920849581017 Centerline is valid? [False, False] Translation: X:-21.58, Y:-3.21, Z:15.09 [[ 9.99297704e-01 5.38465204e-03 -3.70824021e-02 -2.15796790e+01] [-5.35226391e-03 9.99985204e-01 9.72626776e-04 -3.21315349e+00] [ 3.70870906e-02 -7.73468901e-04 9.99311738e-01 1.50901212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38907232899999 meters Centerline goodness [0,1] 0.800952433384717 Centerline is valid? [False, False] Translation: X:-21.58, Y:-3.21, Z:15.09 [[ 9.99285904e-01 4.90095038e-03 -3.74654982e-02 -2.15789725e+01] [-4.88242358e-03 9.99987909e-01 5.85980817e-04 -3.21080450e+00] [ 3.74679171e-02 -4.02639938e-04 9.99297750e-01 1.50908449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41907232899999 meters Centerline goodness [0,1] 0.8003731343283582 Centerline is valid? [False, False] Translation: X:-21.58, Y:-3.21, Z:15.09 [[ 9.99274382e-01 4.59026965e-03 -3.78105588e-02 -2.15781870e+01] [-4.58503541e-03 9.99989463e-01 2.25145122e-04 -3.20953348e+00] [ 3.78111939e-02 -5.16190018e-05 9.99284900e-01 1.50909778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44907232899999 meters Centerline goodness [0,1] 0.8015940401522829 Centerline is valid? [False, False] Translation: X:-21.58, Y:-3.21, Z:15.09 [[ 9.99214892e-01 8.03515984e-03 -3.87947792e-02 -2.15757300e+01] [-7.86411033e-03 9.99958682e-01 4.55967758e-03 -3.21159325e+00] [ 3.88298140e-02 -4.25101132e-03 9.99236796e-01 1.50920968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47907232899999 meters Centerline goodness [0,1] 0.8042193400098506 Centerline is valid? [False, False] Translation: X:-21.58, Y:-3.21, Z:15.09 [[ 9.99211504e-01 7.81189499e-03 -3.89274385e-02 -2.15753123e+01] [-7.66131399e-03 9.99962588e-01 4.01592477e-03 -3.20960742e+00] [ 3.89573541e-02 -3.71452290e-03 9.99233970e-01 1.50918155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50907232899999 meters Centerline goodness [0,1] 0.8075297941495124 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.20, Z:15.09 [[ 9.99327406e-01 1.15447563e-02 -3.48059377e-02 -2.15557443e+01] [-1.16302114e-02 9.99929827e-01 -2.25371993e-03 -3.20415674e+00] [ 3.47774766e-02 2.65700450e-03 9.99391549e-01 1.50861218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53907232899999 meters Centerline goodness [0,1] 0.8106463878326996 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.20, Z:15.09 [[ 9.99331666e-01 1.19276792e-02 -3.45536144e-02 -2.15569300e+01] [-1.20215544e-02 9.99924587e-01 -2.51031202e-03 -3.20145344e+00] [ 3.45210664e-02 2.92402245e-03 9.99399693e-01 1.50864651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.569072329 meters Centerline goodness [0,1] 0.8121323330994656 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.20, Z:15.08 [[ 9.99437047e-01 1.53295770e-02 -2.98428025e-02 -2.15400987e+01] [-1.56115493e-02 9.99835450e-01 -9.23861612e-03 -3.19863450e+00] [ 2.96962678e-02 9.69930760e-03 9.99511908e-01 1.50820755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599072329 meters Centerline goodness [0,1] 0.8157049118353901 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.20, Z:15.08 [[ 9.99435167e-01 1.61635585e-02 -2.94633135e-02 -2.15424844e+01] [-1.64306847e-02 9.99825867e-01 -8.84694072e-03 -3.19758756e+00] [ 2.93151849e-02 9.32604609e-03 9.99526710e-01 1.50838055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.629072329 meters Centerline goodness [0,1] 0.8166796111304534 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.19, Z:15.08 [[ 9.99473125e-01 2.16286017e-02 -2.42007281e-02 -2.15292070e+01] [-2.19733004e-02 9.99659558e-01 -1.40691984e-02 -3.19456624e+00] [ 2.38881921e-02 1.45935555e-02 9.99608114e-01 1.50822388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659072329 meters Centerline goodness [0,1] 0.815004262574595 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.20, Z:15.08 [[ 9.99363330e-01 2.60260323e-02 -2.44045263e-02 -2.15293861e+01] [-2.62612011e-02 9.99611240e-01 -9.36576178e-03 -3.19507902e+00] [ 2.41512852e-02 1.00006911e-02 9.99658292e-01 1.50840241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.689072329 meters Centerline goodness [0,1] 0.8081737654484697 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.19, Z:15.08 [[ 9.99243268e-01 3.06001134e-02 -2.40109025e-02 -2.15301162e+01] [-3.07506590e-02 9.99509521e-01 -5.92582053e-03 -3.19010115e+00] [ 2.38177949e-02 6.65968735e-03 9.99694134e-01 1.50835915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719072329 meters Centerline goodness [0,1] 0.8094507355275691 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.19, Z:15.08 [[ 9.99235213e-01 3.11843841e-02 -2.35907332e-02 -2.15314969e+01] [-3.13431221e-02 9.99488263e-01 -6.38917868e-03 -3.18613709e+00] [ 2.33794183e-02 7.12369955e-03 9.99701283e-01 1.50833777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74907232899999 meters Centerline goodness [0,1] 0.8085224274406333 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.18, Z:15.08 [[ 9.99219922e-01 3.20577668e-02 -2.30618264e-02 -2.15337485e+01] [-3.22129448e-02 9.99460608e-01 -6.38896240e-03 -3.18337902e+00] [ 2.28445711e-02 7.12686785e-03 9.99713626e-01 1.50841398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77907232899999 meters Centerline goodness [0,1] 0.812095145681991 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.18, Z:15.09 [[ 9.99044437e-01 3.72935136e-02 -2.27904771e-02 -2.15365722e+01] [-3.73356913e-02 9.99301760e-01 -1.42782752e-03 -3.18362547e+00] [ 2.27213152e-02 2.27736136e-03 9.99739244e-01 1.50876865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80907232899999 meters Centerline goodness [0,1] 0.8111172348633966 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.18, Z:15.09 [[ 9.99029875e-01 3.79320235e-02 -2.23711925e-02 -2.15385194e+01] [-3.79722382e-02 9.99277848e-01 -1.37540971e-03 -3.18218787e+00] [ 2.23028650e-02 2.22355964e-03 9.99748787e-01 1.50886242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83907232899999 meters Centerline goodness [0,1] 0.8117375449274602 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.18, Z:15.09 [[ 9.99026018e-01 3.81997699e-02 -2.20860245e-02 -2.15394314e+01] [-3.82487750e-02 9.99266626e-01 -1.80051399e-03 -3.18021744e+00] [ 2.20010479e-02 2.64352370e-03 9.99754453e-01 1.50884557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86907232899999 meters Centerline goodness [0,1] 0.8128179043743642 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.18, Z:15.09 [[ 9.99020599e-01 3.85368330e-02 -2.17429134e-02 -2.15400840e+01] [-3.86015226e-02 9.99251396e-01 -2.56323031e-03 -3.17582365e+00] [ 2.16278578e-02 3.40002944e-03 9.99760309e-01 1.50874815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89907232899999 meters Centerline goodness [0,1] 0.8102365501360687 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.09 [[ 9.99018959e-01 3.86895799e-02 -2.15461282e-02 -2.15405655e+01] [-3.87585179e-02 9.99244708e-01 -2.79104454e-03 -3.17405676e+00] [ 2.14218703e-02 3.62340241e-03 9.99763959e-01 1.50873113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.929072329 meters Centerline goodness [0,1] 0.8129013731530308 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.09 [[ 9.99020720e-01 3.87649023e-02 -2.13280024e-02 -2.15410285e+01] [-3.88384538e-02 9.99240863e-01 -3.04509098e-03 -3.17258943e+00] [ 2.11937688e-02 3.87045562e-03 9.99767895e-01 1.50870923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.959072329 meters Centerline goodness [0,1] 0.8104757679359031 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.09 [[ 9.99019407e-01 3.88411531e-02 -2.12506449e-02 -2.15412178e+01] [-3.89174934e-02 9.99237334e-01 -3.19053192e-03 -3.17194336e+00] [ 2.11105138e-02 4.01442513e-03 9.99769089e-01 1.50870107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.989072329 meters Centerline goodness [0,1] 0.8098260032770683 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.09 [[ 9.99022191e-01 3.86315294e-02 -2.15003765e-02 -2.15404242e+01] [-3.87125784e-02 9.99244717e-01 -3.36613497e-03 -3.17217396e+00] [ 2.13540986e-02 4.19517854e-03 9.99763173e-01 1.50867635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019072329 meters Centerline goodness [0,1] 0.8096944647902061 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.09 [[ 9.99017627e-01 3.86768742e-02 -2.16305207e-02 -2.15402613e+01] [-3.87553457e-02 9.99243540e-01 -3.22030154e-03 -3.17287311e+00] [ 2.14896069e-02 4.05543631e-03 9.99760847e-01 1.50869674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.049072329 meters Centerline goodness [0,1] 0.8131498792143682 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.09 [[ 9.99013873e-01 3.88017322e-02 -2.15802538e-02 -2.15404966e+01] [-3.88768706e-02 9.99239283e-01 -3.07308547e-03 -3.17327649e+00] [ 2.14445963e-02 3.90902775e-03 9.99762396e-01 1.50871418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079072329 meters Centerline goodness [0,1] 0.8129471801346801 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.09 [[ 9.99012119e-01 3.89128172e-02 -2.14611169e-02 -2.15404601e+01] [-3.89896899e-02 9.99234569e-01 -3.17507199e-03 -3.17291498e+00] [ 2.13211389e-02 4.00869769e-03 9.99764642e-01 1.50864975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10907232899999 meters Centerline goodness [0,1] 0.805597162002365 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.09 [[ 9.99019659e-01 3.86790959e-02 -2.15325113e-02 -2.15396086e+01] [-3.87674882e-02 9.99241398e-01 -3.70272772e-03 -3.17189183e+00] [ 2.13729586e-02 4.53385917e-03 9.99761292e-01 1.50853271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13907232899999 meters Centerline goodness [0,1] 0.809202228295144 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.08 [[ 9.99019268e-01 3.87178948e-02 -2.14808610e-02 -2.15395345e+01] [-3.88097605e-02 9.99239099e-01 -3.87620564e-03 -3.17106120e+00] [ 2.13144377e-02 4.70607120e-03 9.99761745e-01 1.50848777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16907232899999 meters Centerline goodness [0,1] 0.7955866494831804 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.08 [[ 9.99015166e-01 3.89161187e-02 -2.13127555e-02 -2.15398644e+01] [-3.90075614e-02 9.99231337e-01 -3.89157163e-03 -3.17091066e+00] [ 2.11449283e-02 4.71909770e-03 9.99765284e-01 1.50845903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19907232899999 meters Centerline goodness [0,1] 0.7962526205450734 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.08 [[ 9.99001196e-01 3.93820060e-02 -2.11108312e-02 -2.15405198e+01] [-3.94662553e-02 9.99214458e-01 -3.58898263e-03 -3.17232543e+00] [ 2.09529065e-02 4.41856340e-03 9.99770700e-01 1.50845320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22907232899999 meters Centerline goodness [0,1] 0.7714360724599633 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.08 [[ 9.98992803e-01 3.95762173e-02 -2.11447786e-02 -2.15405701e+01] [-3.96570013e-02 9.99207517e-01 -3.41479277e-03 -3.17333203e+00] [ 2.09928772e-02 4.24989191e-03 9.99770592e-01 1.50845625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25907232899999 meters Centerline goodness [0,1] 0.7776341476283438 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.18, Z:15.09 [[ 9.98967742e-01 4.04246824e-02 -2.07194457e-02 -2.15425528e+01] [-4.04859899e-02 9.99176858e-01 -2.54788569e-03 -3.17531099e+00] [ 2.05993932e-02 3.38410289e-03 9.99782083e-01 1.50857640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28907232899999 meters Centerline goodness [0,1] 0.7658005249343832 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.18, Z:15.09 [[ 9.98803153e-01 4.40201581e-02 -2.13187218e-02 -2.15406274e+01] [-4.39862319e-02 9.99030018e-01 2.05791991e-03 -3.17837841e+00] [ 2.13886330e-02 -1.11772665e-03 9.99770612e-01 1.50866342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.319072329 meters Centerline goodness [0,1] 0.7660390241340371 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.18, Z:15.09 [[ 9.98799718e-01 4.42630975e-02 -2.09738364e-02 -2.15415614e+01] [-4.42306510e-02 9.99019327e-01 2.00860708e-03 -3.17766594e+00] [ 2.10421751e-02 -1.07850975e-03 9.99778007e-01 1.50865935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.349072329 meters Centerline goodness [0,1] 0.7374614959323909 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.18, Z:15.09 [[ 9.98759538e-01 4.54529905e-02 -2.03325103e-02 -2.15443464e+01] [-4.54039658e-02 9.98964595e-01 2.86656043e-03 -3.17860265e+00] [ 2.04417516e-02 -1.93982797e-03 9.99789164e-01 1.50878382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379072329 meters Centerline goodness [0,1] 0.7225122607182408 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.09 [[ 9.98889924e-01 4.26392891e-02 -2.00202661e-02 -2.15462244e+01] [-4.26661713e-02 9.99088963e-01 -9.17344463e-04 -3.17686764e+00] [ 1.99629119e-02 1.77051424e-03 9.99799154e-01 1.50876240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.409072329 meters Centerline goodness [0,1] 0.7360751124041258 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.09 [[ 9.98881519e-01 4.28545479e-02 -1.99799608e-02 -2.15463015e+01] [-4.28788816e-02 9.99079965e-01 -7.90900408e-04 -3.17797937e+00] [ 1.99276849e-02 1.64673417e-03 9.99800068e-01 1.50873407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439072329 meters Centerline goodness [0,1] 0.7069859751256946 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.09 [[ 9.98862778e-01 4.34808193e-02 -1.95593891e-02 -2.15473842e+01] [-4.34990104e-02 9.99053342e-01 -5.05358507e-04 -3.17906458e+00] [ 1.95188997e-02 1.35559787e-03 9.99808569e-01 1.50869104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.469072329 meters Centerline goodness [0,1] 0.6966066280515222 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.09 [[ 9.98860263e-01 4.36554899e-02 -1.92969627e-02 -2.15478122e+01] [-4.36743411e-02 9.99045666e-01 -5.56350004e-04 -3.17863367e+00] [ 1.92542592e-02 1.39849804e-03 9.99813641e-01 1.50864636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49907232899999 meters Centerline goodness [0,1] 0.6936520584329349 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.09 [[ 9.98853121e-01 4.39381202e-02 -1.90232443e-02 -2.15485611e+01] [-4.39551780e-02 9.99033389e-01 -4.79286831e-04 -3.17849294e+00] [ 1.89837972e-02 1.31490723e-03 9.99818927e-01 1.50863937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52907232899999 meters Centerline goodness [0,1] 0.6820444915254238 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.09 [[ 9.98846105e-01 4.41419053e-02 -1.89196086e-02 -2.15488735e+01] [-4.41579621e-02 9.99024468e-01 -4.31561964e-04 -3.17880058e+00] [ 1.88821019e-02 1.26651535e-03 9.99820915e-01 1.50862999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55907232899999 meters Centerline goodness [0,1] 0.669247758175674 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.09 [[ 9.98990418e-01 4.10096712e-02 -1.83398716e-02 -2.15510398e+01] [-4.10991344e-02 9.99144814e-01 -4.52790306e-03 -3.17867159e+00] [ 1.81384998e-02 5.27708462e-03 9.99821558e-01 1.50855685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58907232899999 meters Centerline goodness [0,1] 0.6682678194967042 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.08 [[ 9.99136171e-01 3.75338391e-02 -1.78359896e-02 -2.15526764e+01] [-3.76945735e-02 9.99250887e-01 -8.76261052e-03 -3.17762273e+00] [ 1.74937340e-02 9.42736114e-03 9.99802528e-01 1.50847268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61907232899999 meters Centerline goodness [0,1] 0.674342105263158 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.08 [[ 9.99132560e-01 3.75636223e-02 -1.79750067e-02 -2.15521902e+01] [-3.77187611e-02 9.99253333e-01 -8.37093131e-03 -3.17955296e+00] [ 1.76471429e-02 9.04166501e-03 9.99803394e-01 1.50846547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64907232899999 meters Centerline goodness [0,1] 0.6809697489809055 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.08 [[ 9.99134971e-01 3.73847107e-02 -1.82124682e-02 -2.15509095e+01] [-3.75318092e-02 9.99264968e-01 -7.80296517e-03 -3.18241834e+00] [ 1.79073699e-02 8.47976225e-03 9.99803691e-01 1.50841240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.679072329 meters Centerline goodness [0,1] 0.6734617039586919 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.18, Z:15.08 [[ 9.99132160e-01 3.74029547e-02 -1.83288012e-02 -2.15505521e+01] [-3.75428798e-02 9.99267984e-01 -7.35036736e-03 -3.18417383e+00] [ 1.80404588e-02 8.03210440e-03 9.99804995e-01 1.50842780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.709072329 meters Centerline goodness [0,1] 0.6852512155591572 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.19, Z:15.09 [[ 9.99120334e-01 3.76887183e-02 -1.83879845e-02 -2.15508246e+01] [-3.78144184e-02 9.99263399e-01 -6.53674696e-03 -3.18669290e+00] [ 1.81280783e-02 7.22632775e-03 9.99809558e-01 1.50851612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739072329 meters Centerline goodness [0,1] 0.698412267607545 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.19, Z:15.09 [[ 9.99106003e-01 3.79435131e-02 -1.86409238e-02 -2.15508082e+01] [-3.80447872e-02 9.99262977e-01 -5.10851585e-03 -3.19207940e+00] [ 1.84333500e-02 5.81313883e-03 9.99813192e-01 1.50867204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.769072329 meters Centerline goodness [0,1] 0.689902865072239 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.19, Z:15.09 [[ 9.99097763e-01 3.80788322e-02 -1.88059299e-02 -2.15505706e+01] [-3.81694318e-02 9.99261229e-01 -4.48226904e-03 -3.19459470e+00] [ 1.86213570e-02 5.19603663e-03 9.99813106e-01 1.50871788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799072329 meters Centerline goodness [0,1] 0.7003735107282096 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.20, Z:15.09 [[ 9.99093513e-01 3.81791703e-02 -1.88282726e-02 -2.15505359e+01] [-3.82607306e-02 9.99259822e-01 -3.99063602e-03 -3.19681622e+00] [ 1.86619771e-02 4.70740202e-03 9.99814768e-01 1.50873874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.829072329 meters Centerline goodness [0,1] 0.7408575896408878 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.20, Z:15.09 [[ 9.99239924e-01 3.43627355e-02 -1.84058750e-02 -2.15512062e+01] [-3.45167745e-02 9.99371150e-01 -8.11765992e-03 -3.19727368e+00] [ 1.81153555e-02 8.74680132e-03 9.99797643e-01 1.50858025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85907232899999 meters Centerline goodness [0,1] 0.7449382716049382 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.20, Z:15.09 [[ 9.99232905e-01 3.45586349e-02 -1.84201519e-02 -2.15512580e+01] [-3.47026912e-02 9.99369093e-01 -7.55907353e-03 -3.19921722e+00] [ 1.81472993e-02 8.19250384e-03 9.99801760e-01 1.50861124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88907232899999 meters Centerline goodness [0,1] 0.7298858478888737 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.20, Z:15.09 [[ 9.99211257e-01 3.53927994e-02 -1.80059098e-02 -2.15532867e+01] [-3.55083417e-02 9.99350530e-01 -6.13809314e-03 -3.20282216e+00] [ 1.77769712e-02 6.77261176e-03 9.99819039e-01 1.50879486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91907232899999 meters Centerline goodness [0,1] 0.7298858478888737 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.20, Z:15.09 [[ 9.99211257e-01 3.53927994e-02 -1.80059098e-02 -2.15532867e+01] [-3.55083417e-02 9.99350530e-01 -6.13809314e-03 -3.20282216e+00] [ 1.77769712e-02 6.77261176e-03 9.99819039e-01 1.50879486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94907232899999 meters Centerline goodness [0,1] 0.7408893530478755 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.20, Z:15.09 [[ 9.99202156e-01 3.56451999e-02 -1.80130937e-02 -2.15538104e+01] [-3.57505995e-02 9.99345257e-01 -5.56343025e-03 -3.20406757e+00] [ 1.78029902e-02 6.20297039e-03 9.99822273e-01 1.50890236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97907232899999 meters Centerline goodness [0,1] 0.7387250710286045 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.21, Z:15.09 [[ 9.99192617e-01 3.59202785e-02 -1.79957870e-02 -2.15542116e+01] [-3.60175339e-02 9.99338096e-01 -5.10959951e-03 -3.20566033e+00] [ 1.78003373e-02 5.75363797e-03 9.99825007e-01 1.50895411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00907232899999 meters Centerline goodness [0,1] 0.6955223880597015 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.21, Z:15.09 [[ 9.99186672e-01 3.59818192e-02 -1.82017315e-02 -2.15537291e+01] [-3.60754225e-02 9.99337347e-01 -4.84050757e-03 -3.20731274e+00] [ 1.80154998e-02 5.49320581e-03 9.99822617e-01 1.50895589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03907232899999 meters Centerline goodness [0,1] 0.7290974529346622 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.21, Z:15.09 [[ 9.99198814e-01 3.54832059e-02 -1.85114127e-02 -2.15511915e+01] [-3.55904612e-02 9.99351341e-01 -5.49700042e-03 -3.20864932e+00] [ 1.83043539e-02 6.15142602e-03 9.99813538e-01 1.50865423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.069072329 meters Centerline goodness [0,1] 0.7242554370411414 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.21, Z:15.09 [[ 9.99204651e-01 3.53239146e-02 -1.85009799e-02 -2.15503470e+01] [-3.54381292e-02 9.99354560e-01 -5.88230198e-03 -3.20798766e+00] [ 1.82812527e-02 6.53326361e-03 9.99811538e-01 1.50850741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099072329 meters Centerline goodness [0,1] 0.7194025722583322 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.21, Z:15.08 [[ 9.99209725e-01 3.52509712e-02 -1.83655837e-02 -2.15500105e+01] [-3.53701276e-02 9.99355024e-01 -6.20400981e-03 -3.20710213e+00] [ 1.81350409e-02 6.84869997e-03 9.99812090e-01 1.50839644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.129072329 meters Centerline goodness [0,1] 0.7199029393922682 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.21, Z:15.08 [[ 9.99207902e-01 3.54639193e-02 -1.80520942e-02 -2.15507076e+01] [-3.55793033e-02 9.99348171e-01 -6.11109738e-03 -3.20683759e+00] [ 1.78236038e-02 6.74853773e-03 9.99818372e-01 1.50838476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159072329 meters Centerline goodness [0,1] 0.7033601148568431 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.21, Z:15.09 [[ 9.99181952e-01 3.64107072e-02 -1.75979489e-02 -2.15533459e+01] [-3.65000637e-02 9.99322203e-01 -4.78332489e-03 -3.20947598e+00] [ 1.74118568e-02 5.42173815e-03 9.99833702e-01 1.50862956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.189072329 meters Centerline goodness [0,1] 0.6996801588176905 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.21, Z:15.09 [[ 9.99171917e-01 3.66451638e-02 -1.76808541e-02 -2.15538042e+01] [-3.67253847e-02 9.99316427e-01 -4.23389168e-03 -3.21092087e+00] [ 1.75136163e-02 4.87972184e-03 9.99834717e-01 1.50875097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219072329 meters Centerline goodness [0,1] 0.6782254939945758 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99279755e-01 3.39200184e-02 -1.70118897e-02 -2.15570305e+01] [-3.40583207e-02 9.99388569e-01 -7.90692252e-03 -3.20972239e+00] [ 1.67332852e-02 8.48062399e-03 9.99824023e-01 1.50880743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24907232899999 meters Centerline goodness [0,1] 0.6806460519050248 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99280752e-01 3.38751669e-02 -1.70426722e-02 -2.15567177e+01] [-3.40159314e-02 9.99388963e-01 -8.03850311e-03 -3.20919125e+00] [ 1.67599528e-02 8.61244380e-03 9.99822449e-01 1.50877243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27907232899999 meters Centerline goodness [0,1] 0.6978935698447893 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99289948e-01 3.36012574e-02 -1.70457027e-02 -2.15554343e+01] [-3.37535855e-02 9.99392067e-01 -8.72880345e-03 -3.20787377e+00] [ 1.67420412e-02 9.29795912e-03 9.99816609e-01 1.50854849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30907232899999 meters Centerline goodness [0,1] 0.6666020814880425 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.08 [[ 9.99289609e-01 3.35944664e-02 -1.70788839e-02 -2.15550442e+01] [-3.37480711e-02 9.99391747e-01 -8.78653899e-03 -3.20801342e+00] [ 1.67733166e-02 9.35667651e-03 9.99815537e-01 1.50849657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33907232899999 meters Centerline goodness [0,1] 0.6809690115860081 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99279743e-01 3.39333233e-02 -1.69859937e-02 -2.15556627e+01] [-3.40796917e-02 9.99383793e-01 -8.40293905e-03 -3.20907879e+00] [ 1.66903872e-02 8.97576420e-03 9.99820417e-01 1.50854713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36907232899999 meters Centerline goodness [0,1] 0.6649986099527384 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99262565e-01 3.45109449e-02 -1.68321528e-02 -2.15569655e+01] [-3.46449121e-02 9.99369764e-01 -7.73334906e-03 -3.21044203e+00] [ 1.65546594e-02 8.31079467e-03 9.99828422e-01 1.50867681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39907232899999 meters Centerline goodness [0,1] 0.6537512134239356 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99243444e-01 3.52824923e-02 -1.63611116e-02 -2.15588931e+01] [-3.54058490e-02 9.99346265e-01 -7.31219468e-03 -3.21045930e+00] [ 1.60924233e-02 7.88594164e-03 9.99839410e-01 1.50875005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.429072329 meters Centerline goodness [0,1] 0.6461602324616023 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99241137e-01 3.54533197e-02 -1.61310887e-02 -2.15593131e+01] [-3.55772764e-02 9.99339060e-01 -7.46328853e-03 -3.20940593e+00] [ 1.58558287e-02 8.03152512e-03 9.99842031e-01 1.50870701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.459072329 meters Centerline goodness [0,1] 0.6383910020223287 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99242462e-01 3.54362170e-02 -1.60865181e-02 -2.15591051e+01] [-3.55651797e-02 9.99336898e-01 -7.80271837e-03 -3.20828836e+00] [ 1.57993522e-02 8.36892742e-03 9.99840158e-01 1.50863899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.489072329 meters Centerline goodness [0,1] 0.6271299143878315 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99227894e-01 3.59271956e-02 -1.59013356e-02 -2.15597401e+01] [-3.60549338e-02 9.99319208e-01 -7.82066456e-03 -3.20819613e+00] [ 1.56095356e-02 8.38794778e-03 9.99842980e-01 1.50860301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519072329 meters Centerline goodness [0,1] 0.6333877077054937 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99216273e-01 3.63272875e-02 -1.57215521e-02 -2.15604939e+01] [-3.64512164e-02 9.99306005e-01 -7.66922606e-03 -3.20833705e+00] [ 1.54320392e-02 8.23628518e-03 9.99846996e-01 1.50861619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.549072329 meters Centerline goodness [0,1] 0.6184399513865871 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99201923e-01 3.68563783e-02 -1.53988602e-02 -2.15618721e+01] [-3.69741288e-02 9.99288578e-01 -7.43319249e-03 -3.20779460e+00] [ 1.51139446e-02 7.99661967e-03 9.99853801e-01 1.50868187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579072329 meters Centerline goodness [0,1] 0.617296222664016 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99198081e-01 3.70290793e-02 -1.52329010e-02 -2.15624429e+01] [-3.71438684e-02 9.99283097e-01 -7.32289910e-03 -3.20751148e+00] [ 1.49508203e-02 7.88283561e-03 9.99857157e-01 1.50870952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60907232899999 meters Centerline goodness [0,1] 0.6167595299828985 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99193078e-01 3.72072007e-02 -1.51267281e-02 -2.15628060e+01] [-3.73202112e-02 9.99276997e-01 -7.25847046e-03 -3.20712143e+00] [ 1.48457240e-02 7.81714612e-03 9.99859238e-01 1.50872005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63907232899999 meters Centerline goodness [0,1] 0.6153399668325041 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99187546e-01 3.74113988e-02 -1.49878264e-02 -2.15631962e+01] [-3.75242609e-02 9.99268899e-01 -7.32106660e-03 -3.20656780e+00] [ 1.47029774e-02 7.87752568e-03 9.99860874e-01 1.50870761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66907232899999 meters Centerline goodness [0,1] 0.6150743217107808 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99190153e-01 3.73187399e-02 -1.50449205e-02 -2.15627282e+01] [-3.74337058e-02 9.99271464e-01 -7.43363052e-03 -3.20655698e+00] [ 1.47565460e-02 7.99079755e-03 9.99859186e-01 1.50866298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69907232899999 meters Centerline goodness [0,1] 0.6130371026201478 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99194314e-01 3.71109717e-02 -1.52806726e-02 -2.15618291e+01] [-3.72304793e-02 9.99277714e-01 -7.61198599e-03 -3.20648755e+00] [ 1.49871474e-02 8.17475989e-03 9.99854269e-01 1.50861943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72907232899999 meters Centerline goodness [0,1] 0.61624331735963 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99195142e-01 3.70011260e-02 -1.54914252e-02 -2.15612167e+01] [-3.71229860e-02 9.99281392e-01 -7.65395130e-03 -3.20646717e+00] [ 1.51970882e-02 8.22287892e-03 9.99850705e-01 1.50861167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75907232899999 meters Centerline goodness [0,1] 0.6129281341349071 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.21, Z:15.09 [[ 9.99191596e-01 3.71225647e-02 -1.54294960e-02 -2.15615905e+01] [-3.72448873e-02 9.99276368e-01 -7.71747891e-03 -3.20544556e+00] [ 1.51318381e-02 8.28590991e-03 9.99851175e-01 1.50864387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78907232899999 meters Centerline goodness [0,1] 0.6106063109202049 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.20, Z:15.09 [[ 9.99184119e-01 3.74164372e-02 -1.52022140e-02 -2.15626658e+01] [-3.75351996e-02 9.99266380e-01 -7.60334097e-03 -3.20467887e+00] [ 1.49065714e-02 8.16775569e-03 9.99855531e-01 1.50871512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.819072329 meters Centerline goodness [0,1] 0.609312018426609 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.20, Z:15.09 [[ 9.99179106e-01 3.76363968e-02 -1.49871671e-02 -2.15636079e+01] [-3.77533415e-02 9.99258203e-01 -7.59795365e-03 -3.20359857e+00] [ 1.46900900e-02 8.15753217e-03 9.99858818e-01 1.50877725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.849072329 meters Centerline goodness [0,1] 0.6070473279109121 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.20, Z:15.09 [[ 9.99176300e-01 3.77921310e-02 -1.47809590e-02 -2.15643200e+01] [-3.79086319e-02 9.99251677e-01 -7.68260834e-03 -3.20248515e+00] [ 1.44795559e-02 8.23660611e-03 9.99861241e-01 1.50880320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879072329 meters Centerline goodness [0,1] 0.6070961412688032 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.20, Z:15.09 [[ 9.99172854e-01 3.79546505e-02 -1.45963212e-02 -2.15649950e+01] [-3.80766726e-02 9.99241383e-01 -8.17467788e-03 -3.19916069e+00] [ 1.42749811e-02 8.72369557e-03 9.99860051e-01 1.50880354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.909072329 meters Centerline goodness [0,1] 0.6058050651505672 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.20, Z:15.09 [[ 9.99176668e-01 3.78166089e-02 -1.46932276e-02 -2.15646641e+01] [-3.79469143e-02 9.99241944e-01 -8.69309311e-03 -3.19700497e+00] [ 1.43533460e-02 9.24349845e-03 9.99854259e-01 1.50877595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939072329 meters Centerline goodness [0,1] 0.5988708232675553 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.19, Z:15.09 [[ 9.99175615e-01 3.78302792e-02 -1.47295462e-02 -2.15643953e+01] [-3.79765453e-02 9.99230768e-01 -9.78027706e-03 -3.19312749e+00] [ 1.43482251e-02 1.03315916e-02 9.99843681e-01 1.50866468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.969072329 meters Centerline goodness [0,1] 0.597980949279492 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.19, Z:15.09 [[ 9.99178392e-01 3.77128785e-02 -1.48417915e-02 -2.15640840e+01] [-3.78669530e-02 9.99230315e-01 -1.02406619e-02 -3.19142211e+00] [ 1.44441632e-02 1.07942615e-02 9.99837412e-01 1.50864537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99907232899999 meters Centerline goodness [0,1] 0.5999296174981728 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.19, Z:15.09 [[ 9.99177204e-01 3.77298646e-02 -1.48785546e-02 -2.15641331e+01] [-3.78868284e-02 9.99227784e-01 -1.04127242e-02 -3.19029579e+00] [ 1.44741944e-02 1.09678579e-02 9.99835088e-01 1.50866260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02907232899999 meters Centerline goodness [0,1] 0.6023201356552634 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.19, Z:15.09 [[ 9.99176331e-01 3.78028711e-02 -1.47513316e-02 -2.15648288e+01] [-3.79623643e-02 9.99222030e-01 -1.06861025e-02 -3.18741133e+00] [ 1.43358902e-02 1.12372961e-02 9.99834089e-01 1.50872377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05907232899999 meters Centerline goodness [0,1] 0.6023749259518553 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.19, Z:15.09 [[ 9.99177135e-01 3.78097714e-02 -1.46790384e-02 -2.15651302e+01] [-3.79702968e-02 9.99220338e-01 -1.08154114e-02 -3.18593843e+00] [ 1.42586655e-02 1.13638792e-02 9.99833763e-01 1.50875567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08907232899999 meters Centerline goodness [0,1] 0.6050981240201114 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.18, Z:15.09 [[ 9.99178765e-01 3.77973071e-02 -1.45999694e-02 -2.15654995e+01] [-3.79600138e-02 9.99218353e-01 -1.10326802e-02 -3.18415038e+00] [ 1.41715518e-02 1.15778348e-02 9.99832546e-01 1.50878797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11907232899999 meters Centerline goodness [0,1] 0.6025437629406545 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.18, Z:15.09 [[ 9.99174132e-01 3.80338249e-02 -1.42997044e-02 -2.15667235e+01] [-3.81987850e-02 9.99204612e-01 -1.14453153e-02 -3.18026817e+00] [ 1.38530215e-02 1.19820943e-02 9.99832248e-01 1.50884218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14907232899999 meters Centerline goodness [0,1] 0.5986072050354895 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.18, Z:15.09 [[ 9.99178176e-01 3.79503679e-02 -1.42387266e-02 -2.15668333e+01] [-3.81214709e-02 9.99201727e-01 -1.19440883e-02 -3.17791796e+00] [ 1.37740777e-02 1.24770735e-02 9.99827284e-01 1.50882463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.179072329 meters Centerline goodness [0,1] 0.5959649729844827 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.18, Z:15.09 [[ 9.99185403e-01 3.77045586e-02 -1.43839056e-02 -2.15663302e+01] [-3.78851238e-02 9.99203988e-01 -1.24943391e-02 -3.17558315e+00] [ 1.39013623e-02 1.30290973e-02 9.99818481e-01 1.50880180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.209072329 meters Centerline goodness [0,1] 0.5860079240566916 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.17, Z:15.09 [[ 9.99182923e-01 3.77977187e-02 -1.43115053e-02 -2.15673082e+01] [-3.79808664e-02 9.99197133e-01 -1.27492508e-02 -3.17242515e+00] [ 1.38181225e-02 1.32823971e-02 9.99816302e-01 1.50892954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239072329 meters Centerline goodness [0,1] 0.589355637835966 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.17, Z:15.09 [[ 9.99187706e-01 3.76642825e-02 -1.43293675e-02 -2.15674468e+01] [-3.78507474e-02 9.99199204e-01 -1.29719870e-02 -3.17079311e+00] [ 1.38293120e-02 1.35038272e-02 9.99813181e-01 1.50897614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.269072329 meters Centerline goodness [0,1] 0.5822156118031394 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.17, Z:15.09 [[ 9.99193671e-01 3.74555529e-02 -1.44599298e-02 -2.15673444e+01] [-3.76476638e-02 9.99203224e-01 -1.32502832e-02 -3.16899397e+00] [ 1.39521118e-02 1.37839817e-02 9.99807652e-01 1.50902639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299072329 meters Centerline goodness [0,1] 0.5927517775655311 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.17, Z:15.09 [[ 9.99202768e-01 3.71800982e-02 -1.45419673e-02 -2.15670483e+01] [-3.73791665e-02 9.99207710e-01 -1.36656739e-02 -3.16706035e+00] [ 1.40223547e-02 1.41983458e-02 9.99800870e-01 1.50902717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.329072329 meters Centerline goodness [0,1] 0.5884275734809543 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.16, Z:15.09 [[ 9.99232212e-01 3.61681970e-02 -1.50615057e-02 -2.15648907e+01] [-3.63938188e-02 9.99225163e-01 -1.49854538e-02 -3.16263103e+00] [ 1.45078387e-02 1.55220939e-02 9.99774268e-01 1.50892307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35907232899999 meters Centerline goodness [0,1] 0.5983971739646219 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.16, Z:15.09 [[ 9.99246598e-01 3.56187272e-02 -1.54124260e-02 -2.15636902e+01] [-3.58592683e-02 9.99234730e-01 -1.56226242e-02 -3.16055031e+00] [ 1.48441734e-02 1.61635324e-02 9.99759166e-01 1.50889052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38907232899999 meters Centerline goodness [0,1] 0.5971679559459814 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.16, Z:15.09 [[ 9.99256963e-01 3.52049914e-02 -1.56885369e-02 -2.15628096e+01] [-3.54567391e-02 9.99242029e-01 -1.60681865e-02 -3.15888993e+00] [ 1.51109650e-02 1.66125116e-02 9.99747810e-01 1.50888192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41907232899999 meters Centerline goodness [0,1] 0.5898666805812831 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.16, Z:15.09 [[ 9.99279609e-01 3.43224508e-02 -1.61936094e-02 -2.15610343e+01] [-3.46003114e-02 9.99253170e-01 -1.72023351e-02 -3.15538887e+00] [ 1.55910893e-02 1.77502466e-02 9.99720884e-01 1.50882296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44907232899999 meters Centerline goodness [0,1] 0.599572571607287 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.15, Z:15.09 [[ 9.99292911e-01 3.38644807e-02 -1.63362894e-02 -2.15602837e+01] [-3.41545319e-02 9.99257766e-01 -1.78153287e-02 -3.15316153e+00] [ 1.57208572e-02 1.83606900e-02 9.99707827e-01 1.50878106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47907232899999 meters Centerline goodness [0,1] 0.6032125591308416 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.15, Z:15.09 [[ 9.99306371e-01 3.33815774e-02 -1.65059980e-02 -2.15596178e+01] [-3.36843384e-02 9.99262802e-01 -1.84178739e-02 -3.15056482e+00] [ 1.58790121e-02 1.89610924e-02 9.99694120e-01 1.50876990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50907232899999 meters Centerline goodness [0,1] 0.6112342179850554 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.15, Z:15.09 [[ 9.99331806e-01 3.23453850e-02 -1.70211116e-02 -2.15579817e+01] [-3.26747621e-02 9.99276914e-01 -1.94424696e-02 -3.14614750e+00] [ 1.63799297e-02 1.99856390e-02 9.99666080e-01 1.50878461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53907232899999 meters Centerline goodness [0,1] 0.618179941155216 Centerline is valid? [False, False] Translation: X:-21.56, Y:-3.15, Z:15.09 [[ 9.99338734e-01 3.19356186e-02 -1.73842035e-02 -2.15570158e+01] [-3.22768541e-02 9.99284492e-01 -1.97157222e-02 -3.14514241e+00] [ 1.67421312e-02 2.02637923e-02 9.99654480e-01 1.50880109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.569072329 meters Centerline goodness [0,1] 0.6325321379807816 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.14, Z:15.09 [[ 9.99361685e-01 3.06346760e-02 -1.83776845e-02 -2.15539987e+01] [-3.10106247e-02 9.99308129e-01 -2.05330239e-02 -3.14363793e+00] [ 1.77359470e-02 2.10898208e-02 9.99620256e-01 1.50878391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599072329 meters Centerline goodness [0,1] 0.6352787188173699 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.14, Z:15.09 [[ 9.99373905e-01 2.98684421e-02 -1.89650838e-02 -2.15519251e+01] [-3.02669204e-02 9.99319463e-01 -2.10837380e-02 -3.14256346e+00] [ 1.83224390e-02 2.16445522e-02 9.99597820e-01 1.50872775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.629072329 meters Centerline goodness [0,1] 0.6398956441670716 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.14, Z:15.09 [[ 9.99381055e-01 2.93106882e-02 -1.94522487e-02 -2.15503663e+01] [-2.97273071e-02 9.99327103e-01 -2.14855581e-02 -3.14146854e+00] [ 1.88094028e-02 2.20505227e-02 9.99579902e-01 1.50869947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659072329 meters Centerline goodness [0,1] 0.6449684490202591 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.14, Z:15.09 [[ 9.99389818e-01 2.87702058e-02 -1.98057095e-02 -2.15491776e+01] [-2.92037363e-02 9.99332239e-01 -2.19594541e-02 -3.13979229e+00] [ 1.91607060e-02 2.25244556e-02 9.99562662e-01 1.50867858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.689072329 meters Centerline goodness [0,1] 0.6564675284938423 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.14, Z:15.09 [[ 9.99409919e-01 2.75628107e-02 -2.04964813e-02 -2.15466927e+01] [-2.80307933e-02 9.99344563e-01 -2.29067531e-02 -3.13712332e+00] [ 1.98516727e-02 2.34677689e-02 9.99527476e-01 1.50862371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719072329 meters Centerline goodness [0,1] 0.6563661355190145 Centerline is valid? [False, False] Translation: X:-21.55, Y:-3.14, Z:15.09 [[ 9.99413690e-01 2.70764999e-02 -2.09556477e-02 -2.15454626e+01] [-2.75589908e-02 9.99353499e-01 -2.30886560e-02 -3.13655304e+00] [ 2.03169399e-02 2.36526354e-02 9.99513769e-01 1.50864519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74907232899999 meters Centerline goodness [0,1] 0.6620910546785632 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.14, Z:15.09 [[ 9.99417708e-01 2.66634211e-02 -2.12910199e-02 -2.15444625e+01] [-2.71572249e-02 9.99360736e-01 -2.32508966e-02 -3.13625277e+00] [ 2.06574608e-02 2.38155628e-02 9.99502921e-01 1.50864693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77907232899999 meters Centerline goodness [0,1] 0.6717572744108171 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.13, Z:15.09 [[ 9.99430990e-01 2.56780138e-02 -2.18709010e-02 -2.15423765e+01] [-2.62020219e-02 9.99368062e-01 -2.40193926e-02 -3.13422713e+00] [ 2.12403097e-02 2.45787872e-02 9.99472227e-01 1.50859638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80907232899999 meters Centerline goodness [0,1] 0.6789134554643083 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.14, Z:15.09 [[ 9.99341887e-01 2.84761506e-02 -2.24700235e-02 -2.15396313e+01] [-2.89326860e-02 9.99376003e-01 -2.02609233e-02 -3.13535964e+00] [ 2.18790492e-02 2.08977074e-02 9.99542192e-01 1.50857358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83907232899999 meters Centerline goodness [0,1] 0.6789134554643083 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.14, Z:15.09 [[ 9.99341887e-01 2.84761506e-02 -2.24700235e-02 -2.15396313e+01] [-2.89326860e-02 9.99376003e-01 -2.02609233e-02 -3.13535964e+00] [ 2.18790492e-02 2.08977074e-02 9.99542192e-01 1.50857358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86907232899999 meters Centerline goodness [0,1] 0.6794411077325158 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.14, Z:15.09 [[ 9.99233407e-01 3.14355562e-02 -2.33324865e-02 -2.15366293e+01] [-3.18208160e-02 9.99360207e-01 -1.63282394e-02 -3.13653015e+00] [ 2.28042713e-02 1.70581810e-02 9.99594410e-01 1.50859440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89907232899999 meters Centerline goodness [0,1] 0.6907211321322828 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.13, Z:15.09 [[ 9.99249097e-01 3.05812606e-02 -2.37913416e-02 -2.15351105e+01] [-3.09912213e-02 9.99374090e-01 -1.70579018e-02 -3.13431820e+00] [ 2.32547982e-02 1.77824157e-02 9.99571408e-01 1.50857797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.929072329 meters Centerline goodness [0,1] 0.6993637593306948 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.13, Z:15.09 [[ 9.99252307e-01 3.02076092e-02 -2.41314440e-02 -2.15341821e+01] [-3.06267213e-02 9.99383042e-01 -1.71912448e-02 -3.13424317e+00] [ 2.35972495e-02 1.79174581e-02 9.99560971e-01 1.50858710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.959072329 meters Centerline goodness [0,1] 0.7161254760473041 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.13, Z:15.09 [[ 9.99263560e-01 2.93475872e-02 -2.47195803e-02 -2.15324686e+01] [-2.97840620e-02 9.99403539e-01 -1.74778556e-02 -3.13454484e+00] [ 2.41919031e-02 1.82012337e-02 9.99541628e-01 1.50860444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.989072329 meters Centerline goodness [0,1] 0.7224191293929713 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.13, Z:15.09 [[ 9.99267091e-01 2.89215666e-02 -2.50763537e-02 -2.15313670e+01] [-2.93695189e-02 9.99412197e-01 -1.76830883e-02 -3.13393383e+00] [ 2.45501912e-02 1.84066086e-02 9.99529132e-01 1.50859600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019072329 meters Centerline goodness [0,1] 0.7295845719567335 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.13, Z:15.09 [[ 9.99272734e-01 2.85774173e-02 -2.52454813e-02 -2.15306047e+01] [-2.90345962e-02 9.99417544e-01 -1.79322420e-02 -3.13313139e+00] [ 2.47183197e-02 1.86521929e-02 9.99520435e-01 1.50856349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.049072329 meters Centerline goodness [0,1] 0.7364665231108218 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.13, Z:15.09 [[ 9.99279087e-01 2.81445610e-02 -2.54792110e-02 -2.15295532e+01] [-2.86138888e-02 9.99423986e-01 -1.82466958e-02 -3.13232694e+00] [ 2.49509894e-02 1.89626008e-02 9.99508813e-01 1.50851108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079072329 meters Centerline goodness [0,1] 0.7491074326517364 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.13, Z:15.08 [[ 9.99292041e-01 2.67788613e-02 -2.64255447e-02 -2.15257282e+01] [-2.72876398e-02 9.99445435e-01 -1.90842071e-02 -3.13170775e+00] [ 2.58998367e-02 1.97917870e-02 9.99468601e-01 1.50834771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10907232899999 meters Centerline goodness [0,1] 0.7510721053156477 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.13, Z:15.08 [[ 9.99291147e-01 2.65495703e-02 -2.66893938e-02 -2.15248116e+01] [-2.70620905e-02 9.99452622e-01 -1.90288991e-02 -3.13195856e+00] [ 2.61695755e-02 1.97376812e-02 9.99462644e-01 1.50833347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13907232899999 meters Centerline goodness [0,1] 0.7564524165421026 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.13, Z:15.08 [[ 9.99288919e-01 2.65315569e-02 -2.67905316e-02 -2.15246987e+01] [-2.70412087e-02 9.99456693e-01 -1.88439004e-02 -3.13241812e+00] [ 2.62760181e-02 1.95549492e-02 9.99463443e-01 1.50836569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16907232899999 meters Centerline goodness [0,1] 0.7605781472328316 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.13, Z:15.09 [[ 9.99280090e-01 2.68761723e-02 -2.67763631e-02 -2.15258070e+01] [-2.73603965e-02 9.99465629e-01 -1.78847670e-02 -3.13441774e+00] [ 2.62813805e-02 1.86045034e-02 9.99481446e-01 1.50856239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19907232899999 meters Centerline goodness [0,1] 0.761144195549797 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.14, Z:15.09 [[ 9.99274797e-01 2.69007431e-02 -2.69486407e-02 -2.15256919e+01] [-2.73792826e-02 9.99471070e-01 -1.75486599e-02 -3.13523876e+00] [ 2.64623147e-02 1.82737680e-02 9.99482774e-01 1.50862489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22907232899999 meters Centerline goodness [0,1] 0.7612118498619506 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.14, Z:15.09 [[ 9.99273427e-01 2.67949607e-02 -2.71043878e-02 -2.15250452e+01] [-2.72756462e-02 9.99474352e-01 -1.75230823e-02 -3.13548628e+00] [ 2.66206102e-02 1.82496402e-02 9.99479011e-01 1.50859263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25907232899999 meters Centerline goodness [0,1] 0.76029785326493 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.13, Z:15.08 [[ 9.99278138e-01 2.65508161e-02 -2.71708936e-02 -2.15240588e+01] [-2.70422690e-02 9.99474324e-01 -1.78827107e-02 -3.13450714e+00] [ 2.66818100e-02 1.86045645e-02 9.99470836e-01 1.50847470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28907232899999 meters Centerline goodness [0,1] 0.7594696496791431 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.13, Z:15.08 [[ 9.99278623e-01 2.66387619e-02 -2.70667688e-02 -2.15241568e+01] [-2.71267467e-02 9.99473074e-01 -1.78245442e-02 -3.13440900e+00] [ 2.65776829e-02 1.85459194e-02 9.99474700e-01 1.50845528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.319072329 meters Centerline goodness [0,1] 0.7583649620455454 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.14, Z:15.09 [[ 9.99154362e-01 3.05112691e-02 -2.75612627e-02 -2.15226512e+01] [-3.08758144e-02 9.99439989e-01 -1.28993440e-02 -3.13857592e+00] [ 2.71522527e-02 1.37394123e-02 9.99536885e-01 1.50853578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.349072329 meters Centerline goodness [0,1] 0.7575993178170144 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.14, Z:15.09 [[ 9.99149562e-01 3.07182987e-02 -2.75052448e-02 -2.15228383e+01] [-3.10764635e-02 9.99436447e-01 -1.26902211e-02 -3.13912543e+00] [ 2.70999222e-02 1.35341946e-02 9.99541105e-01 1.50853519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379072329 meters Centerline goodness [0,1] 0.7562623557969019 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.14, Z:15.08 [[ 9.99023822e-01 3.39610509e-02 -2.82497677e-02 -2.15199012e+01] [-3.42158019e-02 9.99377606e-01 -8.58369553e-03 -3.14245184e+00] [ 2.79406739e-02 9.54190477e-03 9.99564040e-01 1.50848679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.409072329 meters Centerline goodness [0,1] 0.755090256333007 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.14, Z:15.08 [[ 9.99021462e-01 3.40159181e-02 -2.82672255e-02 -2.15192544e+01] [-3.42742535e-02 9.99374552e-01 -8.70520277e-03 -3.14233564e+00] [ 2.79534303e-02 9.66552245e-03 9.99562496e-01 1.50838294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439072329 meters Centerline goodness [0,1] 0.7524536805207812 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.14, Z:15.08 [[ 9.99020370e-01 3.39404193e-02 -2.83962877e-02 -2.15185145e+01] [-3.42032215e-02 9.99375973e-01 -8.82071042e-03 -3.14268200e+00] [ 2.80791890e-02 9.78331390e-03 9.99557825e-01 1.50831692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.469072329 meters Centerline goodness [0,1] 0.7533628898181268 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.14, Z:15.08 [[ 9.99010432e-01 3.42598573e-02 -2.83622748e-02 -2.15188162e+01] [-3.45105650e-02 9.99369052e-01 -8.39753844e-03 -3.14408133e+00] [ 2.80566812e-02 9.36802663e-03 9.99562436e-01 1.50834233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49907232899999 meters Centerline goodness [0,1] 0.7495713132943312 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.15, Z:15.08 [[ 9.99002814e-01 3.44436164e-02 -2.84080111e-02 -2.15187139e+01] [-3.46839618e-02 9.99366219e-01 -8.01142999e-03 -3.14568544e+00] [ 2.81140640e-02 8.98874348e-03 9.99564306e-01 1.50834857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52907232899999 meters Centerline goodness [0,1] 0.7517345168860321 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.15, Z:15.08 [[ 9.98995506e-01 3.49471567e-02 -2.80477148e-02 -2.15193638e+01] [-3.51682064e-02 9.99353811e-01 -7.42683946e-03 -3.14769411e+00] [ 2.77700438e-02 8.40576707e-03 9.99578995e-01 1.50830407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55907232899999 meters Centerline goodness [0,1] 0.7506628594737915 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.15, Z:15.08 [[ 9.98996132e-01 3.49946266e-02 -2.79661185e-02 -2.15190093e+01] [-3.52137915e-02 9.99352531e-01 -7.38296538e-03 -3.14824262e+00] [ 2.76896472e-02 8.36034693e-03 9.99581606e-01 1.50822430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58907232899999 meters Centerline goodness [0,1] 0.749961666240736 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.15, Z:15.08 [[ 9.98991493e-01 3.53603990e-02 -2.76701825e-02 -2.15196341e+01] [-3.55666079e-02 9.99342821e-01 -6.99590326e-03 -3.14958896e+00] [ 2.74046203e-02 7.97298238e-03 9.99592626e-01 1.50820908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61907232899999 meters Centerline goodness [0,1] 0.7466395949523247 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.15, Z:15.08 [[ 9.98962960e-01 3.63531291e-02 -2.74126751e-02 -2.15213272e+01] [-3.65211077e-02 9.99316898e-01 -5.65204385e-03 -3.15418836e+00] [ 2.71884800e-02 6.64732371e-03 9.99608223e-01 1.50834661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64907232899999 meters Centerline goodness [0,1] 0.7486408118883654 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.16, Z:15.08 [[ 9.98944432e-01 3.69991898e-02 -2.72228243e-02 -2.15224904e+01] [-3.71416640e-02 9.99298738e-01 -4.74656089e-03 -3.15703011e+00] [ 2.70281151e-02 5.75265157e-03 9.99618121e-01 1.50844108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.679072329 meters Centerline goodness [0,1] 0.7438869769969209 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.16, Z:15.08 [[ 9.98930586e-01 3.72916133e-02 -2.73316614e-02 -2.15223718e+01] [-3.74194708e-02 9.99290898e-01 -4.18138493e-03 -3.15960447e+00] [ 2.71563499e-02 5.19964960e-03 9.99617675e-01 1.50845535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.709072329 meters Centerline goodness [0,1] 0.7395868432648195 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.16, Z:15.08 [[ 9.98912958e-01 3.78647539e-02 -2.71875363e-02 -2.15224946e+01] [-3.79761676e-02 9.99272185e-01 -3.59321153e-03 -3.16241448e+00] [ 2.70316928e-02 4.62178399e-03 9.99623893e-01 1.50838999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739072329 meters Centerline goodness [0,1] 0.7368118966866684 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.16, Z:15.08 [[ 9.98904452e-01 3.82989966e-02 -2.68901886e-02 -2.15230727e+01] [-3.84007107e-02 9.99257050e-01 -3.27623233e-03 -3.16335407e+00] [ 2.67447342e-02 4.30524541e-03 9.99633025e-01 1.50835167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.769072329 meters Centerline goodness [0,1] 0.7301122243440501 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.17, Z:15.08 [[ 9.98882690e-01 3.90117096e-02 -2.66731904e-02 -2.15232450e+01] [-3.90974004e-02 9.99231761e-01 -2.69848234e-03 -3.16663490e+00] [ 2.65474266e-02 3.73831970e-03 9.99640565e-01 1.50824580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799072329 meters Centerline goodness [0,1] 0.7108699071889256 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.17, Z:15.08 [[ 9.98871955e-01 3.93875631e-02 -2.65223999e-02 -2.15233822e+01] [-3.94658479e-02 9.99217954e-01 -2.43448457e-03 -3.16827899e+00] [ 2.64057697e-02 3.47846736e-03 9.99645255e-01 1.50818461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.829072329 meters Centerline goodness [0,1] 0.6984423021355959 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.17, Z:15.08 [[ 9.98861934e-01 3.98128383e-02 -2.62635626e-02 -2.15238565e+01] [-3.98868980e-02 9.99201550e-01 -2.30183277e-03 -3.16907688e+00] [ 2.61509499e-02 3.34678517e-03 9.99652403e-01 1.50812436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85907232899999 meters Centerline goodness [0,1] 0.6893656225322453 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.17, Z:15.08 [[ 9.98854535e-01 4.02372484e-02 -2.58955992e-02 -2.15244514e+01] [-4.03107515e-02 9.99184492e-01 -2.32249073e-03 -3.16950034e+00] [ 2.57810305e-02 3.36370146e-03 9.99661955e-01 1.50803772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88907232899999 meters Centerline goodness [0,1] 0.6659537389100127 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.17, Z:15.07 [[ 9.98742080e-01 4.55122399e-02 -2.10450384e-02 -2.15094110e+01] [-4.56974236e-02 9.98919979e-01 -8.40360029e-03 -3.17130902e+00] [ 2.06398426e-02 9.35473327e-03 9.99743210e-01 1.50746229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91907232899999 meters Centerline goodness [0,1] 0.6510010314458756 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.17, Z:15.08 [[ 9.98706949e-01 4.64648546e-02 -2.06263616e-02 -2.15112854e+01] [-4.66304355e-02 9.98883143e-01 -7.62034567e-03 -3.17333949e+00] [ 2.02492467e-02 8.57230840e-03 9.99758213e-01 1.50754207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94907232899999 meters Centerline goodness [0,1] 0.6342741613684126 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.18, Z:15.08 [[ 9.98661195e-01 4.77105624e-02 -1.99879751e-02 -2.15141725e+01] [-4.78480562e-02 9.98833751e-01 -6.45773683e-03 -3.17589470e+00] [ 1.96565619e-02 7.40547694e-03 9.99779365e-01 1.50769594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97907232899999 meters Centerline goodness [0,1] 0.6146390819288016 Centerline is valid? [False, False] Translation: X:-21.50, Y:-3.18, Z:15.07 [[ 9.98480207e-01 5.32938218e-02 -1.40372539e-02 -2.15019611e+01] [-5.34631374e-02 9.98498007e-01 -1.19759664e-02 -3.17802943e+00] [ 1.33779250e-02 1.27082411e-02 9.99829751e-01 1.50729219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00907232899999 meters Centerline goodness [0,1] 0.6057300949695406 Centerline is valid? [False, False] Translation: X:-21.50, Y:-3.18, Z:15.07 [[ 9.98437774e-01 5.42355745e-02 -1.34355677e-02 -2.15040038e+01] [-5.43895782e-02 9.98454999e-01 -1.13749499e-02 -3.17883769e+00] [ 1.27978828e-02 1.20879345e-02 9.99845036e-01 1.50732924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03907232899999 meters Centerline goodness [0,1] 0.596957160016015 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.18, Z:15.07 [[ 9.98359295e-01 5.58778672e-02 -1.25053169e-02 -2.15068666e+01] [-5.60110631e-02 9.98374229e-01 -1.05669403e-02 -3.18105020e+00] [ 1.18945280e-02 1.12500392e-02 9.99865969e-01 1.50727904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.069072329 meters Centerline goodness [0,1] 0.5857750662278237 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.18, Z:15.07 [[ 9.98320520e-01 5.66727530e-02 -1.20141188e-02 -2.15083384e+01] [-5.67955501e-02 9.98334349e-01 -1.01386657e-02 -3.18217220e+00] [ 1.14195214e-02 1.08039865e-02 9.99876427e-01 1.50726368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099072329 meters Centerline goodness [0,1] 0.5739429062030479 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.18, Z:15.07 [[ 9.98267832e-01 5.77379188e-02 -1.12990719e-02 -2.15106533e+01] [-5.78472112e-02 9.98279316e-01 -9.59725512e-03 -3.18316337e+00] [ 1.07255042e-02 1.02342509e-02 9.99890106e-01 1.50727769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.129072329 meters Centerline goodness [0,1] 0.5664524765729585 Centerline is valid? [False, False] Translation: X:-21.51, Y:-3.18, Z:15.07 [[ 9.98215481e-01 5.87672512e-02 -1.05954647e-02 -2.15129125e+01] [-5.88656176e-02 9.98223301e-01 -9.22387250e-03 -3.18368794e+00] [ 1.00345781e-02 9.83112089e-03 9.99901323e-01 1.50728024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159072329 meters Centerline goodness [0,1] 0.5579561965237045 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.19, Z:15.07 [[ 9.98101639e-01 6.08463359e-02 -9.53110354e-03 -2.15170850e+01] [-6.09266213e-02 9.98107133e-01 -8.37244817e-03 -3.18508101e+00] [ 9.00362964e-03 8.93725218e-03 9.99919527e-01 1.50731735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.189072329 meters Centerline goodness [0,1] 0.5562061833516883 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.19, Z:15.07 [[ 9.98067088e-01 6.14661087e-02 -9.16539715e-03 -2.15182369e+01] [-6.15401475e-02 9.98072328e-01 -8.02732219e-03 -3.18602774e+00] [ 8.65432102e-03 8.57584598e-03 9.99925776e-01 1.50731045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219072329 meters Centerline goodness [0,1] 0.5558842512908778 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.19, Z:15.07 [[ 9.98023595e-01 6.22202076e-02 -8.80619722e-03 -2.15196492e+01] [-6.22863334e-02 9.98030553e-01 -7.44501008e-03 -3.18764158e+00] [ 8.32562381e-03 7.97880146e-03 9.99933509e-01 1.50734515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24907232899999 meters Centerline goodness [0,1] 0.5503689488336891 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.19, Z:15.07 [[ 9.97928259e-01 6.38523758e-02 -7.87802142e-03 -2.15231852e+01] [-6.39030831e-02 9.97935831e-01 -6.36184524e-03 -3.19015598e+00] [ 7.45554092e-03 6.85209500e-03 9.99948731e-01 1.50742436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27907232899999 meters Centerline goodness [0,1] 0.5508943264898697 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.19, Z:15.07 [[ 9.97892888e-01 6.44510846e-02 -7.47276594e-03 -2.15244519e+01] [-6.44973345e-02 9.97899097e-01 -6.12253230e-03 -3.19028036e+00] [ 7.06246254e-03 6.59160492e-03 9.99953335e-01 1.50741956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30907232899999 meters Centerline goodness [0,1] 0.5475399205641567 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.19, Z:15.07 [[ 9.97866694e-01 6.48840444e-02 -7.21947934e-03 -2.15254679e+01] [-6.49249442e-02 9.97874534e-01 -5.58265839e-03 -3.19169759e+00] [ 6.84190913e-03 6.03947317e-03 9.99958356e-01 1.50747316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33907232899999 meters Centerline goodness [0,1] 0.5532024933990255 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.19, Z:15.07 [[ 9.98131723e-01 6.06320006e-02 -7.53822981e-03 -2.15251078e+01] [-6.07007202e-02 9.98113165e-01 -9.24837313e-03 -3.19381096e+00] [ 6.96325905e-03 9.68867058e-03 9.99928819e-01 1.50747803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36907232899999 meters Centerline goodness [0,1] 0.5599104143337066 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.20, Z:15.08 [[ 9.98129872e-01 6.06255907e-02 -7.82924217e-03 -2.15244807e+01] [-6.06931241e-02 9.98118583e-01 -8.69707913e-03 -3.19607431e+00] [ 7.28724655e-03 9.15599564e-03 9.99931530e-01 1.50752105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39907232899999 meters Centerline goodness [0,1] 0.5576849262488348 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.20, Z:15.07 [[ 9.98142088e-01 6.03735256e-02 -8.21028608e-03 -2.15228934e+01] [-6.04418138e-02 9.98136878e-01 -8.34024949e-03 -3.19850619e+00] [ 7.69145905e-03 8.82099863e-03 9.99931513e-01 1.50746141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.429072329 meters Centerline goodness [0,1] 0.5499671268902038 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.20, Z:15.07 [[ 9.98148909e-01 6.02621214e-02 -8.19955757e-03 -2.15223571e+01] [-6.03305368e-02 9.98143369e-01 -8.36906231e-03 -3.19884121e+00] [ 7.67999657e-03 8.84825412e-03 9.99931361e-01 1.50738968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.459072329 meters Centerline goodness [0,1] 0.5545789155633687 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.20, Z:15.07 [[ 9.98144054e-01 6.03577075e-02 -8.08675192e-03 -2.15226323e+01] [-6.04236122e-02 9.98139393e-01 -8.16935682e-03 -3.19896888e+00] [ 7.57862201e-03 8.64282569e-03 9.99933931e-01 1.50740952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.489072329 meters Centerline goodness [0,1] 0.5608385024368632 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.20, Z:15.08 [[ 9.98081649e-01 6.14672261e-02 -7.40288578e-03 -2.15258706e+01] [-6.15204414e-02 9.98079934e-01 -7.18889958e-03 -3.19986837e+00] [ 6.94679004e-03 7.63053754e-03 9.99946757e-01 1.50761611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519072329 meters Centerline goodness [0,1] 0.5425861401471157 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.20, Z:15.08 [[ 9.98062946e-01 6.17826510e-02 -7.29796525e-03 -2.15268013e+01] [-6.18333214e-02 9.98062401e-01 -6.93424846e-03 -3.19960653e+00] [ 6.85540847e-03 7.37207388e-03 9.99949327e-01 1.50771776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.549072329 meters Centerline goodness [0,1] 0.5412148705465811 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.20, Z:15.08 [[ 9.98044409e-01 6.20947920e-02 -7.18294043e-03 -2.15276583e+01] [-6.21431005e-02 9.98044695e-01 -6.70982814e-03 -3.19952220e+00] [ 6.75225021e-03 7.14307665e-03 9.99951691e-01 1.50779538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579072329 meters Centerline goodness [0,1] 0.5357527847646425 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.20, Z:15.08 [[ 9.98040860e-01 6.21555836e-02 -7.15011890e-03 -2.15276713e+01] [-6.22050969e-02 9.98039369e-01 -6.92421574e-03 -3.19877967e+00] [ 6.70572148e-03 7.35542408e-03 9.99950464e-01 1.50776551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60907232899999 meters Centerline goodness [0,1] 0.5183347653759804 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.20, Z:15.08 [[ 9.98039393e-01 6.21871625e-02 -7.08009186e-03 -2.15272409e+01] [-6.22416663e-02 9.98030962e-01 -7.75713154e-03 -3.19606810e+00] [ 6.58375689e-03 8.18259957e-03 9.99944848e-01 1.50760755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63907232899999 meters Centerline goodness [0,1] 0.5094318716933048 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.19, Z:15.08 [[ 9.98028634e-01 6.23817968e-02 -6.88168981e-03 -2.15277857e+01] [-6.24364546e-02 9.98016589e-01 -8.03602464e-03 -3.19432876e+00] [ 6.36673894e-03 8.44985100e-03 9.99944031e-01 1.50758914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66907232899999 meters Centerline goodness [0,1] 0.49170089930054406 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.19, Z:15.08 [[ 9.97962130e-01 6.34890057e-02 -6.38221349e-03 -2.15304138e+01] [-6.35396612e-02 9.97946646e-01 -8.07484661e-03 -3.19023375e+00] [ 5.85644457e-03 8.46391481e-03 9.99947031e-01 1.50769700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69907232899999 meters Centerline goodness [0,1] 0.48020525836620964 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.19, Z:15.08 [[ 9.97946307e-01 6.37750357e-02 -5.99270815e-03 -2.15315087e+01] [-6.38246203e-02 9.97925075e-01 -8.48312909e-03 -3.18725301e+00] [ 5.43926187e-03 8.84818967e-03 9.99946061e-01 1.50768155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72907232899999 meters Centerline goodness [0,1] 0.48020525836620964 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.19, Z:15.08 [[ 9.97946307e-01 6.37750357e-02 -5.99270815e-03 -2.15315087e+01] [-6.38246203e-02 9.97925075e-01 -8.48312909e-03 -3.18725301e+00] [ 5.43926187e-03 8.84818967e-03 9.99946061e-01 1.50768155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75907232899999 meters Centerline goodness [0,1] 0.4677401535657073 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.18, Z:15.08 [[ 9.97931459e-01 6.40480299e-02 -5.53653178e-03 -2.15325516e+01] [-6.40964783e-02 9.97902512e-01 -9.06743580e-03 -3.18387077e+00] [ 4.94416757e-03 9.40355162e-03 9.99943563e-01 1.50762235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78907232899999 meters Centerline goodness [0,1] 0.4124683753162468 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.18, Z:15.08 [[ 9.97651307e-01 6.82907802e-02 -5.31410491e-03 -2.15328062e+01] [-6.83208747e-02 9.97647093e-01 -5.70398524e-03 -3.17957458e+00] [ 4.91207172e-03 6.05365262e-03 9.99969612e-01 1.50764989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.819072329 meters Centerline goodness [0,1] 0.411576091424813 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.18, Z:15.08 [[ 9.97618315e-01 6.88016399e-02 -4.90223230e-03 -2.15344568e+01] [-6.88319701e-02 9.97608293e-01 -6.31293555e-03 -3.17569892e+00] [ 4.45616728e-03 6.63533043e-03 9.99968057e-01 1.50765928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.849072329 meters Centerline goodness [0,1] 0.3938366465232015 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.08 [[ 9.97578678e-01 6.94126101e-02 -4.32090643e-03 -2.15366396e+01] [-6.94408324e-02 9.97563130e-01 -6.76553856e-03 -3.17202918e+00] [ 3.84076325e-03 7.04920435e-03 9.99967778e-01 1.50769606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879072329 meters Centerline goodness [0,1] 0.337747261729606 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.17, Z:15.08 [[ 9.97539650e-01 6.99990739e-02 -3.84399835e-03 -2.15388914e+01] [-7.00253498e-02 9.97519306e-01 -7.18921230e-03 -3.16793539e+00] [ 3.33122436e-03 7.44070165e-03 9.99966769e-01 1.50778496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.909072329 meters Centerline goodness [0,1] 0.31124699007061496 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.16, Z:15.08 [[ 9.97234169e-01 7.42320696e-02 -3.68945861e-03 -2.15399342e+01] [-7.42462251e-02 9.97232468e-01 -3.86032650e-03 -3.16224016e+00] [ 3.39268789e-03 4.12357786e-03 9.99985743e-01 1.50796579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939072329 meters Centerline goodness [0,1] 0.3016923615034842 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.16, Z:15.08 [[ 9.97247500e-01 7.40650410e-02 -3.43429571e-03 -2.15400975e+01] [-7.40820744e-02 9.97238950e-01 -5.13053607e-03 -3.15671295e+00] [ 3.04482008e-03 5.37083402e-03 9.99980941e-01 1.50785037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.969072329 meters Centerline goodness [0,1] 0.284611660929432 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.15, Z:15.08 [[ 9.97271432e-01 7.37364408e-02 -3.55361039e-03 -2.15381843e+01] [-7.37593832e-02 9.97252698e-01 -6.82718969e-03 -3.14634704e+00] [ 3.04043488e-03 7.07067334e-03 9.99970380e-01 1.50761206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99907232899999 meters Centerline goodness [0,1] 0.27818002083945603 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.14, Z:15.08 [[ 9.97311365e-01 7.31882971e-02 -3.67623939e-03 -2.15373750e+01] [-7.32153460e-02 9.97285189e-01 -7.85909183e-03 -3.14260882e+00] [ 3.09106555e-03 8.10711874e-03 9.99962359e-01 1.50754212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02907232899999 meters Centerline goodness [0,1] 0.2694010032457952 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.14, Z:15.08 [[ 9.97342327e-01 7.27569183e-02 -3.83577153e-03 -2.15368179e+01] [-7.27872251e-02 9.97311583e-01 -8.46326713e-03 -3.14006341e+00] [ 3.20969814e-03 8.71996970e-03 9.99956829e-01 1.50754514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05907232899999 meters Centerline goodness [0,1] 0.25827340038746316 Centerline is valid? [False, False] Translation: X:-21.54, Y:-3.13, Z:15.07 [[ 9.97422407e-01 7.16492756e-02 -3.86298216e-03 -2.15353836e+01] [-7.16842583e-02 9.97378827e-01 -9.84085693e-03 -3.13365884e+00] [ 3.14776634e-03 1.00924062e-02 9.99944116e-01 1.50746285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08907232899999 meters Centerline goodness [0,1] 0.25045723222095584 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.13, Z:15.07 [[ 9.97474966e-01 7.09201239e-02 -3.74543641e-03 -2.15344909e+01] [-7.09569333e-02 9.97420549e-01 -1.08333992e-02 -3.12931457e+00] [ 2.96746923e-03 1.10718091e-02 9.99934302e-01 1.50735594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11907232899999 meters Centerline goodness [0,1] 0.24954022384530505 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.12, Z:15.07 [[ 9.97567914e-01 6.96013968e-02 -3.72868404e-03 -2.15330514e+01] [-6.96425676e-02 9.97495311e-01 -1.23700276e-02 -3.12182407e+00] [ 2.85837364e-03 1.25996178e-02 9.99916536e-01 1.50729451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14907232899999 meters Centerline goodness [0,1] 0.24471844812691435 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.12, Z:15.07 [[ 9.97614703e-01 6.89018616e-02 -4.17584291e-03 -2.15318288e+01] [-6.89509742e-02 9.97534637e-01 -1.30541643e-02 -3.11918106e+00] [ 3.26609172e-03 1.33109547e-02 9.99906071e-01 1.50733020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.179072329 meters Centerline goodness [0,1] 0.25437268313058004 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.11, Z:15.07 [[ 9.97903125e-01 6.45977217e-02 -4.06035972e-03 -2.15327011e+01] [-6.46605628e-02 9.97745960e-01 -1.79446896e-02 -3.11398237e+00] [ 2.89202144e-03 1.81696070e-02 9.99830736e-01 1.50734296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.209072329 meters Centerline goodness [0,1] 0.24246779377564087 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.11, Z:15.07 [[ 9.98237702e-01 5.91575132e-02 -4.67759086e-03 -2.15312232e+01] [-5.92516743e-02 9.97965567e-01 -2.35364736e-02 -3.10855685e+00] [ 3.27571536e-03 2.37721504e-02 9.99712036e-01 1.50735512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239072329 meters Centerline goodness [0,1] 0.23068705870091977 Centerline is valid? [False, False] Translation: X:-21.53, Y:-3.11, Z:15.07 [[ 9.98300460e-01 5.80453189e-02 -5.18958345e-03 -2.15287897e+01] [-5.81549275e-02 9.98011316e-01 -2.43190626e-02 -3.10668842e+00] [ 3.76765526e-03 2.45795312e-02 9.99690778e-01 1.50727153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.269072329 meters Centerline goodness [0,1] 0.35080561867382776 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.10, Z:15.08 [[ 9.98737244e-01 4.93980685e-02 -9.15139079e-03 -2.15228827e+01] [-4.95175092e-02 9.98684428e-01 -1.33202506e-02 -3.09968275e+00] [ 8.48135682e-03 1.37565845e-02 9.99869403e-01 1.50751012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299072329 meters Centerline goodness [0,1] 0.30055611081212685 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.10, Z:15.07 [[ 9.98800654e-01 4.80858006e-02 -9.22009639e-03 -2.15202888e+01] [-4.82163970e-02 9.98731548e-01 -1.45077405e-02 -3.09574314e+00] [ 8.51078482e-03 1.49349005e-02 9.99852247e-01 1.50728412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.329072329 meters Centerline goodness [0,1] 0.3186473331981342 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.09, Z:15.07 [[ 9.98864545e-01 4.66318758e-02 -9.75134176e-03 -2.15170594e+01] [-4.67812580e-02 9.98781811e-01 -1.56973912e-02 -3.09250883e+00] [ 9.00746398e-03 1.61357476e-02 9.99829237e-01 1.50712189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35907232899999 meters Centerline goodness [0,1] 0.30718888441401526 Centerline is valid? [False, False] Translation: X:-21.52, Y:-3.09, Z:15.07 [[ 9.99076593e-01 4.18978982e-02 -9.51457328e-03 -2.15166503e+01] [-4.20872652e-02 9.98900292e-01 -2.06608150e-02 -3.08630555e+00] [ 8.63846530e-03 2.10421791e-02 9.99741268e-01 1.50703453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38907232899999 meters Centerline goodness [0,1] 0.20574860783503146 Centerline is valid? [False, False] Translation: X:-21.49, Y:-3.07, Z:15.07 [[ 9.99535614e-01 2.83033797e-02 -1.12904718e-02 -2.14906284e+01] [-2.85746753e-02 9.99287965e-01 -2.46383845e-02 -3.07007376e+00] [ 1.05850830e-02 2.49495643e-02 9.99632670e-01 1.50708116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41907232899999 meters Centerline goodness [0,1] 0.19610814451339775 Centerline is valid? [False, False] Translation: X:-21.49, Y:-3.07, Z:15.07 [[ 9.99569220e-01 2.68193058e-02 -1.19205232e-02 -2.14877504e+01] [-2.71223030e-02 9.99293209e-01 -2.60281408e-02 -3.06565175e+00] [ 1.12140412e-02 2.63402404e-02 9.99590135e-01 1.50701398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44907232899999 meters Centerline goodness [0,1] 0.1945807552805633 Centerline is valid? [False, False] Translation: X:-21.48, Y:-3.06, Z:15.07 [[ 9.99597092e-01 2.53114988e-02 -1.28445551e-02 -2.14839756e+01] [-2.56581625e-02 9.99290163e-01 -2.75831128e-02 -3.06057310e+00] [ 1.21372676e-02 2.79015670e-02 9.99536987e-01 1.50688370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47907232899999 meters Centerline goodness [0,1] 0.18242331358510422 Centerline is valid? [False, False] Translation: X:-21.46, Y:-3.05, Z:15.07 [[ 9.99690206e-01 1.95803822e-02 -1.53655711e-02 -2.14584888e+01] [-1.99487638e-02 9.99508104e-01 -2.41991069e-02 -3.04690536e+00] [ 1.48841851e-02 2.44981343e-02 9.99589067e-01 1.50689076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50907232899999 meters Centerline goodness [0,1] 0.2008706605086955 Centerline is valid? [False, False] Translation: X:-21.44, Y:-3.04, Z:15.07 [[ 9.99745102e-01 1.48861318e-02 -1.69745354e-02 -2.14389440e+01] [-1.52391463e-02 9.99666247e-01 -2.08605591e-02 -3.03881764e+00] [ 1.66583370e-02 2.11139192e-02 9.99638286e-01 1.50701339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53907232899999 meters Centerline goodness [0,1] 0.1872516186648806 Centerline is valid? [False, False] Translation: X:-21.42, Y:-3.02, Z:15.07 [[ 9.99801880e-01 5.58187926e-03 -1.91061322e-02 -2.14187279e+01] [-6.01436718e-03 9.99725275e-01 -2.26539747e-02 -3.02146627e+00] [ 1.89744315e-02 2.27643978e-02 9.99560780e-01 1.50716538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.569072329 meters Centerline goodness [0,1] 0.17562186828919113 Centerline is valid? [False, False] Translation: X:-21.41, Y:-3.01, Z:15.07 [[ 9.99780593e-01 3.55740577e-03 -2.06424330e-02 -2.14140558e+01] [-4.06629970e-03 9.99687541e-01 -2.46634346e-02 -3.01460342e+00] [ 2.05482453e-02 2.47419616e-02 9.99482669e-01 1.50721267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599072329 meters Centerline goodness [0,1] 0.1760247865724539 Centerline is valid? [False, False] Translation: X:-21.40, Y:-3.00, Z:15.08 [[ 9.99751479e-01 -3.47307014e-03 -2.20208331e-02 -2.14000712e+01] [ 2.94395301e-03 9.99707262e-01 -2.40150800e-02 -3.00382336e+00] [ 2.20977928e-02 2.39442835e-02 9.99469038e-01 1.50765094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.629072329 meters Centerline goodness [0,1] 0.1747114259860072 Centerline is valid? [False, False] Translation: X:-21.37, Y:-2.98, Z:15.08 [[ 9.99625486e-01 -1.07054682e-02 -2.51849269e-02 -2.13718470e+01] [ 1.01459073e-02 9.99701134e-01 -2.22419227e-02 -2.98497731e+00] [ 2.54155102e-02 2.19780689e-02 9.99435349e-01 1.50780445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659072329 meters Centerline goodness [0,1] 0.16870679406455025 Centerline is valid? [False, False] Translation: X:-21.35, Y:-2.97, Z:15.08 [[ 9.99499877e-01 -1.59717588e-02 -2.72928420e-02 -2.13519818e+01] [ 1.54484877e-02 9.99694825e-01 -1.92769612e-02 -2.97489982e+00] [ 2.75923999e-02 1.88456872e-02 9.99441594e-01 1.50791170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.689072329 meters Centerline goodness [0,1] 0.16736016819236998 Centerline is valid? [False, False] Translation: X:-21.34, Y:-2.97, Z:15.08 [[ 9.99376294e-01 -1.88590520e-02 -2.98556285e-02 -2.13425398e+01] [ 1.82039649e-02 9.99590822e-01 -2.20636531e-02 -2.96672196e+00] [ 3.02595118e-02 2.15064011e-02 9.99310681e-01 1.50771567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719072329 meters Centerline goodness [0,1] 0.18732449129476825 Centerline is valid? [False, False] Translation: X:-21.31, Y:-2.95, Z:15.07 [[ 0.99898683 -0.02909679 -0.0343322 -21.30943423] [ 0.02828039 0.99931115 -0.02403008 -2.94887897] [ 0.03500775 0.0230348 0.99912154 15.07490494] [ 0. 0. 0. 1. ]] SLAMing on 110.74907232899999 meters Centerline goodness [0,1] 0.18185184378471386 Centerline is valid? [False, False] Translation: X:-21.30, Y:-2.94, Z:15.07 [[ 0.99879175 -0.03215839 -0.03716021 -21.29943937] [ 0.03118316 0.99916147 -0.02653222 -2.94120713] [ 0.03798228 0.02534139 0.99895704 15.07417532] [ 0. 0. 0. 1. ]] SLAMing on 110.77907232899999 meters Centerline goodness [0,1] 0.21276962527204946 Centerline is valid? [False, False] Translation: X:-21.27, Y:-2.94, Z:15.07 [[ 0.99883809 -0.02734683 -0.03968145 -21.26944121] [ 0.02626771 0.99927756 -0.02746569 -2.94181108] [ 0.04040388 0.02639144 0.99883483 15.07422769] [ 0. 0. 0. 1. ]] SLAMing on 110.80907232899999 meters Centerline goodness [0,1] 0.2144108676371974 Centerline is valid? [False, False] Translation: X:-21.25, Y:-2.93, Z:15.08 [[ 0.99858077 -0.0338032 -0.04115561 -21.24887437] [ 0.03277897 0.99914204 -0.02531254 -2.93216093] [ 0.04197594 0.02392758 0.99883206 15.07527228] [ 0. 0. 0. 1. ]] SLAMing on 110.83907232899999 meters Centerline goodness [0,1] 0.20683897827312547 Centerline is valid? [False, False] Translation: X:-21.22, Y:-2.93, Z:15.08 [[ 0.99867081 -0.02892445 -0.04266129 -21.21990226] [ 0.02782235 0.99926933 -0.02620527 -2.93298412] [ 0.04338809 0.0249835 0.99874586 15.07589091] [ 0. 0. 0. 1. ]] SLAMing on 110.86907232899999 meters Centerline goodness [0,1] 0.21198751748627997 Centerline is valid? [False, False] Translation: X:-21.18, Y:-2.92, Z:15.08 [[ 0.99822728 -0.0355137 -0.0477605 -21.1762005 ] [ 0.0341722 0.99900616 -0.02861742 -2.91825617] [ 0.04872934 0.02693461 0.99844879 15.08195387] [ 0. 0. 0. 1. ]] SLAMing on 110.89907232899999 meters Centerline goodness [0,1] 0.21407555355110286 Centerline is valid? [False, False] Translation: X:-21.15, Y:-2.92, Z:15.08 [[ 0.9982566 -0.03104584 -0.05019876 -21.14738271] [ 0.02955697 0.99910874 -0.03013473 -2.92013968] [ 0.05108958 0.02859847 0.99828452 15.08283823] [ 0. 0. 0. 1. ]] SLAMing on 110.929072329 meters Centerline goodness [0,1] 0.22267845179694423 Centerline is valid? [False, False] Translation: X:-21.13, Y:-2.91, Z:15.08 [[ 0.99796581 -0.03738774 -0.0516372 -21.12746672] [ 0.03597924 0.99896181 -0.02794261 -2.91069434] [ 0.0526283 0.0260279 0.99827492 15.08389026] [ 0. 0. 0. 1. ]] SLAMing on 110.959072329 meters Centerline goodness [0,1] 0.22156502968159741 Centerline is valid? [False, False] Translation: X:-21.08, Y:-2.90, Z:15.09 [[ 0.9974551 -0.04218589 -0.05747754 -21.08348279] [ 0.04060414 0.99877118 -0.02841538 -2.89704686] [ 0.05860564 0.02600924 0.99794233 15.08855511] [ 0. 0. 0. 1. ]] SLAMing on 110.989072329 meters Centerline goodness [0,1] 0.2184919017483643 Centerline is valid? [False, False] Translation: X:-21.06, Y:-2.90, Z:15.09 [[ 0.99758123 -0.03695209 -0.05887466 -21.05546084] [ 0.03531417 0.9989663 -0.02862253 -2.89963568] [ 0.05987147 0.02647419 0.99785496 15.09016018] [ 0. 0. 0. 1. ]] SLAMing on 111.019072329 meters Centerline goodness [0,1] 0.21063724541368256 Centerline is valid? [False, False] Translation: X:-21.01, Y:-2.89, Z:15.10 [[ 0.99716305 -0.04281334 -0.0619101 -21.01282666] [ 0.04090079 0.99865586 -0.03183696 -2.88718834] [ 0.06318993 0.02921447 0.99757383 15.09560031] [ 0. 0. 0. 1. ]] SLAMing on 111.049072329 meters Centerline goodness [0,1] 0.21187244128420601 Centerline is valid? [False, False] Translation: X:-20.98, Y:-2.89, Z:15.10 [[ 0.99719678 -0.03792007 -0.06450303 -20.98452841] [ 0.03586332 0.99881991 -0.03275087 -2.89074168] [ 0.06566882 0.03034577 0.99737994 15.09741615] [ 0. 0. 0. 1. ]] SLAMing on 111.079072329 meters Centerline goodness [0,1] 0.20766524957379318 Centerline is valid? [False, False] Translation: X:-20.95, Y:-2.88, Z:15.10 [[ 0.99666129 -0.0440741 -0.06872949 -20.95124336] [ 0.04209734 0.99866451 -0.02995004 -2.87742723] [ 0.06995773 0.02695672 0.99718567 15.09645319] [ 0. 0. 0. 1. ]] SLAMing on 111.10907232899999 meters Centerline goodness [0,1] 0.20182892636845962 Centerline is valid? [False, False] Translation: X:-20.92, Y:-2.88, Z:15.10 [[ 0.99666766 -0.03803928 -0.07215675 -20.92380413] [ 0.03593071 0.99889487 -0.0302989 -2.88055835] [ 0.07322956 0.02760529 0.99693299 15.09597947] [ 0. 0. 0. 1. ]] SLAMing on 111.13907232899999 meters Centerline goodness [0,1] 0.19510679778049145 Centerline is valid? [False, False] Translation: X:-20.90, Y:-2.88, Z:15.09 [[ 0.99665597 -0.03353308 -0.07451444 -20.89747468] [ 0.03111975 0.99896026 -0.03331603 -2.88209441] [ 0.07555416 0.03088575 0.99666325 15.09465321] [ 0. 0. 0. 1. ]] SLAMing on 111.16907232899999 meters Centerline goodness [0,1] 0.18829161478682754 Centerline is valid? [False, False] Translation: X:-20.87, Y:-2.88, Z:15.09 [[ 0.99669288 -0.02962483 -0.07566813 -20.87214267] [ 0.02684132 0.99893451 -0.03754173 -2.88259873] [ 0.07669967 0.03538654 0.99642609 15.09426683] [ 0. 0. 0. 1. ]] SLAMing on 111.19907232899999 meters Centerline goodness [0,1] 0.1916308089500861 Centerline is valid? [False, False] Translation: X:-20.85, Y:-2.88, Z:15.09 [[ 0.99681008 -0.02592593 -0.07548187 -20.84889715] [ 0.02277219 0.99884343 -0.04234653 -2.8830627 ] [ 0.07649245 0.04049256 0.99624759 15.0948835 ] [ 0. 0. 0. 1. ]] SLAMing on 111.22907232899999 meters Centerline goodness [0,1] 0.18474430597335623 Centerline is valid? [False, False] Translation: X:-20.82, Y:-2.87, Z:15.10 [[ 9.97044638e-01 -2.17670461e-02 -7.36762186e-02 -2.08195934e+01] [ 1.84284303e-02 9.98785439e-01 -4.56950849e-02 -2.87481021e+00] [ 7.45813814e-02 4.42023023e-02 9.96234799e-01 1.50953670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25907232899999 meters Centerline goodness [0,1] 0.17917536312135285 Centerline is valid? [False, False] Translation: X:-20.80, Y:-2.88, Z:15.10 [[ 9.97134239e-01 -1.36830617e-02 -7.44048546e-02 -2.07967044e+01] [ 1.02411803e-02 9.98868342e-01 -4.64451641e-02 -2.87616863e+00] [ 7.49561658e-02 4.55500698e-02 9.96145955e-01 1.50958500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28907232899999 meters Centerline goodness [0,1] 0.1741712235133288 Centerline is valid? [False, False] Translation: X:-20.77, Y:-2.87, Z:15.10 [[ 9.97341663e-01 -1.15590475e-03 -7.28578867e-02 -2.07695959e+01] [-1.99223411e-03 9.99067835e-01 -4.31218291e-02 -2.86928508e+00] [ 7.28398159e-02 4.31523467e-02 9.96409673e-01 1.50956489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.319072329 meters Centerline goodness [0,1] 0.1736761450706623 Centerline is valid? [False, False] Translation: X:-20.75, Y:-2.87, Z:15.10 [[ 9.97562879e-01 8.24866832e-03 -6.92839249e-02 -2.07521528e+01] [-1.13010587e-02 9.98977254e-01 -4.37804968e-02 -2.86871629e+00] [ 6.88519343e-02 4.44567801e-02 9.96635844e-01 1.50952252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.349072329 meters Centerline goodness [0,1] 0.167220751720487 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.87, Z:15.10 [[ 9.97731600e-01 1.79573789e-02 -6.48782501e-02 -2.07369714e+01] [-2.08770564e-02 9.98786384e-01 -4.46083749e-02 -2.86708180e+00] [ 6.39984633e-02 4.58616521e-02 9.96895634e-01 1.50951445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379072329 meters Centerline goodness [0,1] 0.16970880380337894 Centerline is valid? [False, False] Translation: X:-20.72, Y:-2.85, Z:15.09 [[ 0.99741367 0.03694429 -0.06165305 -20.72426238] [ -0.03980647 0.99815445 -0.04586005 -2.85043465] [ 0.059845 0.04819563 0.99704351 15.09259228] [ 0. 0. 0. 1. ]] SLAMing on 111.409072329 meters Centerline goodness [0,1] 0.16721221464321168 Centerline is valid? [False, False] Translation: X:-20.72, Y:-2.84, Z:15.09 [[ 0.99710299 0.04459645 -0.06161799 -20.72311209] [ -0.04724509 0.99799076 -0.04221771 -2.83611206] [ 0.05961143 0.04500655 0.99720654 15.09357313] [ 0. 0. 0. 1. ]] SLAMing on 111.439072329 meters Centerline goodness [0,1] 0.16617755726802497 Centerline is valid? [False, False] Translation: X:-20.72, Y:-2.82, Z:15.09 [[ 0.99670091 0.05343561 -0.06108953 -20.72313223] [ -0.05586998 0.99768153 -0.03886006 -2.81961331] [ 0.05887138 0.04214493 0.99737554 15.09353241] [ 0. 0. 0. 1. ]] SLAMing on 111.469072329 meters Centerline goodness [0,1] 0.16868519462859088 Centerline is valid? [False, False] Translation: X:-20.70, Y:-2.81, Z:15.09 [[ 0.99349077 0.09392391 -0.06445457 -20.70242585] [ -0.09656234 0.99455814 -0.03911292 -2.80760052] [ 0.06043018 0.04508221 0.99715384 15.09378197] [ 0. 0. 0. 1. ]] SLAMing on 111.49907232899999 meters Centerline goodness [0,1] 0.16455883596988408 Centerline is valid? [False, False] Translation: X:-20.70, Y:-2.80, Z:15.09 [[ 0.99125853 0.11493208 -0.06478544 -20.69697517] [ -0.11760285 0.99229348 -0.03902841 -2.79981119] [ 0.05980056 0.0463062 0.99713571 15.09306129] [ 0. 0. 0. 1. ]] SLAMing on 111.52907232899999 meters Centerline goodness [0,1] 0.1685561995008249 Centerline is valid? [False, False] Translation: X:-20.68, Y:-2.78, Z:15.10 [[ 0.98486649 0.15912487 -0.06868239 -20.67727262] [ -0.1621194 0.98594179 -0.04044865 -2.78180246] [ 0.06128045 0.05097127 0.99681826 15.09664178] [ 0. 0. 0. 1. ]] SLAMing on 111.55907232899999 meters Centerline goodness [0,1] 0.16780635147040313 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.77, Z:15.10 [[ 0.98087878 0.18195351 -0.06906334 -20.67171762] [ -0.18490993 0.98197759 -0.03909386 -2.77135002] [ 0.06070539 0.05111683 0.99684599 15.09661605] [ 0. 0. 0. 1. ]] SLAMing on 111.58907232899999 meters Centerline goodness [0,1] 0.1772755065466276 Centerline is valid? [False, False] Translation: X:-20.65, Y:-2.75, Z:15.10 [[ 0.97062125 0.23001068 -0.0706362 -20.65263574] [ -0.23297211 0.97178266 -0.03691156 -2.75017124] [ 0.06015298 0.05228341 0.99681897 15.09992114] [ 0. 0. 0. 1. ]] SLAMing on 111.61907232899999 meters Centerline goodness [0,1] 0.1794785107551874 Centerline is valid? [False, False] Translation: X:-20.65, Y:-2.74, Z:15.10 [[ 0.96473663 0.25381863 -0.06970901 -20.64672062] [ -0.25663529 0.96588111 -0.03481388 -2.73810144] [ 0.0584942 0.05147601 0.9969597 15.10021808] [ 0. 0. 0. 1. ]] SLAMing on 111.64907232899999 meters Centerline goodness [0,1] 0.1794785107551874 Centerline is valid? [False, False] Translation: X:-20.65, Y:-2.74, Z:15.10 [[ 0.96473663 0.25381863 -0.06970901 -20.64672062] [ -0.25663529 0.96588111 -0.03481388 -2.73810144] [ 0.0584942 0.05147601 0.9969597 15.10021808] [ 0. 0. 0. 1. ]] SLAMing on 111.679072329 meters Centerline goodness [0,1] 0.18231926621124095 Centerline is valid? [False, False] Translation: X:-20.64, Y:-2.73, Z:15.10 [[ 0.95829022 0.2774589 -0.06853038 -20.64109792] [ -0.28014458 0.95938641 -0.03311687 -2.72536008] [ 0.05655854 0.05093399 0.99709922 15.10079097] [ 0. 0. 0. 1. ]] SLAMing on 111.709072329 meters Centerline goodness [0,1] 0.1647428043249285 Centerline is valid? [False, False] Translation: X:-20.64, Y:-2.71, Z:15.10 [[ 0.95125002 0.30098186 -0.06732996 -20.63515485] [ -0.30355408 0.95228648 -0.03170761 -2.71226612] [ 0.05457399 0.05060015 0.99722681 15.10165198] [ 0. 0. 0. 1. ]] SLAMing on 111.739072329 meters Centerline goodness [0,1] 0.16723908470355897 Centerline is valid? [False, False] Translation: X:-20.62, Y:-2.68, Z:15.11 [[ 0.93469406 0.34936907 -0.06548484 -20.61639732] [ -0.35193314 0.93546042 -0.03250946 -2.68430798] [ 0.04990068 0.05343268 0.99732385 15.10522143] [ 0. 0. 0. 1. ]] SLAMing on 111.769072329 meters Centerline goodness [0,1] 0.10880982634476921 Centerline is valid? [False, False] Translation: X:-20.61, Y:-2.67, Z:15.11 [[ 0.92552778 0.37321118 -0.06412295 -20.60767588] [ -0.3756135 0.92628134 -0.03028835 -2.67054968] [ 0.04809194 0.05211815 0.99748226 15.10635501] [ 0. 0. 0. 1. ]] SLAMing on 111.799072329 meters Centerline goodness [0,1] 0.1140657653431143 Centerline is valid? [False, False] Translation: X:-20.60, Y:-2.66, Z:15.11 [[ 0.91548688 0.39731858 -0.06341704 -20.59788298] [ -0.39957408 0.91628688 -0.0275482 -2.65713252] [ 0.04716279 0.05055982 0.99760682 15.10659214] [ 0. 0. 0. 1. ]] SLAMing on 111.829072329 meters Centerline goodness [0,1] 0.11902331121320398 Centerline is valid? [False, False] Translation: X:-20.58, Y:-2.63, Z:15.11 [[ 0.89229056 0.44665127 -0.06572826 -20.57526875] [ -0.44896479 0.89319167 -0.02528355 -2.62676382] [ 0.04741501 0.05206995 0.99751719 15.10585124] [ 0. 0. 0. 1. ]] SLAMing on 111.85907232899999 meters Centerline goodness [0,1] 0.1251460497525121 Centerline is valid? [False, False] Translation: X:-20.57, Y:-2.61, Z:15.11 [[ 0.88028273 0.46966645 -0.06719922 -20.56595274] [ -0.47202219 0.88125893 -0.02403648 -2.60932881] [ 0.04793079 0.05287842 0.99745 15.10729326] [ 0. 0. 0. 1. ]] SLAMing on 111.88907232899999 meters Centerline goodness [0,1] 0.1318895966029724 Centerline is valid? [False, False] Translation: X:-20.56, Y:-2.59, Z:15.11 [[ 0.8678856 0.49191302 -0.06925438 -20.55641604] [ -0.49435415 0.86895668 -0.02298407 -2.59171041] [ 0.04887289 0.05418374 0.99733423 15.11001694] [ 0. 0. 0. 1. ]] SLAMing on 111.91907232899999 meters Centerline goodness [0,1] 0.14686262467969757 Centerline is valid? [False, False] Translation: X:-20.53, Y:-2.56, Z:15.11 [[ 0.84060871 0.53668837 -0.07309298 -20.53159932] [ -0.53952922 0.84157928 -0.02554481 -2.55963134] [ 0.04780394 0.06090899 0.99699793 15.11342745] [ 0. 0. 0. 1. ]] SLAMing on 111.94907232899999 meters Centerline goodness [0,1] 0.1516208843494259 Centerline is valid? [False, False] Translation: X:-20.52, Y:-2.54, Z:15.12 [[ 0.82828704 0.5548996 -0.07763387 -20.52187958] [ -0.55781378 0.82970074 -0.02098717 -2.53836117] [ 0.05276711 0.06068864 0.99676101 15.11894157] [ 0. 0. 0. 1. ]] SLAMing on 111.97907232899999 meters Centerline goodness [0,1] 0.2170017207369791 Centerline is valid? [False, False] Translation: X:-20.51, Y:-2.52, Z:15.12 [[ 8.15685839e-01 5.72781021e-01 -8.11080401e-02 -2.05120547e+01] [-5.75688126e-01 8.17505105e-01 -1.63885510e-02 -2.51749087e+00] [ 5.69191859e-02 6.00608446e-02 9.96570570e-01 1.51234065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00907232899999 meters Centerline goodness [0,1] 0.19393724146575853 Centerline is valid? [False, False] Translation: X:-20.49, Y:-2.48, Z:15.13 [[ 7.89954622e-01 6.07955993e-01 -7.97571670e-02 -2.04893417e+01] [-6.10737654e-01 7.91705606e-01 -1.42039221e-02 -2.48336042e+00] [ 5.45088366e-02 5.99311590e-02 9.96713120e-01 1.51267711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03907232899999 meters Centerline goodness [0,1] 0.1943214649456465 Centerline is valid? [False, False] Translation: X:-20.48, Y:-2.46, Z:15.13 [[ 7.78371176e-01 6.22150374e-01 -8.40667890e-02 -2.04803391e+01] [-6.25093469e-01 7.80460944e-01 -1.17843275e-02 -2.46345452e+00] [ 5.82792218e-02 6.17221816e-02 9.96390438e-01 1.51298110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.069072329 meters Centerline goodness [0,1] 0.19580869384790955 Centerline is valid? [False, False] Translation: X:-20.47, Y:-2.44, Z:15.13 [[ 7.67485870e-01 6.34877970e-01 -8.88560746e-02 -2.04726017e+01] [-6.38053068e-01 7.69927747e-01 -9.97736217e-03 -2.44319661e+00] [ 6.20783499e-02 6.43523755e-02 9.95994503e-01 1.51327877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099072329 meters Centerline goodness [0,1] 0.18607386011966165 Centerline is valid? [False, False] Translation: X:-20.45, Y:-2.41, Z:15.13 [[ 7.46029533e-01 6.59650058e-01 -9.11138632e-02 -2.04542586e+01] [-6.63083617e-01 7.48472733e-01 -1.04251893e-02 -2.40878625e+00] [ 6.13192655e-02 6.81936091e-02 9.95785910e-01 1.51328127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.129072329 meters Centerline goodness [0,1] 0.18789376158122295 Centerline is valid? [False, False] Translation: X:-20.45, Y:-2.39, Z:15.13 [[ 7.35478373e-01 6.70737664e-01 -9.58256154e-02 -2.04484878e+01] [-6.74378108e-01 7.38344121e-01 -7.88205193e-03 -2.38813259e+00] [ 6.54654906e-02 7.04197759e-02 9.95366930e-01 1.51349679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159072329 meters Centerline goodness [0,1] 0.18744198518946353 Centerline is valid? [False, False] Translation: X:-20.44, Y:-2.37, Z:15.14 [[ 7.25207401e-01 6.81140242e-01 -1.00609128e-01 -2.04430146e+01] [-6.85024887e-01 7.28497139e-01 -5.72910944e-03 -2.36660251e+00] [ 6.93911348e-02 7.30745489e-02 9.94909534e-01 1.51373277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.189072329 meters Centerline goodness [0,1] 0.1930327281658718 Centerline is valid? [False, False] Translation: X:-20.43, Y:-2.34, Z:15.14 [[ 7.04021729e-01 7.02775164e-01 -1.02276459e-01 -2.04250304e+01] [-7.06936126e-01 7.07247756e-01 -6.47496125e-03 -2.33551860e+00] [ 6.77843540e-02 7.68614369e-02 9.94734940e-01 1.51390733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219072329 meters Centerline goodness [0,1] 0.19624737132240344 Centerline is valid? [False, False] Translation: X:-20.42, Y:-2.32, Z:15.14 [[ 6.93615755e-01 7.12363590e-01 -1.06935959e-01 -2.04195116e+01] [-7.16851017e-01 6.97207115e-01 -5.18249922e-03 -2.31593696e+00] [ 7.08646878e-02 8.02518141e-02 9.94252404e-01 1.51421258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24907232899999 meters Centerline goodness [0,1] 0.20024462338191829 Centerline is valid? [False, False] Translation: X:-20.41, Y:-2.30, Z:15.15 [[ 6.83731361e-01 7.21133562e-01 -1.11704130e-01 -2.04149268e+01] [-7.25936874e-01 6.87752734e-01 -3.43969599e-03 -2.29554591e+00] [ 7.43443407e-02 8.34419751e-02 9.93735556e-01 1.51451370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27907232899999 meters Centerline goodness [0,1] 0.2060329067641682 Centerline is valid? [False, False] Translation: X:-20.40, Y:-2.27, Z:15.15 [[ 6.63337249e-01 7.39791105e-01 -1.12662394e-01 -2.03985977e+01] [-7.44453052e-01 6.67674019e-01 1.02838664e-03 -2.27280530e+00] [ 7.59825449e-02 8.31896961e-02 9.93632793e-01 1.51489011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30907232899999 meters Centerline goodness [0,1] 0.20556185692295226 Centerline is valid? [False, False] Translation: X:-20.39, Y:-2.25, Z:15.15 [[ 6.55021754e-01 7.46382643e-01 -1.17726177e-01 -2.03943898e+01] [-7.51148409e-01 6.60108473e-01 5.73328751e-03 -2.25248420e+00] [ 8.19912732e-02 8.46744025e-02 9.93029545e-01 1.51506027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33907232899999 meters Centerline goodness [0,1] 0.20890300137529327 Centerline is valid? [False, False] Translation: X:-20.39, Y:-2.23, Z:15.15 [[ 6.47814448e-01 7.51940444e-01 -1.22155676e-01 -2.03921609e+01] [-7.56742433e-01 6.53631364e-01 1.03407163e-02 -2.23026475e+00] [ 8.76203838e-02 8.57415178e-02 9.92457082e-01 1.51518799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36907232899999 meters Centerline goodness [0,1] 0.21612104871325377 Centerline is valid? [False, False] Translation: X:-20.38, Y:-2.21, Z:15.15 [[ 6.28631487e-01 7.68140189e-01 -1.21585787e-01 -2.03756780e+01] [-7.72645706e-01 6.34664469e-01 1.48197104e-02 -2.21223831e+00] [ 8.85497938e-02 8.46265993e-02 9.92470288e-01 1.51545876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39907232899999 meters Centerline goodness [0,1] 0.2166790467968922 Centerline is valid? [False, False] Translation: X:-20.38, Y:-2.19, Z:15.16 [[ 6.23032522e-01 7.71736659e-01 -1.27487280e-01 -2.03751409e+01] [-7.76533523e-01 6.29827533e-01 1.76908409e-02 -2.19083903e+00] [ 9.39476695e-02 8.79761773e-02 9.91682423e-01 1.51560931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.429072329 meters Centerline goodness [0,1] 0.2275033592042196 Centerline is valid? [False, False] Translation: X:-20.37, Y:-2.17, Z:15.16 [[ 6.08158838e-01 7.82692693e-01 -1.32419696e-01 -2.03662992e+01] [-7.88406824e-01 6.14991584e-01 1.41432182e-02 -2.17047024e+00] [ 9.25067925e-02 9.57992692e-02 9.91092828e-01 1.51550523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.459072329 meters Centerline goodness [0,1] 0.23199839807769318 Centerline is valid? [False, False] Translation: X:-20.37, Y:-2.15, Z:15.15 [[ 6.04083459e-01 7.85090744e-01 -1.36805330e-01 -2.03692307e+01] [-7.90950359e-01 6.11631643e-01 1.74431300e-02 -2.14761269e+00] [ 9.73689086e-02 9.76691183e-02 9.90444364e-01 1.51546846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.489072329 meters Centerline goodness [0,1] 0.22045168633558976 Centerline is valid? [False, False] Translation: X:-20.37, Y:-2.13, Z:15.16 [[ 0.60306187 0.78651234 -0.13309665 -20.37326322] [ -0.79130499 0.61092135 0.02472874 -2.12653893] [ 0.10076104 0.09040708 0.99079452 15.15810865] [ 0. 0. 0. 1. ]] SLAMing on 112.519072329 meters Centerline goodness [0,1] 0.19036898310487727 Centerline is valid? [False, False] Translation: X:-20.38, Y:-2.10, Z:15.16 [[ 0.60366586 0.78713109 -0.12653926 -20.37898471] [ -0.79076805 0.61135622 0.03048709 -2.10284326] [ 0.1013579 0.08165919 0.99149299 15.15825202] [ 0. 0. 0. 1. ]] SLAMing on 112.549072329 meters Centerline goodness [0,1] 0.1919370893888115 Centerline is valid? [False, False] Translation: X:-20.37, Y:-2.09, Z:15.16 [[ 0.5956972 0.7948613 -0.11550044 -20.37429532] [ -0.79679991 0.60293178 0.03978912 -2.08598897] [ 0.10126572 0.06832848 0.99251019 15.15887404] [ 0. 0. 0. 1. ]] SLAMing on 112.579072329 meters Centerline goodness [0,1] 0.18856459806753656 Centerline is valid? [False, False] Translation: X:-20.38, Y:-2.07, Z:15.16 [[ 0.59777718 0.79363854 -0.1131385 -20.3807946 ] [ -0.79470051 0.60521379 0.04655493 -2.06555867] [ 0.10542077 0.06208175 0.99248794 15.15806987] [ 0. 0. 0. 1. ]] SLAMing on 112.60907232899999 meters Centerline goodness [0,1] 0.18902645692525466 Centerline is valid? [False, False] Translation: X:-20.39, Y:-2.05, Z:15.16 [[ 0.60044949 0.79159188 -0.11332566 -20.38776822] [ -0.79197986 0.60827603 0.0526135 -2.04638456] [ 0.1105817 0.05815989 0.99216385 15.1576498 ] [ 0. 0. 0. 1. ]] SLAMing on 112.63907232899999 meters Centerline goodness [0,1] 0.1904534035171671 Centerline is valid? [False, False] Translation: X:-20.40, Y:-2.03, Z:15.16 [[ 0.60479944 0.78811979 -0.11438892 -20.39792954] [ -0.78785515 0.61308033 0.05845315 -2.02548763] [ 0.11619768 0.05476947 0.99171488 15.15652098] [ 0. 0. 0. 1. ]] SLAMing on 112.66907232899999 meters Centerline goodness [0,1] 0.18664246968730058 Centerline is valid? [False, False] Translation: X:-20.40, Y:-2.02, Z:15.16 [[ 0.60271399 0.78936069 -0.11681417 -20.39794957] [ -0.78807694 0.611804 0.06804856 -2.01671803] [ 0.12518223 0.05104473 0.99081978 15.15835156] [ 0. 0. 0. 1. ]] SLAMing on 112.69907232899999 meters Centerline goodness [0,1] 0.185673009863505 Centerline is valid? [False, False] Translation: X:-20.41, Y:-1.99, Z:15.16 [[ 0.60918661 0.78474788 -0.11429097 -20.40965394] [ -0.78255173 0.61821135 0.07367172 -1.9943629 ] [ 0.1284697 0.04455877 0.99071189 15.15508425] [ 0. 0. 0. 1. ]] SLAMing on 112.72907232899999 meters Centerline goodness [0,1] 0.18651394422310752 Centerline is valid? [False, False] Translation: X:-20.42, Y:-1.97, Z:15.15 [[ 0.6154483 0.7803004 -0.11115157 -20.42201137] [ -0.77722688 0.62425837 0.07886617 -1.97253139] [ 0.1309266 0.03785194 0.9906692 15.15159621] [ 0. 0. 0. 1. ]] SLAMing on 112.75907232899999 meters Centerline goodness [0,1] 0.18579408782776374 Centerline is valid? [False, False] Translation: X:-20.43, Y:-1.96, Z:15.15 [[ 0.61673393 0.7798529 -0.1070921 -20.42681656] [ -0.77583284 0.62520685 0.08485163 -1.96073652] [ 0.1331265 0.03075469 0.99062177 15.15052515] [ 0. 0. 0. 1. ]] SLAMing on 112.78907232899999 meters Centerline goodness [0,1] 0.18338983722912827 Centerline is valid? [False, False] Translation: X:-20.44, Y:-1.94, Z:15.15 [[ 0.62384291 0.77453898 -0.10444802 -20.43992635] [ -0.76998577 0.63200364 0.08771152 -1.93970193] [ 0.13394752 0.02570528 0.99065499 15.14688434] [ 0. 0. 0. 1. ]] SLAMing on 112.819072329 meters Centerline goodness [0,1] 0.18135666877370415 Centerline is valid? [False, False] Translation: X:-20.46, Y:-1.91, Z:15.14 [[ 6.33447277e-01 7.66873509e-01 -1.03196745e-01 -2.04604798e+01] [-7.61548026e-01 6.41485130e-01 9.24198659e-02 -1.91314277e+00] [ 1.37073525e-01 2.00461653e-02 9.90358016e-01 1.51437264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.849072329 meters Centerline goodness [0,1] 0.17388656411465397 Centerline is valid? [False, False] Translation: X:-20.47, Y:-1.90, Z:15.14 [[ 6.36304841e-01 7.65014734e-01 -9.93408516e-02 -2.04702354e+01] [-7.58582372e-01 6.43902605e-01 9.97106838e-02 -1.90020541e+00] [ 1.40245975e-01 1.19118280e-02 9.90045037e-01 1.51388681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879072329 meters Centerline goodness [0,1] 0.17963871981150603 Centerline is valid? [False, False] Translation: X:-20.49, Y:-1.87, Z:15.13 [[ 6.44879785e-01 7.58270012e-01 -9.56903933e-02 -2.04910793e+01] [-7.50645783e-01 6.51935287e-01 1.07290681e-01 -1.87231181e+00] [ 1.43739250e-01 2.63999895e-03 9.89612075e-01 1.51329490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.909072329 meters Centerline goodness [0,1] 0.1751963120678205 Centerline is valid? [False, False] Translation: X:-20.50, Y:-1.85, Z:15.13 [[ 6.46418150e-01 7.57866491e-01 -8.82154035e-02 -2.05017252e+01] [-7.49013217e-01 6.52350253e-01 1.15837593e-01 -1.85301610e+00] [ 1.45336771e-01 -8.80501942e-03 9.89343062e-01 1.51275388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939072329 meters Centerline goodness [0,1] 0.17542695423050647 Centerline is valid? [False, False] Translation: X:-20.53, Y:-1.82, Z:15.12 [[ 6.55117253e-01 7.50742894e-01 -8.48910574e-02 -2.05251675e+01] [-7.41129946e-01 6.60394415e-01 1.20853715e-01 -1.82330988e+00] [ 1.46791648e-01 -1.62580491e-02 9.89033815e-01 1.51218247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.969072329 meters Centerline goodness [0,1] 0.18394075229000195 Centerline is valid? [False, False] Translation: X:-20.54, Y:-1.80, Z:15.12 [[ 0.66165189 0.74532625 -0.08188742 -20.54355679] [ -0.73523466 0.66633797 0.12419221 -1.79990763] [ 0.14712842 -0.02196554 0.98887347 15.11552946] [ 0. 0. 0. 1. ]] SLAMing on 112.99907232899999 meters Centerline goodness [0,1] 0.18333624929530923 Centerline is valid? [False, False] Translation: X:-20.56, Y:-1.78, Z:15.11 [[ 0.66772192 0.74028952 -0.07822315 -20.56240804] [ -0.7298792 0.67172414 0.12674001 -1.77809284] [ 0.14636868 -0.02753363 0.98884686 15.10625235] [ 0. 0. 0. 1. ]] SLAMing on 113.02907232899999 meters Centerline goodness [0,1] 0.18682190032297363 Centerline is valid? [False, False] Translation: X:-20.58, Y:-1.77, Z:15.09 [[ 0.6672122 0.74190535 -0.06636511 -20.57634575] [ -0.73118612 0.66935034 0.13166997 -1.76964823] [ 0.14210816 -0.03932656 0.98906961 15.08884159] [ 0. 0. 0. 1. ]] SLAMing on 113.05907232899999 meters Centerline goodness [0,1] 0.18815451968139474 Centerline is valid? [False, False] Translation: X:-20.61, Y:-1.75, Z:15.08 [[ 0.67299428 0.73747221 -0.05668716 -20.60986667] [ -0.7263327 0.67341207 0.13768437 -1.74616017] [ 0.13971221 -0.05148706 0.98885266 15.07553883] [ 0. 0. 0. 1. ]] SLAMing on 113.08907232899999 meters Centerline goodness [0,1] 0.19315658369861166 Centerline is valid? [False, False] Translation: X:-20.65, Y:-1.72, Z:15.06 [[ 0.67785087 0.73384013 -0.04468621 -20.64601271] [ -0.72271384 0.6762613 0.14267223 -1.72426991] [ 0.13491816 -0.06441515 0.98876073 15.05953018] [ 0. 0. 0. 1. ]] SLAMing on 113.11907232899999 meters Centerline goodness [0,1] 0.19679070304382962 Centerline is valid? [False, False] Translation: X:-20.67, Y:-1.71, Z:15.06 [[ 0.67988109 0.73222411 -0.04011923 -20.66562306] [ -0.72082775 0.67735223 0.14697386 -1.70909324] [ 0.13479265 -0.07100569 0.98832643 15.05658419] [ 0. 0. 0. 1. ]] SLAMing on 113.14907232899999 meters Centerline goodness [0,1] 0.1997085107199018 Centerline is valid? [False, False] Translation: X:-20.68, Y:-1.71, Z:15.06 [[ 0.67114838 0.7402133 -0.04054778 -20.67535198] [ -0.72911501 0.66899332 0.14435803 -1.70579063] [ 0.13398193 -0.06732167 0.98869441 15.05791305] [ 0. 0. 0. 1. ]] SLAMing on 113.179072329 meters Centerline goodness [0,1] 0.20854667949951877 Centerline is valid? [False, False] Translation: X:-20.70, Y:-1.70, Z:15.07 [[ 0.66893388 0.74177129 -0.04798768 -20.69879842] [ -0.72986322 0.66768132 0.14663336 -1.69562141] [ 0.1408089 -0.06306358 0.98802623 15.06956589] [ 0. 0. 0. 1. ]] SLAMing on 113.209072329 meters Centerline goodness [0,1] 0.214970877145768 Centerline is valid? [False, False] Translation: X:-20.71, Y:-1.69, Z:15.08 [[ 0.65655041 0.75242708 -0.05286829 -20.71146149] [ -0.73969548 0.65598782 0.15010187 -1.69252181] [ 0.14762167 -0.05944301 0.98725598 15.07856495] [ 0. 0. 0. 1. ]] SLAMing on 113.239072329 meters Centerline goodness [0,1] 0.2139636167424651 Centerline is valid? [False, False] Translation: X:-20.73, Y:-1.67, Z:15.10 [[ 0.65726064 0.75126749 -0.06004673 -20.7338838 ] [ -0.73581591 0.6568923 0.16452191 -1.66519194] [ 0.1630442 -0.06395044 0.98454402 15.1020468 ] [ 0. 0. 0. 1. ]] SLAMing on 113.269072329 meters Centerline goodness [0,1] 0.2202510071273629 Centerline is valid? [False, False] Translation: X:-20.76, Y:-1.63, Z:15.09 [[ 0.66323941 0.74669999 -0.05052334 -20.76241528] [ -0.73029247 0.66047258 0.1744961 -1.62815818] [ 0.16366552 -0.07883588 0.98336082 15.09198286] [ 0. 0. 0. 1. ]] SLAMing on 113.299072329 meters Centerline goodness [0,1] 0.22620589505082622 Centerline is valid? [False, False] Translation: X:-20.78, Y:-1.59, Z:15.08 [[ 0.65930636 0.75091327 -0.03800512 -20.77783482] [ -0.73305987 0.65322353 0.18953165 -1.58709878] [ 0.16714766 -0.0970994 0.98113881 15.08498378] [ 0. 0. 0. 1. ]] SLAMing on 113.329072329 meters Centerline goodness [0,1] 0.22951434094764667 Centerline is valid? [False, False] Translation: X:-20.81, Y:-1.55, Z:15.08 [[ 0.66537758 0.74577484 -0.03305388 -20.80583329] [ -0.72710277 0.65747642 0.19760141 -1.54596494] [ 0.1690983 -0.10744598 0.97972503 15.07625957] [ 0. 0. 0. 1. ]] SLAMing on 113.35907232899999 meters Centerline goodness [0,1] 0.23237613391569 Centerline is valid? [False, False] Translation: X:-20.83, Y:-1.51, Z:15.07 [[ 0.67051297 0.74133202 -0.02896875 -20.83140506] [ -0.72197124 0.66099506 0.20455577 -1.50788386] [ 0.17079194 -0.11624269 0.97842616 15.06659273] [ 0. 0. 0. 1. ]] SLAMing on 113.38907232899999 meters Centerline goodness [0,1] 0.23537681675973232 Centerline is valid? [False, False] Translation: X:-20.83, Y:-1.48, Z:15.06 [[ 0.66240745 0.74857231 -0.02925519 -20.83074678] [ -0.72790431 0.65236913 0.21111571 -1.47881816] [ 0.17712055 -0.11854964 0.97702318 15.05913934] [ 0. 0. 0. 1. ]] SLAMing on 113.41907232899999 meters Centerline goodness [0,1] 0.2422319605004858 Centerline is valid? [False, False] Translation: X:-20.85, Y:-1.45, Z:15.05 [[ 0.66713556 0.74459359 -0.02259468 -20.84613511] [ -0.72364512 0.65496957 0.21760652 -1.44605508] [ 0.17682725 -0.12882252 0.97577502 15.04938934] [ 0. 0. 0. 1. ]] SLAMing on 113.44907232899999 meters Centerline goodness [0,1] 0.24514268668589045 Centerline is valid? [False, False] Translation: X:-20.86, Y:-1.42, Z:15.04 [[ 6.70321023e-01 7.41913188e-01 -1.53149549e-02 -2.08581170e+01] [-7.21117118e-01 6.56123977e-01 2.22466692e-01 -1.41645955e+00] [ 1.75099481e-01 -1.38080224e-01 9.74819995e-01 1.50395681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47907232899999 meters Centerline goodness [0,1] 0.2511017608231798 Centerline is valid? [False, False] Translation: X:-20.85, Y:-1.39, Z:15.03 [[ 6.62125850e-01 7.49371062e-01 -5.68949263e-03 -2.08483554e+01] [-7.29192662e-01 6.46010443e-01 2.25717896e-01 -1.39328718e+00] [ 1.72821931e-01 -1.45304918e-01 9.74176093e-01 1.50323706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50907232899999 meters Centerline goodness [0,1] 0.2522870866800869 Centerline is valid? [False, False] Translation: X:-20.85, Y:-1.37, Z:15.02 [[ 6.62452435e-01 7.49103658e-01 6.92612117e-04 -2.08516840e+01] [-7.29882180e-01 6.45245709e-01 2.25676714e-01 -1.37443274e+00] [ 1.68608347e-01 -1.50005614e-01 9.74202002e-01 1.50223411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53907232899999 meters Centerline goodness [0,1] 0.2522870866800869 Centerline is valid? [False, False] Translation: X:-20.87, Y:-1.35, Z:15.01 [[ 6.72134481e-01 7.40424261e-01 2.67450330e-03 -2.08737528e+01] [-7.21470001e-01 6.54107675e-01 2.27209567e-01 -1.35322377e+00] [ 1.66482063e-01 -1.54644958e-01 9.73842215e-01 1.50144125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.569072329 meters Centerline goodness [0,1] 0.25154108564246813 Centerline is valid? [False, False] Translation: X:-20.87, Y:-1.34, Z:15.01 [[ 6.71656962e-01 7.40820802e-01 7.83994066e-03 -2.08736124e+01] [-7.22577806e-01 6.52707286e-01 2.27715859e-01 -1.33767469e+00] [ 1.63579459e-01 -1.58611909e-01 9.73696063e-01 1.50066317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599072329 meters Centerline goodness [0,1] 0.255499390621566 Centerline is valid? [False, False] Translation: X:-20.87, Y:-1.32, Z:15.00 [[ 6.70984881e-01 7.41360162e-01 1.28218556e-02 -2.08726935e+01] [-7.23775445e-01 6.51118198e-01 2.28460496e-01 -1.32382104e+00] [ 1.61022967e-01 -1.62573683e-01 9.73468747e-01 1.49986619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.629072329 meters Centerline goodness [0,1] 0.25766686710763675 Centerline is valid? [False, False] Translation: X:-20.86, Y:-1.31, Z:14.99 [[ 6.64700006e-01 7.46857328e-01 1.94430824e-02 -2.08569858e+01] [-7.29623230e-01 6.43324283e-01 2.31913366e-01 -1.31101514e+00] [ 1.60697990e-01 -1.68338940e-01 9.72542111e-01 1.49892660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659072329 meters Centerline goodness [0,1] 0.24733967795044776 Centerline is valid? [False, False] Translation: X:-20.86, Y:-1.30, Z:14.98 [[ 0.66353559 0.74775036 0.0242884 -20.85526982] [ -0.73107807 0.64116249 0.2333142 -1.30016792] [ 0.15888797 -0.17256899 0.97209802 14.98310763] [ 0. 0. 0. 1. ]] SLAMing on 113.689072329 meters Centerline goodness [0,1] 0.23296685659256877 Centerline is valid? [False, False] Translation: X:-20.84, Y:-1.29, Z:14.98 [[ 0.6584146 0.75214184 0.02780056 -20.84189753] [ -0.73564211 0.63528328 0.23504433 -1.28981816] [ 0.15912544 -0.17520788 0.971587 14.97890384] [ 0. 0. 0. 1. ]] SLAMing on 113.719072329 meters Centerline goodness [0,1] 0.2318637274549098 Centerline is valid? [False, False] Translation: X:-20.84, Y:-1.28, Z:14.97 [[ 0.6566914 0.75349725 0.03159591 -20.83776973] [ -0.73750653 0.63287132 0.23570748 -1.28170934] [ 0.15760879 -0.17808926 0.97131029 14.97352464] [ 0. 0. 0. 1. ]] SLAMing on 113.74907232899999 meters Centerline goodness [0,1] 0.22990508230205453 Centerline is valid? [False, False] Translation: X:-20.83, Y:-1.27, Z:14.97 [[ 0.65425472 0.75540994 0.03614661 -20.8297343 ] [ -0.73965096 0.62917653 0.23885841 -1.27470086] [ 0.15769342 -0.18301012 0.97038141 14.96967531] [ 0. 0. 0. 1. ]] SLAMing on 113.77907232899999 meters Centerline goodness [0,1] 0.2319108344211266 Centerline is valid? [False, False] Translation: X:-20.80, Y:-1.28, Z:14.95 [[ 0.6414486 0.76397458 0.06990381 -20.79719557] [ -0.75432608 0.61148783 0.23890333 -1.27850072] [ 0.13977074 -0.20597447 0.96852396 14.9512011 ] [ 0. 0. 0. 1. ]] SLAMing on 113.80907232899999 meters Centerline goodness [0,1] 0.23194994870144237 Centerline is valid? [False, False] Translation: X:-20.79, Y:-1.27, Z:14.93 [[ 0.63746978 0.76338746 0.10426821 -20.79261585] [ -0.76144837 0.60355052 0.23648076 -1.27381681] [ 0.11759531 -0.2301442 0.96602536 14.93000265] [ 0. 0. 0. 1. ]] SLAMing on 113.83907232899999 meters Centerline goodness [0,1] 0.23165095957863302 Centerline is valid? [False, False] Translation: X:-20.80, Y:-1.27, Z:14.91 [[ 0.63779822 0.75798098 0.13666844 -20.80111828] [ -0.76420236 0.6006785 0.23490445 -1.26500428] [ 0.09595932 -0.25426398 0.96236253 14.90826682] [ 0. 0. 0. 1. ]] SLAMing on 113.86907232899999 meters Centerline goodness [0,1] 0.23166592589599577 Centerline is valid? [False, False] Translation: X:-20.82, Y:-1.25, Z:14.88 [[ 0.63888204 0.74937485 0.17397435 -20.81750432] [ -0.76606401 0.59897388 0.2331871 -1.25427328] [ 0.07053846 -0.28225454 0.95674276 14.88306805] [ 0. 0. 0. 1. ]] SLAMing on 113.89907232899999 meters Centerline goodness [0,1] 0.23008903401139802 Centerline is valid? [False, False] Translation: X:-20.83, Y:-1.24, Z:14.87 [[ 0.64207304 0.74105938 0.19640061 -20.83080438] [ -0.7643497 0.59898674 0.23871411 -1.2411368 ] [ 0.05925997 -0.30339064 0.95102175 14.86769047] [ 0. 0. 0. 1. ]] SLAMing on 113.929072329 meters Centerline goodness [0,1] 0.23038668425860143 Centerline is valid? [False, False] Translation: X:-20.87, Y:-1.22, Z:14.85 [[ 0.64956134 0.72583027 0.22636359 -20.86843927] [ -0.75934511 0.60433 0.24120583 -1.21866865] [ 0.03827619 -0.32856607 0.94370508 14.85280831] [ 0. 0. 0. 1. ]] SLAMing on 113.959072329 meters Centerline goodness [0,1] 0.23332652644476215 Centerline is valid? [False, False] Translation: X:-20.90, Y:-1.21, Z:14.83 [[ 6.44056128e-01 7.10670588e-01 2.83088358e-01 -2.08978683e+01] [-7.64976805e-01 5.97615804e-01 2.40137125e-01 -1.20543694e+00] [ 1.48031490e-03 -3.71217815e-01 9.28544637e-01 1.48253899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.989072329 meters Centerline goodness [0,1] 0.23309652131308178 Centerline is valid? [False, False] Translation: X:-20.97, Y:-1.16, Z:14.82 [[ 0.65990052 0.68487445 0.30899562 -20.96928338] [ -0.75102494 0.61340212 0.24433457 -1.16210537] [ -0.02220007 -0.39329992 0.91914217 14.82025418] [ 0. 0. 0. 1. ]] SLAMing on 114.019072329 meters Centerline goodness [0,1] 0.23344876339569287 Centerline is valid? [False, False] Translation: X:-21.05, Y:-1.12, Z:14.81 [[ 0.66998843 0.65628211 0.34700043 -21.04777695] [ -0.74028349 0.62566006 0.24602814 -1.12092524] [ -0.05564044 -0.42171469 0.90501981 14.81078982] [ 0. 0. 0. 1. ]] SLAMing on 114.049072329 meters Centerline goodness [0,1] 0.23295804741751247 Centerline is valid? [False, False] Translation: X:-21.13, Y:-1.07, Z:14.81 [[ 0.68694459 0.62383657 0.37273994 -21.13048857] [ -0.72228719 0.64261284 0.25563638 -1.07340009] [ -0.08005215 -0.44483331 0.89202857 14.8119404 ] [ 0. 0. 0. 1. ]] SLAMing on 114.079072329 meters Centerline goodness [0,1] 0.2337061955669295 Centerline is valid? [False, False] Translation: X:-21.23, Y:-1.02, Z:14.83 [[ 0.70897565 0.58789913 0.38952297 -21.23079636] [ -0.69761858 0.66558307 0.2651933 -1.01914543] [ -0.10335299 -0.45975405 0.88201155 14.82636025] [ 0. 0. 0. 1. ]] SLAMing on 114.10907232899999 meters Centerline goodness [0,1] 0.23316790736145576 Centerline is valid? [False, False] Translation: X:-21.33, Y:-0.97, Z:14.85 [[ 0.73079532 0.55171711 0.4019284 -21.33195415] [ -0.67106638 0.68846615 0.27510774 -0.96844703] [ -0.12493245 -0.47076808 0.87336664 14.8454878 ] [ 0. 0. 0. 1. ]] SLAMing on 114.13907232899999 meters Centerline goodness [0,1] 0.2326319062921115 Centerline is valid? [False, False] Translation: X:-21.42, Y:-0.92, Z:14.87 [[ 0.75059385 0.51829871 0.40984793 -21.42396191] [ -0.64504349 0.70924686 0.28440778 -0.92128015] [ -0.14327517 -0.47784447 0.86668154 14.86807746] [ 0. 0. 0. 1. ]] SLAMing on 114.16907232899999 meters Centerline goodness [0,1] 0.23290944603748498 Centerline is valid? [False, False] Translation: X:-21.52, Y:-0.88, Z:14.90 [[ 0.77179616 0.48234143 0.41433977 -21.52276625] [ -0.61508123 0.73156338 0.29409198 -0.87787302] [ -0.16126306 -0.48183168 0.86129696 14.89740369] [ 0. 0. 0. 1. ]] SLAMing on 114.19907232899999 meters Centerline goodness [0,1] 0.23239319439244566 Centerline is valid? [False, False] Translation: X:-21.61, Y:-0.84, Z:14.93 [[ 0.79074919 0.45162011 0.4132251 -21.61366445] [ -0.58697182 0.75098314 0.3024705 -0.83998693] [ -0.17372332 -0.4817298 0.85892759 14.92941779] [ 0. 0. 0. 1. ]] SLAMing on 114.22907232899999 meters Centerline goodness [0,1] 0.23361608545397428 Centerline is valid? [False, False] Translation: X:-21.70, Y:-0.81, Z:14.96 [[ 0.80566972 0.4258158 0.41179753 -21.69937826] [ -0.56283166 0.76703848 0.3080138 -0.80656687] [ -0.18470741 -0.47993008 0.85764229 14.95712522] [ 0. 0. 0. 1. ]] SLAMing on 114.25907232899999 meters Centerline goodness [0,1] 0.2345609065155807 Centerline is valid? [False, False] Translation: X:-21.78, Y:-0.78, Z:14.99 [[ 0.81984695 0.40043381 0.40927222 -21.78347569] [ -0.53844798 0.78228313 0.31322017 -0.77894678] [ -0.19474281 -0.4771644 0.85696521 14.9881373 ] [ 0. 0. 0. 1. ]] SLAMing on 114.28907232899999 meters Centerline goodness [0,1] 0.23404433817823356 Centerline is valid? [False, False] Translation: X:-21.86, Y:-0.76, Z:15.02 [[ 0.83210708 0.37915788 0.40476796 -21.85668144] [ -0.51672556 0.7951222 0.31745138 -0.75615983] [ -0.2014758 -0.47330749 0.85754739 15.01743742] [ 0. 0. 0. 1. ]] SLAMing on 114.319072329 meters Centerline goodness [0,1] 0.23555593055877821 Centerline is valid? [False, False] Translation: X:-21.93, Y:-0.74, Z:15.05 [[ 0.8427118 0.35747375 0.40255354 -21.93293528] [ -0.49592739 0.80643401 0.32205623 -0.73640198] [ -0.20950622 -0.47103791 0.85687247 15.04647293] [ 0. 0. 0. 1. ]] SLAMing on 114.349072329 meters Centerline goodness [0,1] 0.23534635879218468 Centerline is valid? [False, False] Translation: X:-21.99, Y:-0.72, Z:15.07 [[ 0.85180203 0.34103421 0.39765433 -21.99450211] [ -0.47931664 0.81368231 0.3289022 -0.71757407] [ -0.21139739 -0.4707619 0.85655962 15.0714487 ] [ 0. 0. 0. 1. ]] SLAMing on 114.379072329 meters Centerline goodness [0,1] 0.23576925523118997 Centerline is valid? [False, False] Translation: X:-22.06, Y:-0.71, Z:15.09 [[ 0.85577604 0.31890935 0.4073625 -22.06254143] [ -0.46466453 0.81999378 0.33421114 -0.70543983] [ -0.22745165 -0.47529678 0.84991689 15.09069834] [ 0. 0. 0. 1. ]] SLAMing on 114.409072329 meters Centerline goodness [0,1] 0.2359579215811285 Centerline is valid? [False, False] Translation: X:-22.13, Y:-0.69, Z:15.12 [[ 0.86284219 0.30173621 0.40553497 -22.12787457] [ -0.44809565 0.82785803 0.3374335 -0.69266013] [ -0.23390948 -0.47287031 0.84951752 15.11924358] [ 0. 0. 0. 1. ]] SLAMing on 114.439072329 meters Centerline goodness [0,1] 0.2373112684466433 Centerline is valid? [False, False] Translation: X:-22.18, Y:-0.68, Z:15.15 [[ 0.86906933 0.29051142 0.40040181 -22.1794449 ] [ -0.43425616 0.83569258 0.33621347 -0.68120752] [ -0.23693897 -0.46606977 0.85243117 15.14648954] [ 0. 0. 0. 1. ]] SLAMing on 114.469072329 meters Centerline goodness [0,1] 0.23722300499551685 Centerline is valid? [False, False] Translation: X:-22.23, Y:-0.67, Z:15.17 [[ 0.87611333 0.2782065 0.39373414 -22.22777504] [ -0.41920207 0.84296902 0.33715405 -0.67366451] [ -0.23810724 -0.46043932 0.85516114 15.17354127] [ 0. 0. 0. 1. ]] SLAMing on 114.49907232899999 meters Centerline goodness [0,1] 0.23854606207295392 Centerline is valid? [False, False] Translation: X:-22.28, Y:-0.67, Z:15.20 [[ 0.88124929 0.26626048 0.39051896 -22.27896834] [ -0.40680843 0.84793286 0.33987757 -0.66809535] [ -0.24063789 -0.45838327 0.85555724 15.19820452] [ 0. 0. 0. 1. ]] SLAMing on 114.52907232899999 meters Centerline goodness [0,1] 0.23692624621789227 Centerline is valid? [False, False] Translation: X:-22.32, Y:-0.66, Z:15.22 [[ 0.88626969 0.25661328 0.38558483 -22.32036022] [ -0.39703339 0.84961905 0.34714832 -0.66330185] [ -0.23851735 -0.46075708 0.85487566 15.22046523] [ 0. 0. 0. 1. ]] SLAMing on 114.55907232899999 meters Centerline goodness [0,1] 0.2384674856112018 Centerline is valid? [False, False] Translation: X:-22.36, Y:-0.66, Z:15.24 [[ 0.89114411 0.24702255 0.38058117 -22.36235983] [ -0.38607964 0.85346156 0.35006553 -0.66134584] [ -0.23833732 -0.45889348 0.85592762 15.24192573] [ 0. 0. 0. 1. ]] SLAMing on 114.58907232899999 meters Centerline goodness [0,1] 0.23757226675836574 Centerline is valid? [False, False] Translation: X:-22.40, Y:-0.66, Z:15.26 [[ 0.89540889 0.23895247 0.37569222 -22.4009672 ] [ -0.37600575 0.85772226 0.3506169 -0.66070463] [ -0.23845881 -0.45520792 0.85785963 15.26214816] [ 0. 0. 0. 1. ]] SLAMing on 114.61907232899999 meters Centerline goodness [0,1] 0.24047475703104837 Centerline is valid? [False, False] Translation: X:-22.44, Y:-0.66, Z:15.28 [[ 0.89795619 0.23323187 0.37319911 -22.43823594] [ -0.36850355 0.86207197 0.34790379 -0.66244179] [ -0.24058224 -0.44992756 0.86004964 15.28010302] [ 0. 0. 0. 1. ]] SLAMing on 114.64907232899999 meters Centerline goodness [0,1] 0.2405270409920771 Centerline is valid? [False, False] Translation: X:-22.48, Y:-0.66, Z:15.30 [[ 0.90244605 0.22477027 0.36751796 -22.47638202] [ -0.35777066 0.86625329 0.34871964 -0.66248506] [ -0.23998184 -0.44618781 0.86216307 15.3026853 ] [ 0. 0. 0. 1. ]] SLAMing on 114.679072329 meters Centerline goodness [0,1] 0.2414795358150149 Centerline is valid? [False, False] Translation: X:-22.51, Y:-0.66, Z:15.32 [[ 0.90673548 0.21809507 0.36092285 -22.50504287] [ -0.34951654 0.86754161 0.35384987 -0.66287917] [ -0.23594268 -0.44699674 0.8628586 15.32312827] [ 0. 0. 0. 1. ]] SLAMing on 114.709072329 meters Centerline goodness [0,1] 0.24070804082863173 Centerline is valid? [False, False] Translation: X:-22.53, Y:-0.66, Z:15.34 [[ 0.91143908 0.20958449 0.35405247 -22.53497563] [ -0.33902077 0.87014273 0.35765423 -0.66367808] [ -0.2331174 -0.44601118 0.86413558 15.34329314] [ 0. 0. 0. 1. ]] SLAMing on 114.739072329 meters Centerline goodness [0,1] 0.2401352632032394 Centerline is valid? [False, False] Translation: X:-22.57, Y:-0.67, Z:15.36 [[ 0.91422678 0.20407906 0.35005875 -22.56577589] [ -0.33186599 0.8728029 0.35788274 -0.66611937] [ -0.23249592 -0.44335858 0.86566669 15.36068327] [ 0. 0. 0. 1. ]] SLAMing on 114.769072329 meters Centerline goodness [0,1] 0.24091642465311391 Centerline is valid? [False, False] Translation: X:-22.59, Y:-0.67, Z:15.38 [[ 0.9167598 0.19972281 0.34592235 -22.59382557] [ -0.32540904 0.87566499 0.35681898 -0.669446 ] [ -0.2316472 -0.43968356 0.86776606 15.37756983] [ 0. 0. 0. 1. ]] SLAMing on 114.799072329 meters Centerline goodness [0,1] 0.2416010668043188 Centerline is valid? [False, False] Translation: X:-22.62, Y:-0.67, Z:15.39 [[ 0.91912042 0.19552517 0.34203445 -22.62152457] [ -0.31914222 0.87855345 0.35537596 -0.67284904] [ -0.2310106 -0.43579093 0.86989676 15.39424821] [ 0. 0. 0. 1. ]] SLAMing on 114.829072329 meters Centerline goodness [0,1] 0.24165663168759677 Centerline is valid? [False, False] Translation: X:-22.65, Y:-0.68, Z:15.41 [[ 0.92133632 0.19161283 0.33826603 -22.64783394] [ -0.3133689 0.8809894 0.35448217 -0.67696244] [ -0.23008546 -0.43259935 0.87173303 15.41138219] [ 0. 0. 0. 1. ]] SLAMing on 114.85907232899999 meters Centerline goodness [0,1] 0.2416736545614827 Centerline is valid? [False, False] Translation: X:-22.67, Y:-0.68, Z:15.43 [[ 0.92376366 0.18719781 0.33409233 -22.67472888] [ -0.30717363 0.88317038 0.3544777 -0.68033877] [ -0.228703 -0.43007797 0.87334293 15.42787077] [ 0. 0. 0. 1. ]] SLAMing on 114.88907232899999 meters Centerline goodness [0,1] 0.2420364355924548 Centerline is valid? [False, False] Translation: X:-22.70, Y:-0.68, Z:15.44 [[ 0.92594875 0.18349659 0.33007257 -22.7007612 ] [ -0.3017246 0.8850857 0.35438056 -0.68427556] [ -0.22711489 -0.42772925 0.87490943 15.44321576] [ 0. 0. 0. 1. ]] SLAMing on 114.91907232899999 meters Centerline goodness [0,1] 0.2427067669172932 Centerline is valid? [False, False] Translation: X:-22.73, Y:-0.69, Z:15.46 [[ 0.92805803 0.17981878 0.32614951 -22.72733017] [ -0.29619772 0.88723727 0.35366218 -0.689608 ] [ -0.22577691 -0.42482377 0.87666958 15.4584396 ] [ 0. 0. 0. 1. ]] SLAMing on 114.94907232899999 meters Centerline goodness [0,1] 0.24333383468339742 Centerline is valid? [False, False] Translation: X:-22.75, Y:-0.69, Z:15.47 [[ 0.92996344 0.17678431 0.32235897 -22.75251332] [ -0.29142011 0.88901544 0.35316549 -0.6937145 ] [ -0.22414798 -0.42237289 0.87827036 15.47398634] [ 0. 0. 0. 1. ]] SLAMing on 114.97907232899999 meters Centerline goodness [0,1] 0.2448303315903858 Centerline is valid? [False, False] Translation: X:-22.78, Y:-0.70, Z:15.49 [[ 0.93187261 0.17403617 0.31831564 -22.77632507] [ -0.2869245 0.89050222 0.35310074 -0.69754273] [ -0.22200848 -0.42037747 0.87976987 15.48973587] [ 0. 0. 0. 1. ]] SLAMing on 115.00907232899999 meters Centerline goodness [0,1] 0.24327980075575406 Centerline is valid? [False, False] Translation: X:-22.80, Y:-0.70, Z:15.51 [[ 0.93367994 0.17166559 0.31428122 -22.79827517] [ -0.28294052 0.89158989 0.35357054 -0.70153059] [ -0.21951406 -0.41904461 0.88103075 15.50601662] [ 0. 0. 0. 1. ]] SLAMing on 115.03907232899999 meters Centerline goodness [0,1] 0.24488657094413324 Centerline is valid? [False, False] Translation: X:-22.82, Y:-0.71, Z:15.52 [[ 0.93535367 0.1686913 0.3108967 -22.82418516] [ -0.27848093 0.89313205 0.35321879 -0.70707935] [ -0.21808687 -0.4169633 0.88237165 15.52140662] [ 0. 0. 0. 1. ]] SLAMing on 115.069072329 meters Centerline goodness [0,1] 0.24488177160374724 Centerline is valid? [False, False] Translation: X:-22.85, Y:-0.71, Z:15.54 [[ 0.93752892 0.16560431 0.30596525 -22.84577103] [ -0.27308621 0.89517058 0.35226915 -0.71237131] [ -0.2155538 -0.41381741 0.88447256 15.53626989] [ 0. 0. 0. 1. ]] SLAMing on 115.099072329 meters Centerline goodness [0,1] 0.24747625973137133 Centerline is valid? [False, False] Translation: X:-22.87, Y:-0.72, Z:15.55 [[ 0.93997688 0.16156763 0.30056507 -22.86742586] [ -0.26637493 0.89793349 0.35037102 -0.72033309] [ -0.21327883 -0.40940366 0.88707428 15.55146715] [ 0. 0. 0. 1. ]] SLAMing on 115.129072329 meters Centerline goodness [0,1] 0.2461887147469478 Centerline is valid? [False, False] Translation: X:-22.89, Y:-0.72, Z:15.56 [[ 0.94235927 0.15300212 0.29757245 -22.88529871] [ -0.25679168 0.90085638 0.35002259 -0.72300224] [ -0.21451584 -0.40626116 0.88822003 15.56208096] [ 0. 0. 0. 1. ]] SLAMing on 115.159072329 meters Centerline goodness [0,1] 0.2463285519125683 Centerline is valid? [False, False] Translation: X:-22.90, Y:-0.73, Z:15.57 [[ 0.94467389 0.14412791 0.29464961 -22.9023237 ] [ -0.24694701 0.90374123 0.34966978 -0.72555225] [ -0.21588983 -0.40308675 0.8893327 15.5724217 ] [ 0. 0. 0. 1. ]] SLAMing on 115.189072329 meters Centerline goodness [0,1] 0.24636230000639125 Centerline is valid? [False, False] Translation: X:-22.92, Y:-0.73, Z:15.58 [[ 0.94732689 0.13429857 0.29075016 -22.91734984] [ -0.23562426 0.90712934 0.34870842 -0.73074353] [ -0.21691696 -0.39884866 0.89099202 15.58429924] [ 0. 0. 0. 1. ]] SLAMing on 115.21907232899999 meters Centerline goodness [0,1] 0.24607318684597512 Centerline is valid? [False, False] Translation: X:-22.93, Y:-0.73, Z:15.60 [[ 0.94987143 0.12532321 0.28642339 -22.9323562 ] [ -0.22489526 0.91030066 0.34752674 -0.73399306] [ -0.21717823 -0.39452098 0.89285319 15.59502083] [ 0. 0. 0. 1. ]] SLAMing on 115.24907232899999 meters Centerline goodness [0,1] 0.2453067132093142 Centerline is valid? [False, False] Translation: X:-22.95, Y:-0.74, Z:15.61 [[ 0.95243731 0.11650111 0.28158597 -22.94648635] [ -0.21407005 0.91342716 0.34615725 -0.73765963] [ -0.21688057 -0.38997221 0.8949215 15.60609341] [ 0. 0. 0. 1. ]] SLAMing on 115.27907232899999 meters Centerline goodness [0,1] 0.2460528273018976 Centerline is valid? [False, False] Translation: X:-22.96, Y:-0.74, Z:15.62 [[ 0.95511295 0.10648725 0.27644118 -22.95864717] [ -0.20183116 0.91698216 0.3441045 -0.74393305] [ -0.21684889 -0.3844531 0.89731398 15.61765653] [ 0. 0. 0. 1. ]] SLAMing on 115.30907232899999 meters Centerline goodness [0,1] 0.24420257569006854 Centerline is valid? [False, False] Translation: X:-22.97, Y:-0.75, Z:15.63 [[ 0.95691025 0.09787358 0.27339263 -22.97086287] [ -0.19202665 0.91952325 0.34293258 -0.74717714] [ -0.21782685 -0.38065437 0.89869556 15.62689459] [ 0. 0. 0. 1. ]] SLAMing on 115.33907232899999 meters Centerline goodness [0,1] 0.2430956764649863 Centerline is valid? [False, False] Translation: X:-22.98, Y:-0.75, Z:15.64 [[ 0.95863746 0.08924776 0.27027589 -22.98254815] [ -0.18224424 0.9218616 0.34199157 -0.75105829] [ -0.21863498 -0.37710216 0.89999595 15.63601853] [ 0. 0. 0. 1. ]] SLAMing on 115.36907232899999 meters Centerline goodness [0,1] 0.24321240676963385 Centerline is valid? [False, False] Translation: X:-22.99, Y:-0.76, Z:15.64 [[ 0.96032725 0.08042523 0.26702689 -22.99447061] [ -0.17220413 0.92417072 0.34096072 -0.75518867] [ -0.21935659 -0.37341701 0.90135588 15.64484239] [ 0. 0. 0. 1. ]] SLAMing on 115.39907232899999 meters Centerline goodness [0,1] 0.24089689131215786 Centerline is valid? [False, False] Translation: X:-23.00, Y:-0.76, Z:15.66 [[ 0.96291954 0.06921477 0.26075903 -23.00370881] [ -0.15851483 0.92725155 0.33923091 -0.76391098] [ -0.21830942 -0.36798624 0.90384021 15.65635083] [ 0. 0. 0. 1. ]] SLAMing on 115.429072329 meters Centerline goodness [0,1] 0.23949127876320842 Centerline is valid? [False, False] Translation: X:-23.01, Y:-0.77, Z:15.66 [[ 0.96456757 0.06015753 0.25688611 -23.01449975] [ -0.14811 0.92922827 0.33852364 -0.76923718] [ -0.21834109 -0.36457632 0.90521338 15.66429734] [ 0. 0. 0. 1. ]] SLAMing on 115.459072329 meters Centerline goodness [0,1] 0.23949127876320842 Centerline is valid? [False, False] Translation: X:-23.03, Y:-0.77, Z:15.67 [[ 0.96436129 0.05571621 0.25865615 -23.0260723 ] [ -0.14410758 0.93046275 0.33685617 -0.77077343] [ -0.22190156 -0.36212536 0.90533139 15.6672339 ] [ 0. 0. 0. 1. ]] SLAMing on 115.489072329 meters Centerline goodness [0,1] 0.23613501826273142 Centerline is valid? [False, False] Translation: X:-23.03, Y:-0.78, Z:15.68 [[ 0.96673732 0.0440539 0.25194884 -23.03410828] [ -0.12986474 0.93318005 0.33512706 -0.78021222] [ -0.22034997 -0.35669911 0.90786102 15.67719761] [ 0. 0. 0. 1. ]] SLAMing on 115.519072329 meters Centerline goodness [0,1] 0.23709136630343675 Centerline is valid? [False, False] Translation: X:-23.04, Y:-0.79, Z:15.69 [[ 0.96809583 0.03495332 0.24813048 -23.04411582] [ -0.11934644 0.93501367 0.33392495 -0.78617383] [ -0.2203336 -0.35288484 0.90935438 15.68506716] [ 0. 0. 0. 1. ]] SLAMing on 115.549072329 meters Centerline goodness [0,1] 0.2342078877005348 Centerline is valid? [False, False] Translation: X:-23.05, Y:-0.79, Z:15.69 [[ 0.96946246 0.02593284 0.24386477 -23.05332464] [ -0.10874431 0.93674592 0.33268867 -0.79245969] [ -0.21981177 -0.34904808 0.91096006 15.69323096] [ 0. 0. 0. 1. ]] SLAMing on 115.579072329 meters Centerline goodness [0,1] 0.22979776964047938 Centerline is valid? [False, False] Translation: X:-23.07, Y:-0.81, Z:15.71 [[ 9.71162877e-01 1.19965756e-02 2.38114991e-01 -2.30659951e+01] [-9.22840823e-02 9.39797115e-01 3.29036519e-01 -8.05540502e-01] [-2.19832470e-01 -3.41522276e-01 9.13803163e-01 1.57077214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60907232899999 meters Centerline goodness [0,1] 0.2285191956124314 Centerline is valid? [False, False] Translation: X:-23.10, Y:-0.82, Z:15.73 [[ 9.73281471e-01 1.08880051e-03 2.29612700e-01 -2.30973065e+01] [-7.79597030e-02 9.42154076e-01 3.25987703e-01 -8.19689175e-01] [-2.15975606e-01 -3.35178329e-01 9.17065988e-01 1.57298976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63907232899999 meters Centerline goodness [0,1] 0.22453106621819607 Centerline is valid? [False, False] Translation: X:-23.12, Y:-0.84, Z:15.75 [[ 9.75506641e-01 -1.53990289e-02 2.19430314e-01 -2.31235329e+01] [-5.71548436e-02 9.45541287e-01 3.20445001e-01 -8.39791534e-01] [-2.12414963e-01 -3.25137732e-01 9.21501676e-01 1.57529876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66907232899999 meters Centerline goodness [0,1] 0.22225425788248865 Centerline is valid? [False, False] Translation: X:-23.15, Y:-0.86, Z:15.77 [[ 0.977273 -0.02670559 0.21029575 -23.15395945] [ -0.0422211 0.94763635 0.31654813 -0.85559404] [ -0.2077375 -0.31823286 0.92497188 15.77390073] [ 0. 0. 0. 1. ]] SLAMing on 115.69907232899999 meters Centerline goodness [0,1] 0.22073928285872435 Centerline is valid? [False, False] Translation: X:-23.18, Y:-0.87, Z:15.79 [[ 0.97905705 -0.03747553 0.20010715 -23.17998393] [ -0.02760144 0.94940269 0.31284613 -0.87067541] [ -0.20170634 -0.31181746 0.92848502 15.7944613 ] [ 0. 0. 0. 1. ]] SLAMing on 115.72907232899999 meters Centerline goodness [0,1] 0.2173379174852652 Centerline is valid? [False, False] Translation: X:-23.21, Y:-0.89, Z:15.82 [[ 9.80503430e-01 -4.84159827e-02 1.90443998e-01 -2.32080054e+01] [-1.29935960e-02 9.51075068e-01 3.08686544e-01 -8.86908834e-01] [-1.96071900e-01 -3.05142767e-01 9.31903268e-01 1.58153014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75907232899999 meters Centerline goodness [0,1] 0.2155856846219616 Centerline is valid? [False, False] Translation: X:-23.23, Y:-0.91, Z:15.84 [[ 9.81401784e-01 -6.50954270e-02 1.80591038e-01 -2.32313587e+01] [ 7.49136059e-03 9.53020658e-01 3.02812657e-01 -9.09823881e-01] [-1.91818709e-01 -2.95828009e-01 9.35783827e-01 1.58373235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78907232899999 meters Centerline goodness [0,1] 0.21379759192971037 Centerline is valid? [False, False] Translation: X:-23.24, Y:-0.92, Z:15.85 [[ 9.81986910e-01 -7.39328939e-02 1.73883973e-01 -2.32418749e+01] [ 1.86032612e-02 9.53628906e-01 3.00409434e-01 -9.20542830e-01] [-1.88030922e-01 -2.91763323e-01 9.37826496e-01 1.58494879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.819072329 meters Centerline goodness [0,1] 0.21175013200113724 Centerline is valid? [False, False] Translation: X:-23.25, Y:-0.93, Z:15.86 [[ 0.98248724 -0.08214727 0.1672443 -23.25251135] [ 0.02894045 0.95395447 0.29855204 -0.93135556] [ -0.18406868 -0.28848344 0.93962547 15.86132975] [ 0. 0. 0. 1. ]] SLAMing on 115.849072329 meters Centerline goodness [0,1] 0.21096772886574966 Centerline is valid? [False, False] Translation: X:-23.26, Y:-0.94, Z:15.87 [[ 0.98281027 -0.09014196 0.1611161 -23.26313572] [ 0.03878765 0.95403818 0.29716438 -0.94183754] [ -0.18049789 -0.28580689 0.94113492 15.87243268] [ 0. 0. 0. 1. ]] SLAMing on 115.879072329 meters Centerline goodness [0,1] 0.20808594854396378 Centerline is valid? [False, False] Translation: X:-23.27, Y:-0.96, Z:15.89 [[ 0.98300501 -0.10091612 0.15335285 -23.27132777] [ 0.05193512 0.95409991 0.29495103 -0.95856786] [ -0.17607925 -0.28197394 0.94312607 15.88931122] [ 0. 0. 0. 1. ]] SLAMing on 115.909072329 meters Centerline goodness [0,1] 0.2069974375012611 Centerline is valid? [False, False] Translation: X:-23.28, Y:-0.97, Z:15.90 [[ 0.98314608 -0.10817157 0.14738621 -23.28320702] [ 0.06072707 0.95362338 0.29481295 -0.96907415] [ -0.17244131 -0.28089386 0.94412003 15.90166178] [ 0. 0. 0. 1. ]] SLAMing on 115.939072329 meters Centerline goodness [0,1] 0.2063843937042784 Centerline is valid? [False, False] Translation: X:-23.30, Y:-0.98, Z:15.91 [[ 0.98325134 -0.11519189 0.14123611 -23.2951082 ] [ 0.06932351 0.95306944 0.29470815 -0.9798782 ] [ -0.16855581 -0.2799812 0.94509231 15.91418214] [ 0. 0. 0. 1. ]] SLAMing on 115.96907232899999 meters Centerline goodness [0,1] 0.2054736672766394 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.00, Z:15.93 [[ 0.98364326 -0.12192506 0.1325904 -23.30144047] [ 0.07824879 0.95224294 0.29514491 -0.99613234] [ -0.16224384 -0.27994226 0.94620784 15.9286253 ] [ 0. 0. 0. 1. ]] SLAMing on 115.99907232899999 meters Centerline goodness [0,1] 0.20575287945486342 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.00, Z:15.94 [[ 0.98589201 -0.11919427 0.11751454 -23.29877921] [ 0.08075361 0.9536695 0.28981604 -0.99962013] [ -0.14661444 -0.2762376 0.94984051 15.94276024] [ 0. 0. 0. 1. ]] SLAMing on 116.02907232899999 meters Centerline goodness [0,1] 0.20430712362891235 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.01, Z:15.96 [[ 0.98785685 -0.11661182 0.10266702 -23.29779023] [ 0.08281528 0.9543163 0.28709237 -1.00959142] [ -0.13145518 -0.27510377 0.95238514 15.95574991] [ 0. 0. 0. 1. ]] SLAMing on 116.05907232899999 meters Centerline goodness [0,1] 0.20450432334606872 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.01, Z:15.97 [[ 0.98968245 -0.11260313 0.08859561 -23.29514117] [ 0.08350485 0.95578357 0.2819658 -1.01025345] [ -0.11642846 -0.27165844 0.95532513 15.96917808] [ 0. 0. 0. 1. ]] SLAMing on 116.08907232899999 meters Centerline goodness [0,1] 0.20435918039373246 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.01, Z:15.98 [[ 0.99128348 -0.10798871 0.0754685 -23.29254696] [ 0.08320576 0.95729293 0.27688814 -1.01060556] [ -0.10214626 -0.26819522 0.95793396 15.98183148] [ 0. 0. 0. 1. ]] SLAMing on 116.11907232899999 meters Centerline goodness [0,1] 0.2050565187658393 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.01, Z:15.99 [[ 0.99276506 -0.10058474 0.06557629 -23.29420263] [ 0.07918608 0.95899076 0.27215122 -1.01499541] [ -0.09026132 -0.26498949 0.96001743 15.9944741 ] [ 0. 0. 0. 1. ]] SLAMing on 116.14907232899999 meters Centerline goodness [0,1] 0.2041474375768324 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.01, Z:16.01 [[ 0.99407562 -0.09512783 0.05257711 -23.29359615] [ 0.07775961 0.960419 0.26748605 -1.01454219] [ -0.07594142 -0.26181299 0.96212622 16.00632286] [ 0. 0. 0. 1. ]] SLAMing on 116.179072329 meters Centerline goodness [0,1] 0.20515767400596818 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.01, Z:16.02 [[ 0.99523324 -0.08913565 0.03956812 -23.29404188] [ 0.07564173 0.96163165 0.26370987 -1.01440193] [ -0.06155591 -0.25945982 0.96379016 16.01714653] [ 0. 0. 0. 1. ]] SLAMing on 116.209072329 meters Centerline goodness [0,1] 0.2072626713227428 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.01, Z:16.03 [[ 0.99621933 -0.08266254 0.0267197 -23.29461147] [ 0.07291101 0.96280074 0.26018979 -1.01448052] [ -0.04723369 -0.25725794 0.96518772 16.02712854] [ 0. 0. 0. 1. ]] SLAMing on 116.239072329 meters Centerline goodness [0,1] 0.20886871225325276 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.02, Z:16.03 [[ 9.97258575e-01 -7.12377267e-02 2.00130367e-02 -2.33020112e+01] [ 6.36976310e-02 9.64112349e-01 2.57740160e-01 -1.01763368e+00] [-3.76556389e-02 -2.55758801e-01 9.66006982e-01 1.60320246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.269072329 meters Centerline goodness [0,1] 0.21113726763536 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.02, Z:16.04 [[ 9.98055728e-01 -6.07430167e-02 1.39660547e-02 -2.33041426e+01] [ 5.52381698e-02 9.65828685e-01 2.53226572e-01 -1.01764164e+00] [-2.88705621e-02 -2.51962771e-01 9.67306183e-01 1.60366504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299072329 meters Centerline goodness [0,1] 0.21232597899535943 Centerline is valid? [False, False] Translation: X:-23.31, Y:-1.02, Z:16.04 [[ 9.98713966e-01 -5.03344804e-02 6.07072312e-03 -2.33071699e+01] [ 4.72279068e-02 9.67184218e-01 2.49648178e-01 -1.01721253e+00] [-1.84374189e-02 -2.49040415e-01 9.68317579e-01 1.60428354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.329072329 meters Centerline goodness [0,1] 0.21572518771610372 Centerline is valid? [False, False] Translation: X:-23.32, Y:-1.02, Z:16.05 [[ 9.99438231e-01 -3.34176613e-02 2.54601546e-03 -2.33174359e+01] [ 3.17054656e-02 9.67379705e-01 2.51338953e-01 -1.01776224e+00] [-1.08621237e-02 -2.51117036e-01 9.67895784e-01 1.60452219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35907232899999 meters Centerline goodness [0,1] 0.21682668636139835 Centerline is valid? [False, False] Translation: X:-23.32, Y:-1.02, Z:16.05 [[ 9.99647180e-01 -2.52934959e-02 -8.10887754e-03 -2.33234791e+01] [ 2.65153959e-02 9.68256371e-01 2.48548854e-01 -1.01689193e+00] [ 1.56480292e-03 -2.48676171e-01 9.68585419e-01 1.60533025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38907232899999 meters Centerline goodness [0,1] 0.219910173472331 Centerline is valid? [False, False] Translation: X:-23.33, Y:-1.02, Z:16.06 [[ 9.99669318e-01 -1.76892734e-02 -1.86640014e-02 -2.33302597e+01] [ 2.17357533e-02 9.69100287e-01 2.45707533e-01 -1.01637178e+00] [ 1.37409013e-02 -2.46031958e-01 9.69164312e-01 1.60605462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41907232899999 meters Centerline goodness [0,1] 0.22368856528214465 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.02, Z:16.06 [[ 9.99720056e-01 -3.01210033e-03 -2.34677945e-02 -2.33431483e+01] [ 8.69916776e-03 9.69183429e-01 2.46186524e-01 -1.01762736e+00] [ 2.20030590e-02 -2.46321756e-01 9.68938315e-01 1.60635738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44907232899999 meters Centerline goodness [0,1] 0.22612336262643007 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.02, Z:16.06 [[ 9.99808241e-01 6.92662413e-04 -1.95704180e-02 -2.33517553e+01] [ 4.16773055e-03 9.68951857e-01 2.47214336e-01 -1.01876607e+00] [ 1.91340289e-02 -2.47248495e-01 9.68763165e-01 1.60634118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47907232899999 meters Centerline goodness [0,1] 0.22814919363208042 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.02, Z:16.07 [[ 9.99594834e-01 1.15991220e-02 -2.59928418e-02 -2.33555961e+01] [-4.91166822e-03 9.69793547e-01 2.43877739e-01 -1.01799122e+00] [ 2.80364579e-02 -2.43651260e-01 9.69457591e-01 1.60677321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50907232899999 meters Centerline goodness [0,1] 0.23113492775078714 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.02, Z:16.07 [[ 9.99188479e-01 1.78790316e-02 -3.60932531e-02 -2.33646960e+01] [-8.65817326e-03 9.70475847e-01 2.41042872e-01 -1.01802304e+00] [ 3.93372435e-02 -2.40534759e-01 9.69843086e-01 1.60735312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53907232899999 meters Centerline goodness [0,1] 0.23385598262939222 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.02, Z:16.07 [[ 9.98734120e-01 3.25950133e-02 -3.83108668e-02 -2.33769048e+01] [-2.24763732e-02 9.70558800e-01 2.39813322e-01 -1.01850093e+00] [ 4.49996673e-02 -2.38648657e-01 9.70062806e-01 1.60716499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.569072329 meters Centerline goodness [0,1] 0.2364028566043268 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.02, Z:16.08 [[ 0.99807165 0.03932272 -0.04802808 -23.38537894] [ -0.0268747 0.971213 0.23669189 -1.0182563 ] [ 0.05595287 -0.23494472 0.97039696 16.07694149] [ 0. 0. 0. 1. ]] SLAMing on 116.599072329 meters Centerline goodness [0,1] 0.2402564535177999 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.02, Z:16.08 [[ 0.99736823 0.05403736 -0.04833813 -23.39814732] [ -0.04122971 0.9711358 0.23493697 -1.01841051] [ 0.05963826 -0.2323257 0.97080794 16.07693405] [ 0. 0. 0. 1. ]] SLAMing on 116.629072329 meters Centerline goodness [0,1] 0.23977982428284106 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.02, Z:16.08 [[ 0.99739506 0.05694043 -0.04428184 -23.40672094] [ -0.04499061 0.97092493 0.23511831 -1.01889177] [ 0.05638208 -0.23251358 0.97095752 16.07615551] [ 0. 0. 0. 1. ]] SLAMing on 116.659072329 meters Centerline goodness [0,1] 0.24239340160719203 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.02, Z:16.08 [[ 0.99738457 0.05996903 -0.04034516 -23.41475831] [ -0.04884074 0.97067094 0.2353986 -1.01929373] [ 0.0532785 -0.23281244 0.97106116 16.07515331] [ 0. 0. 0. 1. ]] SLAMing on 116.689072329 meters Centerline goodness [0,1] 0.2457266774385577 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.02, Z:16.08 [[ 0.99630007 0.07137741 -0.04786888 -23.42514208] [ -0.05814425 0.96997183 0.23616498 -1.01943426] [ 0.06328831 -0.23250788 0.97053319 16.0767818 ] [ 0. 0. 0. 1. ]] SLAMing on 116.71907232899999 meters Centerline goodness [0,1] 0.24538988969805375 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.02, Z:16.07 [[ 0.99626241 0.07420758 -0.04420905 -23.43165577] [ -0.06174673 0.96972505 0.23626398 -1.01948484] [ 0.0604032 -0.23265116 0.97068269 16.07473937] [ 0. 0. 0. 1. ]] SLAMing on 116.74907232899999 meters Centerline goodness [0,1] 0.24696425153648216 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.02, Z:16.07 [[ 0.99620507 0.07699753 -0.04058118 -23.43794253] [ -0.0652994 0.96945515 0.23641637 -1.02009895] [ 0.05754511 -0.23286926 0.97080403 16.07261958] [ 0. 0. 0. 1. ]] SLAMing on 116.77907232899999 meters Centerline goodness [0,1] 0.24745406599060948 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.02, Z:16.08 [[ 0.99533569 0.08165202 -0.05137915 -23.44403043] [ -0.06758343 0.97021622 0.23262192 -1.02123327] [ 0.06884294 -0.22806452 0.97120916 16.07732921] [ 0. 0. 0. 1. ]] SLAMing on 116.80907232899999 meters Centerline goodness [0,1] 0.24951656568260927 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.02, Z:16.08 [[ 0.99524725 0.08626986 -0.04517103 -23.45606987] [ -0.07349068 0.96973497 0.23283731 -1.02329658] [ 0.06389077 -0.22841104 0.97146609 16.07501894] [ 0. 0. 0. 1. ]] SLAMing on 116.83907232899999 meters Centerline goodness [0,1] 0.25027374025806726 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.02, Z:16.07 [[ 0.99516611 0.08851693 -0.04253438 -23.46144995] [ -0.07626775 0.96945911 0.23309282 -1.02386283] [ 0.061868 -0.22872207 0.97152384 16.07475401] [ 0. 0. 0. 1. ]] SLAMing on 116.86907232899999 meters Centerline goodness [0,1] 0.2482905527745234 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.02, Z:16.07 [[ 0.99511027 0.09001065 -0.04066481 -23.46562096] [ -0.07813568 0.96924872 0.23334894 -1.02440466] [ 0.0604182 -0.22903055 0.97154241 16.07481411] [ 0. 0. 0. 1. ]] SLAMing on 116.89907232899999 meters Centerline goodness [0,1] 0.25428454988095495 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.03, Z:16.07 [[ 0.99496968 0.09293119 -0.03740481 -23.47226229] [ -0.08169666 0.96882579 0.23388511 -1.02547952] [ 0.05797397 -0.22965275 0.97154446 16.07458628] [ 0. 0. 0. 1. ]] SLAMing on 116.929072329 meters Centerline goodness [0,1] 0.25153189568059164 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.03, Z:16.07 [[ 0.99496056 0.09336263 -0.03656369 -23.47383645] [ -0.0823078 0.96876353 0.23392872 -1.02623236] [ 0.05726177 -0.22974038 0.97156598 16.07401389] [ 0. 0. 0. 1. ]] SLAMing on 116.959072329 meters Centerline goodness [0,1] 0.2529181203428522 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.03, Z:16.07 [[ 0.99516236 0.09213125 -0.03411317 -23.47893771] [ -0.08185049 0.96955992 0.23076842 -1.02805304] [ 0.05433574 -0.22685986 0.97241053 16.07302579] [ 0. 0. 0. 1. ]] SLAMing on 116.989072329 meters Centerline goodness [0,1] 0.24940372590730353 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.03, Z:16.07 [[ 0.9951599 0.09221738 -0.033952 -23.47888102] [ -0.08197111 0.96955005 0.23076708 -1.02820303] [ 0.0541989 -0.22686706 0.97241648 16.07240307] [ 0. 0. 0. 1. ]] SLAMing on 117.019072329 meters Centerline goodness [0,1] 0.24655387125864214 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.03, Z:16.07 [[ 0.99515875 0.09218789 -0.03406541 -23.47849901] [ -0.08191517 0.96954867 0.23079272 -1.02827285] [ 0.05430436 -0.22688492 0.97240643 16.07226853] [ 0. 0. 0. 1. ]] SLAMing on 117.049072329 meters Centerline goodness [0,1] 0.2516080456061095 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.03, Z:16.07 [[ 0.99547435 0.08860397 -0.03435341 -23.4796482 ] [ -0.07853417 0.97058312 0.22759788 -1.03009248] [ 0.05350891 -0.22386993 0.97314904 16.0737042 ] [ 0. 0. 0. 1. ]] SLAMing on 117.079072329 meters Centerline goodness [0,1] 0.24720930730829382 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.03, Z:16.07 [[ 0.99578868 0.08511986 -0.03405177 -23.48166705] [ -0.07539039 0.9716352 0.22414575 -1.03169223] [ 0.05216515 -0.22063463 0.97396055 16.07449964] [ 0. 0. 0. 1. ]] SLAMing on 117.10907232899999 meters Centerline goodness [0,1] 0.24704796255743056 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.03, Z:16.08 [[ 0.99609726 0.08163487 -0.0335559 -23.48397315] [ -0.07228692 0.97269276 0.22055249 -1.03306729] [ 0.05064435 -0.21726608 0.97479772 16.07505708] [ 0. 0. 0. 1. ]] SLAMing on 117.13907232899999 meters Centerline goodness [0,1] 0.24775902274137307 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.08 [[ 0.99640378 0.07796332 -0.03318479 -23.48574036] [ -0.06897437 0.97378491 0.21676135 -1.03376914] [ 0.04921428 -0.21369293 0.97566044 16.07525409] [ 0. 0. 0. 1. ]] SLAMing on 117.16907232899999 meters Centerline goodness [0,1] 0.24908007144240496 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.08 [[ 0.99640721 0.07777755 -0.03351595 -23.48512677] [ -0.06872658 0.9738228 0.21666984 -1.03314695] [ 0.04949064 -0.21358795 0.97566944 16.07548655] [ 0. 0. 0. 1. ]] SLAMing on 117.19907232899999 meters Centerline goodness [0,1] 0.24863264912167815 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.03, Z:16.08 [[ 0.99641503 0.07751907 -0.03388036 -23.48449163] [ -0.06840305 0.97387635 0.21653148 -1.03226364] [ 0.0497806 -0.2134377 0.97568757 16.07575597] [ 0. 0. 0. 1. ]] SLAMing on 117.22907232899999 meters Centerline goodness [0,1] 0.24710185224793602 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.03, Z:16.08 [[ 0.99642128 0.07721105 -0.0343961 -23.48367311] [ -0.06799928 0.97393726 0.21638464 -1.03127208] [ 0.05020693 -0.21327135 0.9757021 16.07626333] [ 0. 0. 0. 1. ]] SLAMing on 117.25907232899999 meters Centerline goodness [0,1] 0.2505515690264539 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.08 [[ 0.996696 0.07338267 -0.03481468 -23.48505566] [ -0.0643443 0.97494915 0.21291776 -1.03115577] [ 0.04956701 -0.20997415 0.97644967 16.0781072 ] [ 0. 0. 0. 1. ]] SLAMing on 117.28907232899999 meters Centerline goodness [0,1] 0.2512044046799725 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.08 [[ 0.99696401 0.06971455 -0.03467926 -23.48706231] [ -0.06096476 0.97594996 0.20929639 -1.03162951] [ 0.04843623 -0.20654676 0.97723711 16.079309 ] [ 0. 0. 0. 1. ]] SLAMing on 117.319072329 meters Centerline goodness [0,1] 0.2505532280588678 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.08 [[ 0.99722285 0.06598253 -0.03453816 -23.48909187] [ -0.057519 0.97694018 0.20561965 -1.03192884] [ 0.04730902 -0.20306201 0.97802233 16.08052362] [ 0. 0. 0. 1. ]] SLAMing on 117.349072329 meters Centerline goodness [0,1] 0.2505532280588678 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.08 [[ 0.99722285 0.06598253 -0.03453816 -23.48909187] [ -0.057519 0.97694018 0.20561965 -1.03192884] [ 0.04730902 -0.20306201 0.97802233 16.08052362] [ 0. 0. 0. 1. ]] SLAMing on 117.379072329 meters Centerline goodness [0,1] 0.24549592870423798 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.08 [[ 0.99746575 0.06180221 -0.03524997 -23.48976524] [ -0.05345279 0.9779251 0.2020032 -1.03084841] [ 0.04695607 -0.19960707 0.9787503 16.08206916] [ 0. 0. 0. 1. ]] SLAMing on 117.409072329 meters Centerline goodness [0,1] 0.24882437568443883 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.08 [[ 0.99766637 0.05826163 -0.03560052 -23.49132302] [ -0.0500604 0.97874689 0.19886801 -1.03082908] [ 0.04643028 -0.19662175 0.97937945 16.08380527] [ 0. 0. 0. 1. ]] SLAMing on 117.439072329 meters Centerline goodness [0,1] 0.2501068741450069 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.09 [[ 0.99783432 0.05419551 -0.03727631 -23.4911861 ] [ -0.045874 0.97950811 0.19611077 -1.02966791] [ 0.04714077 -0.19397604 0.97987297 16.08692563] [ 0. 0. 0. 1. ]] SLAMing on 117.46907232899999 meters Centerline goodness [0,1] 0.250475478149375 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.09 [[ 0.9980337 0.05039076 -0.037276 -23.49312431] [ -0.04230866 0.98037943 0.19252574 -1.03011865] [ 0.04624614 -0.19057008 0.98058367 16.08863566] [ 0. 0. 0. 1. ]] SLAMing on 117.49907232899999 meters Centerline goodness [0,1] 0.24725134236768087 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.09 [[ 0.99823307 0.04635868 -0.03717008 -23.49483227] [ -0.0385468 0.98128606 0.18865791 -1.0304837 ] [ 0.04522042 -0.18689178 0.98133918 16.08982696] [ 0. 0. 0. 1. ]] SLAMing on 117.52907232899999 meters Centerline goodness [0,1] 0.24792805878332191 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.03, Z:16.09 [[ 0.99842424 0.04219428 -0.03699573 -23.49639536] [ -0.03466717 0.98219646 0.18463016 -1.03069596] [ 0.04412741 -0.18305669 0.98211151 16.09065609] [ 0. 0. 0. 1. ]] SLAMing on 117.55907232899999 meters Centerline goodness [0,1] 0.24988284411877482 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.03, Z:16.09 [[ 0.99857269 0.03730787 -0.03821922 -23.49513397] [ -0.02982435 0.98313139 0.18045269 -1.028886 ] [ 0.04430682 -0.17905527 0.98284084 16.09189158] [ 0. 0. 0. 1. ]] SLAMing on 117.58907232899999 meters Centerline goodness [0,1] 0.25037166036613856 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.03, Z:16.09 [[ 0.99867708 0.0334764 -0.03903096 -23.49592405] [ -0.02604697 0.98380497 0.17733958 -1.02815422] [ 0.04433554 -0.17608834 0.98337544 16.09392216] [ 0. 0. 0. 1. ]] SLAMing on 117.61907232899999 meters Centerline goodness [0,1] 0.24626834025951994 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.03, Z:16.10 [[ 9.98772869e-01 2.94527827e-02 -3.98157069e-02 -2.34966959e+01] [-2.20957915e-02 9.84499347e-01 1.73990840e-01 -1.02739679e+00] [ 4.43230518e-02 -1.72897571e-01 9.83942019e-01 1.60960914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64907232899999 meters Centerline goodness [0,1] 0.2471150781000956 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.10 [[ 9.98847065e-01 2.42320968e-02 -4.14408758e-02 -2.34945877e+01] [-1.68602717e-02 9.85337241e-01 1.69782959e-01 -1.02623134e+00] [ 4.49474353e-02 -1.68888506e-01 9.84609771e-01 1.60979124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.679072329 meters Centerline goodness [0,1] 0.24412886816447643 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.10 [[ 9.98927783e-01 1.99195150e-02 -4.17911161e-02 -2.34949568e+01] [-1.27226354e-02 9.86061600e-01 1.65893507e-01 -1.02666097e+00] [ 4.45131330e-02 -1.65183940e-01 9.85257757e-01 1.60992339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.709072329 meters Centerline goodness [0,1] 0.24518425904342112 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.03, Z:16.10 [[ 9.98979644e-01 1.56125895e-02 -4.23782654e-02 -2.34951645e+01] [-8.54232933e-03 9.86728603e-01 1.62153299e-01 -1.02694434e+00] [ 4.43474795e-02 -1.61625836e-01 9.85855157e-01 1.61009053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739072329 meters Centerline goodness [0,1] 0.2435259491392635 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.10 [[ 9.98911357e-01 1.00922296e-02 -4.55439111e-02 -2.34914208e+01] [-2.73310515e-03 9.87301444e-01 1.58834472e-01 -1.02552047e+00] [ 4.65685631e-02 -1.58537081e-01 9.86254208e-01 1.61043434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.769072329 meters Centerline goodness [0,1] 0.24229680037195145 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.02, Z:16.11 [[ 9.98904040e-01 5.78875852e-03 -4.64457760e-02 -2.34913378e+01] [ 1.49571172e-03 9.87867675e-01 1.55290761e-01 -1.02489117e+00] [ 4.67812215e-02 -1.55190038e-01 9.86776352e-01 1.61062570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799072329 meters Centerline goodness [0,1] 0.24222658476347292 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.02, Z:16.11 [[ 9.98893299e-01 1.38742970e-03 -4.70133184e-02 -2.34911667e+01] [ 5.75276219e-03 9.88455864e-01 1.51399835e-01 -1.02446528e+00] [ 4.66806469e-02 -1.51502737e-01 9.87353958e-01 1.61075360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.829072329 meters Centerline goodness [0,1] 0.24058740492594233 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.02, Z:16.11 [[ 9.98783791e-01 -7.35754012e-03 -4.87524903e-02 -2.34891511e+01] [ 1.43231995e-02 9.89457762e-01 1.44111701e-01 -1.02483576e+00] [ 4.71782224e-02 -1.44634723e-01 9.88359758e-01 1.61098581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85907232899999 meters Centerline goodness [0,1] 0.23954939997057645 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.11 [[ 9.98697658e-01 -1.18623803e-02 -4.96212884e-02 -2.34879788e+01] [ 1.87267314e-02 9.89939236e-01 1.40248416e-01 -1.02521018e+00] [ 4.74583803e-02 -1.40995010e-01 9.88872140e-01 1.61112623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88907232899999 meters Centerline goodness [0,1] 0.23836868136474143 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.03, Z:16.11 [[ 9.98568735e-01 -1.63050784e-02 -5.09374754e-02 -2.34864647e+01] [ 2.31431814e-02 9.90344103e-01 1.36685594e-01 -1.02552542e+00] [ 4.82169591e-02 -1.37668816e-01 9.89304009e-01 1.61134053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91907232899999 meters Centerline goodness [0,1] 0.23714076706029885 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.02, Z:16.12 [[ 9.98150120e-01 -2.32344089e-02 -5.61827327e-02 -2.34790196e+01] [ 3.05751468e-02 9.90570150e-01 1.33551256e-01 -1.02459917e+00] [ 5.25499535e-02 -1.35021997e-01 9.89448110e-01 1.61183935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94907232899999 meters Centerline goodness [0,1] 0.23604389185580776 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.02, Z:16.12 [[ 0.99793151 -0.02748832 -0.05811282 -23.47694943] [ 0.03489787 0.9908204 0.13060275 -1.02419531] [ 0.05398932 -0.13236062 0.98973018 16.12099728] [ 0. 0. 0. 1. ]] SLAMing on 117.97907232899999 meters Centerline goodness [0,1] 0.2344253770150806 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.02, Z:16.12 [[ 0.99772401 -0.03198278 -0.05936244 -23.47519479] [ 0.03932639 0.99112516 0.12698172 -1.02373526] [ 0.05477438 -0.12902722 0.99012714 16.12261467] [ 0. 0. 0. 1. ]] SLAMing on 118.00907232899999 meters Centerline goodness [0,1] 0.2316462794126809 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.02, Z:16.12 [[ 0.99727844 -0.0411232 -0.06119313 -23.47024549] [ 0.04821798 0.99167585 0.11939026 -1.02388285] [ 0.05577404 -0.12201594 0.99095982 16.12295101] [ 0. 0. 0. 1. ]] SLAMing on 118.03907232899999 meters Centerline goodness [0,1] 0.230770823412493 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.02, Z:16.12 [[ 0.99705463 -0.04571791 -0.06157863 -23.46874802] [ 0.05260149 0.99194265 0.11525131 -1.02374413] [ 0.05581343 -0.11815098 0.99142585 16.1229735 ] [ 0. 0. 0. 1. ]] SLAMing on 118.069072329 meters Centerline goodness [0,1] 0.23017728222419886 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.02, Z:16.12 [[ 0.99681794 -0.05029734 -0.06183989 -23.46812188] [ 0.05695681 0.99217305 0.11112411 -1.02341006] [ 0.05576662 -0.11429271 0.99188067 16.12357238] [ 0. 0. 0. 1. ]] SLAMing on 118.099072329 meters Centerline goodness [0,1] 0.22621747556801786 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.02, Z:16.13 [[ 0.99632865 -0.05672878 -0.06411756 -23.46464808] [ 0.06334615 0.99230483 0.10638791 -1.02095982] [ 0.0575889 -0.11005892 0.99225529 16.12594194] [ 0. 0. 0. 1. ]] SLAMing on 118.129072329 meters Centerline goodness [0,1] 0.2246032236151424 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.02, Z:16.13 [[ 0.99608451 -0.05872253 -0.06608562 -23.46132703] [ 0.06550624 0.99224207 0.10566269 -1.01945193] [ 0.05936816 -0.10957799 0.99220365 16.12710152] [ 0. 0. 0. 1. ]] SLAMing on 118.159072329 meters Centerline goodness [0,1] 0.22435422836459362 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.02, Z:16.13 [[ 0.99587108 -0.06035492 -0.06780907 -23.45826563] [ 0.06728396 0.99218926 0.10503975 -1.01797706] [ 0.06093977 -0.10916851 0.99215351 16.12808213] [ 0. 0. 0. 1. ]] SLAMing on 118.189072329 meters Centerline goodness [0,1] 0.22293711452164822 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.01, Z:16.13 [[ 0.99537013 -0.06420649 -0.07152509 -23.45318787] [ 0.07143781 0.99204863 0.10361538 -1.01480855] [ 0.06430358 -0.10824525 0.99204234 16.13178358] [ 0. 0. 0. 1. ]] SLAMing on 118.21907232899999 meters Centerline goodness [0,1] 0.22223586720700805 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.01, Z:16.13 [[ 0.99516951 -0.0654405 -0.07317922 -23.45079987] [ 0.0728231 0.99198676 0.10324278 -1.01358963] [ 0.06583655 -0.1080732 0.99196055 16.13358633] [ 0. 0. 0. 1. ]] SLAMing on 118.24907232899999 meters Centerline goodness [0,1] 0.22036250816459835 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.01, Z:16.14 [[ 0.99479463 -0.06750333 -0.07633441 -23.44804929] [ 0.07521418 0.99182134 0.10311764 -1.0113193 ] [ 0.06874932 -0.1083223 0.99173576 16.13798612] [ 0. 0. 0. 1. ]] SLAMing on 118.27907232899999 meters Centerline goodness [0,1] 0.21967687976826733 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.01, Z:16.14 [[ 0.99471171 -0.06795258 -0.07701337 -23.44760907] [ 0.07571531 0.99181402 0.10282089 -1.00949226] [ 0.069396 -0.10810824 0.99171407 16.13935396] [ 0. 0. 0. 1. ]] SLAMing on 118.30907232899999 meters Centerline goodness [0,1] 0.2196484645813792 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.01, Z:16.14 [[ 0.99465754 -0.06835761 -0.07735383 -23.4473861 ] [ 0.0761256 0.99182762 0.1023859 -1.00758704] [ 0.06972281 -0.10772752 0.99173258 16.14006199] [ 0. 0. 0. 1. ]] SLAMing on 118.33907232899999 meters Centerline goodness [0,1] 0.22041248447584338 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.01, Z:16.14 [[ 0.99463091 -0.06873533 -0.07736158 -23.44742221] [ 0.07646737 0.99185366 0.10187766 -1.00569961] [ 0.06972877 -0.10724631 0.99178432 16.14001177] [ 0. 0. 0. 1. ]] SLAMing on 118.36907232899999 meters Centerline goodness [0,1] 0.22102991183237974 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.00, Z:16.14 [[ 0.99454325 -0.07233652 -0.07517416 -23.45055615] [ 0.07948478 0.99211447 0.09690743 -1.00218521] [ 0.06757142 -0.10235383 0.9924504 16.1386849 ] [ 0. 0. 0. 1. ]] SLAMing on 118.39907232899999 meters Centerline goodness [0,1] 0.22085352445331274 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.00, Z:16.14 [[ 0.99453736 -0.07268065 -0.0749197 -23.45097103] [ 0.07976613 0.99214324 0.09638024 -1.00037487] [ 0.0673261 -0.1018298 0.99252098 16.1381846 ] [ 0. 0. 0. 1. ]] SLAMing on 118.429072329 meters Centerline goodness [0,1] 0.2209148464059606 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.00, Z:16.14 [[ 0.994531 -0.07301506 -0.07467861 -23.45147554] [ 0.08003896 0.992173 0.09584622 -0.99834912] [ 0.06709588 -0.10129923 0.99259086 16.13783697] [ 0. 0. 0. 1. ]] SLAMing on 118.459072329 meters Centerline goodness [0,1] 0.2203131354209028 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.99, Z:16.14 [[ 0.99453273 -0.07358707 -0.0740918 -23.45337101] [ 0.0804832 0.9922327 0.09485101 -0.99435461] [ 0.0665365 -0.10029558 0.99273042 16.13785402] [ 0. 0. 0. 1. ]] SLAMing on 118.489072329 meters Centerline goodness [0,1] 0.22135464324203424 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.99, Z:16.14 [[ 0.99454281 -0.07390173 -0.07364197 -23.45487887] [ 0.08071295 0.99226964 0.09426755 -0.99237212] [ 0.06610615 -0.09969698 0.99281946 16.13806322] [ 0. 0. 0. 1. ]] SLAMing on 118.519072329 meters Centerline goodness [0,1] 0.22167978682288803 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.99, Z:16.14 [[ 0.99455379 -0.07423461 -0.07315721 -23.45638876] [ 0.08095651 0.99230712 0.09366226 -0.99041147] [ 0.06564144 -0.09907471 0.99291259 16.13815299] [ 0. 0. 0. 1. ]] SLAMing on 118.549072329 meters Centerline goodness [0,1] 0.22239850296965258 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.99, Z:16.14 [[ 0.99456009 -0.07488504 -0.0724048 -23.45837226] [ 0.08144928 0.99238344 0.09241824 -0.98643422] [ 0.06493258 -0.09781281 0.99308429 16.13792728] [ 0. 0. 0. 1. ]] SLAMing on 118.579072329 meters Centerline goodness [0,1] 0.22229000183004943 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.98, Z:16.14 [[ 0.99455902 -0.07524149 -0.07204915 -23.45950853] [ 0.08173214 0.99241423 0.09183605 -0.98444001] [ 0.06459272 -0.0972251 0.99316417 16.13799165] [ 0. 0. 0. 1. ]] SLAMing on 118.60907232899999 meters Centerline goodness [0,1] 0.22163711776187378 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.98, Z:16.14 [[ 0.99452851 -0.07582232 -0.07186112 -23.46124906] [ 0.08223853 0.99245027 0.09099061 -0.98039499] [ 0.06441947 -0.09640251 0.9932556 16.13885032] [ 0. 0. 0. 1. ]] SLAMing on 118.63907232899999 meters Centerline goodness [0,1] 0.22236908998474836 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.98, Z:16.14 [[ 0.99450024 -0.0761426 -0.0719137 -23.46147285] [ 0.08253698 0.9924625 0.09058601 -0.97868519] [ 0.0644742 -0.09602335 0.99328878 16.13920187] [ 0. 0. 0. 1. ]] SLAMing on 118.66907232899999 meters Centerline goodness [0,1] 0.22128031550486882 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.98, Z:16.14 [[ 0.99445114 -0.07649614 -0.07221689 -23.46071027] [ 0.08289361 0.99246835 0.09019551 -0.97716297] [ 0.06477337 -0.09568135 0.99330232 16.13919404] [ 0. 0. 0. 1. ]] SLAMing on 118.69907232899999 meters Centerline goodness [0,1] 0.22111032172942247 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.98, Z:16.14 [[ 0.99438655 -0.07694312 -0.07263016 -23.45891508] [ 0.08335266 0.99246691 0.08978733 -0.97617239] [ 0.06517451 -0.09533723 0.99330916 16.13845816] [ 0. 0. 0. 1. ]] SLAMing on 118.72907232899999 meters Centerline goodness [0,1] 0.21995382184955647 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.98, Z:16.14 [[ 0.99403029 -0.08158102 -0.07244526 -23.45801732] [ 0.08768185 0.99247587 0.08546073 -0.97618163] [ 0.0649282 -0.09130269 0.99370426 16.13794664] [ 0. 0. 0. 1. ]] SLAMing on 118.75907232899999 meters Centerline goodness [0,1] 0.22088808795836956 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.98, Z:16.14 [[ 0.99391751 -0.08203466 -0.07347316 -23.45560262] [ 0.08822439 0.99243399 0.08538876 -0.975984 ] [ 0.06591242 -0.0913515 0.99363497 16.13820778] [ 0. 0. 0. 1. ]] SLAMing on 118.78907232899999 meters Centerline goodness [0,1] 0.2194254058753361 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.98, Z:16.14 [[ 0.99381997 -0.08229044 -0.07449937 -23.45365342] [ 0.08857731 0.9923984 0.08543698 -0.97582098] [ 0.0669024 -0.09150793 0.99355441 16.13911792] [ 0. 0. 0. 1. ]] SLAMing on 118.819072329 meters Centerline goodness [0,1] 0.21697712517444334 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.97, Z:16.14 [[ 0.99369849 -0.08044695 -0.07804875 -23.44797718] [ 0.08731843 0.99219345 0.0890373 -0.97444186] [ 0.07027668 -0.09529132 0.99296563 16.14076456] [ 0. 0. 0. 1. ]] SLAMing on 118.849072329 meters Centerline goodness [0,1] 0.21686406079469667 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.97, Z:16.14 [[ 0.9936741 -0.08049398 -0.07831027 -23.44742084] [ 0.0873882 0.99219015 0.08900564 -0.97368162] [ 0.07053426 -0.09528599 0.99294788 16.14089341] [ 0. 0. 0. 1. ]] SLAMing on 118.879072329 meters Centerline goodness [0,1] 0.21846023312660345 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.97, Z:16.14 [[ 0.99365238 -0.08048542 -0.07859419 -23.44635052] [ 0.08740811 0.99218682 0.08902324 -0.97334748] [ 0.07081505 -0.09532792 0.99292387 16.14056483] [ 0. 0. 0. 1. ]] SLAMing on 118.909072329 meters Centerline goodness [0,1] 0.21764872292272874 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.97, Z:16.14 [[ 0.99360995 -0.08028674 -0.07933039 -23.44213299] [ 0.08729705 0.99217575 0.08925534 -0.97428725] [ 0.07154367 -0.09561031 0.99284449 16.13859459] [ 0. 0. 0. 1. ]] SLAMing on 118.939072329 meters Centerline goodness [0,1] 0.21645608005660566 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.97, Z:16.14 [[ 0.9935911 -0.08015736 -0.07969649 -23.44123185] [ 0.08721721 0.99216518 0.08945064 -0.97487015] [ 0.07190195 -0.09582827 0.99279759 16.13881858] [ 0. 0. 0. 1. ]] SLAMing on 118.96907232899999 meters Centerline goodness [0,1] 0.2174738841405508 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.98, Z:16.14 [[ 0.99358012 -0.08007516 -0.0799157 -23.4413639 ] [ 0.0871653 0.99215851 0.08957515 -0.97513547] [ 0.07211629 -0.09596596 0.99276874 16.13970503] [ 0. 0. 0. 1. ]] SLAMing on 118.99907232899999 meters Centerline goodness [0,1] 0.21611129084438696 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.97, Z:16.14 [[ 0.99378752 -0.07580319 -0.08148767 -23.439257 ] [ 0.08336748 0.9920918 0.09382815 -0.97470819] [ 0.07373077 -0.10003867 0.99224797 16.14113468] [ 0. 0. 0. 1. ]] SLAMing on 119.02907232899999 meters Centerline goodness [0,1] 0.21765086817501111 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.97, Z:16.14 [[ 0.9938147 -0.07567182 -0.08127805 -23.43967134] [ 0.08321955 0.99209871 0.09388638 -0.97467117] [ 0.07353129 -0.10006959 0.99225966 16.14094758] [ 0. 0. 0. 1. ]] SLAMing on 119.05907232899999 meters Centerline goodness [0,1] 0.2175841536031109 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.98, Z:16.14 [[ 0.99393508 -0.07499848 -0.0804256 -23.43986488] [ 0.08247592 0.99214234 0.09408133 -0.9751117 ] [ 0.07273768 -0.10014391 0.99231065 16.13877982] [ 0. 0. 0. 1. ]] SLAMing on 119.08907232899999 meters Centerline goodness [0,1] 0.2187106982027669 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.98, Z:16.14 [[ 0.99400442 -0.07471294 -0.07983228 -23.44069645] [ 0.08213692 0.99216295 0.09416051 -0.97551718] [ 0.07217163 -0.10015314 0.99235105 16.13788615] [ 0. 0. 0. 1. ]] SLAMing on 119.11907232899999 meters Centerline goodness [0,1] 0.21849080326904746 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.98, Z:16.14 [[ 0.99411174 -0.07420408 -0.07896587 -23.44230351] [ 0.08154676 0.99220506 0.09422977 -0.97566833] [ 0.0713581 -0.10011433 0.9924138 16.13720769] [ 0. 0. 0. 1. ]] SLAMing on 119.14907232899999 meters Centerline goodness [0,1] 0.21871951219512198 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.97, Z:16.14 [[ 0.99439954 -0.06982807 -0.07933214 -23.44130457] [ 0.07749863 0.99215181 0.09812616 -0.97479352] [ 0.07185756 -0.10372474 0.99200689 16.13634532] [ 0. 0. 0. 1. ]] SLAMing on 119.179072329 meters Centerline goodness [0,1] 0.22067784865591944 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.97, Z:16.14 [[ 0.99485283 -0.06445884 -0.07818504 -23.44387619] [ 0.07230028 0.99215327 0.10200273 -0.97298842] [ 0.07099656 -0.10713051 0.99170688 16.13539608] [ 0. 0. 0. 1. ]] SLAMing on 119.209072329 meters Centerline goodness [0,1] 0.22176595570809843 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.97, Z:16.13 [[ 0.99513356 -0.06246112 -0.07620893 -23.4471999 ] [ 0.07011176 0.99228639 0.10223533 -0.97213016] [ 0.06923535 -0.10708095 0.99183675 16.13451535] [ 0. 0. 0. 1. ]] SLAMing on 119.239072329 meters Centerline goodness [0,1] 0.2230457393227141 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.97, Z:16.13 [[ 0.99542366 -0.06037021 -0.07407552 -23.45035099] [ 0.06780938 0.99242855 0.10240828 -0.97119462] [ 0.06733226 -0.10696264 0.99198052 16.13306729] [ 0. 0. 0. 1. ]] SLAMing on 119.269072329 meters Centerline goodness [0,1] 0.2230457393227141 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.97, Z:16.13 [[ 0.99542366 -0.06037021 -0.07407552 -23.45035099] [ 0.06780938 0.99242855 0.10240828 -0.97119462] [ 0.06733226 -0.10696264 0.99198052 16.13306729] [ 0. 0. 0. 1. ]] SLAMing on 119.299072329 meters Centerline goodness [0,1] 0.22426342443565084 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.96, Z:16.13 [[ 0.99617933 -0.04776362 -0.07311204 -23.44685855] [ 0.05477189 0.99376986 0.09706447 -0.96435828] [ 0.06802039 -0.1006981 0.9925891 16.13081916] [ 0. 0. 0. 1. ]] SLAMing on 119.329072329 meters Centerline goodness [0,1] 0.22530350650150988 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.96, Z:16.13 [[ 0.99642651 -0.04583801 -0.0709442 -23.45008469] [ 0.05263744 0.99387717 0.0971466 -0.96362822] [ 0.06605681 -0.10053377 0.99273836 16.12930273] [ 0. 0. 0. 1. ]] SLAMing on 119.35907232899999 meters Centerline goodness [0,1] 0.226411987485592 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.96, Z:16.13 [[ 0.99664055 -0.04413587 -0.06899021 -23.452973 ] [ 0.05074522 0.99397166 0.09718678 -0.96281994] [ 0.06428489 -0.10036121 0.99287214 16.12785461] [ 0. 0. 0. 1. ]] SLAMing on 119.38907232899999 meters Centerline goodness [0,1] 0.2289002557544757 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.96, Z:16.13 [[ 0.99695868 -0.03919806 -0.06735646 -23.45503817] [ 0.04588064 0.9938568 0.10071556 -0.9617071 ] [ 0.06299482 -0.10349961 0.9926326 16.1253143 ] [ 0. 0. 0. 1. ]] SLAMing on 119.41907232899999 meters Centerline goodness [0,1] 0.22971852588815656 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.96, Z:16.12 [[ 0.99711583 -0.03789603 -0.06575641 -23.45770787] [ 0.04442121 0.99391548 0.10079075 -0.96138024] [ 0.06153674 -0.10342104 0.99273225 16.12433752] [ 0. 0. 0. 1. ]] SLAMing on 119.44907232899999 meters Centerline goodness [0,1] 0.2325354683481291 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.96, Z:16.12 [[ 0.99748637 -0.03162058 -0.06341195 -23.46065195] [ 0.03815731 0.99377415 0.10467549 -0.95993194] [ 0.05970726 -0.106832 0.99248273 16.12148684] [ 0. 0. 0. 1. ]] SLAMing on 119.47907232899999 meters Centerline goodness [0,1] 0.23242548071936775 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.96, Z:16.12 [[ 0.99771298 -0.02924125 -0.06094064 -23.46468344] [ 0.03553934 0.99384017 0.10496986 -0.9596015 ] [ 0.0574958 -0.10689558 0.99260645 16.12023913] [ 0. 0. 0. 1. ]] SLAMing on 119.50907232899999 meters Centerline goodness [0,1] 0.23328893698493303 Centerline is valid? [False, False] Translation: X:-23.47, Y:-0.96, Z:16.12 [[ 0.99791246 -0.02715995 -0.05859236 -23.46879513] [ 0.03322485 0.99390082 0.10515357 -0.9593667 ] [ 0.05537903 -0.10688078 0.99272839 16.11932662] [ 0. 0. 0. 1. ]] SLAMing on 119.53907232899999 meters Centerline goodness [0,1] 0.23555546285094486 Centerline is valid? [False, False] Translation: X:-23.47, Y:-0.96, Z:16.12 [[ 0.99808898 -0.02536122 -0.05634891 -23.47279267] [ 0.03119827 0.99395633 0.10524959 -0.95920794] [ 0.0533391 -0.10680644 0.99284809 16.1183713 ] [ 0. 0. 0. 1. ]] SLAMing on 119.569072329 meters Centerline goodness [0,1] 0.2379678585609496 Centerline is valid? [False, False] Translation: X:-23.48, Y:-0.96, Z:16.12 [[ 9.98373427e-01 -1.91575775e-02 -5.36981178e-02 -2.34770528e+01] [ 2.49447930e-02 9.93699576e-01 1.09265317e-01 -9.58943526e-01] [ 5.12665381e-02 -1.10427077e-01 9.92561133e-01 1.61162700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599072329 meters Centerline goodness [0,1] 0.24064014094846575 Centerline is valid? [False, False] Translation: X:-23.48, Y:-0.96, Z:16.12 [[ 9.98558035e-01 -1.67046748e-02 -5.10176952e-02 -2.34818647e+01] [ 2.22246714e-02 9.93724601e-01 1.09624276e-01 -9.59035615e-01] [ 4.88663009e-02 -1.10600053e-01 9.92662940e-01 1.61152979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.629072329 meters Centerline goodness [0,1] 0.23979195939852782 Centerline is valid? [False, False] Translation: X:-23.49, Y:-0.96, Z:16.11 [[ 9.98738869e-01 -1.42116830e-02 -4.81528814e-02 -2.34870166e+01] [ 1.94393294e-02 9.93752735e-01 1.09898202e-01 -9.58880976e-01] [ 4.62902191e-02 -1.10695665e-01 9.92775748e-01 1.61141836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659072329 meters Centerline goodness [0,1] 0.24172283066554334 Centerline is valid? [False, False] Translation: X:-23.49, Y:-0.96, Z:16.11 [[ 9.99004204e-01 -7.08292251e-03 -4.40503436e-02 -2.34934338e+01] [ 1.20615200e-02 9.93429960e-01 1.13804373e-01 -9.58063997e-01] [ 4.29548635e-02 -1.14222361e-01 9.92526137e-01 1.61109130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.689072329 meters Centerline goodness [0,1] 0.24395869482415677 Centerline is valid? [False, False] Translation: X:-23.50, Y:-0.96, Z:16.11 [[ 9.99151030e-01 -4.52771960e-03 -4.09477695e-02 -2.34991491e+01] [ 9.17297992e-03 9.93440853e-01 1.13978631e-01 -9.57678119e-01] [ 4.01631237e-02 -1.14257480e-01 9.92638984e-01 1.61098133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71907232899999 meters Centerline goodness [0,1] 0.24519037439945823 Centerline is valid? [False, False] Translation: X:-23.51, Y:-0.96, Z:16.11 [[ 9.99277245e-01 -2.00469720e-03 -3.79600914e-02 -2.35050913e+01] [ 6.32962410e-03 9.93442291e-01 1.14159323e-01 -9.57117865e-01] [ 3.74823053e-02 -1.14317087e-01 9.92736964e-01 1.61093303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74907232899999 meters Centerline goodness [0,1] 0.24746368334857605 Centerline is valid? [False, False] Translation: X:-23.51, Y:-0.96, Z:16.11 [[ 9.99409167e-01 4.53527251e-03 -3.40697491e-02 -2.35125796e+01] [-4.98352620e-04 9.93063859e-01 1.17575185e-01 -9.55121507e-01] [ 3.43666720e-02 -1.17488739e-01 9.92479384e-01 1.61081584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77907232899999 meters Centerline goodness [0,1] 0.25065968675519235 Centerline is valid? [False, False] Translation: X:-23.52, Y:-0.95, Z:16.11 [[ 9.99473129e-01 5.90175909e-03 -3.19160331e-02 -2.35167915e+01] [-2.11614533e-03 9.93086221e-01 1.17368133e-01 -9.54437361e-01] [ 3.23880512e-02 -1.17238757e-01 9.92575482e-01 1.61075867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80907232899999 meters Centerline goodness [0,1] 0.24832043541117443 Centerline is valid? [False, False] Translation: X:-23.52, Y:-0.95, Z:16.11 [[ 9.99486347e-01 1.09683599e-02 -3.01120627e-02 -2.35200375e+01] [-7.25291067e-03 9.92646405e-01 1.20832567e-01 -9.51888346e-01] [ 3.12159659e-02 -1.20552101e-01 9.92216083e-01 1.61064144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83907232899999 meters Centerline goodness [0,1] 0.2531802270980962 Centerline is valid? [False, False] Translation: X:-23.52, Y:-0.95, Z:16.11 [[ 9.99521547e-01 1.22339871e-02 -2.84078454e-02 -2.35233907e+01] [-8.72132925e-03 9.92658474e-01 1.20636199e-01 -9.50359983e-01] [ 2.96751501e-02 -1.20330726e-01 9.92290231e-01 1.61060584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86907232899999 meters Centerline goodness [0,1] 0.2530326328378609 Centerline is valid? [False, False] Translation: X:-23.53, Y:-0.95, Z:16.11 [[ 9.99553844e-01 1.33155095e-02 -2.67359493e-02 -2.35265553e+01] [-1.00016939e-02 9.92667654e-01 1.20461179e-01 -9.49542709e-01] [ 2.81439140e-02 -1.20140030e-01 9.92357946e-01 1.61054465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89907232899999 meters Centerline goodness [0,1] 0.2530645367957972 Centerline is valid? [False, False] Translation: X:-23.53, Y:-0.95, Z:16.10 [[ 9.99585395e-01 1.41635584e-02 -2.50685528e-02 -2.35296328e+01] [-1.10510895e-02 9.92687058e-01 1.20209309e-01 -9.49054326e-01] [ 2.65878195e-02 -1.19882435e-01 9.92432008e-01 1.61045328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.929072329 meters Centerline goodness [0,1] 0.253845002032129 Centerline is valid? [False, False] Translation: X:-23.54, Y:-0.95, Z:16.10 [[ 9.99630638e-01 1.67841855e-02 -2.13747310e-02 -2.35358038e+01] [-1.40994514e-02 9.92663384e-01 1.20085850e-01 -9.48906460e-01] [ 2.32334560e-02 -1.19740122e-01 9.92533380e-01 1.61023927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.959072329 meters Centerline goodness [0,1] 0.2538575444771123 Centerline is valid? [False, False] Translation: X:-23.54, Y:-0.95, Z:16.10 [[ 9.99648598e-01 1.72712018e-02 -2.01093462e-02 -2.35386074e+01] [-1.47405407e-02 9.92686083e-01 1.19820939e-01 -9.48470337e-01] [ 2.20317197e-02 -1.19482411e-01 9.92591838e-01 1.61022196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.989072329 meters Centerline goodness [0,1] 0.25519881292875424 Centerline is valid? [False, False] Translation: X:-23.54, Y:-0.95, Z:16.10 [[ 9.99662763e-01 1.77030105e-02 -1.89990342e-02 -2.35412264e+01] [-1.53070069e-02 9.92705734e-01 1.19586879e-01 -9.47976641e-01] [ 2.09774979e-02 -1.19255731e-01 9.92641937e-01 1.61022941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019072329 meters Centerline goodness [0,1] 0.2560048254022964 Centerline is valid? [False, False] Translation: X:-23.54, Y:-0.95, Z:16.10 [[ 9.99675140e-01 1.80276822e-02 -1.80171516e-02 -2.35435872e+01] [-1.57514100e-02 9.92727694e-01 1.19346633e-01 -9.47363314e-01] [ 2.00376685e-02 -1.19024066e-01 9.92689158e-01 1.61023762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.049072329 meters Centerline goodness [0,1] 0.2583527999828551 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.95, Z:16.10 [[ 9.99687428e-01 1.88491429e-02 -1.64242629e-02 -2.35466057e+01] [-1.67607950e-02 9.92736758e-01 1.19133560e-01 -9.46975314e-01] [ 1.85505350e-02 -1.18821039e-01 9.92742383e-01 1.61016534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079072329 meters Centerline goodness [0,1] 0.2580881087592497 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.95, Z:16.10 [[ 9.99744669e-01 1.74621776e-02 -1.43411375e-02 -2.35509508e+01] [-1.56816449e-02 9.93118855e-01 1.16056133e-01 -9.48405748e-01] [ 1.62690469e-02 -1.15801607e-01 9.93139117e-01 1.61018398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10907232899999 meters Centerline goodness [0,1] 0.2581718283862383 Centerline is valid? [False, False] Translation: X:-23.56, Y:-0.95, Z:16.10 [[ 9.99796079e-01 1.60554147e-02 -1.22484430e-02 -2.35551710e+01] [-1.45693516e-02 9.93484852e-01 1.13029124e-01 -9.50803812e-01] [ 1.39833720e-02 -1.12827623e-01 9.93516176e-01 1.61020449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13907232899999 meters Centerline goodness [0,1] 0.2553611254074455 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.95, Z:16.10 [[ 9.99792593e-01 1.61249557e-02 -1.24401403e-02 -2.35549651e+01] [-1.46136536e-02 9.93458931e-01 1.13251024e-01 -9.51464206e-01] [ 1.41849362e-02 -1.13045739e-01 9.93488525e-01 1.61024752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16907232899999 meters Centerline goodness [0,1] 0.25977653631284914 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.95, Z:16.10 [[ 9.99780194e-01 1.58846014e-02 -1.36836478e-02 -2.35529538e+01] [-1.42257374e-02 9.93401956e-01 1.13798868e-01 -9.52243835e-01] [ 1.54010122e-02 -1.13579195e-01 9.93409571e-01 1.61036849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19907232899999 meters Centerline goodness [0,1] 0.2562461062536252 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.95, Z:16.11 [[ 9.99827362e-01 1.24610841e-02 -1.37828725e-02 -2.35540971e+01] [-1.08606039e-02 9.93799926e-01 1.10651500e-01 -9.53613037e-01] [ 1.50762554e-02 -1.10482707e-01 9.93763693e-01 1.61050636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22907232899999 meters Centerline goodness [0,1] 0.25324661386223624 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.96, Z:16.11 [[ 9.99870031e-01 8.62477758e-03 -1.36211341e-02 -2.35547212e+01] [-7.11855471e-03 9.94233890e-01 1.06996719e-01 -9.55202275e-01] [ 1.44654161e-02 -1.06885850e-01 9.94166066e-01 1.61053352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25907232899999 meters Centerline goodness [0,1] 0.25867501125233083 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.96, Z:16.11 [[ 9.99897160e-01 4.68732895e-03 -1.35535700e-02 -2.35547868e+01] [-3.26340922e-03 9.94651765e-01 1.03233791e-01 -9.56818683e-01] [ 1.39649730e-02 -1.03178944e-01 9.94564772e-01 1.61052533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28907232899999 meters Centerline goodness [0,1] 0.2546046431936948 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.96, Z:16.11 [[ 9.99893572e-01 -2.91189299e-03 -1.42956330e-02 -2.35540632e+01] [ 4.27887625e-03 9.95319525e-01 9.65439526e-02 -9.60824567e-01] [ 1.39475969e-02 -9.65948469e-02 9.95226055e-01 1.61063706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.319072329 meters Centerline goodness [0,1] 0.25350731312097563 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.96, Z:16.11 [[ 9.99857389e-01 -6.45030502e-03 -1.56075299e-02 -2.35533022e+01] [ 7.88949371e-03 9.95542711e-01 9.39812027e-02 -9.62444173e-01] [ 1.49317552e-02 -9.40909355e-02 9.95451625e-01 1.61086837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.349072329 meters Centerline goodness [0,1] 0.2510789215057898 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.96, Z:16.11 [[ 9.99797705e-01 -1.00317897e-02 -1.74330854e-02 -2.35519677e+01] [ 1.15899044e-02 9.95718671e-01 9.17060604e-02 -9.63760043e-01] [ 1.64384728e-02 -9.18895565e-02 9.95633510e-01 1.61115699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379072329 meters Centerline goodness [0,1] 0.2494341234251548 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.97, Z:16.11 [[ 9.99716410e-01 -1.39155346e-02 -1.93250552e-02 -2.35500076e+01] [ 1.55844831e-02 9.95902191e-01 8.90839433e-02 -9.65142846e-01] [ 1.80062141e-02 -8.93598510e-02 9.95836630e-01 1.61142333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.409072329 meters Centerline goodness [0,1] 0.24720151235157928 Centerline is valid? [False, False] Translation: X:-23.54, Y:-0.97, Z:16.12 [[ 9.99506586e-01 -2.07322698e-02 -2.35956982e-02 -2.35419342e+01] [ 2.26818483e-02 9.96071194e-01 8.56020494e-02 -9.67891472e-01] [ 2.17282705e-02 -8.60950062e-02 9.96049965e-01 1.61161583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439072329 meters Centerline goodness [0,1] 0.2457858914827301 Centerline is valid? [False, False] Translation: X:-23.54, Y:-0.97, Z:16.12 [[ 9.99381405e-01 -2.50867662e-02 -2.46467221e-02 -2.35393645e+01] [ 2.70305911e-02 9.96266597e-01 8.19891130e-02 -9.69330336e-01] [ 2.24978643e-02 -8.26046105e-02 9.96328422e-01 1.61165653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46907232899999 meters Centerline goodness [0,1] 0.24540905042622674 Centerline is valid? [False, False] Translation: X:-23.54, Y:-0.97, Z:16.12 [[ 9.99238033e-01 -2.94171438e-02 -2.56512288e-02 -2.35369230e+01] [ 3.13472690e-02 9.96428238e-01 7.84099118e-02 -9.70841846e-01] [ 2.32530130e-02 -7.91542620e-02 9.96591140e-01 1.61170162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49907232899999 meters Centerline goodness [0,1] 0.24263959390862944 Centerline is valid? [False, False] Translation: X:-23.53, Y:-0.97, Z:16.12 [[ 0.99890398 -0.03599685 -0.02991778 -23.52917527] [ 0.03815695 0.99644737 0.07507792 -0.97328438] [ 0.02710892 -0.0761372 0.99672877 16.11946191] [ 0. 0. 0. 1. ]] SLAMing on 120.52907232899999 meters Centerline goodness [0,1] 0.24094401756311745 Centerline is valid? [False, False] Translation: X:-23.52, Y:-0.97, Z:16.12 [[ 0.9987174 -0.03824178 -0.03318315 -23.52349215] [ 0.04064851 0.99634162 0.07517357 -0.97417744] [ 0.03018698 -0.076426 0.99661819 16.12124367] [ 0. 0. 0. 1. ]] SLAMing on 120.55907232899999 meters Centerline goodness [0,1] 0.23890383322125086 Centerline is valid? [False, False] Translation: X:-23.52, Y:-0.98, Z:16.12 [[ 0.99850375 -0.0406235 -0.0366059 -23.51747771] [ 0.04328863 0.99622659 0.07522413 -0.97518432] [ 0.03341191 -0.0766962 0.99649452 16.12308124] [ 0. 0. 0. 1. ]] SLAMing on 120.58907232899999 meters Centerline goodness [0,1] 0.23688836800468793 Centerline is valid? [False, False] Translation: X:-23.51, Y:-0.98, Z:16.13 [[ 0.99794422 -0.04738888 -0.04314664 -23.50545816] [ 0.05040699 0.99614586 0.07178132 -0.97793248] [ 0.03957871 -0.07380865 0.99648673 16.1288437 ] [ 0. 0. 0. 1. ]] SLAMing on 120.61907232899999 meters Centerline goodness [0,1] 0.23543162464518286 Centerline is valid? [False, False] Translation: X:-23.50, Y:-0.98, Z:16.13 [[ 0.99764486 -0.05189106 -0.04485595 -23.50245733] [ 0.05489518 0.99613548 0.06856104 -0.9801252 ] [ 0.0411249 -0.07086194 0.99663801 16.1308295 ] [ 0. 0. 0. 1. ]] SLAMing on 120.64907232899999 meters Centerline goodness [0,1] 0.23235599916822625 Centerline is valid? [False, False] Translation: X:-23.49, Y:-0.98, Z:16.14 [[ 0.99692845 -0.05890722 -0.05161012 -23.4899565 ] [ 0.06221227 0.99594651 0.06496295 -0.98241101] [ 0.04757413 -0.06797419 0.99655216 16.1370013 ] [ 0. 0. 0. 1. ]] SLAMing on 120.679072329 meters Centerline goodness [0,1] 0.22793553338449735 Centerline is valid? [False, False] Translation: X:-23.48, Y:-0.98, Z:16.14 [[ 0.99660823 -0.06131499 -0.05488638 -23.48402054] [ 0.06483642 0.99578586 0.06485957 -0.98324215] [ 0.05067822 -0.06819822 0.99638382 16.13865798] [ 0. 0. 0. 1. ]] SLAMing on 120.709072329 meters Centerline goodness [0,1] 0.22672433416799453 Centerline is valid? [False, False] Translation: X:-23.48, Y:-0.98, Z:16.14 [[ 0.99628169 -0.06365754 -0.05805618 -23.47824271] [ 0.06738719 0.99562539 0.06472292 -0.98388478] [ 0.0536821 -0.0683945 0.99621304 16.14020834] [ 0. 0. 0. 1. ]] SLAMing on 120.739072329 meters Centerline goodness [0,1] 0.22317782452666746 Centerline is valid? [False, False] Translation: X:-23.47, Y:-0.99, Z:16.14 [[ 0.9955675 -0.07060659 -0.06212934 -23.47000401] [ 0.07438982 0.99537125 0.0608459 -0.98556653] [ 0.05754564 -0.06519799 0.99621168 16.14248491] [ 0. 0. 0. 1. ]] SLAMing on 120.769072329 meters Centerline goodness [0,1] 0.2221696366105601 Centerline is valid? [False, False] Translation: X:-23.47, Y:-0.99, Z:16.14 [[ 0.99519511 -0.07508754 -0.06283747 -23.46759022] [ 0.07869443 0.99526559 0.05704033 -0.98664955] [ 0.05825695 -0.06171122 0.99639242 16.14286558] [ 0. 0. 0. 1. ]] SLAMing on 120.799072329 meters Centerline goodness [0,1] 0.22119948223788288 Centerline is valid? [False, False] Translation: X:-23.47, Y:-0.99, Z:16.14 [[ 0.99481338 -0.07953691 -0.06340524 -23.46543103] [ 0.08295571 0.9951299 0.05324312 -0.98787812] [ 0.05886165 -0.0582268 0.99656658 16.14317253] [ 0. 0. 0. 1. ]] SLAMing on 120.829072329 meters Centerline goodness [0,1] 0.2187717360173479 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.99, Z:16.15 [[ 0.99412192 -0.08569265 -0.06616924 -23.46007336] [ 0.08904689 0.9947956 0.04952139 -0.98992096] [ 0.06158125 -0.05512247 0.99657878 16.14517828] [ 0. 0. 0. 1. ]] SLAMing on 120.85907232899999 meters Centerline goodness [0,1] 0.2185517213148307 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.99, Z:16.15 [[ 0.99395085 -0.0863841 -0.06781965 -23.4572227 ] [ 0.08983734 0.99471904 0.04963148 -0.99011374] [ 0.06317412 -0.05542399 0.99646235 16.14663301] [ 0. 0. 0. 1. ]] SLAMing on 120.88907232899999 meters Centerline goodness [0,1] 0.21737708269446998 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.99, Z:16.15 [[ 0.99384625 -0.08504878 -0.07096713 -23.45143993] [ 0.0888756 0.99465146 0.05262698 -0.98903572] [ 0.0661117 -0.05861037 0.99608939 16.14764598] [ 0. 0. 0. 1. ]] SLAMing on 120.91907232899999 meters Centerline goodness [0,1] 0.215941082867518 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.99, Z:16.15 [[ 0.99341685 -0.08734904 -0.07411553 -23.44645594] [ 0.09134633 0.99444111 0.05237103 -0.98931696] [ 0.06912897 -0.05879645 0.99587357 16.15035981] [ 0. 0. 0. 1. ]] SLAMing on 120.94907232899999 meters Centerline goodness [0,1] 0.2158643348366427 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.99, Z:16.15 [[ 0.99330719 -0.08767946 -0.07518731 -23.4435741 ] [ 0.0917387 0.99440634 0.05234533 -0.98897501] [ 0.07017713 -0.05889257 0.99579457 16.15034201] [ 0. 0. 0. 1. ]] SLAMing on 120.97907232899999 meters Centerline goodness [0,1] 0.2157269969254576 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.99, Z:16.15 [[ 0.99293079 -0.09013672 -0.0772257 -23.4384298 ] [ 0.09425251 0.99421981 0.0514143 -0.98771846] [ 0.07214501 -0.05832956 0.99568708 16.14961009] [ 0. 0. 0. 1. ]] SLAMing on 121.00907232899999 meters Centerline goodness [0,1] 0.2150010177081213 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.99, Z:16.15 [[ 0.99285733 -0.09036184 -0.07790416 -23.43672736] [ 0.094508 0.99420245 0.05128096 -0.98685744] [ 0.07281867 -0.05827724 0.9956411 16.14978782] [ 0. 0. 0. 1. ]] SLAMing on 121.03907232899999 meters Centerline goodness [0,1] 0.21470396877033182 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.99, Z:16.15 [[ 0.99278591 -0.09059366 -0.0785425 -23.4355672 ] [ 0.09476478 0.99418694 0.05110742 -0.98588687] [ 0.07345592 -0.05818179 0.99559987 16.15053472] [ 0. 0. 0. 1. ]] SLAMing on 121.069072329 meters Centerline goodness [0,1] 0.21371827952619926 Centerline is valid? [False, False] Translation: X:-23.43, Y:-0.98, Z:16.15 [[ 0.99273065 -0.08913489 -0.08087537 -23.43152082] [ 0.09364396 0.99415209 0.05378142 -0.98390357] [ 0.07560861 -0.06096395 0.99527219 16.15107157] [ 0. 0. 0. 1. ]] SLAMing on 121.099072329 meters Centerline goodness [0,1] 0.21310375670840787 Centerline is valid? [False, False] Translation: X:-23.43, Y:-0.98, Z:16.15 [[ 0.99254899 -0.0899602 -0.08218063 -23.42995426] [ 0.09450983 0.99409861 0.0532526 -0.98182258] [ 0.07690504 -0.06062269 0.9951937 16.1532446 ] [ 0. 0. 0. 1. ]] SLAMing on 121.129072329 meters Centerline goodness [0,1] 0.2123255672239036 Centerline is valid? [False, False] Translation: X:-23.43, Y:-0.98, Z:16.15 [[ 0.99248556 -0.09021073 -0.08267063 -23.4287349 ] [ 0.09476921 0.99408867 0.05297658 -0.98065513] [ 0.07740288 -0.06041312 0.99516785 16.15346462] [ 0. 0. 0. 1. ]] SLAMing on 121.159072329 meters Centerline goodness [0,1] 0.2123255672239036 Centerline is valid? [False, False] Translation: X:-23.43, Y:-0.98, Z:16.15 [[ 0.99248556 -0.09021073 -0.08267063 -23.4287349 ] [ 0.09476921 0.99408867 0.05297658 -0.98065513] [ 0.07740288 -0.06041312 0.99516785 16.15346462] [ 0. 0. 0. 1. ]] SLAMing on 121.189072329 meters Centerline goodness [0,1] 0.2124520567404672 Centerline is valid? [False, False] Translation: X:-23.43, Y:-0.98, Z:16.15 [[ 0.99243324 -0.0904147 -0.08307494 -23.42725432] [ 0.09497812 0.99408232 0.05272094 -0.97945502] [ 0.07781658 -0.06021232 0.99514776 16.1530648 ] [ 0. 0. 0. 1. ]] SLAMing on 121.21907232899999 meters Centerline goodness [0,1] 0.21142880334422376 Centerline is valid? [False, False] Translation: X:-23.43, Y:-0.98, Z:16.15 [[ 0.99239425 -0.09058 -0.08336016 -23.42599039] [ 0.09514202 0.99407944 0.05247923 -0.97826307] [ 0.07811305 -0.06001114 0.99513668 16.1524987 ] [ 0. 0. 0. 1. ]] SLAMing on 121.24907232899999 meters Centerline goodness [0,1] 0.21259730781706132 Centerline is valid? [False, False] Translation: X:-23.43, Y:-0.97, Z:16.15 [[ 0.99232607 -0.0910314 -0.0836795 -23.42518101] [ 0.09556183 0.99407355 0.0518238 -0.9749718 ] [ 0.07846598 -0.05942267 0.99514423 16.15243957] [ 0. 0. 0. 1. ]] SLAMing on 121.27907232899999 meters Centerline goodness [0,1] 0.21120619727449708 Centerline is valid? [False, False] Translation: X:-23.42, Y:-0.97, Z:16.15 [[ 0.9922887 -0.08949019 -0.08575925 -23.42137659] [ 0.09435069 0.99405163 0.0543995 -0.97198699] [ 0.0803809 -0.06207145 0.99482966 16.15233321] [ 0. 0. 0. 1. ]] SLAMing on 121.30907232899999 meters Centerline goodness [0,1] 0.21017676716544842 Centerline is valid? [False, False] Translation: X:-23.42, Y:-0.97, Z:16.15 [[ 0.99206278 -0.09070171 -0.08708985 -23.41903795] [ 0.09557364 0.9939838 0.05349664 -0.96865973] [ 0.08171366 -0.06139552 0.99476302 16.15348914] [ 0. 0. 0. 1. ]] SLAMing on 121.33907232899999 meters Centerline goodness [0,1] 0.21077122278870275 Centerline is valid? [False, False] Translation: X:-23.42, Y:-0.97, Z:16.15 [[ 0.99194743 -0.09120621 -0.08787331 -23.4171296 ] [ 0.09609293 0.99395615 0.05307835 -0.96725373] [ 0.08250115 -0.06109494 0.99471653 16.15384493] [ 0. 0. 0. 1. ]] SLAMing on 121.36907232899999 meters Centerline goodness [0,1] 0.20978115772015693 Centerline is valid? [False, False] Translation: X:-23.42, Y:-0.97, Z:16.15 [[ 0.9918358 -0.09170268 -0.08861352 -23.41520015] [ 0.09660599 0.99392553 0.05271932 -0.96607557] [ 0.08324074 -0.0608495 0.99466995 16.1539561 ] [ 0. 0. 0. 1. ]] SLAMing on 121.39907232899999 meters Centerline goodness [0,1] 0.20916616192206738 Centerline is valid? [False, False] Translation: X:-23.41, Y:-0.96, Z:16.15 [[ 0.99159523 -0.09309351 -0.08984703 -23.4130797 ] [ 0.09798937 0.99384346 0.05170365 -0.96261737] [ 0.08448061 -0.06007314 0.99461261 16.15491726] [ 0. 0. 0. 1. ]] SLAMing on 121.429072329 meters Centerline goodness [0,1] 0.20888924772419915 Centerline is valid? [False, False] Translation: X:-23.41, Y:-0.96, Z:16.16 [[ 0.99153133 -0.09346825 -0.09016269 -23.41255835] [ 0.09834428 0.99383258 0.05123681 -0.96054221] [ 0.0848176 -0.05966989 0.9946082 16.15532057] [ 0. 0. 0. 1. ]] SLAMing on 121.459072329 meters Centerline goodness [0,1] 0.20780110408187935 Centerline is valid? [False, False] Translation: X:-23.41, Y:-0.96, Z:16.16 [[ 0.99133817 -0.09450445 -0.09120061 -23.41019074] [ 0.09936676 0.99377746 0.05032498 -0.95691007] [ 0.08587718 -0.05895139 0.99456013 16.15565777] [ 0. 0. 0. 1. ]] SLAMing on 121.489072329 meters Centerline goodness [0,1] 0.20747147292447887 Centerline is valid? [False, False] Translation: X:-23.41, Y:-0.96, Z:16.16 [[ 0.99124739 -0.09480082 -0.09187716 -23.40806051] [ 0.09968465 0.99375692 0.05010146 -0.95591227] [ 0.0865539 -0.05882169 0.99450914 16.15542581] [ 0. 0. 0. 1. ]] SLAMing on 121.519072329 meters Centerline goodness [0,1] 0.20847757829482327 Centerline is valid? [False, False] Translation: X:-23.41, Y:-0.95, Z:16.16 [[ 0.9911542 -0.09512561 -0.09254441 -23.40598232] [ 0.10002711 0.99373556 0.04984189 -0.95481489] [ 0.08722343 -0.05865795 0.99446032 16.15520417] [ 0. 0. 0. 1. ]] SLAMing on 121.549072329 meters Centerline goodness [0,1] 0.20732149329467198 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.95, Z:16.16 [[ 0.9910923 -0.09529421 -0.09303265 -23.40443578] [ 0.1002132 0.99372353 0.04970767 -0.95393775] [ 0.08771188 -0.05858799 0.99442148 16.15500091] [ 0. 0. 0. 1. ]] SLAMing on 121.579072329 meters Centerline goodness [0,1] 0.20766721700962432 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.95, Z:16.16 [[ 0.99098804 -0.09386421 -0.09556268 -23.4001235 ] [ 0.09916631 0.99369419 0.05232497 -0.95067189] [ 0.09004863 -0.06133001 0.99404722 16.15553147] [ 0. 0. 0. 1. ]] SLAMing on 121.60907232899999 meters Centerline goodness [0,1] 0.20663783566328064 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.95, Z:16.16 [[ 0.99096193 -0.09199319 -0.09763046 -23.3971694 ] [ 0.09769026 0.99368131 0.05526357 -0.94876168] [ 0.0919297 -0.06430164 0.99368719 16.1561563 ] [ 0. 0. 0. 1. ]] SLAMing on 121.63907232899999 meters Centerline goodness [0,1] 0.20652086516040846 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.95, Z:16.16 [[ 0.99091328 -0.09247463 -0.09766937 -23.3980113 ] [ 0.09811276 0.99367718 0.05458522 -0.94644688] [ 0.09200408 -0.06367183 0.99372086 16.15726817] [ 0. 0. 0. 1. ]] SLAMing on 121.66907232899999 meters Centerline goodness [0,1] 0.2066733668341708 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.95, Z:16.16 [[ 0.99089473 -0.09262331 -0.09771672 -23.39756736] [ 0.09824259 0.99367755 0.05434443 -0.94561387] [ 0.09206535 -0.06344955 0.9937294 16.15695576] [ 0. 0. 0. 1. ]] SLAMing on 121.69907232899999 meters Centerline goodness [0,1] 0.2073102117911827 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.94, Z:16.16 [[ 0.99087715 -0.09277547 -0.09775061 -23.3968579 ] [ 0.09837501 0.9936776 0.05410344 -0.94476764] [ 0.09211312 -0.06322608 0.99373922 16.15628655] [ 0. 0. 0. 1. ]] SLAMing on 121.72907232899999 meters Centerline goodness [0,1] 0.20690902514017007 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.94, Z:16.16 [[ 0.99085786 -0.09295841 -0.09777233 -23.39642399] [ 0.09853399 0.993677 0.05382454 -0.94357901] [ 0.09215068 -0.06296637 0.99375223 16.15581341] [ 0. 0. 0. 1. ]] SLAMing on 121.75907232899999 meters Centerline goodness [0,1] 0.20624146517792596 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.94, Z:16.16 [[ 0.99080116 -0.09177855 -0.09944729 -23.39319086] [ 0.09765374 0.99364892 0.05590686 -0.93936187] [ 0.09368464 -0.06510398 0.99347102 16.1551368 ] [ 0. 0. 0. 1. ]] SLAMing on 121.78907232899999 meters Centerline goodness [0,1] 0.20687024433335344 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.94, Z:16.15 [[ 0.99077874 -0.09001786 -0.1012634 -23.39001133] [ 0.09626645 0.9936289 0.05860366 -0.93669862] [ 0.09534286 -0.06781153 0.99313208 16.15488289] [ 0. 0. 0. 1. ]] SLAMing on 121.819072329 meters Centerline goodness [0,1] 0.20660625665548216 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.93, Z:16.16 [[ 0.99075304 -0.09035639 -0.10121335 -23.39065332] [ 0.09655812 0.99362778 0.05814084 -0.93477845] [ 0.095315 -0.06737619 0.99316439 16.15536378] [ 0. 0. 0. 1. ]] SLAMing on 121.849072329 meters Centerline goodness [0,1] 0.20610441767068277 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.93, Z:16.16 [[ 0.99069585 -0.09099523 -0.10120075 -23.3911293 ] [ 0.09711098 0.99362652 0.05723453 -0.93130007] [ 0.09534768 -0.06652972 0.99321831 16.15582155] [ 0. 0. 0. 1. ]] SLAMing on 121.879072329 meters Centerline goodness [0,1] 0.20602934387732574 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.93, Z:16.16 [[ 0.99066972 -0.0912406 -0.10123565 -23.39088079] [ 0.09732429 0.99362666 0.05686869 -0.9300538 ] [ 0.0954017 -0.06619078 0.99323577 16.15566426] [ 0. 0. 0. 1. ]] SLAMing on 121.909072329 meters Centerline goodness [0,1] 0.20672777967223632 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.93, Z:16.16 [[ 0.99064518 -0.0914527 -0.10128442 -23.3904457 ] [ 0.09750882 0.99362725 0.05654134 -0.92890964] [ 0.0954681 -0.06588853 0.99324949 16.15534744] [ 0. 0. 0. 1. ]] SLAMing on 121.939072329 meters Centerline goodness [0,1] 0.2063759398496241 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.93, Z:16.16 [[ 0.99060732 -0.09193119 -0.10122152 -23.39088821] [ 0.09791767 0.99362643 0.05584485 -0.92635719] [ 0.0954425 -0.06523169 0.9932953 16.15558334] [ 0. 0. 0. 1. ]] SLAMing on 121.96907232899999 meters Centerline goodness [0,1] 0.20546901625869574 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.93, Z:16.16 [[ 0.99059033 -0.0921882 -0.101154 -23.391663 ] [ 0.0981349 0.99362607 0.05546874 -0.92501101] [ 0.09539569 -0.06487354 0.99332325 16.15620484] [ 0. 0. 0. 1. ]] SLAMing on 121.99907232899999 meters Centerline goodness [0,1] 0.20690415572439513 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.92, Z:16.16 [[ 0.99061743 -0.08975088 -0.10306258 -23.3895542 ] [ 0.09611082 0.99365072 0.05848897 -0.9223488 ] [ 0.09715877 -0.06784563 0.99295375 16.15750507] [ 0. 0. 0. 1. ]] SLAMing on 122.02907232899999 meters Centerline goodness [0,1] 0.20700439027323936 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.92, Z:16.16 [[ 0.99061249 -0.08990473 -0.10297587 -23.38984787] [ 0.09623494 0.99365328 0.05824081 -0.92140673] [ 0.09708619 -0.06760395 0.99297733 16.15752236] [ 0. 0. 0. 1. ]] SLAMing on 122.05907232899999 meters Centerline goodness [0,1] 0.20639598997493735 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.92, Z:16.16 [[ 0.99060836 -0.0900151 -0.10291919 -23.38945611] [ 0.09632211 0.9936566 0.05803967 -0.92051055] [ 0.09704189 -0.06740798 0.99299498 16.15686734] [ 0. 0. 0. 1. ]] SLAMing on 122.08907232899999 meters Centerline goodness [0,1] 0.20634411404968622 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.92, Z:16.15 [[ 0.99067094 -0.0899161 -0.10240207 -23.3875524 ] [ 0.09615344 0.99369341 0.0576881 -0.91849408] [ 0.09656917 -0.06699624 0.99306893 16.15340679] [ 0. 0. 0. 1. ]] SLAMing on 122.11907232899999 meters Centerline goodness [0,1] 0.20705684345508824 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.92, Z:16.15 [[ 0.99069617 -0.09000715 -0.10207749 -23.38760707] [ 0.09619729 0.99370441 0.0574249 -0.91729266] [ 0.0962662 -0.06671021 0.9931176 16.15233508] [ 0. 0. 0. 1. ]] SLAMing on 122.14907232899999 meters Centerline goodness [0,1] 0.20723954677629597 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.92, Z:16.15 [[ 0.99072019 -0.09010573 -0.10175687 -23.38804102] [ 0.09625265 0.99371214 0.05719795 -0.91633897] [ 0.09596318 -0.06646154 0.9931636 16.15168172] [ 0. 0. 0. 1. ]] SLAMing on 122.179072329 meters Centerline goodness [0,1] 0.20692630269467682 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.92, Z:16.15 [[ 0.99072982 -0.0902156 -0.10156557 -23.38867899] [ 0.09633071 0.99371608 0.05699774 -0.91565485] [ 0.09578526 -0.06625324 0.99319469 16.15173906] [ 0. 0. 0. 1. ]] SLAMing on 122.209072329 meters Centerline goodness [0,1] 0.2071569139322864 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.15 [[ 0.99096758 -0.08621649 -0.10271305 -23.38771862] [ 0.09275684 0.99383734 0.06069197 -0.91415587] [ 0.09684741 -0.06967111 0.99285775 16.15308577] [ 0. 0. 0. 1. ]] SLAMing on 122.239072329 meters Centerline goodness [0,1] 0.2078334438616587 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.15 [[ 0.99116268 -0.08243059 -0.10393138 -23.38564241] [ 0.08940735 0.99391398 0.06435315 -0.91278265] [ 0.09799418 -0.07307667 0.99250035 16.15331846] [ 0. 0. 0. 1. ]] SLAMing on 122.269072329 meters Centerline goodness [0,1] 0.20801511375512505 Centerline is valid? [False, False] Translation: X:-23.38, Y:-0.91, Z:16.15 [[ 0.99137228 -0.07863832 -0.1048667 -23.38318412] [ 0.08602195 0.99398043 0.06784638 -0.91115025] [ 0.09890013 -0.07628185 0.99216926 16.15261715] [ 0. 0. 0. 1. ]] SLAMing on 122.299072329 meters Centerline goodness [0,1] 0.20829900532502765 Centerline is valid? [False, False] Translation: X:-23.38, Y:-0.91, Z:16.15 [[ 0.99143175 -0.07866704 -0.10428128 -23.38439437] [ 0.08598122 0.99400074 0.06759997 -0.91024619] [ 0.09833778 -0.07598699 0.99224778 16.1520196 ] [ 0. 0. 0. 1. ]] SLAMing on 122.329072329 meters Centerline goodness [0,1] 0.20877175334473397 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.15 [[ 0.99155058 -0.07843041 -0.10332527 -23.38517412] [ 0.08563985 0.99405149 0.06728632 -0.90904672] [ 0.09743334 -0.07556656 0.9923691 16.15005744] [ 0. 0. 0. 1. ]] SLAMing on 122.35907232899999 meters Centerline goodness [0,1] 0.2088930898560052 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.15 [[ 0.99159584 -0.07836656 -0.1029387 -23.38571856] [ 0.08554228 0.9940627 0.06724487 -0.90896179] [ 0.09705777 -0.07548535 0.99241209 16.14938608] [ 0. 0. 0. 1. ]] SLAMing on 122.38907232899999 meters Centerline goodness [0,1] 0.20877373115097342 Centerline is valid? [False, False] Translation: X:-23.38, Y:-0.91, Z:16.15 [[ 0.99192774 -0.07429445 -0.1027604 -23.3848554 ] [ 0.0817707 0.99415031 0.07056 -0.90786346] [ 0.09691707 -0.07839321 0.99220038 16.14771421] [ 0. 0. 0. 1. ]] SLAMing on 122.41907232899999 meters Centerline goodness [0,1] 0.20980569817779116 Centerline is valid? [False, False] Translation: X:-23.38, Y:-0.91, Z:16.15 [[ 0.9921676 -0.07018167 -0.10333432 -23.38309597] [ 0.07805892 0.9941786 0.07426787 -0.90703804] [ 0.09752053 -0.08175234 0.9918701 16.1468554 ] [ 0. 0. 0. 1. ]] SLAMing on 122.44907232899999 meters Centerline goodness [0,1] 0.2103047515459141 Centerline is valid? [False, False] Translation: X:-23.38, Y:-0.91, Z:16.15 [[ 0.99241742 -0.06602872 -0.10367198 -23.38181132] [ 0.07428529 0.99418905 0.07790907 -0.90610285] [ 0.09792531 -0.08501962 0.99155549 16.14593553] [ 0. 0. 0. 1. ]] SLAMing on 122.47907232899999 meters Centerline goodness [0,1] 0.21054438252160568 Centerline is valid? [False, False] Translation: X:-23.38, Y:-0.91, Z:16.15 [[ 0.99272255 -0.06138937 -0.10360154 -23.3822815 ] [ 0.07003367 0.99417091 0.08197246 -0.906259 ] [ 0.0979654 -0.0886315 0.99123521 16.14556331] [ 0. 0. 0. 1. ]] SLAMing on 122.50907232899999 meters Centerline goodness [0,1] 0.2113281407643569 Centerline is valid? [False, False] Translation: X:-23.38, Y:-0.91, Z:16.15 [[ 0.99279965 -0.06119085 -0.10297832 -23.38394003] [ 0.06978436 0.99418401 0.08202621 -0.90684194] [ 0.09736015 -0.08862187 0.9912957 16.14548921] [ 0. 0. 0. 1. ]] SLAMing on 122.53907232899999 meters Centerline goodness [0,1] 0.2121071342005333 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.15 [[ 0.99288806 -0.06093084 -0.10227769 -23.38562163] [ 0.06947396 0.99419503 0.08215599 -0.90780939] [ 0.09667813 -0.08867734 0.99135749 16.14519444] [ 0. 0. 0. 1. ]] SLAMing on 122.569072329 meters Centerline goodness [0,1] 0.21197113343710206 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.14 [[ 0.99319107 -0.05918565 -0.10034224 -23.38861686] [ 0.06759379 0.99428985 0.08257593 -0.90895542] [ 0.09488196 -0.08879618 0.99152037 16.1438626 ] [ 0. 0. 0. 1. ]] SLAMing on 122.599072329 meters Centerline goodness [0,1] 0.21328855258366042 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.14 [[ 0.99327954 -0.05887696 -0.09964564 -23.38983518] [ 0.06723629 0.99430188 0.08272274 -0.90960196] [ 0.09420738 -0.08886661 0.99157839 16.14304539] [ 0. 0. 0. 1. ]] SLAMing on 122.629072329 meters Centerline goodness [0,1] 0.21314559689263823 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.14 [[ 0.99337224 -0.05855018 -0.09891138 -23.39099092] [ 0.06685743 0.99431499 0.08287214 -0.91015039] [ 0.09349688 -0.08893585 0.99163942 16.14199139] [ 0. 0. 0. 1. ]] SLAMing on 122.659072329 meters Centerline goodness [0,1] 0.21381378946941754 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.14 [[ 0.99370805 -0.05618894 -0.09688708 -23.39229981] [ 0.06437531 0.99442221 0.08354811 -0.91045654] [ 0.09165218 -0.08925956 0.99178254 16.13884193] [ 0. 0. 0. 1. ]] SLAMing on 122.689072329 meters Centerline goodness [0,1] 0.2144855833569893 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.14 [[ 0.99378092 -0.05599582 -0.09624943 -23.39341625] [ 0.0641307 0.99443248 0.08361402 -0.9108798 ] [ 0.09103153 -0.08926656 0.99183907 16.13803617] [ 0. 0. 0. 1. ]] SLAMing on 122.71907232899999 meters Centerline goodness [0,1] 0.2157152996045828 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.91, Z:16.14 [[ 0.99384346 -0.05581582 -0.09570666 -23.3943953 ] [ 0.06391002 0.99443903 0.08370502 -0.91162947] [ 0.09050238 -0.0893063 0.99188392 16.1374343 ] [ 0. 0. 0. 1. ]] SLAMing on 122.74907232899999 meters Centerline goodness [0,1] 0.21563019755790835 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.91, Z:16.14 [[ 0.993902 -0.05563074 -0.09520525 -23.39544787] [ 0.0636889 0.99444465 0.08380671 -0.91254045] [ 0.09001412 -0.08935918 0.99192358 16.13706963] [ 0. 0. 0. 1. ]] SLAMing on 122.77907232899999 meters Centerline goodness [0,1] 0.21660781687568487 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.91, Z:16.14 [[ 0.99402878 -0.05544864 -0.09398 -23.39977915] [ 0.06338788 0.99447185 0.0837121 -0.91353138] [ 0.08881874 -0.08916943 0.99204841 16.13825335] [ 0. 0. 0. 1. ]] SLAMing on 122.80907232899999 meters Centerline goodness [0,1] 0.21689265995453066 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.91, Z:16.14 [[ 0.99406364 -0.05532078 -0.09368613 -23.40167352] [ 0.06324597 0.99446915 0.08385138 -0.9137794 ] [ 0.08852925 -0.08927888 0.99206444 16.13929841] [ 0. 0. 0. 1. ]] SLAMing on 122.83907232899999 meters Centerline goodness [0,1] 0.21683445644231547 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.91, Z:16.14 [[ 0.99408254 -0.055159 -0.09358092 -23.40358058] [ 0.06310681 0.99444751 0.08421213 -0.91417685] [ 0.08841625 -0.0896194 0.99204381 16.14068479] [ 0. 0. 0. 1. ]] SLAMing on 122.86907232899999 meters Centerline goodness [0,1] 0.2157515477519537 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.92, Z:16.14 [[ 0.9940914 -0.05502823 -0.09356376 -23.40326477] [ 0.06299313 0.99443694 0.08442181 -0.91502395] [ 0.08839768 -0.08981687 0.99202761 16.14031392] [ 0. 0. 0. 1. ]] SLAMing on 122.89907232899999 meters Centerline goodness [0,1] 0.2171602434077079 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.92, Z:16.14 [[ 0.99411205 -0.05495261 -0.09338865 -23.40300049] [ 0.06290615 0.99443812 0.08447273 -0.91576491] [ 0.08822724 -0.08985008 0.99203978 16.1395793 ] [ 0. 0. 0. 1. ]] SLAMing on 122.929072329 meters Centerline goodness [0,1] 0.21752370125256293 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.92, Z:16.14 [[ 0.99421833 -0.0548998 -0.09228175 -23.40461942] [ 0.06274126 0.99445998 0.08433793 -0.91695145] [ 0.08714037 -0.08964019 0.99215482 16.13811561] [ 0. 0. 0. 1. ]] SLAMing on 122.959072329 meters Centerline goodness [0,1] 0.21884844420055682 Centerline is valid? [False, False] Translation: X:-23.41, Y:-0.92, Z:16.14 [[ 0.99427853 -0.05490356 -0.09162862 -23.40645007] [ 0.06267196 0.99447801 0.08417667 -0.91662004] [ 0.08650105 -0.0894376 0.99222905 16.13804699] [ 0. 0. 0. 1. ]] SLAMing on 122.989072329 meters Centerline goodness [0,1] 0.21889031104609824 Centerline is valid? [False, False] Translation: X:-23.41, Y:-0.92, Z:16.14 [[ 0.99434778 -0.05489475 -0.09087935 -23.40876362] [ 0.06257948 0.99449962 0.08399 -0.91602888] [ 0.08576887 -0.08920245 0.99231377 16.13819028] [ 0. 0. 0. 1. ]] SLAMing on 123.019072329 meters Centerline goodness [0,1] 0.21939315057349706 Centerline is valid? [False, False] Translation: X:-23.41, Y:-0.92, Z:16.14 [[ 0.99442226 -0.05485775 -0.09008327 -23.4110374 ] [ 0.06245546 0.99452264 0.08380949 -0.91556864] [ 0.08499225 -0.08896821 0.99240162 16.13822384] [ 0. 0. 0. 1. ]] SLAMing on 123.049072329 meters Centerline goodness [0,1] 0.21905052353359766 Centerline is valid? [False, False] Translation: X:-23.42, Y:-0.91, Z:16.14 [[ 0.99474882 -0.0528998 -0.087615 -23.4156868 ] [ 0.06028181 0.99465154 0.08387147 -0.91474953] [ 0.08270961 -0.08871263 0.99261734 16.13750163] [ 0. 0. 0. 1. ]] SLAMing on 123.079072329 meters Centerline goodness [0,1] 0.21905052353359766 Centerline is valid? [False, False] Translation: X:-23.42, Y:-0.91, Z:16.14 [[ 0.99474882 -0.0528998 -0.087615 -23.4156868 ] [ 0.06028181 0.99465154 0.08387147 -0.91474953] [ 0.08270961 -0.08871263 0.99261734 16.13750163] [ 0. 0. 0. 1. ]] SLAMing on 123.10907232899999 meters Centerline goodness [0,1] 0.2208850062109271 Centerline is valid? [False, False] Translation: X:-23.42, Y:-0.91, Z:16.14 [[ 0.9948334 -0.05280416 -0.08670774 -23.41837851] [ 0.06009174 0.99467675 0.08370869 -0.91459313] [ 0.08182601 -0.08848662 0.99271075 16.13772944] [ 0. 0. 0. 1. ]] SLAMing on 123.13907232899999 meters Centerline goodness [0,1] 0.22215883623324229 Centerline is valid? [False, False] Translation: X:-23.42, Y:-0.91, Z:16.14 [[ 0.9951452 -0.05053531 -0.08445245 -23.423635 ] [ 0.05765577 0.99478634 0.08411862 -0.91381079] [ 0.07976118 -0.08857942 0.99287051 16.1381616 ] [ 0. 0. 0. 1. ]] SLAMing on 123.16907232899999 meters Centerline goodness [0,1] 0.2222993953260337 Centerline is valid? [False, False] Translation: X:-23.43, Y:-0.91, Z:16.14 [[ 0.99525017 -0.0503012 -0.08334796 -23.42655024] [ 0.05730394 0.9948273 0.08387429 -0.91315857] [ 0.07869785 -0.08825207 0.9929845 16.13817943] [ 0. 0. 0. 1. ]] SLAMing on 123.19907232899999 meters Centerline goodness [0,1] 0.22327800660658215 Centerline is valid? [False, False] Translation: X:-23.43, Y:-0.91, Z:16.14 [[ 0.99539555 -0.04970785 -0.08195626 -23.42966004] [ 0.05656604 0.99489255 0.08360084 -0.91211815] [ 0.07738206 -0.08785185 0.99312339 16.13795294] [ 0. 0. 0. 1. ]] SLAMing on 123.22907232899999 meters Centerline goodness [0,1] 0.2259771152032154 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.91, Z:16.14 [[ 0.99581723 -0.04728457 -0.0781807 -23.43803579] [ 0.05379628 0.99506317 0.08339808 -0.90987225] [ 0.0738513 -0.08725507 0.99344478 16.13748952] [ 0. 0. 0. 1. ]] SLAMing on 123.25907232899999 meters Centerline goodness [0,1] 0.22653429602888087 Centerline is valid? [False, False] Translation: X:-23.44, Y:-0.91, Z:16.14 [[ 0.99610002 -0.04534771 -0.07568572 -23.44265236] [ 0.05163096 0.99519124 0.08323841 -0.90803457] [ 0.07154709 -0.08682151 0.99365137 16.13680881] [ 0. 0. 0. 1. ]] SLAMing on 123.28907232899999 meters Centerline goodness [0,1] 0.22766647508005589 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.91, Z:16.14 [[ 0.99638851 -0.04317495 -0.07311534 -23.4475969 ] [ 0.04923312 0.99531669 0.0831913 -0.9061168 ] [ 0.06918114 -0.08649055 0.99384775 16.13637401] [ 0. 0. 0. 1. ]] SLAMing on 123.319072329 meters Centerline goodness [0,1] 0.23155111147839025 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.90, Z:16.13 [[ 0.99691814 -0.03688761 -0.06923527 -23.45570615] [ 0.04282498 0.99534576 0.08632985 -0.90153539] [ 0.06572853 -0.0890288 0.99385795 16.13489118] [ 0. 0. 0. 1. ]] SLAMing on 123.349072329 meters Centerline goodness [0,1] 0.23203815343959033 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.90, Z:16.13 [[ 0.99720691 -0.03455479 -0.06621444 -23.4611872 ] [ 0.04021797 0.99546598 0.08619747 -0.89928027] [ 0.06293569 -0.08861972 0.99407527 16.13379327] [ 0. 0. 0. 1. ]] SLAMing on 123.379072329 meters Centerline goodness [0,1] 0.23480748895938297 Centerline is valid? [False, False] Translation: X:-23.47, Y:-0.90, Z:16.13 [[ 0.99748817 -0.03231753 -0.06303113 -23.46672507] [ 0.03768821 0.99558474 0.0859687 -0.89729546] [ 0.05997454 -0.08812829 0.994302 16.13229059] [ 0. 0. 0. 1. ]] SLAMing on 123.409072329 meters Centerline goodness [0,1] 0.23739390913629554 Centerline is valid? [False, False] Translation: X:-23.48, Y:-0.89, Z:16.13 [[ 9.98089631e-01 -2.32562887e-02 -5.72383886e-02 -2.34773643e+01] [ 2.78918350e-02 9.96277402e-01 8.15682710e-02 -8.91762422e-01] [ 5.51283379e-02 -8.30089292e-02 9.95022806e-01 1.61259517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439072329 meters Centerline goodness [0,1] 0.24077361682574827 Centerline is valid? [False, False] Translation: X:-23.48, Y:-0.89, Z:16.12 [[ 9.98323327e-01 -2.09764629e-02 -5.39492632e-02 -2.34831476e+01] [ 2.53318538e-02 9.96362964e-01 8.13581048e-02 -8.90335481e-01] [ 5.20464426e-02 -8.25883287e-02 9.95223762e-01 1.61245453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46907232899999 meters Centerline goodness [0,1] 0.24123428000333136 Centerline is valid? [False, False] Translation: X:-23.49, Y:-0.89, Z:16.12 [[ 9.98539250e-01 -1.85190409e-02 -5.07583606e-02 -2.34888570e+01] [ 2.26115722e-02 9.96434972e-01 8.12776902e-02 -8.88908722e-01] [ 4.90722208e-02 -8.23066901e-02 9.95398175e-01 1.61234972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49907232899999 meters Centerline goodness [0,1] 0.24320660674438488 Centerline is valid? [False, False] Translation: X:-23.50, Y:-0.89, Z:16.12 [[ 9.98739331e-01 -1.59778286e-02 -4.75863242e-02 -2.34953688e+01] [ 1.98201738e-02 9.96484415e-01 8.14000661e-02 -8.87729725e-01] [ 4.61184341e-02 -8.22406168e-02 9.95544861e-01 1.61233561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52907232899999 meters Centerline goodness [0,1] 0.24709075987458173 Centerline is valid? [False, False] Translation: X:-23.51, Y:-0.88, Z:16.12 [[ 9.99024721e-01 -9.16486885e-03 -4.31927378e-02 -2.35050910e+01] [ 1.28113217e-02 9.96305625e-01 8.49174396e-02 -8.84442089e-01] [ 4.22549104e-02 -8.53879774e-02 9.95451363e-01 1.61233744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55907232899999 meters Centerline goodness [0,1] 0.24784813856093613 Centerline is valid? [False, False] Translation: X:-23.51, Y:-0.88, Z:16.12 [[ 9.99174289e-01 -6.63876578e-03 -4.00832506e-02 -2.35109771e+01] [ 1.00280018e-02 9.96334284e-01 8.49554767e-02 -8.82994858e-01] [ 3.93723173e-02 -8.52872830e-02 9.95578174e-01 1.61228859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58907232899999 meters Centerline goodness [0,1] 0.24962649664373038 Centerline is valid? [False, False] Translation: X:-23.52, Y:-0.88, Z:16.12 [[ 9.99310645e-01 -4.33101468e-03 -3.68710833e-02 -2.35164940e+01] [ 7.44502851e-03 9.96374992e-01 8.47434153e-02 -8.81511566e-01] [ 3.63704003e-02 -8.49595033e-02 9.95720381e-01 1.61216697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61907232899999 meters Centerline goodness [0,1] 0.2548328912466844 Centerline is valid? [False, False] Translation: X:-23.53, Y:-0.88, Z:16.12 [[ 9.99040797e-01 3.57537346e-03 -4.36429090e-02 -2.35257462e+01] [-7.11384356e-05 9.96792283e-01 8.00321186e-02 -8.81100486e-01] [ 4.37890596e-02 -7.99522468e-02 9.95836411e-01 1.61233473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64907232899999 meters Centerline goodness [0,1] 0.255451251297917 Centerline is valid? [False, False] Translation: X:-23.53, Y:-0.88, Z:16.12 [[ 9.99169020e-01 5.87182235e-03 -4.03335109e-02 -2.35313271e+01] [-2.63509973e-03 9.96804366e-01 7.98380323e-02 -8.80374438e-01] [ 4.06734145e-02 -7.96654057e-02 9.95991514e-01 1.61218140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.679072329 meters Centerline goodness [0,1] 0.2571598538285035 Centerline is valid? [False, False] Translation: X:-23.54, Y:-0.88, Z:16.12 [[ 9.99345821e-01 1.24722564e-02 -3.39466199e-02 -2.35439912e+01] [-9.59643200e-03 9.96453357e-01 8.35979411e-02 -8.78810790e-01] [ 3.48688783e-02 -8.32174867e-02 9.95921187e-01 1.61185431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.709072329 meters Centerline goodness [0,1] 0.25987383727146374 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.88, Z:16.12 [[ 9.99422979e-01 1.50719957e-02 -3.04391838e-02 -2.35515938e+01] [-1.24808733e-02 9.96422105e-01 8.35895656e-02 -8.77880012e-01] [ 3.15901372e-02 -8.31614251e-02 9.96035261e-01 1.61190910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739072329 meters Centerline goodness [0,1] 0.26152565525484506 Centerline is valid? [False, False] Translation: X:-23.56, Y:-0.88, Z:16.12 [[ 9.99484607e-01 1.77146390e-02 -2.67714899e-02 -2.35591502e+01] [-1.54231633e-02 9.96388335e-01 8.35009682e-02 -8.76753028e-01] [ 2.81539897e-02 -8.30450313e-02 9.96148019e-01 1.61191876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.769072329 meters Centerline goodness [0,1] 0.26459328085344347 Centerline is valid? [False, False] Translation: X:-23.57, Y:-0.87, Z:16.11 [[ 9.99512438e-01 2.46968018e-02 -1.91037584e-02 -2.35735602e+01] [-2.29462253e-02 9.95945787e-01 8.69796483e-02 -8.74634062e-01] [ 2.11744268e-02 -8.64988812e-02 9.96026901e-01 1.61147054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799072329 meters Centerline goodness [0,1] 0.27058419391545185 Centerline is valid? [False, False] Translation: X:-23.58, Y:-0.87, Z:16.11 [[ 9.99512016e-01 2.73353970e-02 -1.51164423e-02 -2.35806250e+01] [-2.59276025e-02 9.95908481e-01 8.65682218e-02 -8.73395346e-01] [ 1.74209698e-02 -8.61340448e-02 9.96131234e-01 1.61134469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.829072329 meters Centerline goodness [0,1] 0.272138971900329 Centerline is valid? [False, False] Translation: X:-23.59, Y:-0.87, Z:16.11 [[ 9.99491901e-01 2.99699938e-02 -1.08507853e-02 -2.35880825e+01] [-2.89265057e-02 9.95866149e-01 8.61038303e-02 -8.72454877e-01] [ 1.33864610e-02 -8.57462057e-02 9.96227078e-01 1.61117825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85907232899999 meters Centerline goodness [0,1] 0.27537107352433554 Centerline is valid? [False, False] Translation: X:-23.60, Y:-0.87, Z:16.11 [[ 9.99440396e-01 3.27906044e-02 -6.60834241e-03 -2.35955825e+01] [-3.21040105e-02 9.95797933e-01 8.57660098e-02 -8.71654877e-01] [ 9.39289302e-03 -8.55058605e-02 9.96293391e-01 1.61103724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88907232899999 meters Centerline goodness [0,1] 0.27672180776300137 Centerline is valid? [False, False] Translation: X:-23.61, Y:-0.87, Z:16.11 [[ 9.98969619e-01 4.32571357e-02 -1.37302452e-02 -2.36083417e+01] [-4.19314351e-02 9.95463375e-01 8.54074008e-02 -8.69836121e-01] [ 1.73624357e-02 -8.47436698e-02 9.96251503e-01 1.61142590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91907232899999 meters Centerline goodness [0,1] 0.27815866797257593 Centerline is valid? [False, False] Translation: X:-23.61, Y:-0.87, Z:16.11 [[ 9.98789352e-01 4.77458898e-02 -1.18389684e-02 -2.36121996e+01] [-4.65128854e-02 9.94976650e-01 8.86454594e-02 -8.67491512e-01] [ 1.60119535e-02 -8.79874763e-02 9.95992882e-01 1.61143490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94907232899999 meters Centerline goodness [0,1] 0.2782457663916631 Centerline is valid? [False, False] Translation: X:-23.62, Y:-0.87, Z:16.12 [[ 9.98689752e-01 5.04691481e-02 -8.46429095e-03 -2.36197440e+01] [-4.95226525e-02 9.94829970e-01 8.86613635e-02 -8.66178489e-01] [ 1.28951938e-02 -8.81260209e-02 9.96025862e-01 1.61156869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97907232899999 meters Centerline goodness [0,1] 0.2803041858235461 Centerline is valid? [False, False] Translation: X:-23.63, Y:-0.87, Z:16.12 [[ 9.98584110e-01 5.29704467e-02 -4.88949357e-03 -2.36272014e+01] [-5.23322862e-02 9.94711427e-01 8.83770876e-02 -8.65058172e-01] [ 9.54500894e-03 -8.79960770e-02 9.96075089e-01 1.61165545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00907232899999 meters Centerline goodness [0,1] 0.28101614808979913 Centerline is valid? [False, False] Translation: X:-23.64, Y:-0.86, Z:16.12 [[ 9.98366477e-01 5.70433211e-02 3.23060212e-03 -2.36435717e+01] [-5.71060181e-02 9.94476000e-01 8.80703584e-02 -8.64202936e-01] [ 1.81106946e-03 -8.81109802e-02 9.96109018e-01 1.61154437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03907232899999 meters Centerline goodness [0,1] 0.292420355631564 Centerline is valid? [False, False] Translation: X:-23.65, Y:-0.86, Z:16.12 [[ 9.98211331e-01 5.94169845e-02 6.61521997e-03 -2.36498470e+01] [-5.97685479e-02 9.94347529e-01 8.77537042e-02 -8.63321802e-01] [-1.36376714e-03 -8.79921239e-02 9.96120237e-01 1.61153060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.069072329 meters Centerline goodness [0,1] 0.2838583884677738 Centerline is valid? [False, False] Translation: X:-23.66, Y:-0.86, Z:16.12 [[ 9.98034145e-01 6.18923666e-02 9.85797207e-03 -2.36557526e+01] [-6.25191194e-02 9.94196611e-01 8.75468928e-02 -8.62263263e-01] [-4.38227804e-03 -8.79911001e-02 9.96111621e-01 1.61152321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099072329 meters Centerline goodness [0,1] 0.2939060983143589 Centerline is valid? [False, False] Translation: X:-23.66, Y:-0.86, Z:16.12 [[ 9.97521439e-01 7.03572985e-02 9.10250209e-04 -2.36648013e+01] [-7.01707117e-02 9.93753332e-01 8.67777976e-02 -8.60301971e-01] [ 5.20088723e-03 -8.66265865e-02 9.96227276e-01 1.61192804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.129072329 meters Centerline goodness [0,1] 0.29480840543881337 Centerline is valid? [False, False] Translation: X:-23.67, Y:-0.86, Z:16.12 [[ 9.97340307e-01 7.27637147e-02 4.21359373e-03 -2.36702483e+01] [-7.28555063e-02 9.93599558e-01 8.63249267e-02 -8.58746975e-01] [ 2.09469747e-03 -8.64023124e-02 9.96258126e-01 1.61183636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159072329 meters Centerline goodness [0,1] 0.2952719200887902 Centerline is valid? [False, False] Translation: X:-23.67, Y:-0.86, Z:16.12 [[ 9.97226708e-01 7.40582770e-02 7.36640825e-03 -2.36747900e+01] [-7.44166969e-02 9.93597194e-01 8.50104162e-02 -8.55255569e-01] [-1.02351761e-03 -8.53228413e-02 9.96352832e-01 1.61163964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.189072329 meters Centerline goodness [0,1] 0.29565255946970537 Centerline is valid? [False, False] Translation: X:-23.68, Y:-0.85, Z:16.12 [[ 9.97101919e-01 7.54676915e-02 9.61202052e-03 -2.36787642e+01] [-7.60117777e-02 9.93503575e-01 8.46927205e-02 -8.54855041e-01] [-3.15801265e-03 -8.51779009e-02 9.96360754e-01 1.61159430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21907232899999 meters Centerline goodness [0,1] 0.2941515924980579 Centerline is valid? [False, False] Translation: X:-23.68, Y:-0.85, Z:16.12 [[ 9.97050111e-01 7.59372977e-02 1.11625502e-02 -2.36814938e+01] [-7.66113997e-02 9.93465891e-01 8.45944271e-02 -8.53958360e-01] [-4.66574066e-03 -8.52000616e-02 9.96352940e-01 1.61161454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24907232899999 meters Centerline goodness [0,1] 0.2918086836418722 Centerline is valid? [False, False] Translation: X:-23.68, Y:-0.85, Z:16.12 [[ 9.96742181e-01 7.96068904e-02 1.29524971e-02 -2.36849836e+01] [-8.04408668e-02 9.92868468e-01 8.79856402e-02 -8.50931413e-01] [-5.85586272e-03 -8.87409090e-02 9.96037529e-01 1.61175317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27907232899999 meters Centerline goodness [0,1] 0.2893335412999398 Centerline is valid? [False, False] Translation: X:-23.69, Y:-0.85, Z:16.12 [[ 9.96697446e-01 7.99884010e-02 1.40019987e-02 -2.36868450e+01] [-8.09133290e-02 9.92839763e-01 8.78762613e-02 -8.49603179e-01] [-6.87265950e-03 -8.87189936e-02 9.96032985e-01 1.61179504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30907232899999 meters Centerline goodness [0,1] 0.2926644538994453 Centerline is valid? [False, False] Translation: X:-23.69, Y:-0.85, Z:16.12 [[ 9.96757763e-01 7.88176610e-02 1.61783306e-02 -2.36916195e+01] [-7.99119702e-02 9.93186746e-01 8.48184163e-02 -8.49642568e-01] [-9.38291440e-03 -8.58362571e-02 9.96265074e-01 1.61184253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33907232899999 meters Centerline goodness [0,1] 0.2968119046025478 Centerline is valid? [False, False] Translation: X:-23.70, Y:-0.85, Z:16.12 [[ 9.96725252e-01 7.82679597e-02 2.03198897e-02 -2.36985751e+01] [-7.96613232e-02 9.93564471e-01 8.05215239e-02 -8.50023290e-01] [-1.38868650e-02 -8.18765455e-02 9.96545727e-01 1.61162732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36907232899999 meters Centerline goodness [0,1] 0.29721707692651034 Centerline is valid? [False, False] Translation: X:-23.70, Y:-0.85, Z:16.12 [[ 9.96764229e-01 7.71701641e-02 2.24908496e-02 -2.37032179e+01] [-7.86912922e-02 9.93902839e-01 7.72322982e-02 -8.50783042e-01] [-1.63936902e-02 -7.87522262e-02 9.96759416e-01 1.61167004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39907232899999 meters Centerline goodness [0,1] 0.2934855308333705 Centerline is valid? [False, False] Translation: X:-23.70, Y:-0.85, Z:16.12 [[ 9.96736652e-01 7.73710143e-02 2.30167960e-02 -2.37045349e+01] [-7.89320232e-02 9.93888287e-01 7.71738877e-02 -8.50750807e-01] [-1.69051020e-02 -7.87388048e-02 9.96751934e-01 1.61170497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.429072329 meters Centerline goodness [0,1] 0.2945880145629983 Centerline is valid? [False, False] Translation: X:-23.71, Y:-0.85, Z:16.12 [[ 9.96710743e-01 7.76483572e-02 2.32040569e-02 -2.37059309e+01] [-7.92261215e-02 9.93852194e-01 7.73371764e-02 -8.50102481e-01] [-1.70562981e-02 -7.89211619e-02 9.96734936e-01 1.61186530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.459072329 meters Centerline goodness [0,1] 0.2959641255605381 Centerline is valid? [False, False] Translation: X:-23.71, Y:-0.85, Z:16.12 [[ 9.96715676e-01 7.75721784e-02 2.32469047e-02 -2.37062244e+01] [-7.91519271e-02 9.93865432e-01 7.72429680e-02 -8.49843187e-01] [-1.71123897e-02 -7.88293144e-02 9.96741243e-01 1.61189754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.489072329 meters Centerline goodness [0,1] 0.2911897909555362 Centerline is valid? [False, False] Translation: X:-23.71, Y:-0.85, Z:16.12 [[ 9.96902075e-01 7.47906035e-02 2.43437729e-02 -2.37089025e+01] [-7.63896683e-02 9.94386587e-01 7.32115730e-02 -8.50011686e-01] [-1.87315835e-02 -7.48443818e-02 9.97019281e-01 1.61192699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519072329 meters Centerline goodness [0,1] 0.2980655261098065 Centerline is valid? [False, False] Translation: X:-23.71, Y:-0.85, Z:16.12 [[ 9.96918874e-01 7.45651812e-02 2.43473120e-02 -2.37089171e+01] [-7.61594844e-02 9.94426088e-01 7.29142495e-02 -8.49056263e-01] [-1.87747380e-02 -7.45438702e-02 9.97040982e-01 1.61191823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.549072329 meters Centerline goodness [0,1] 0.29151588258946526 Centerline is valid? [False, False] Translation: X:-23.71, Y:-0.85, Z:16.12 [[ 9.96939442e-01 7.43167948e-02 2.42644264e-02 -2.37090664e+01] [-7.59004135e-02 9.94465870e-01 7.26413185e-02 -8.47942429e-01] [-1.87316740e-02 -7.42606755e-02 9.97062925e-01 1.61196355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579072329 meters Centerline goodness [0,1] 0.2921785968660968 Centerline is valid? [False, False] Translation: X:-23.71, Y:-0.85, Z:16.12 [[ 9.96990055e-01 7.38043869e-02 2.37432767e-02 -2.37100667e+01] [-7.53488336e-02 9.94514752e-01 7.25462763e-02 -8.46183730e-01] [-1.82588055e-02 -7.41169442e-02 9.97082391e-01 1.61222429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60907232899999 meters Centerline goodness [0,1] 0.2914552647459824 Centerline is valid? [False, False] Translation: X:-23.71, Y:-0.85, Z:16.12 [[ 9.96998663e-01 7.36812566e-02 2.37642151e-02 -2.37110180e+01] [-7.52248110e-02 9.94535064e-01 7.23963628e-02 -8.45483759e-01] [-1.83000902e-02 -7.39667355e-02 9.97092788e-01 1.61236945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63907232899999 meters Centerline goodness [0,1] 0.29396084404820577 Centerline is valid? [False, False] Translation: X:-23.71, Y:-0.84, Z:16.13 [[ 9.97000583e-01 7.35558830e-02 2.40701165e-02 -2.37126794e+01] [-7.51185557e-02 9.94558007e-01 7.21912324e-02 -8.44931689e-01] [-1.86290373e-02 -7.37828131e-02 9.97100324e-01 1.61253184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66907232899999 meters Centerline goodness [0,1] 0.28737694256946156 Centerline is valid? [False, False] Translation: X:-23.71, Y:-0.84, Z:16.13 [[ 9.96976396e-01 7.36801551e-02 2.46840015e-02 -2.37145373e+01] [-7.52840517e-02 9.94559779e-01 7.19941545e-02 -8.44599277e-01] [-1.92451746e-02 -7.36347843e-02 9.97099565e-01 1.61263104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69907232899999 meters Centerline goodness [0,1] 0.2862490808209105 Centerline is valid? [False, False] Translation: X:-23.72, Y:-0.84, Z:16.13 [[ 9.96925017e-01 7.40043881e-02 2.57654895e-02 -2.37169505e+01] [-7.56795368e-02 9.94557012e-01 7.16167408e-02 -8.43813753e-01] [-2.03252952e-02 -7.33464408e-02 9.97099384e-01 1.61266822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72907232899999 meters Centerline goodness [0,1] 0.2953738254731826 Centerline is valid? [False, False] Translation: X:-23.72, Y:-0.84, Z:16.13 [[ 0.99665817 0.07616032 0.02953124 -23.72346221] [ -0.07808503 0.99443778 0.07068405 -0.84053067] [ -0.02398366 -0.07275378 0.99706152 16.12613222] [ 0. 0. 0. 1. ]] SLAMing on 124.75907232899999 meters Centerline goodness [0,1] 0.2975625126600797 Centerline is valid? [False, False] Translation: X:-23.73, Y:-0.84, Z:16.13 [[ 0.99648878 0.07750823 0.03166359 -23.72701588] [ -0.0795678 0.99436804 0.07000835 -0.83815088] [ -0.02605904 -0.07228194 0.99704375 16.12588008] [ 0. 0. 0. 1. ]] SLAMing on 124.78907232899999 meters Centerline goodness [0,1] 0.30004287293815013 Centerline is valid? [False, False] Translation: X:-23.74, Y:-0.83, Z:16.13 [[ 0.99605783 0.08074393 0.03673167 -23.73592545] [ -0.08312232 0.99417271 0.06863889 -0.83389145] [ -0.03097545 -0.07142153 0.99696514 16.12546754] [ 0. 0. 0. 1. ]] SLAMing on 124.819072329 meters Centerline goodness [0,1] 0.3007940637513291 Centerline is valid? [False, False] Translation: X:-23.74, Y:-0.83, Z:16.13 [[ 0.99574464 0.08303153 0.03997982 -23.7414155 ] [ -0.08561595 0.9940065 0.06797791 -0.83193902] [ -0.03409589 -0.07111155 0.99688546 16.12524355] [ 0. 0. 0. 1. ]] SLAMing on 124.849072329 meters Centerline goodness [0,1] 0.30006585371392236 Centerline is valid? [False, False] Translation: X:-23.75, Y:-0.83, Z:16.13 [[ 9.95671458e-01 8.82582454e-02 2.91346695e-02 -2.37455622e+01] [-8.99868928e-02 9.93845087e-01 6.46088434e-02 -8.31401584e-01] [-2.32530850e-02 -6.69509197e-02 9.97485272e-01 1.61312428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879072329 meters Centerline goodness [0,1] 0.2947584320875114 Centerline is valid? [False, False] Translation: X:-23.76, Y:-0.83, Z:16.13 [[ 0.99478517 0.09572969 0.03518935 -23.75621229] [ -0.09791909 0.99294287 0.06690526 -0.8255304 ] [ -0.02853619 -0.07000207 0.9971386 16.13227789] [ 0. 0. 0. 1. ]] SLAMing on 124.909072329 meters Centerline goodness [0,1] 0.2923904618611225 Centerline is valid? [False, False] Translation: X:-23.76, Y:-0.82, Z:16.13 [[ 0.99422542 0.10056267 0.0374561 -23.75954433] [ -0.10298932 0.9922331 0.06976153 -0.8215609 ] [ -0.03014977 -0.07321627 0.99686026 16.13228391] [ 0. 0. 0. 1. ]] SLAMing on 124.939072329 meters Centerline goodness [0,1] 0.2914780690669301 Centerline is valid? [False, False] Translation: X:-23.73, Y:-0.79, Z:16.14 [[ 9.93365783e-01 1.11625612e-01 2.76431698e-02 -2.37283907e+01] [-1.13267712e-01 9.91271181e-01 6.74675568e-02 -7.88917675e-01] [-1.98707702e-02 -7.01510410e-02 9.97338450e-01 1.61376152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96907232899999 meters Centerline goodness [0,1] 0.2914780690669301 Centerline is valid? [False, False] Translation: X:-23.69, Y:-0.76, Z:16.14 [[ 9.93700368e-01 1.09869174e-01 2.20984995e-02 -2.36878140e+01] [-1.11021035e-01 9.91985796e-01 6.03200657e-02 -7.59110000e-01] [-1.52940818e-02 -6.23934697e-02 9.97934440e-01 1.61398902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99907232899999 meters Centerline goodness [0,1] 0.2893102020155538 Centerline is valid? [False, False] Translation: X:-23.65, Y:-0.73, Z:16.15 [[ 9.93325528e-01 1.15187461e-01 6.02037818e-03 -2.36476549e+01] [-1.15344682e-01 9.91979665e-01 5.16908891e-02 -7.27138776e-01] [-1.79504777e-05 -5.20402983e-02 9.98644985e-01 1.61463927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02907232899999 meters Centerline goodness [0,1] 0.28852959544792167 Centerline is valid? [False, False] Translation: X:-23.62, Y:-0.70, Z:16.15 [[ 9.93898410e-01 1.10201219e-01 4.65204303e-03 -2.36209309e+01] [-1.10299274e-01 9.93067790e-01 4.06255528e-02 -6.99401581e-01] [-1.42808635e-04 -4.08907893e-02 9.99163612e-01 1.61487922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05907232899999 meters Centerline goodness [0,1] 0.28591940713293196 Centerline is valid? [False, False] Translation: X:-23.65, Y:-0.72, Z:16.15 [[ 9.96234105e-01 8.65867279e-02 4.51073947e-03 -2.36494118e+01] [-8.66967871e-02 9.95478229e-01 3.88170364e-02 -7.15147270e-01] [-1.12930277e-03 -3.90619221e-02 9.99236154e-01 1.61508788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08907232899999 meters Centerline goodness [0,1] 0.2764724964085453 Centerline is valid? [False, False] Translation: X:-23.66, Y:-0.71, Z:16.15 [[ 9.95624118e-01 9.30282877e-02 8.85178475e-03 -2.36551515e+01] [-9.33130826e-02 9.94808477e-01 4.06049574e-02 -7.08477860e-01] [-5.02842085e-03 -4.12532622e-02 9.99136068e-01 1.61483487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11907232899999 meters Centerline goodness [0,1] 0.27268930957683746 Centerline is valid? [False, False] Translation: X:-23.66, Y:-0.71, Z:16.14 [[ 9.95978779e-01 8.66909794e-02 2.26040910e-02 -2.36646837e+01] [-8.75840795e-02 9.95268065e-01 4.20773977e-02 -7.07397947e-01] [-1.88493991e-02 -4.38879537e-02 9.98858622e-01 1.61429446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14907232899999 meters Centerline goodness [0,1] 0.2703833724687885 Centerline is valid? [False, False] Translation: X:-23.67, Y:-0.71, Z:16.14 [[ 0.99605349 0.08101998 0.03623822 -23.67324502] [ -0.08261111 0.99557412 0.04480598 -0.70652506] [ -0.03244765 -0.04762283 0.99833823 16.13774765] [ 0. 0. 0. 1. ]] SLAMing on 125.179072329 meters Centerline goodness [0,1] 0.2717810782364636 Centerline is valid? [False, False] Translation: X:-23.68, Y:-0.70, Z:16.14 [[ 0.99519615 0.08914224 0.04047572 -23.67761794] [ -0.09104026 0.99470143 0.04775708 -0.70031306] [ -0.03600408 -0.05121258 0.99803857 16.13570604] [ 0. 0. 0. 1. ]] SLAMing on 125.209072329 meters Centerline goodness [0,1] 0.2687959764036758 Centerline is valid? [False, False] Translation: X:-23.68, Y:-0.70, Z:16.13 [[ 0.99482408 0.09192422 0.04330102 -23.68114739] [ -0.09396668 0.99442893 0.04776365 -0.69844133] [ -0.03866916 -0.05158528 0.99791966 16.13485138] [ 0. 0. 0. 1. ]] SLAMing on 125.239072329 meters Centerline goodness [0,1] 0.26749427674588755 Centerline is valid? [False, False] Translation: X:-23.68, Y:-0.70, Z:16.13 [[ 0.99439722 0.09514053 0.04607013 -23.68396183] [ -0.09731909 0.99411391 0.04760807 -0.69622254] [ -0.0412695 -0.05182484 0.99780309 16.13323886] [ 0. 0. 0. 1. ]] SLAMing on 125.269072329 meters Centerline goodness [0,1] 0.25728700891896417 Centerline is valid? [False, False] Translation: X:-23.70, Y:-0.71, Z:16.13 [[ 0.99492976 0.08708495 0.05030885 -23.69543816] [ -0.08948274 0.99485251 0.04755332 -0.7053635 ] [ -0.04590871 -0.05181398 0.99760097 16.13293404] [ 0. 0. 0. 1. ]] SLAMing on 125.299072329 meters Centerline goodness [0,1] 0.26009746820397006 Centerline is valid? [False, False] Translation: X:-23.70, Y:-0.70, Z:16.13 [[ 0.99459941 0.08990674 0.05185363 -23.69608899] [ -0.09239363 0.99457751 0.0477388 -0.70431477] [ -0.04728042 -0.05227193 0.99751301 16.1311583 ] [ 0. 0. 0. 1. ]] SLAMing on 125.329072329 meters Centerline goodness [0,1] 0.25520239452679594 Centerline is valid? [False, False] Translation: X:-23.70, Y:-0.70, Z:16.13 [[ 0.99454745 0.09017237 0.05238612 -23.69634922] [ -0.09272637 0.99450691 0.04855746 -0.70487092] [ -0.04771981 -0.05315027 0.99744567 16.13122693] [ 0. 0. 0. 1. ]] SLAMing on 125.35907232899999 meters Centerline goodness [0,1] 0.24766532353638304 Centerline is valid? [False, False] Translation: X:-23.69, Y:-0.70, Z:16.13 [[ 0.99408717 0.0962627 0.05024127 -23.68856657] [ -0.09881748 0.9937919 0.05111519 -0.70056305] [ -0.04500888 -0.05577767 0.99742822 16.13336223] [ 0. 0. 0. 1. ]] SLAMing on 125.38907232899999 meters Centerline goodness [0,1] 0.24467277300555268 Centerline is valid? [False, False] Translation: X:-23.69, Y:-0.70, Z:16.13 [[ 0.99399166 0.09721507 0.05029728 -23.68723204] [ -0.0998032 0.99365836 0.05179178 -0.70145682] [ -0.04494337 -0.05650043 0.99739049 16.13218394] [ 0. 0. 0. 1. ]] SLAMing on 125.41907232899999 meters Centerline goodness [0,1] 0.24129086415147138 Centerline is valid? [False, False] Translation: X:-23.68, Y:-0.70, Z:16.13 [[ 0.99384294 0.09870856 0.0503273 -23.68498886] [ -0.1013151 0.99348532 0.05217433 -0.70146594] [ -0.04484938 -0.056952 0.99736904 16.12980378] [ 0. 0. 0. 1. ]] SLAMing on 125.44907232899999 meters Centerline goodness [0,1] 0.24336324988190838 Centerline is valid? [False, False] Translation: X:-23.68, Y:-0.70, Z:16.13 [[ 0.99386451 0.09925775 0.04879784 -23.67839404] [ -0.10160036 0.99366049 0.04812682 -0.7018313 ] [ -0.04371153 -0.05278942 0.99764853 16.12973857] [ 0. 0. 0. 1. ]] SLAMing on 125.47907232899999 meters Centerline goodness [0,1] 0.24158078010703687 Centerline is valid? [False, False] Translation: X:-23.67, Y:-0.70, Z:16.13 [[ 0.99386733 0.09982677 0.04756422 -23.6741355 ] [ -0.10214055 0.99356315 0.0489855 -0.70257818] [ -0.042368 -0.05354332 0.99766631 16.12775963] [ 0. 0. 0. 1. ]] SLAMing on 125.50907232899999 meters Centerline goodness [0,1] 0.256342162275491 Centerline is valid? [False, False] Translation: X:-23.67, Y:-0.70, Z:16.13 [[ 0.9938976 0.10027185 0.0459686 -23.66953893] [ -0.10254226 0.99347015 0.05002148 -0.70365733] [ -0.04065268 -0.05442996 0.9976897 16.12637012] [ 0. 0. 0. 1. ]] SLAMing on 125.53907232899999 meters Centerline goodness [0,1] 0.2511382809069268 Centerline is valid? [False, False] Translation: X:-23.65, Y:-0.70, Z:16.13 [[ 0.99386841 0.10371111 0.0383352 -23.64999397] [ -0.10566847 0.99298003 0.0531492 -0.70030997] [ -0.03255393 -0.05687413 0.99785048 16.12890424] [ 0. 0. 0. 1. ]] SLAMing on 125.569072329 meters Centerline goodness [0,1] 0.2530333729243811 Centerline is valid? [False, False] Translation: X:-23.64, Y:-0.70, Z:16.13 [[ 0.99403079 0.10296192 0.03607812 -23.64484787] [ -0.10482963 0.99300133 0.05439762 -0.70284856] [ -0.03022473 -0.05785496 0.99786736 16.12827552] [ 0. 0. 0. 1. ]] SLAMing on 125.599072329 meters Centerline goodness [0,1] 0.2547169811320755 Centerline is valid? [False, False] Translation: X:-23.64, Y:-0.70, Z:16.13 [[ 0.99423571 0.10194664 0.03319997 -23.63769695] [ -0.1036814 0.99305696 0.05557024 -0.70457129] [ -0.02730427 -0.05869213 0.99790266 16.1268048 ] [ 0. 0. 0. 1. ]] SLAMing on 125.629072329 meters Centerline goodness [0,1] 0.24881636405424046 Centerline is valid? [False, False] Translation: X:-23.61, Y:-0.70, Z:16.13 [[ 9.94639714e-01 1.00426195e-01 2.46255566e-02 -2.36142995e+01] [-1.01547925e-01 9.93595019e-01 4.95677002e-02 -7.01293258e-01] [-1.94899349e-02 -5.18026773e-02 9.98467138e-01 1.61313716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659072329 meters Centerline goodness [0,1] 0.25371970930099264 Centerline is valid? [False, False] Translation: X:-23.61, Y:-0.70, Z:16.13 [[ 9.95092812e-01 9.65096530e-02 2.18216141e-02 -2.36081679e+01] [-9.74490908e-02 9.94124287e-01 4.71229925e-02 -7.04338438e-01] [-1.71455729e-02 -4.90182475e-02 9.98650710e-01 1.61306821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.689072329 meters Centerline goodness [0,1] 0.2455204486390371 Centerline is valid? [False, False] Translation: X:-23.59, Y:-0.70, Z:16.13 [[ 9.95401077e-01 9.23052627e-02 2.56209839e-02 -2.35868861e+01] [-9.34607190e-02 9.94449847e-01 4.83176563e-02 -7.01772438e-01] [-2.10188096e-02 -5.04900027e-02 9.98503365e-01 1.61279944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71907232899999 meters Centerline goodness [0,1] 0.24339622641509429 Centerline is valid? [False, False] Translation: X:-23.58, Y:-0.70, Z:16.13 [[ 9.95701415e-01 9.01443378e-02 2.12765428e-02 -2.35777226e+01] [-9.11049762e-02 9.94605310e-01 4.96000093e-02 -7.04202495e-01] [-1.66906024e-02 -5.13251984e-02 9.98542512e-01 1.61271970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74907232899999 meters Centerline goodness [0,1] 0.2414019219898248 Centerline is valid? [False, False] Translation: X:-23.57, Y:-0.71, Z:16.13 [[ 9.95965188e-01 8.81112694e-02 1.70219927e-02 -2.35686800e+01] [-8.88725461e-02 9.94743252e-01 5.08678085e-02 -7.06704291e-01] [-1.24504852e-02 -5.21753543e-02 9.98560323e-01 1.61264080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77907232899999 meters Centerline goodness [0,1] 0.2364094942124938 Centerline is valid? [False, False] Translation: X:-23.54, Y:-0.70, Z:16.13 [[ 9.96418088e-01 8.24173463e-02 1.89307698e-02 -2.35444237e+01] [-8.33107081e-02 9.95133729e-01 5.26135714e-02 -7.04755916e-01] [-1.45023767e-02 -5.40022500e-02 9.98435495e-01 1.61250193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80907232899999 meters Centerline goodness [0,1] 0.23676930343447067 Centerline is valid? [False, False] Translation: X:-23.54, Y:-0.71, Z:16.13 [[ 9.96816613e-01 7.82691665e-02 1.51847680e-02 -2.35369528e+01] [-7.89424113e-02 9.95601257e-01 5.04602037e-02 -7.07704821e-01] [-1.11684961e-02 -5.14982915e-02 9.98610630e-01 1.61250938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83907232899999 meters Centerline goodness [0,1] 0.23745445604309634 Centerline is valid? [False, False] Translation: X:-23.52, Y:-0.70, Z:16.12 [[ 9.97026786e-01 7.40429059e-02 2.13362690e-02 -2.35225059e+01] [-7.50060361e-02 9.95999453e-01 4.85714429e-02 -7.00520954e-01] [-1.76545414e-02 -5.00273786e-02 9.98591798e-01 1.61206036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86907232899999 meters Centerline goodness [0,1] 0.24172022853061959 Centerline is valid? [False, False] Translation: X:-23.50, Y:-0.70, Z:16.12 [[ 9.97777748e-01 6.56247230e-02 1.15309159e-02 -2.35019690e+01] [-6.60477414e-02 9.96964086e-01 4.12347683e-02 -7.01593379e-01] [-8.78988880e-03 -4.19047252e-02 9.99082945e-01 1.61244148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89907232899999 meters Centerline goodness [0,1] 0.24612989323843415 Centerline is valid? [False, False] Translation: X:-23.49, Y:-0.70, Z:16.12 [[ 9.98137756e-01 6.05415167e-02 7.46627337e-03 -2.34939470e+01] [-6.07835662e-02 9.97420790e-01 3.81723107e-02 -7.03886185e-01] [-5.13600669e-03 -3.85550513e-02 9.99243278e-01 1.61246407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.929072329 meters Centerline goodness [0,1] 0.25794045487699757 Centerline is valid? [False, False] Translation: X:-23.47, Y:-0.70, Z:16.12 [[ 9.98638980e-01 5.12280628e-02 9.79147932e-03 -2.34713370e+01] [-5.15633201e-02 9.97955217e-01 3.77704774e-02 -6.99742807e-01] [-7.83654948e-03 -3.82239522e-02 9.99238469e-01 1.61243639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.959072329 meters Centerline goodness [0,1] 0.2618066421314763 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.70, Z:16.13 [[ 9.98919162e-01 4.61342239e-02 5.66926584e-03 -2.34637078e+01] [-4.63042181e-02 9.98320048e-01 3.48281733e-02 -7.01343950e-01] [-4.05297100e-03 -3.50530407e-02 9.99377235e-01 1.61253444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.989072329 meters Centerline goodness [0,1] 0.2647635842609941 Centerline is valid? [False, False] Translation: X:-23.46, Y:-0.70, Z:16.13 [[ 9.99171429e-01 4.06671784e-02 1.62366235e-03 -2.34563073e+01] [-4.06982175e-02 9.98668858e-01 3.16886113e-02 -7.02932515e-01] [-3.32814619e-04 -3.17284352e-02 9.99496471e-01 1.61264035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019072329 meters Centerline goodness [0,1] 0.270289886948489 Centerline is valid? [False, False] Translation: X:-23.45, Y:-0.70, Z:16.13 [[ 9.99378323e-01 3.51685082e-02 -2.47876983e-03 -2.34485233e+01] [-3.50836586e-02 9.98977344e-01 2.85202219e-02 -7.04445074e-01] [ 3.47924856e-03 -2.84155272e-02 9.99590142e-01 1.61272438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.049072329 meters Centerline goodness [0,1] 0.2856578774185057 Centerline is valid? [False, False] Translation: X:-23.43, Y:-0.70, Z:16.12 [[ 9.99722159e-01 2.35583999e-02 7.79297275e-04 -2.34300017e+01] [-2.35711146e-02 9.99294355e-01 2.92437045e-02 -7.02114882e-01] [-8.98124820e-05 -2.92539483e-02 9.99572008e-01 1.61236979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079072329 meters Centerline goodness [0,1] 0.2885911935873504 Centerline is valid? [False, False] Translation: X:-23.42, Y:-0.70, Z:16.12 [[ 9.99828203e-01 1.82911698e-02 -2.99962361e-03 -2.34225877e+01] [-1.82071337e-02 9.99496443e-01 2.59877207e-02 -7.02896320e-01] [ 3.47345894e-03 -2.59286415e-02 9.99657762e-01 1.61243549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10907232899999 meters Centerline goodness [0,1] 0.2942674599863877 Centerline is valid? [False, False] Translation: X:-23.42, Y:-0.70, Z:16.13 [[ 9.99891705e-01 1.30978780e-02 -6.70993398e-03 -2.34154214e+01] [-1.29422678e-02 9.99657819e-01 2.27319528e-02 -7.03308026e-01] [ 7.00537832e-03 -2.26426493e-02 9.99719078e-01 1.61252644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13907232899999 meters Centerline goodness [0,1] 0.2982891529220565 Centerline is valid? [False, False] Translation: X:-23.40, Y:-0.70, Z:16.12 [[ 9.99993354e-01 7.00885513e-04 -3.57768893e-03 -2.33983323e+01] [-6.17080547e-04 9.99726649e-01 2.33719252e-02 -6.98856950e-01] [ 3.59309201e-03 -2.33695621e-02 9.99720438e-01 1.61223046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16907232899999 meters Centerline goodness [0,1] 0.3046535132047282 Centerline is valid? [False, False] Translation: X:-23.39, Y:-0.70, Z:16.12 [[ 9.99961775e-01 -5.08094841e-03 -7.11561352e-03 -2.33915389e+01] [ 5.21922753e-03 9.99795231e-01 1.95513766e-02 -6.99000166e-01] [ 7.01481693e-03 -1.95877673e-02 9.99783532e-01 1.61235399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19907232899999 meters Centerline goodness [0,1] 0.31144655195176696 Centerline is valid? [False, False] Translation: X:-23.38, Y:-0.70, Z:16.13 [[ 9.99880637e-01 -1.11319730e-02 -1.07140727e-02 -2.33847673e+01] [ 1.12993131e-02 9.99813104e-01 1.56870288e-02 -6.99349548e-01] [ 1.05374427e-02 -1.58062180e-02 9.99819547e-01 1.61250667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22907232899999 meters Centerline goodness [0,1] 0.31652943237561315 Centerline is valid? [False, False] Translation: X:-23.36, Y:-0.70, Z:16.13 [[ 9.99535709e-01 -2.12141815e-02 -2.18706322e-02 -2.33627944e+01] [ 2.14493259e-02 9.99714021e-01 1.05736537e-02 -6.95212494e-01] [ 2.16400662e-02 -1.10378548e-02 9.99704893e-01 1.61324508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25907232899999 meters Centerline goodness [0,1] 0.318247440720973 Centerline is valid? [False, False] Translation: X:-23.35, Y:-0.69, Z:16.13 [[ 9.99336075e-01 -2.46038443e-02 -2.68711905e-02 -2.33527979e+01] [ 2.48810365e-02 9.99640098e-01 1.00303722e-02 -6.93592887e-01] [ 2.66147338e-02 -1.06922959e-02 9.99588581e-01 1.61337019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28907232899999 meters Centerline goodness [0,1] 0.3128409934092794 Centerline is valid? [False, False] Translation: X:-23.33, Y:-0.69, Z:16.13 [[ 9.98966473e-01 -3.82875909e-02 -2.44958514e-02 -2.33335800e+01] [ 3.85309771e-02 9.99211846e-01 9.54201641e-03 -6.87240697e-01] [ 2.41112040e-02 -1.04760036e-02 9.99654392e-01 1.61330974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.319072329 meters Centerline goodness [0,1] 0.31318454001088736 Centerline is valid? [False, False] Translation: X:-23.32, Y:-0.69, Z:16.13 [[ 9.98665676e-01 -4.22984020e-02 -2.96262231e-02 -2.33226410e+01] [ 4.25724853e-02 9.99055655e-01 8.68224286e-03 -6.85697446e-01] [ 2.92310008e-02 -9.93191988e-03 9.99523339e-01 1.61334954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.349072329 meters Centerline goodness [0,1] 0.30533869740132646 Centerline is valid? [False, False] Translation: X:-23.31, Y:-0.69, Z:16.13 [[ 9.98237649e-01 -4.89028947e-02 -3.36169913e-02 -2.33144077e+01] [ 4.90858376e-02 9.98783796e-01 4.63790378e-03 -6.86058294e-01] [ 3.33492992e-02 -6.27984834e-03 9.99424028e-01 1.61348287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379072329 meters Centerline goodness [0,1] 0.2973836324916337 Centerline is valid? [False, False] Translation: X:-23.31, Y:-0.69, Z:16.14 [[ 9.97747848e-01 -5.55397937e-02 -3.76106708e-02 -2.33060743e+01] [ 5.56040208e-02 9.98452680e-01 6.63011087e-04 -6.86647514e-01] [ 3.75156515e-02 -2.75282241e-03 9.99292248e-01 1.61361028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.409072329 meters Centerline goodness [0,1] 0.27553737255665955 Centerline is valid? [False, False] Translation: X:-23.29, Y:-0.68, Z:16.14 [[ 9.96418760e-01 -7.48909792e-02 -3.92555246e-02 -2.32887427e+01] [ 7.49061464e-02 9.97189996e-01 -1.08636365e-03 -6.84333652e-01] [ 3.92265753e-02 -1.85800696e-03 9.99228614e-01 1.61375147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439072329 meters Centerline goodness [0,1] 0.27002589555459644 Centerline is valid? [False, False] Translation: X:-23.28, Y:-0.68, Z:16.14 [[ 9.95713833e-01 -8.15595303e-02 -4.36119971e-02 -2.32805091e+01] [ 8.14275194e-02 9.96667718e-01 -4.79784324e-03 -6.84810192e-01] [ 4.38579795e-02 1.22606214e-03 9.99037024e-01 1.61401566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46907232899999 meters Centerline goodness [0,1] 0.25458370904718963 Centerline is valid? [False, False] Translation: X:-23.26, Y:-0.68, Z:16.14 [[ 9.93653517e-01 -1.01918708e-01 -4.75947968e-02 -2.32609114e+01] [ 1.01795680e-01 9.94792722e-01 -5.00796900e-03 -6.81653834e-01] [ 4.78573632e-02 1.31241306e-04 9.98854171e-01 1.61438018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49907232899999 meters Centerline goodness [0,1] 0.2495391606293137 Centerline is valid? [False, False] Translation: X:-23.25, Y:-0.68, Z:16.15 [[ 9.92691789e-01 -1.08964700e-01 -5.18623697e-02 -2.32524556e+01] [ 1.08644559e-01 9.94040271e-01 -8.96099935e-03 -6.82850033e-01] [ 5.25297166e-02 3.26094621e-03 9.98614037e-01 1.61467034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52907232899999 meters Centerline goodness [0,1] 0.24699839486356345 Centerline is valid? [False, False] Translation: X:-23.24, Y:-0.68, Z:16.15 [[ 9.91643544e-01 -1.16141805e-01 -5.61619329e-02 -2.32438882e+01] [ 1.15593920e-01 9.93212543e-01 -1.29185837e-02 -6.84269585e-01] [ 5.72811239e-02 6.31865213e-03 9.98338093e-01 1.61498451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55907232899999 meters Centerline goodness [0,1] 0.2402248913876821 Centerline is valid? [False, False] Translation: X:-23.23, Y:-0.68, Z:16.16 [[ 9.88548313e-01 -1.39020205e-01 -5.86993661e-02 -2.32271348e+01] [ 1.38308000e-01 9.90259266e-01 -1.60462659e-02 -6.84243315e-01] [ 6.03583464e-02 7.74391719e-03 9.98146734e-01 1.61555919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58907232899999 meters Centerline goodness [0,1] 0.23683875079668582 Centerline is valid? [False, False] Translation: X:-23.22, Y:-0.68, Z:16.15 [[ 9.87431369e-01 -1.49234737e-01 -5.20411919e-02 -2.32155465e+01] [ 1.48693395e-01 9.88782176e-01 -1.41450627e-02 -6.81234731e-01] [ 5.35683376e-02 6.22909708e-03 9.98544757e-01 1.61527924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61907232899999 meters Centerline goodness [0,1] 0.2319808360892055 Centerline is valid? [False, False] Translation: X:-23.21, Y:-0.68, Z:16.16 [[ 9.85972104e-01 -1.56885286e-01 -5.69738252e-02 -2.32057964e+01] [ 1.56101357e-01 9.87577264e-01 -1.79864679e-02 -6.82752081e-01] [ 5.90878666e-02 8.84046418e-03 9.98213640e-01 1.61571307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64907232899999 meters Centerline goodness [0,1] 0.22496343867234692 Centerline is valid? [False, False] Translation: X:-23.19, Y:-0.68, Z:16.16 [[ 9.81478616e-01 -1.81323972e-01 -6.18170124e-02 -2.31891020e+01] [ 1.80241176e-01 9.83360225e-01 -2.27109327e-02 -6.83987271e-01] [ 6.49064277e-02 1.11483239e-02 9.97829079e-01 1.61636645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.679072329 meters Centerline goodness [0,1] 0.21975690982754603 Centerline is valid? [False, False] Translation: X:-23.18, Y:-0.69, Z:16.17 [[ 9.79594582e-01 -1.89279611e-01 -6.75846416e-02 -2.31768869e+01] [ 1.87876171e-01 9.81832225e-01 -2.66087485e-02 -6.85132050e-01] [ 7.13932726e-02 1.33682422e-02 9.97358657e-01 1.61683665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.709072329 meters Centerline goodness [0,1] 0.21470818935362834 Centerline is valid? [False, False] Translation: X:-23.16, Y:-0.69, Z:16.17 [[ 9.77584623e-01 -1.97307242e-01 -7.34721558e-02 -2.31644832e+01] [ 1.95546974e-01 9.80219988e-01 -3.04984598e-02 -6.86724903e-01] [ 7.80364427e-02 1.54475676e-02 9.96830821e-01 1.61737504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739072329 meters Centerline goodness [0,1] 0.21100839623441603 Centerline is valid? [False, False] Translation: X:-23.16, Y:-0.69, Z:16.18 [[ 9.75553918e-01 -2.06280366e-01 -7.57823385e-02 -2.31591407e+01] [ 2.04040288e-01 9.78289851e-01 -3.62840021e-02 -6.91881850e-01] [ 8.16217698e-02 1.99343502e-02 9.96464003e-01 1.61777744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.769072329 meters Centerline goodness [0,1] 0.2008528875121992 Centerline is valid? [False, False] Translation: X:-23.14, Y:-0.70, Z:16.19 [[ 9.69584020e-01 -2.31680812e-01 -7.89356089e-02 -2.31449738e+01] [ 2.29039446e-01 9.72547311e-01 -4.11419460e-02 -6.98672300e-01] [ 8.63004136e-02 2.18112053e-02 9.96030376e-01 1.61877069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799072329 meters Centerline goodness [0,1] 0.19570152547047714 Centerline is valid? [False, False] Translation: X:-23.14, Y:-0.71, Z:16.19 [[ 0.96745356 -0.23986281 -0.08061909 -23.14033723] [ 0.23672979 0.9704601 -0.04654242 -0.70665735] [ 0.08940141 0.02594269 0.99565775 16.19188097] [ 0. 0. 0. 1. ]] SLAMing on 126.829072329 meters Centerline goodness [0,1] 0.1908762995968597 Centerline is valid? [False, False] Translation: X:-23.14, Y:-0.71, Z:16.20 [[ 0.9652268 -0.24821601 -0.08201248 -23.13573665] [ 0.24455541 0.96823062 -0.05217383 -0.71496489] [ 0.09235737 0.03030299 0.99526471 16.19554473] [ 0. 0. 0. 1. ]] SLAMing on 126.85907232899999 meters Centerline goodness [0,1] 0.18171028928684962 Centerline is valid? [False, False] Translation: X:-23.13, Y:-0.73, Z:16.20 [[ 0.9580835 -0.27413914 -0.083209 -23.13091564] [ 0.27022998 0.96120639 -0.0552994 -0.7309666 ] [ 0.09514076 0.03049588 0.9949966 16.19691658] [ 0. 0. 0. 1. ]] SLAMing on 126.88907232899999 meters Centerline goodness [0,1] 0.18171028928684962 Centerline is valid? [False, False] Translation: X:-23.13, Y:-0.73, Z:16.20 [[ 0.95863516 -0.27231864 -0.08283233 -23.13229957] [ 0.26843795 0.9617221 -0.05506057 -0.73332981] [ 0.0946557 0.03054765 0.99504128 16.19653356] [ 0. 0. 0. 1. ]] SLAMing on 126.91907232899999 meters Centerline goodness [0,1] 0.1771749496662075 Centerline is valid? [False, False] Translation: X:-23.14, Y:-0.75, Z:16.20 [[ 0.95480933 -0.28363645 -0.08882294 -23.14033147] [ 0.27933606 0.95844912 -0.05785033 -0.74987219] [ 0.10154073 0.03042458 0.99436604 16.2002453 ] [ 0. 0. 0. 1. ]] SLAMing on 126.94907232899999 meters Centerline goodness [0,1] 0.1665253518738341 Centerline is valid? [False, False] Translation: X:-23.14, Y:-0.77, Z:16.21 [[ 0.94749626 -0.30458288 -0.09736581 -23.13885726] [ 0.29960098 0.95200887 -0.06259686 -0.77192523] [ 0.11175904 0.0301394 0.99327818 16.20739272] [ 0. 0. 0. 1. ]] SLAMing on 126.97907232899999 meters Centerline goodness [0,1] 0.1635800504889794 Centerline is valid? [False, False] Translation: X:-23.15, Y:-0.80, Z:16.21 [[ 0.9445311 -0.31074048 -0.1063078 -23.14867122] [ 0.30495978 0.94998429 -0.06730067 -0.79519251] [ 0.12190378 0.03114797 0.99205306 16.2147469 ] [ 0. 0. 0. 1. ]] SLAMing on 127.00907232899999 meters Centerline goodness [0,1] 0.16043279940596156 Centerline is valid? [False, False] Translation: X:-23.16, Y:-0.82, Z:16.22 [[ 0.94126341 -0.31748827 -0.11499732 -23.15914563] [ 0.31090427 0.94772966 -0.07174284 -0.81875307] [ 0.13176388 0.03177576 0.99077171 16.22255643] [ 0. 0. 0. 1. ]] SLAMing on 127.03907232899999 meters Centerline goodness [0,1] 0.1560768495913385 Centerline is valid? [False, False] Translation: X:-23.17, Y:-0.84, Z:16.23 [[ 0.93744313 -0.3259568 -0.12228062 -23.16999781] [ 0.31876788 0.94486835 -0.0749056 -0.84152886] [ 0.13995507 0.03124061 0.98966489 16.22944062] [ 0. 0. 0. 1. ]] SLAMing on 127.069072329 meters Centerline goodness [0,1] 0.14912671632605423 Centerline is valid? [False, False] Translation: X:-23.17, Y:-0.87, Z:16.24 [[ 0.93012377 -0.34386464 -0.12894526 -23.17461136] [ 0.33624178 0.93857873 -0.07753344 -0.87115445] [ 0.14768629 0.02875892 0.98861605 16.23540823] [ 0. 0. 0. 1. ]] SLAMing on 127.099072329 meters Centerline goodness [0,1] 0.14720833776454323 Centerline is valid? [False, False] Translation: X:-23.18, Y:-0.90, Z:16.24 [[ 0.92770097 -0.34668906 -0.13848327 -23.18489418] [ 0.3383255 0.93756136 -0.08071279 -0.89539153] [ 0.1578188 0.02802491 0.98707033 16.24107957] [ 0. 0. 0. 1. ]] SLAMing on 127.129072329 meters Centerline goodness [0,1] 0.141260140962034 Centerline is valid? [False, False] Translation: X:-23.20, Y:-0.93, Z:16.24 [[ 0.92103592 -0.36208241 -0.14348928 -23.19602632] [ 0.35346378 0.93180374 -0.08249332 -0.92704443] [ 0.16357322 0.02526105 0.98620773 16.2398793 ] [ 0. 0. 0. 1. ]] SLAMing on 127.159072329 meters Centerline goodness [0,1] 0.14382993211754946 Centerline is valid? [False, False] Translation: X:-23.21, Y:-0.95, Z:16.24 [[ 0.91999508 -0.36249015 -0.14903003 -23.21333358] [ 0.35328736 0.93163427 -0.08512125 -0.95365083] [ 0.16969709 0.02566071 0.98516213 16.24033689] [ 0. 0. 0. 1. ]] SLAMing on 127.189072329 meters Centerline goodness [0,1] 0.1504862651424671 Centerline is valid? [False, False] Translation: X:-23.23, Y:-0.99, Z:16.24 [[ 0.9133405 -0.37756685 -0.15248739 -23.23046129] [ 0.36814466 0.92568834 -0.08700917 -0.98735479] [ 0.17400757 0.02333158 0.98446788 16.24126194] [ 0. 0. 0. 1. ]] SLAMing on 127.21907232899999 meters Centerline goodness [0,1] 0.15625933671945025 Centerline is valid? [False, False] Translation: X:-23.25, Y:-1.02, Z:16.24 [[ 0.91264817 -0.3775582 -0.15659861 -23.2526686 ] [ 0.36773195 0.92569073 -0.08871242 -1.01631112] [ 0.17845598 0.02337692 0.98367016 16.24218239] [ 0. 0. 0. 1. ]] SLAMing on 127.24907232899999 meters Centerline goodness [0,1] 0.16085842408712359 Centerline is valid? [False, False] Translation: X:-23.28, Y:-1.04, Z:16.24 [[ 9.11990163e-01 -3.77461509e-01 -1.60613672e-01 -2.32755467e+01] [ 3.67271075e-01 9.25733659e-01 -9.01617950e-02 -1.04449868e+00] [ 1.82718089e-01 2.32379143e-02 9.82890685e-01 1.62428764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27907232899999 meters Centerline goodness [0,1] 0.17103857820310164 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.08, Z:16.24 [[ 9.06110864e-01 -3.89500608e-01 -1.65082945e-01 -2.32970362e+01] [ 3.79705715e-01 9.20858771e-01 -8.85589839e-02 -1.07847911e+00] [ 1.86511856e-01 1.75613197e-02 9.82295743e-01 1.62428914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30907232899999 meters Centerline goodness [0,1] 0.17437616069332085 Centerline is valid? [False, False] Translation: X:-23.32, Y:-1.11, Z:16.24 [[ 9.05975030e-01 -3.87743593e-01 -1.69894530e-01 -2.33187492e+01] [ 3.77756472e-01 9.21620985e-01 -8.89651991e-02 -1.10502843e+00] [ 1.91074050e-01 1.64214904e-02 9.81438252e-01 1.62415572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33907232899999 meters Centerline goodness [0,1] 0.18153240810042126 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.13, Z:16.24 [[ 9.05486169e-01 -3.86804194e-01 -1.74577526e-01 -2.33404426e+01] [ 3.76466227e-01 9.22022939e-01 -9.02600650e-02 -1.13040685e+00] [ 1.95877456e-01 1.60066980e-02 9.80497735e-01 1.62401079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36907232899999 meters Centerline goodness [0,1] 0.197525588153593 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.16, Z:16.24 [[ 9.01334666e-01 -3.93181069e-01 -1.81671317e-01 -2.33534247e+01] [ 3.81963819e-01 9.19324229e-01 -9.45864858e-02 -1.16051173e+00] [ 2.04204459e-01 1.58622085e-02 9.78799739e-01 1.62441015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39907232899999 meters Centerline goodness [0,1] 0.20488347706991372 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.19, Z:16.24 [[ 9.00921223e-01 -3.92108804e-01 -1.85988269e-01 -2.33768105e+01] [ 3.80577115e-01 9.19790255e-01 -9.56396713e-02 -1.18516698e+00] [ 2.08571354e-01 1.53809308e-02 9.77886198e-01 1.62426871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.429072329 meters Centerline goodness [0,1] 0.23319413213406148 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.21, Z:16.25 [[ 8.97101310e-01 -3.96560173e-01 -1.94805722e-01 -2.33895365e+01] [ 3.85037814e-01 9.17946810e-01 -9.54962653e-02 -1.21405051e+00] [ 2.16691306e-01 1.06622556e-02 9.76181947e-01 1.62482040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.459072329 meters Centerline goodness [0,1] 0.24537037037037035 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.24, Z:16.25 [[ 8.97238698e-01 -3.93453178e-01 -2.00392904e-01 -2.34123582e+01] [ 3.82000259e-01 9.19306864e-01 -9.46081007e-02 -1.23680031e+00] [ 2.21446430e-01 8.33590794e-03 9.75136909e-01 1.62466447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.489072329 meters Centerline goodness [0,1] 0.25652434328741336 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.26, Z:16.24 [[ 8.97160833e-01 -3.90750197e-01 -2.05953205e-01 -2.34352703e+01] [ 3.79290150e-01 9.20474816e-01 -9.41546348e-02 -1.25786005e+00] [ 2.26365680e-01 6.35582877e-03 9.74021654e-01 1.62447434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519072329 meters Centerline goodness [0,1] 0.2720095847328897 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.28, Z:16.24 [[ 8.96735652e-01 -3.88607745e-01 -2.11776275e-01 -2.34569278e+01] [ 3.76964102e-01 9.21389999e-01 -9.45438282e-02 -1.27718997e+00] [ 2.31869005e-01 4.94876819e-03 9.72734431e-01 1.62426735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.549072329 meters Centerline goodness [0,1] 0.276576595881458 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.30, Z:16.24 [[ 8.95980065e-01 -3.87343593e-01 -2.17220311e-01 -2.34776249e+01] [ 3.75289375e-01 9.21924549e-01 -9.59844319e-02 -1.29509796e+00] [ 2.37439692e-01 4.47966281e-03 9.71391952e-01 1.62397779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579072329 meters Centerline goodness [0,1] 0.28632268281721485 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.32, Z:16.24 [[ 8.93313053e-01 -3.90851777e-01 -2.21870860e-01 -2.34958423e+01] [ 3.77716476e-01 9.20433298e-01 -1.00661852e-01 -1.31639722e+00] [ 2.43561191e-01 6.11826669e-03 9.69866235e-01 1.62370222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60907232899999 meters Centerline goodness [0,1] 0.2883060202815455 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.33, Z:16.24 [[ 8.96073471e-01 -3.83928365e-01 -2.22825817e-01 -2.35053763e+01] [ 3.69885340e-01 9.23306219e-01 -1.03394689e-01 -1.33053855e+00] [ 2.45432616e-01 1.02292346e-02 9.69359682e-01 1.62353566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63907232899999 meters Centerline goodness [0,1] 0.292264284034799 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.34, Z:16.24 [[ 8.96862506e-01 -3.82436069e-01 -2.22216781e-01 -2.35078340e+01] [ 3.68860667e-01 9.23938472e-01 -1.01387912e-01 -1.33868773e+00] [ 2.44089028e-01 8.96398719e-03 9.69711397e-01 1.62351403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66907232899999 meters Centerline goodness [0,1] 0.293469675298337 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.35, Z:16.24 [[ 8.97797699e-01 -3.80081597e-01 -2.22479823e-01 -2.35092665e+01] [ 3.67205673e-01 9.24929641e-01 -9.83115073e-02 -1.34980163e+00] [ 2.43144578e-01 6.56799172e-03 9.69967822e-01 1.62362960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69907232899999 meters Centerline goodness [0,1] 0.2957488108188818 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.36, Z:16.23 [[ 9.01589716e-01 -3.71421845e-01 -2.21769694e-01 -2.35184452e+01] [ 3.58254240e-01 9.28417409e-01 -9.84632652e-02 -1.36033598e+00] [ 2.42466252e-01 9.32353424e-03 9.70115039e-01 1.62321973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72907232899999 meters Centerline goodness [0,1] 0.2951749429649687 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.37, Z:16.23 [[ 9.04039969e-01 -3.67748002e-01 -2.17883323e-01 -2.35282150e+01] [ 3.54372079e-01 9.29843678e-01 -9.90513223e-02 -1.36963389e+00] [ 2.39023356e-01 1.23345883e-02 9.70935473e-01 1.62273032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75907232899999 meters Centerline goodness [0,1] 0.2970148934806299 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.37, Z:16.23 [[ 9.04553948e-01 -3.66477584e-01 -2.17890649e-01 -2.35289670e+01] [ 3.53258049e-01 9.30350560e-01 -9.82679312e-02 -1.37277966e+00] [ 2.38727682e-01 1.19170196e-02 9.71013429e-01 1.62271961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78907232899999 meters Centerline goodness [0,1] 0.2937760222056155 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.38, Z:16.23 [[ 9.05048262e-01 -3.65334542e-01 -2.17757470e-01 -2.35300910e+01] [ 3.52236816e-01 9.30803109e-01 -9.76462893e-02 -1.37504857e+00] [ 2.38362892e-01 1.16724066e-02 9.71106012e-01 1.62269197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.819072329 meters Centerline goodness [0,1] 0.29061804485533305 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.38, Z:16.23 [[ 9.07025267e-01 -3.59183144e-01 -2.19755853e-01 -2.35291074e+01] [ 3.47130545e-01 9.33235382e-01 -9.25856727e-02 -1.37943004e+00] [ 2.38339150e-01 7.69357551e-03 9.71151512e-01 1.62270322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.849072329 meters Centerline goodness [0,1] 0.28566853824640803 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.38, Z:16.23 [[ 9.07488106e-01 -3.58126828e-01 -2.19568923e-01 -2.35300822e+01] [ 3.46199961e-01 9.33643361e-01 -9.19546744e-02 -1.38158065e+00] [ 2.37930503e-01 7.43302065e-03 9.71253739e-01 1.62267122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879072329 meters Centerline goodness [0,1] 0.2822926673070766 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.38, Z:16.23 [[ 9.07919934e-01 -3.57108624e-01 -2.19442075e-01 -2.35306586e+01] [ 3.45328510e-01 9.34036193e-01 -9.12393014e-02 -1.38434022e+00] [ 2.37549182e-01 7.05837553e-03 9.71349868e-01 1.62264278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.909072329 meters Centerline goodness [0,1] 0.27667477904444726 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.39, Z:16.22 [[ 9.10782649e-01 -3.51687279e-01 -2.16312329e-01 -2.35367456e+01] [ 3.39336268e-01 9.36048436e-01 -9.30818068e-02 -1.39279450e+00] [ 2.35214505e-01 1.13746762e-02 9.71876923e-01 1.62186890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939072329 meters Centerline goodness [0,1] 0.27329351535836177 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.40, Z:16.22 [[ 9.11113371e-01 -3.50728985e-01 -2.16475412e-01 -2.35362409e+01] [ 3.38536518e-01 9.36414509e-01 -9.23086912e-02 -1.39567717e+00] [ 2.35086050e-01 1.08188509e-02 9.71914349e-01 1.62184054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96907232899999 meters Centerline goodness [0,1] 0.2698439837572131 Centerline is valid? [False, False] Translation: X:-23.54, Y:-1.40, Z:16.22 [[ 9.11413881e-01 -3.49923641e-01 -2.16513702e-01 -2.35361925e+01] [ 3.37870021e-01 9.36720843e-01 -9.16401182e-02 -1.39778356e+00] [ 2.34879941e-01 1.03685868e-02 9.71969087e-01 1.62180616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99907232899999 meters Centerline goodness [0,1] 0.26684889382420773 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.40, Z:16.22 [[ 9.13167900e-01 -3.43931477e-01 -2.18713342e-01 -2.35341945e+01] [ 3.32981329e-01 9.38975701e-01 -8.63021858e-02 -1.40245417e+00] [ 2.35048552e-01 5.98092654e-03 9.71965229e-01 1.62184675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.029072329 meters Centerline goodness [0,1] 0.2654451491660794 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.41, Z:16.22 [[ 9.14697145e-01 -3.38611135e-01 -2.20616483e-01 -2.35330823e+01] [ 3.28676464e-01 9.40924309e-01 -8.14446200e-02 -1.40637755e+00] [ 2.35161467e-01 1.98571600e-03 9.71954290e-01 1.62191667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059072329 meters Centerline goodness [0,1] 0.2618140570156665 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.41, Z:16.22 [[ 9.15005998e-01 -3.37571636e-01 -2.20928526e-01 -2.35326488e+01] [ 3.27812903e-01 9.41298917e-01 -8.05918700e-02 -1.40958228e+00] [ 2.35165312e-01 1.31882290e-03 9.71954493e-01 1.62198094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089072329 meters Centerline goodness [0,1] 0.25446304491907723 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.41, Z:16.22 [[ 9.15216187e-01 -3.36840371e-01 -2.21173903e-01 -2.35317094e+01] [ 3.27222758e-01 9.41561453e-01 -7.99205682e-02 -1.41217352e+00] [ 2.35169296e-01 7.71463099e-04 9.71954118e-01 1.62197086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119072329 meters Centerline goodness [0,1] 0.2557850797388419 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.42, Z:16.22 [[ 9.15424579e-01 -3.36060437e-01 -2.21497682e-01 -2.35301837e+01] [ 3.26606363e-01 9.41840416e-01 -7.91512116e-02 -1.41500146e+00] [ 2.35215060e-01 1.14412017e-04 9.71943343e-01 1.62193315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.149072329 meters Centerline goodness [0,1] 0.24761272641630627 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.42, Z:16.22 [[ 9.15771124e-01 -3.34769467e-01 -2.22019488e-01 -2.35264813e+01] [ 3.25610116e-01 9.42299461e-01 -7.77803186e-02 -1.42004120e+00] [ 2.35247320e-01 -1.06282156e-03 9.71934961e-01 1.62180673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179072329 meters Centerline goodness [0,1] 0.2445114260672524 Centerline is valid? [False, False] Translation: X:-23.53, Y:-1.42, Z:16.22 [[ 9.15924757e-01 -3.34059087e-01 -2.22455311e-01 -2.35250078e+01] [ 3.25066434e-01 9.42550458e-01 -7.70094043e-02 -1.42303015e+00] [ 2.35401047e-01 -1.77793482e-03 9.71896695e-01 1.62182454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.209072329 meters Centerline goodness [0,1] 0.24443255963204624 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.43, Z:16.22 [[ 9.16052178e-01 -3.33419623e-01 -2.22889573e-01 -2.35238186e+01] [ 3.24582323e-01 9.42775332e-01 -7.62954102e-02 -1.42612695e+00] [ 2.35573178e-01 -2.45543853e-03 9.71853512e-01 1.62188182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239072329 meters Centerline goodness [0,1] 0.24638426431831328 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.43, Z:16.22 [[ 9.16083092e-01 -3.33066146e-01 -2.23290643e-01 -2.35233865e+01] [ 3.24531637e-01 9.42896005e-01 -7.50089369e-02 -1.43293033e+00] [ 2.35522792e-01 -3.75045884e-03 9.71861589e-01 1.62207004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.269072329 meters Centerline goodness [0,1] 0.25097710776102733 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.44, Z:16.22 [[ 9.16203069e-01 -3.32371274e-01 -2.23833136e-01 -2.35216813e+01] [ 3.24050620e-01 9.43136989e-01 -7.40527968e-02 -1.43691658e+00] [ 2.35718332e-01 -4.68586669e-03 9.71810121e-01 1.62212526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299072329 meters Centerline goodness [0,1] 0.24739131366373124 Centerline is valid? [False, False] Translation: X:-23.52, Y:-1.44, Z:16.22 [[ 9.16304561e-01 -3.31564782e-01 -2.24612436e-01 -2.35191340e+01] [ 3.23457791e-01 9.43415369e-01 -7.30924003e-02 -1.44081785e+00] [ 2.36137690e-01 -5.67774249e-03 9.71703018e-01 1.62217637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.329072329 meters Centerline goodness [0,1] 0.2449573271159975 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.45, Z:16.22 [[ 9.16480809e-01 -3.30300000e-01 -2.25753928e-01 -2.35140940e+01] [ 3.22634707e-01 9.43845214e-01 -7.11551607e-02 -1.44761524e+00] [ 2.36579314e-01 -7.62371315e-03 9.71582270e-01 1.62212288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359072329 meters Centerline goodness [0,1] 0.2487549428235546 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.45, Z:16.22 [[ 9.17613874e-01 -3.25856342e-01 -2.27601457e-01 -2.35116954e+01] [ 3.19228834e-01 9.45346843e-01 -6.64251340e-02 -1.45164493e+00] [ 2.36807370e-01 -1.17043230e-02 9.71486119e-01 1.62211802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38907232900002 meters Centerline goodness [0,1] 0.24585706333233415 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.46, Z:16.22 [[ 9.18863833e-01 -3.21073725e-01 -2.29348905e-01 -2.35098564e+01] [ 3.15525146e-01 9.46921610e-01 -6.15089192e-02 -1.45555521e+00] [ 2.36924332e-01 -1.58470253e-02 9.71398854e-01 1.62212313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41907232900002 meters Centerline goodness [0,1] 0.24538591501101392 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.46, Z:16.22 [[ 9.20163125e-01 -3.15784827e-01 -2.31473034e-01 -2.35071022e+01] [ 3.11459317e-01 9.48607945e-01 -5.60005482e-02 -1.46176164e+00] [ 2.37261283e-01 -2.05647937e-02 9.71228178e-01 1.62220253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44907232900002 meters Centerline goodness [0,1] 0.2481962790896829 Centerline is valid? [False, False] Translation: X:-23.51, Y:-1.46, Z:16.22 [[ 9.20260363e-01 -3.15179191e-01 -2.31911496e-01 -2.35057718e+01] [ 3.11017932e-01 9.48794333e-01 -5.52915877e-02 -1.46440342e+00] [ 2.37463071e-01 -2.12459775e-02 9.71164197e-01 1.62224705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47907232900002 meters Centerline goodness [0,1] 0.24570622917200713 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.47, Z:16.22 [[ 9.20376796e-01 -3.14481355e-01 -2.32396278e-01 -2.35040596e+01] [ 3.10509278e-01 9.49008136e-01 -5.44751845e-02 -1.46749914e+00] [ 2.37677388e-01 -2.20235047e-02 9.71094447e-01 1.62227624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50907232900002 meters Centerline goodness [0,1] 0.24018139813467954 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.47, Z:16.22 [[ 9.20547747e-01 -3.13424353e-01 -2.33145921e-01 -2.35007113e+01] [ 3.09743257e-01 9.49329285e-01 -5.32261493e-02 -1.47263224e+00] [ 2.38014622e-01 -2.32181652e-02 9.70984014e-01 1.62228731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539072329 meters Centerline goodness [0,1] 0.2437383497953849 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.48, Z:16.22 [[ 0.92063454 -0.31288861 -0.23352252 -23.49937895] [ 0.30936008 0.94949056 -0.05257397 -1.47507246] [ 0.23817722 -0.02384114 0.97092905 16.22306505] [ 0. 0. 0. 1. ]] SLAMing on 128.569072329 meters Centerline goodness [0,1] 0.2389912872219725 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.48, Z:16.22 [[ 0.92075424 -0.31214674 -0.23404284 -23.4976672 ] [ 0.30882201 0.9497135 -0.05170336 -1.4783425 ] [ 0.23841268 -0.02467149 0.97085051 16.22349943] [ 0. 0. 0. 1. ]] SLAMing on 128.599072329 meters Centerline goodness [0,1] 0.24335676324361388 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.48, Z:16.22 [[ 0.92083093 -0.31175419 -0.23426421 -23.49690536] [ 0.30852819 0.94983222 -0.05127486 -1.47988569] [ 0.23849685 -0.02506163 0.97081984 16.22363058] [ 0. 0. 0. 1. ]] SLAMing on 128.629072329 meters Centerline goodness [0,1] 0.2381482115351703 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.48, Z:16.22 [[ 0.92091643 -0.31135417 -0.23446004 -23.4962815 ] [ 0.30823517 0.94995236 -0.05080948 -1.48164583] [ 0.23854562 -0.02547754 0.97079704 16.22383915] [ 0. 0. 0. 1. ]] SLAMing on 128.659072329 meters Centerline goodness [0,1] 0.2376022851742875 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.48, Z:16.22 [[ 0.92100556 -0.31093362 -0.23466796 -23.49561829] [ 0.30792124 0.9500789 -0.05034471 -1.48342993] [ 0.23860694 -0.02589149 0.97077101 16.2240729 ] [ 0. 0. 0. 1. ]] SLAMing on 128.689072329 meters Centerline goodness [0,1] 0.23257207679630143 Centerline is valid? [False, False] Translation: X:-23.50, Y:-1.49, Z:16.22 [[ 0.92117817 -0.31030278 -0.23482539 -23.49527178] [ 0.30741596 0.95027276 -0.04977062 -1.48566049] [ 0.23859213 -0.02634146 0.97076255 16.22446749] [ 0. 0. 0. 1. ]] SLAMing on 128.719072329 meters Centerline goodness [0,1] 0.22820041074790343 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.49, Z:16.23 [[ 0.92238601 -0.30536209 -0.23655451 -23.49389457] [ 0.30348098 0.95176216 -0.0452558 -1.48893016] [ 0.23896304 -0.03004648 0.97056369 16.22534713] [ 0. 0. 0. 1. ]] SLAMing on 128.749072329 meters Centerline goodness [0,1] 0.22422829272466682 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.49, Z:16.23 [[ 0.92377205 -0.29960849 -0.23849518 -23.49172443] [ 0.29884558 0.95345266 -0.04024115 -1.49320761] [ 0.23945046 -0.03409958 0.97030959 16.22618528] [ 0. 0. 0. 1. ]] SLAMing on 128.779072329 meters Centerline goodness [0,1] 0.22422829272466682 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.49, Z:16.23 [[ 0.92377205 -0.29960849 -0.23849518 -23.49172443] [ 0.29884558 0.95345266 -0.04024115 -1.49320761] [ 0.23945046 -0.03409958 0.97030959 16.22618528] [ 0. 0. 0. 1. ]] SLAMing on 128.809072329 meters Centerline goodness [0,1] 0.23069671779929724 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.49, Z:16.23 [[ 0.92388504 -0.29925075 -0.23850663 -23.49162546] [ 0.29857007 0.95355485 -0.03986294 -1.49442503] [ 0.23935817 -0.03438217 0.97032239 16.22616055] [ 0. 0. 0. 1. ]] SLAMing on 128.839072329 meters Centerline goodness [0,1] 0.22609979459089358 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.50, Z:16.23 [[ 0.92397336 -0.2989411 -0.23855281 -23.49141588] [ 0.29833126 0.95364294 -0.03954231 -1.49549545] [ 0.23931503 -0.03463172 0.97032415 16.22617449] [ 0. 0. 0. 1. ]] SLAMing on 128.869072329 meters Centerline goodness [0,1] 0.2197962466487936 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.50, Z:16.23 [[ 0.92411518 -0.29830718 -0.2387969 -23.49070206] [ 0.29784279 0.95382175 -0.03890683 -1.49764012] [ 0.23937586 -0.03516954 0.9702898 16.2264473 ] [ 0. 0. 0. 1. ]] SLAMing on 128.899072329 meters Centerline goodness [0,1] 0.22810402864432577 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.50, Z:16.23 [[ 0.92417356 -0.29807704 -0.23885835 -23.49062032] [ 0.29766196 0.95388717 -0.03868632 -1.49823795] [ 0.23937542 -0.03534618 0.97028349 16.22658136] [ 0. 0. 0. 1. ]] SLAMing on 128.929072329 meters Centerline goodness [0,1] 0.22881501156713224 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.50, Z:16.23 [[ 0.92531158 -0.29307273 -0.24063842 -23.48882735] [ 0.29378031 0.95527615 -0.03377294 -1.50238025] [ 0.23977407 -0.03944434 0.97002708 16.22738191] [ 0. 0. 0. 1. ]] SLAMing on 128.959072329 meters Centerline goodness [0,1] 0.2246138749040021 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.50, Z:16.23 [[ 0.92534351 -0.29274309 -0.24091672 -23.48784948] [ 0.2935484 0.95536118 -0.03338197 -1.50363874] [ 0.23993482 -0.03983093 0.96997154 16.2275181 ] [ 0. 0. 0. 1. ]] SLAMing on 128.989072329 meters Centerline goodness [0,1] 0.23180454350621515 Centerline is valid? [False, False] Translation: X:-23.49, Y:-1.51, Z:16.23 [[ 0.92535697 -0.29235454 -0.24133649 -23.48652602] [ 0.29328218 0.95545934 -0.03290909 -1.50536822] [ 0.24020833 -0.04032704 0.96988334 16.2278819 ] [ 0. 0. 0. 1. ]] SLAMing on 129.019072329 meters Centerline goodness [0,1] 0.23061438636314968 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.51, Z:16.23 [[ 0.92535477 -0.29196006 -0.24182196 -23.484985 ] [ 0.29302644 0.95555581 -0.03238218 -1.50746212] [ 0.24052869 -0.04089522 0.96978015 16.22832329] [ 0. 0. 0. 1. ]] SLAMing on 129.049072329 meters Centerline goodness [0,1] 0.23798897066712443 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.51, Z:16.23 [[ 0.92515567 -0.29222711 -0.24226082 -23.483179 ] [ 0.29353315 0.9554288 -0.03152939 -1.5116133 ] [ 0.24067671 -0.04194198 0.96969871 16.22889015] [ 0. 0. 0. 1. ]] SLAMing on 129.079072329 meters Centerline goodness [0,1] 0.24256895665581635 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.51, Z:16.23 [[ 0.92507764 -0.29204719 -0.24277522 -23.48144859] [ 0.29351535 0.95545333 -0.03094622 -1.51401065] [ 0.24099815 -0.0426306 0.96958884 16.22937756] [ 0. 0. 0. 1. ]] SLAMing on 129.109072329 meters Centerline goodness [0,1] 0.2477965302052283 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.52, Z:16.23 [[ 0.92500045 -0.29188962 -0.24325834 -23.47960483] [ 0.29357041 0.95546157 -0.03015952 -1.51720542] [ 0.24122725 -0.04351588 0.96949254 16.22975862] [ 0. 0. 0. 1. ]] SLAMing on 129.13907232900002 meters Centerline goodness [0,1] 0.24929263482808883 Centerline is valid? [False, False] Translation: X:-23.48, Y:-1.52, Z:16.23 [[ 0.92490161 -0.29185054 -0.24368067 -23.47775486] [ 0.29374165 0.95543296 -0.02938886 -1.52049836] [ 0.2413977 -0.04439736 0.96941014 16.23002128] [ 0. 0. 0. 1. ]] SLAMing on 129.16907232900002 meters Centerline goodness [0,1] 0.25520176207685563 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.52, Z:16.23 [[ 0.92367043 -0.29618033 -0.24312579 -23.47454065] [ 0.29748796 0.95418233 -0.03220229 -1.52453287] [ 0.24152402 -0.04258269 0.96946009 16.22980887] [ 0. 0. 0. 1. ]] SLAMing on 129.19907232900002 meters Centerline goodness [0,1] 0.2562553556126821 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.53, Z:16.23 [[ 0.923613 -0.29590241 -0.24368176 -23.47248225] [ 0.29741807 0.95422977 -0.03143315 -1.52756546] [ 0.24182953 -0.04344329 0.96934574 16.23020732] [ 0. 0. 0. 1. ]] SLAMing on 129.22907232900002 meters Centerline goodness [0,1] 0.26172142368240936 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.53, Z:16.23 [[ 0.92344012 -0.29597013 -0.24425402 -23.47040696] [ 0.29783015 0.954142 -0.03017035 -1.53253251] [ 0.24198254 -0.0448857 0.96924183 16.23096525] [ 0. 0. 0. 1. ]] SLAMing on 129.25907232900002 meters Centerline goodness [0,1] 0.2667410235511132 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.53, Z:16.23 [[ 0.92342578 -0.29552774 -0.24484318 -23.46849426] [ 0.29757606 0.95424311 -0.02947154 -1.53498215] [ 0.24234958 -0.04564469 0.96911467 16.23147648] [ 0. 0. 0. 1. ]] SLAMing on 129.289072329 meters Centerline goodness [0,1] 0.26736073843511865 Centerline is valid? [False, False] Translation: X:-23.47, Y:-1.54, Z:16.23 [[ 0.92342127 -0.29507141 -0.2454099 -23.46645248] [ 0.29730814 0.95434806 -0.02876886 -1.53736674] [ 0.24269533 -0.04639658 0.96899243 16.23177696] [ 0. 0. 0. 1. ]] SLAMing on 129.319072329 meters Centerline goodness [0,1] 0.2715951472542547 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.54, Z:16.23 [[ 0.92333856 -0.29472203 -0.24613986 -23.46303505] [ 0.29735331 0.9543773 -0.0272944 -1.5425918 ] [ 0.24295456 -0.04798853 0.96884993 16.23174297] [ 0. 0. 0. 1. ]] SLAMing on 129.349072329 meters Centerline goodness [0,1] 0.2737844912672188 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.55, Z:16.23 [[ 0.92334839 -0.29418762 -0.24674156 -23.4606728 ] [ 0.29704152 0.95449789 -0.02645947 -1.54548718] [ 0.24329835 -0.04886118 0.96872003 16.23194929] [ 0. 0. 0. 1. ]] SLAMing on 129.379072329 meters Centerline goodness [0,1] 0.2773350471293916 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.55, Z:16.23 [[ 0.92332725 -0.29373773 -0.24735588 -23.45851268] [ 0.2967977 0.95459428 -0.02570771 -1.54832238] [ 0.24367584 -0.04967802 0.9685836 16.23242608] [ 0. 0. 0. 1. ]] SLAMing on 129.409072329 meters Centerline goodness [0,1] 0.27906877311499245 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.55, Z:16.23 [[ 0.92312908 -0.29395743 -0.24783407 -23.45641133] [ 0.29735167 0.95445335 -0.02451107 -1.55361515] [ 0.24375126 -0.05106699 0.96849238 16.23307684] [ 0. 0. 0. 1. ]] SLAMing on 129.439072329 meters Centerline goodness [0,1] 0.2817484891840526 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.56, Z:16.23 [[ 0.92310205 -0.29359318 -0.24836595 -23.45458062] [ 0.29716334 0.95452801 -0.02387937 -1.5560026 ] [ 0.24408308 -0.05176216 0.9683719 16.23354654] [ 0. 0. 0. 1. ]] SLAMing on 129.469072329 meters Centerline goodness [0,1] 0.28793250747543786 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.56, Z:16.23 [[ 9.22980183e-01 -2.93575150e-01 -2.48839733e-01 -2.34523943e+01] [ 2.97439266e-01 9.54468076e-01 -2.28161322e-02 -1.56017427e+00] [ 2.44207831e-01 -5.29558696e-02 9.68275896e-01 1.62338555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499072329 meters Centerline goodness [0,1] 0.2968739970473073 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.56, Z:16.23 [[ 9.22964274e-01 -2.93183136e-01 -2.49360379e-01 -2.34506026e+01] [ 2.97212294e-01 9.54552687e-01 -2.22265485e-02 -1.56240177e+00] [ 2.44544069e-01 -5.35986601e-02 9.68155660e-01 1.62343142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.529072329 meters Centerline goodness [0,1] 0.29956476061834014 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.57, Z:16.23 [[ 9.22939403e-01 -2.92799454e-01 -2.49902658e-01 -2.34488471e+01] [ 2.97005495e-01 9.54631471e-01 -2.15984074e-02 -1.56501065e+00] [ 2.44888944e-01 -5.42884415e-02 9.68030046e-01 1.62349587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559072329 meters Centerline goodness [0,1] 0.3040212296958932 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.57, Z:16.24 [[ 0.92174399 -0.29720779 -0.24910951 -23.44735005] [ 0.30066888 0.95340182 -0.02496375 -1.56718806] [ 0.24492088 -0.05188929 0.96815353 16.23536909] [ 0. 0. 0. 1. ]] SLAMing on 129.589072329 meters Centerline goodness [0,1] 0.30532326710439084 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.57, Z:16.24 [[ 0.92173944 -0.29674735 -0.24967462 -23.44556395] [ 0.30038361 0.95350802 -0.02433388 -1.56953708] [ 0.24528776 -0.05256866 0.96802399 16.23598312] [ 0. 0. 0. 1. ]] SLAMing on 129.619072329 meters Centerline goodness [0,1] 0.3083084587798226 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.57, Z:16.24 [[ 0.92174792 -0.29631366 -0.25015792 -23.44403538] [ 0.30010103 0.95361081 -0.02378658 -1.57151582] [ 0.24560158 -0.05314742 0.96791281 16.23646888] [ 0. 0. 0. 1. ]] SLAMing on 129.649072329 meters Centerline goodness [0,1] 0.3075030487152607 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.58, Z:16.24 [[ 9.21804952e-01 -2.95467367e-01 -2.50947536e-01 -2.34410086e+01] [ 2.99576318e-01 9.53805015e-01 -2.25836934e-02 -1.57567358e+00] [ 2.46027762e-01 -5.43601784e-02 9.67737212e-01 1.62368818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679072329 meters Centerline goodness [0,1] 0.3079523330694679 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.58, Z:16.24 [[ 9.21856414e-01 -2.94967718e-01 -2.51345970e-01 -2.34392182e+01] [ 2.99233300e-01 9.53926528e-01 -2.19911802e-02 -1.57760300e+00] [ 2.46252276e-01 -5.49383734e-02 9.67647452e-01 1.62367793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.709072329 meters Centerline goodness [0,1] 0.30680213903743314 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.58, Z:16.24 [[ 9.21927496e-01 -2.94475864e-01 -2.51661790e-01 -2.34376924e+01] [ 2.98894634e-01 9.54046243e-01 -2.13954208e-02 -1.57948597e+00] [ 2.46397421e-01 -5.54953320e-02 9.67578720e-01 1.62366280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739072329 meters Centerline goodness [0,1] 0.305943495091644 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.58, Z:16.24 [[ 9.22012484e-01 -2.93649356e-01 -2.52315347e-01 -2.34353740e+01] [ 2.98326989e-01 9.54245266e-01 -2.04200774e-02 -1.58316141e+00] [ 2.46767068e-01 -5.64449117e-02 9.67429577e-01 1.62372230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.769072329 meters Centerline goodness [0,1] 0.30883989726027394 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.22058555e-01 -2.93209633e-01 -2.52658134e-01 -2.34345305e+01] [ 2.98021613e-01 9.54351360e-01 -1.99147918e-02 -1.58521193e+00] [ 2.46963842e-01 -5.69349804e-02 9.67350644e-01 1.62379088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799072329 meters Centerline goodness [0,1] 0.31011197538251134 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.22079366e-01 -2.92595775e-01 -2.53293022e-01 -2.34335343e+01] [ 2.97601236e-01 9.54496662e-01 -1.92256835e-02 -1.58860098e+00] [ 2.47392698e-01 -5.76527105e-02 9.67198541e-01 1.62396950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.829072329 meters Centerline goodness [0,1] 0.30943138676790516 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.22106201e-01 -2.92310078e-01 -2.53525094e-01 -2.34330856e+01] [ 2.97402534e-01 9.54565046e-01 -1.89025191e-02 -1.58985128e+00] [ 2.47531589e-01 -5.79688751e-02 9.67144106e-01 1.62402290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859072329 meters Centerline goodness [0,1] 0.3076923076923077 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.22129643e-01 -2.92081812e-01 -2.53702850e-01 -2.34325281e+01] [ 2.97239076e-01 9.54620707e-01 -1.86611337e-02 -1.59067415e+00] [ 2.47640571e-01 -5.82024160e-02 9.67102180e-01 1.62404068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88907232900002 meters Centerline goodness [0,1] 0.30693090382732346 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.22164226e-01 -2.91898425e-01 -2.53788200e-01 -2.34321919e+01] [ 2.97101056e-01 9.54667203e-01 -1.84795366e-02 -1.59116273e+00] [ 2.47677419e-01 -5.83595746e-02 9.67083273e-01 1.62404187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91907232900002 meters Centerline goodness [0,1] 0.3063172731932342 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.22241471e-01 -2.91389165e-01 -2.54092551e-01 -2.34307459e+01] [ 2.96725913e-01 9.54793776e-01 -1.79604583e-02 -1.59277159e+00] [ 2.47839469e-01 -5.88319647e-02 9.67013132e-01 1.62402858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94907232900002 meters Centerline goodness [0,1] 0.3064898456018963 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.22278408e-01 -2.91078890e-01 -2.54314016e-01 -2.34299638e+01] [ 2.96507998e-01 9.54867961e-01 -1.76120144e-02 -1.59406437e+00] [ 2.47962791e-01 -5.91629592e-02 9.66961322e-01 1.62404768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97907232900002 meters Centerline goodness [0,1] 0.3030989527676854 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.60, Z:16.24 [[ 9.22336898e-01 -2.90511283e-01 -2.54750548e-01 -2.34288328e+01] [ 2.96094425e-01 9.55006634e-01 -1.70417266e-02 -1.59675138e+00] [ 2.48239277e-01 -5.97120036e-02 9.66856627e-01 1.62413856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00907232900002 meters Centerline goodness [0,1] 0.3044007430657869 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.60, Z:16.24 [[ 9.22362961e-01 -2.90372355e-01 -2.54814566e-01 -2.34287919e+01] [ 2.95981491e-01 9.55043499e-01 -1.69372792e-02 -1.59715952e+00] [ 2.48277113e-01 -5.97980762e-02 9.66841593e-01 1.62415941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039072329 meters Centerline goodness [0,1] 0.3024086591939762 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.60, Z:16.24 [[ 9.22407141e-01 -2.90315115e-01 -2.54719846e-01 -2.34290800e+01] [ 2.95915225e-01 9.55063969e-01 -1.69409256e-02 -1.59693838e+00] [ 2.48191954e-01 -5.97490497e-02 9.66866488e-01 1.62414587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.069072329 meters Centerline goodness [0,1] 0.2969164314429903 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.60, Z:16.24 [[ 9.22518352e-01 -2.89777555e-01 -2.54929125e-01 -2.34284143e+01] [ 2.95339966e-01 9.55239797e-01 -1.70655806e-02 -1.59568653e+00] [ 2.48463668e-01 -5.95474478e-02 9.66809137e-01 1.62411370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099072329 meters Centerline goodness [0,1] 0.29439811845199915 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.60, Z:16.24 [[ 9.22562909e-01 -2.89725025e-01 -2.54827565e-01 -2.34285413e+01] [ 2.95266521e-01 9.55261626e-01 -1.71145475e-02 -1.59524126e+00] [ 2.48385507e-01 -5.94528018e-02 9.66835045e-01 1.62407898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.129072329 meters Centerline goodness [0,1] 0.2947341403944047 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.22620299e-01 -2.89623317e-01 -2.54735388e-01 -2.34285521e+01] [ 2.95151226e-01 9.55296968e-01 -1.71305771e-02 -1.59489930e+00] [ 2.48309358e-01 -5.93804438e-02 9.66859052e-01 1.62403663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159072329 meters Centerline goodness [0,1] 0.29484261605187445 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.22737474e-01 -2.88996721e-01 -2.55022451e-01 -2.34278885e+01] [ 2.94451598e-01 9.55507995e-01 -1.73990720e-02 -1.59326906e+00] [ 2.48704266e-01 -5.90369923e-02 9.66778580e-01 1.62402270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.189072329 meters Centerline goodness [0,1] 0.28924487086135264 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.22804498e-01 -2.88885374e-01 -2.54906061e-01 -2.34283601e+01] [ 2.94245898e-01 9.55565426e-01 -1.77219717e-02 -1.59151971e+00] [ 2.48699037e-01 -5.86511475e-02 9.66803409e-01 1.62398775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219072329 meters Centerline goodness [0,1] 0.28685336026993913 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.24003519e-01 -2.83955224e-01 -2.56099449e-01 -2.34289919e+01] [ 2.90084066e-01 9.56893505e-01 -1.43546258e-02 -1.58877173e+00] [ 2.49135970e-01 -6.10266447e-02 9.66543852e-01 1.62399122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.249072329 meters Centerline goodness [0,1] 0.27579636924130846 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.25182001e-01 -2.78886819e-01 -2.57410969e-01 -2.34286389e+01] [ 2.85964890e-01 9.58184565e-01 -1.03160964e-02 -1.58892102e+00] [ 2.49524241e-01 -6.40662329e-02 9.66246951e-01 1.62400923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279072329 meters Centerline goodness [0,1] 0.27807440763375146 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.26320050e-01 -2.73837942e-01 -2.58735284e-01 -2.34282821e+01] [ 2.81867878e-01 9.59432567e-01 -6.29667877e-03 -1.58928432e+00] [ 2.49963327e-01 -6.70964258e-02 9.65927743e-01 1.62404916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.309072329 meters Centerline goodness [0,1] 0.26889403888245145 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.59, Z:16.24 [[ 9.27475970e-01 -2.68774866e-01 -2.59900743e-01 -2.34288008e+01] [ 2.77530156e-01 9.60711838e-01 -3.12674747e-03 -1.58635302e+00] [ 2.50530111e-01 -6.92303106e-02 9.65630275e-01 1.62406812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339072329 meters Centerline goodness [0,1] 0.26808903389212047 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.58, Z:16.24 [[ 9.27566044e-01 -2.68402685e-01 -2.59963907e-01 -2.34289090e+01] [ 2.76959386e-01 9.60873879e-01 -3.85825350e-03 -1.58301740e+00] [ 2.50828094e-01 -6.84206592e-02 9.65610626e-01 1.62402663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.369072329 meters Centerline goodness [0,1] 0.25926085644055374 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.58, Z:16.24 [[ 9.28643121e-01 -2.63665922e-01 -2.60964050e-01 -2.34291070e+01] [ 2.73055111e-01 9.61998349e-01 -2.89045755e-04 -1.58225462e+00] [ 2.51123196e-01 -7.09891472e-02 9.65348477e-01 1.62402713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399072329 meters Centerline goodness [0,1] 0.24357187278848835 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.58, Z:16.24 [[ 9.29643000e-01 -2.57814752e-01 -2.63240284e-01 -2.34272430e+01] [ 2.67510343e-01 9.63554441e-01 1.02783860e-03 -1.57506218e+00] [ 2.53381353e-01 -7.13750216e-02 9.64729753e-01 1.62429920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.429072329 meters Centerline goodness [0,1] 0.23944387229660147 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.57, Z:16.24 [[ 9.30646359e-01 -2.53163434e-01 -2.64207550e-01 -2.34279037e+01] [ 2.63668541e-01 9.64603004e-01 4.46603076e-03 -1.57348909e+00] [ 2.53724761e-01 -7.38195146e-02 9.64455507e-01 1.62431927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459072329 meters Centerline goodness [0,1] 0.23278083132944005 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.57, Z:16.24 [[ 9.31686392e-01 -2.48278488e-01 -2.65175901e-01 -2.34290020e+01] [ 2.59262137e-01 9.65783988e-01 6.66582765e-03 -1.56674186e+00] [ 2.54447657e-01 -7.49605317e-02 9.64177011e-01 1.62429694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.489072329 meters Centerline goodness [0,1] 0.22807509106192214 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.56, Z:16.24 [[ 9.32661742e-01 -2.43618672e-01 -2.66067693e-01 -2.34295475e+01] [ 2.55413203e-01 9.66779179e-01 1.01051852e-02 -1.56467882e+00] [ 2.54766894e-01 -7.73819213e-02 9.63901379e-01 1.62427622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519072329 meters Centerline goodness [0,1] 0.21882130096000685 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.56, Z:16.24 [[ 9.33621572e-01 -2.38961669e-01 -2.66923361e-01 -2.34300520e+01] [ 2.51554464e-01 9.67749077e-01 1.34935337e-02 -1.56211946e+00] [ 2.55090399e-01 -7.97436173e-02 9.63623289e-01 1.62423185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.549072329 meters Centerline goodness [0,1] 0.20832796184091784 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.56, Z:16.24 [[ 9.35351358e-01 -2.30638566e-01 -2.68185923e-01 -2.34301271e+01] [ 2.44529723e-01 9.69453255e-01 1.91206878e-02 -1.55508321e+00] [ 2.55583748e-01 -8.34639907e-02 9.63177403e-01 1.62403153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579072329 meters Centerline goodness [0,1] 0.20970690063006692 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.55, Z:16.24 [[ 9.36205688e-01 -2.26071285e-01 -2.69092332e-01 -2.34304826e+01] [ 2.40764521e-01 9.70323743e-01 2.24561543e-02 -1.55326389e+00] [ 2.56029988e-01 -8.58114660e-02 9.62852552e-01 1.62404366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.609072329 meters Centerline goodness [0,1] 0.20532925489520282 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.55, Z:16.24 [[ 9.36198934e-01 -2.26208431e-01 -2.69000562e-01 -2.34312185e+01] [ 2.40569895e-01 9.70399795e-01 2.12217561e-02 -1.54857102e+00] [ 2.56237550e-01 -8.45812225e-02 9.62906192e-01 1.62400246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63907232900002 meters Centerline goodness [0,1] 0.20083439065826536 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.54, Z:16.24 [[ 9.36163143e-01 -2.26585959e-01 -2.68807316e-01 -2.34322672e+01] [ 2.40608265e-01 9.70417031e-01 1.99611988e-02 -1.54383694e+00] [ 2.56332271e-01 -8.33642006e-02 9.62987112e-01 1.62396053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66907232900002 meters Centerline goodness [0,1] 0.19688662409426128 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.54, Z:16.24 [[ 9.36909224e-01 -2.22918320e-01 -2.69274077e-01 -2.34342875e+01] [ 2.37361252e-01 9.71174881e-01 2.18857804e-02 -1.53615912e+00] [ 2.56633478e-01 -8.44202215e-02 9.62814875e-01 1.62388532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69907232900002 meters Centerline goodness [0,1] 0.1952474224585118 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.53, Z:16.24 [[ 0.93767397 -0.21842369 -0.27029358 -23.43417518] [ 0.23367662 0.97198816 0.02518461 -1.53342236] [ 0.25722124 -0.08677625 0.9624485 16.23874484] [ 0. 0. 0. 1. ]] SLAMing on 130.72907232900002 meters Centerline goodness [0,1] 0.1952474224585118 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.53, Z:16.24 [[ 0.93767397 -0.21842369 -0.27029358 -23.43417518] [ 0.23367662 0.97198816 0.02518461 -1.53342236] [ 0.25722124 -0.08677625 0.9624485 16.23874484] [ 0. 0. 0. 1. ]] SLAMing on 130.75907232900002 meters Centerline goodness [0,1] 0.19968604176074667 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.53, Z:16.24 [[ 0.93838226 -0.21399898 -0.27137275 -23.43379405] [ 0.23006884 0.97275812 0.02846004 -1.53070831] [ 0.25788963 -0.08914081 0.96205346 16.23866111] [ 0. 0. 0. 1. ]] SLAMing on 130.789072329 meters Centerline goodness [0,1] 0.19138673557278207 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.52, Z:16.24 [[ 0.93875821 -0.21172912 -0.27185255 -23.43207073] [ 0.22797897 0.97322604 0.02926896 -1.52181103] [ 0.25837689 -0.08945315 0.96189371 16.2358771 ] [ 0. 0. 0. 1. ]] SLAMing on 130.819072329 meters Centerline goodness [0,1] 0.193305673194746 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.52, Z:16.24 [[ 0.93866995 -0.21248655 -0.2715662 -23.43304611] [ 0.228457 0.97314471 0.02822723 -1.5182164 ] [ 0.2582753 -0.08853725 0.96200573 16.23533396] [ 0. 0. 0. 1. ]] SLAMing on 130.849072329 meters Centerline goodness [0,1] 0.20060260411062092 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.51, Z:16.24 [[ 0.93843432 -0.21421334 -0.27102338 -23.43603909] [ 0.22957621 0.97294555 0.02591764 -1.51036375] [ 0.25813909 -0.08654253 0.96222378 16.23525323] [ 0. 0. 0. 1. ]] SLAMing on 130.879072329 meters Centerline goodness [0,1] 0.1968385234957144 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.51, Z:16.24 [[ 0.93830623 -0.21512015 -0.27074848 -23.43770273] [ 0.23017184 0.97283577 0.0247281 -1.50607242] [ 0.2580743 -0.0855212 0.96233247 16.23530139] [ 0. 0. 0. 1. ]] SLAMing on 130.909072329 meters Centerline goodness [0,1] 0.20242114090351992 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.50, Z:16.24 [[ 0.93817002 -0.21601567 -0.27050739 -23.4391157 ] [ 0.23076024 0.9727258 0.02354211 -1.50175123] [ 0.25804405 -0.08450885 0.96243001 16.2352273 ] [ 0. 0. 0. 1. ]] SLAMing on 130.939072329 meters Centerline goodness [0,1] 0.2012263339070568 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.50, Z:16.23 [[ 9.38045254e-01 -2.16834616e-01 -2.70284759e-01 -2.34401937e+01] [ 2.31301932e-01 9.72622480e-01 2.24705883e-02 -1.49772625e+00] [ 2.58012631e-01 -8.35958157e-02 9.62518167e-01 1.62349401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.969072329 meters Centerline goodness [0,1] 0.20294996667311704 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.49, Z:16.23 [[ 0.93840242 -0.21388264 -0.27139476 -23.43906109] [ 0.22889888 0.97314072 0.02454489 -1.49153309] [ 0.25885557 -0.08515494 0.9621551 16.23407121] [ 0. 0. 0. 1. ]] SLAMing on 130.999072329 meters Centerline goodness [0,1] 0.20585376390538934 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.49, Z:16.23 [[ 0.93829063 -0.21457908 -0.27123148 -23.4393293 ] [ 0.22934126 0.9730609 0.0235601 -1.48766274] [ 0.25886924 -0.08431079 0.96222576 16.23326544] [ 0. 0. 0. 1. ]] SLAMing on 131.029072329 meters Centerline goodness [0,1] 0.21020543975269945 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.48, Z:16.23 [[ 0.93844166 -0.21313681 -0.27184546 -23.43740998] [ 0.22810466 0.97333296 0.02431468 -1.48023044] [ 0.25941379 -0.08482712 0.9620337 16.23118331] [ 0. 0. 0. 1. ]] SLAMing on 131.059072329 meters Centerline goodness [0,1] 0.20866489832007074 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.48, Z:16.23 [[ 9.38357477e-01 -2.13916942e-01 -2.71523089e-01 -2.34386720e+01] [ 2.28593892e-01 9.73244516e-01 2.32366883e-02 -1.47624553e+00] [ 2.59287636e-01 -8.38728400e-02 9.62151375e-01 1.62307380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.089072329 meters Centerline goodness [0,1] 0.20929931635359833 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.47, Z:16.23 [[ 9.38248636e-01 -2.14772018e-01 -2.71224036e-01 -2.34400522e+01] [ 2.29130485e-01 9.73146248e-01 2.20363291e-02 -1.47178007e+00] [ 2.59207866e-01 -8.28212506e-02 9.62263957e-01 1.62304300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119072329 meters Centerline goodness [0,1] 0.21354132953589233 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.47, Z:16.23 [[ 0.93885805 -0.21104866 -0.27203682 -23.44099792] [ 0.22596239 0.97383196 0.0243374 -1.4658225 ] [ 0.25978178 -0.08431946 0.96197903 16.23033269] [ 0. 0. 0. 1. ]] SLAMing on 131.149072329 meters Centerline goodness [0,1] 0.21238288502223568 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.46, Z:16.23 [[ 9.38788987e-01 -2.11857188e-01 -2.71646407e-01 -2.34424780e+01] [ 2.26430156e-01 9.73753585e-01 2.30941426e-02 -1.46121612e+00] [ 2.59624003e-01 -8.31894651e-02 9.62119998e-01 1.62297461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179072329 meters Centerline goodness [0,1] 0.21390593047034767 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.46, Z:16.23 [[ 9.38705884e-01 -2.12658450e-01 -2.71307293e-01 -2.34437874e+01] [ 2.26889579e-01 9.73675841e-01 2.18283392e-02 -1.45652926e+00] [ 2.59523376e-01 -8.20471880e-02 9.62245227e-01 1.62292023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.209072329 meters Centerline goodness [0,1] 0.21013773153145376 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.45, Z:16.23 [[ 0.93930454 -0.209076 -0.27201877 -23.44567714] [ 0.2238196 0.97433539 0.02398591 -1.45041726] [ 0.26002264 -0.08341321 0.96199296 16.22966839] [ 0. 0. 0. 1. ]] SLAMing on 131.239072329 meters Centerline goodness [0,1] 0.2115069791487162 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.45, Z:16.23 [[ 0.93996429 -0.20491659 -0.2729035 -23.44617687] [ 0.22048185 0.97500903 0.02729734 -1.44863906] [ 0.2604897 -0.0858288 0.96165406 16.23009845] [ 0. 0. 0. 1. ]] SLAMing on 131.269072329 meters Centerline goodness [0,1] 0.21245958180642377 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.45, Z:16.23 [[ 0.94061224 -0.20067334 -0.27382263 -23.44631466] [ 0.21706608 0.97567675 0.0306136 -1.44662666] [ 0.26101904 -0.08823313 0.96129287 16.23030922] [ 0. 0. 0. 1. ]] SLAMing on 131.299072329 meters Centerline goodness [0,1] 0.2136351864640884 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.44, Z:16.23 [[ 0.94118624 -0.19704361 -0.27448547 -23.44679271] [ 0.21393596 0.97629969 0.03271563 -1.43987236] [ 0.26153368 -0.08951381 0.96103455 16.22940118] [ 0. 0. 0. 1. ]] SLAMing on 131.329072329 meters Centerline goodness [0,1] 0.20801189501357586 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.44, Z:16.23 [[ 0.94111233 -0.19780659 -0.27418995 -23.44773528] [ 0.21438805 0.97623815 0.03157266 -1.43574333] [ 0.26142941 -0.08849647 0.96115713 16.22869503] [ 0. 0. 0. 1. ]] SLAMing on 131.359072329 meters Centerline goodness [0,1] 0.21191123774985965 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.43, Z:16.23 [[ 0.94092603 -0.19929862 -0.27374853 -23.44961539] [ 0.21529988 0.9761057 0.02938736 -1.42805482] [ 0.26135064 -0.08658936 0.96135224 16.22792008] [ 0. 0. 0. 1. ]] SLAMing on 131.38907232900002 meters Centerline goodness [0,1] 0.2153460532855075 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.42, Z:16.23 [[ 0.94083999 -0.20017307 -0.27340603 -23.45110961] [ 0.21585539 0.97601773 0.0282105 -1.42368654] [ 0.26120215 -0.08555773 0.96148495 16.22755681] [ 0. 0. 0. 1. ]] SLAMing on 131.41907232900002 meters Centerline goodness [0,1] 0.21650508496534449 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.42, Z:16.23 [[ 0.94144596 -0.19625875 -0.27415691 -23.45213028] [ 0.21278147 0.97658933 0.03158065 -1.42204761] [ 0.26154073 -0.08806698 0.9611663 16.22807471] [ 0. 0. 0. 1. ]] SLAMing on 131.44907232900002 meters Centerline goodness [0,1] 0.21921123716909774 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.42, Z:16.23 [[ 0.94193581 -0.19275864 -0.27495642 -23.45312297] [ 0.20992797 0.9771202 0.03415199 -1.41706561] [ 0.26208239 -0.08989002 0.96084994 16.22829975] [ 0. 0. 0. 1. ]] SLAMing on 131.47907232900002 meters Centerline goodness [0,1] 0.21895947757643908 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.41, Z:16.23 [[ 0.94183342 -0.19338129 -0.27486994 -23.45352108] [ 0.21034917 0.97705702 0.0333588 -1.41430221] [ 0.26211263 -0.0892371 0.96090255 16.22804689] [ 0. 0. 0. 1. ]] SLAMing on 131.50907232900002 meters Centerline goodness [0,1] 0.21961537631391503 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.41, Z:16.23 [[ 0.94163806 -0.19439577 -0.27482366 -23.45359956] [ 0.21105113 0.97694812 0.0320904 -1.4100183 ] [ 0.26225022 -0.08821939 0.96095898 16.22743841] [ 0. 0. 0. 1. ]] SLAMing on 131.539072329 meters Centerline goodness [0,1] 0.222277420190937 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.41, Z:16.23 [[ 0.94154972 -0.19495147 -0.2747327 -23.45412447] [ 0.21142646 0.97688989 0.03138472 -1.40763112] [ 0.26226509 -0.08763604 0.9610083 16.22731616] [ 0. 0. 0. 1. ]] SLAMing on 131.569072329 meters Centerline goodness [0,1] 0.22681394845137537 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.40, Z:16.23 [[ 0.94202644 -0.19207248 -0.27512604 -23.45689513] [ 0.20923625 0.97726809 0.03416531 -1.4048726 ] [ 0.26230969 -0.08975096 0.96080091 16.22813084] [ 0. 0. 0. 1. ]] SLAMing on 131.599072329 meters Centerline goodness [0,1] 0.22985397512168737 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.40, Z:16.23 [[ 0.94192298 -0.19270441 -0.27503837 -23.45783342] [ 0.20966117 0.97720513 0.03335149 -1.40199576] [ 0.26234193 -0.0890794 0.96085461 16.2283295 ] [ 0. 0. 0. 1. ]] SLAMing on 131.629072329 meters Centerline goodness [0,1] 0.22860725558870587 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.40, Z:16.23 [[ 0.94183218 -0.19324497 -0.27497004 -23.45853412] [ 0.21003206 0.97714818 0.03267987 -1.39966994] [ 0.26237126 -0.08853148 0.96089724 16.22847499] [ 0. 0. 0. 1. ]] SLAMing on 131.659072329 meters Centerline goodness [0,1] 0.22764420998010892 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.40, Z:16.23 [[ 0.94174672 -0.19365232 -0.27497617 -23.45887948] [ 0.21031651 0.97710386 0.0321717 -1.39807106] [ 0.26245015 -0.08812962 0.96091263 16.22865438] [ 0. 0. 0. 1. ]] SLAMing on 131.689072329 meters Centerline goodness [0,1] 0.23142264297756454 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.40, Z:16.23 [[ 0.9415614 -0.19454274 -0.27498229 -23.45917817] [ 0.21101039 0.97698168 0.03132763 -1.39587263] [ 0.26255809 -0.08752101 0.96093877 16.22878629] [ 0. 0. 0. 1. ]] SLAMing on 131.719072329 meters Centerline goodness [0,1] 0.23172419759494767 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.40, Z:16.23 [[ 0.94148809 -0.19474389 -0.27509088 -23.45871558] [ 0.21117564 0.97695226 0.03113103 -1.39538159] [ 0.26268808 -0.08740199 0.96091408 16.22870762] [ 0. 0. 0. 1. ]] SLAMing on 131.749072329 meters Centerline goodness [0,1] 0.2364605682335349 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.39, Z:16.23 [[ 0.94141137 -0.19498089 -0.27518554 -23.45834747] [ 0.21136581 0.97691864 0.03089446 -1.39462651] [ 0.26281006 -0.08724921 0.96089461 16.22863357] [ 0. 0. 0. 1. ]] SLAMing on 131.779072329 meters Centerline goodness [0,1] 0.2369064888388508 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.39, Z:16.23 [[ 0.94122665 -0.19584486 -0.27520389 -23.45873242] [ 0.21210768 0.97677576 0.03032255 -1.39248729] [ 0.26287397 -0.08691325 0.96090757 16.2287581 ] [ 0. 0. 0. 1. ]] SLAMing on 131.809072329 meters Centerline goodness [0,1] 0.2388989872760322 Centerline is valid? [False, False] Translation: X:-23.46, Y:-1.39, Z:16.23 [[ 0.94112944 -0.19614867 -0.27531995 -23.45882875] [ 0.21234989 0.9767326 0.03001574 -1.39138199] [ 0.26302642 -0.08671286 0.96088396 16.22916234] [ 0. 0. 0. 1. ]] SLAMing on 131.839072329 meters Centerline goodness [0,1] 0.2392881824464409 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94427871 -0.19845081 -0.26259284 -23.45369579] [ 0.21408543 0.97628967 0.03202994 -1.38793449] [ 0.25001031 -0.08646249 0.96437497 16.22220378] [ 0. 0. 0. 1. ]] SLAMing on 131.869072329 meters Centerline goodness [0,1] 0.24408988569449253 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94421523 -0.19867719 -0.26264992 -23.45374142] [ 0.21426065 0.97625931 0.03178267 -1.38723301] [ 0.25009993 -0.08628523 0.96436761 16.22241337] [ 0. 0. 0. 1. ]] SLAMing on 131.899072329 meters Centerline goodness [0,1] 0.24567263893106595 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94416584 -0.19881993 -0.26271944 -23.45338884] [ 0.21437328 0.97623976 0.03162311 -1.3866909 ] [ 0.25018986 -0.08617748 0.96435392 16.22226581] [ 0. 0. 0. 1. ]] SLAMing on 131.929072329 meters Centerline goodness [0,1] 0.2450262233973387 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94411768 -0.19889696 -0.26283417 -23.4526969 ] [ 0.21443873 0.97622848 0.03152754 -1.3862666 ] [ 0.25031547 -0.08612753 0.96432578 16.22195228] [ 0. 0. 0. 1. ]] SLAMing on 131.959072329 meters Centerline goodness [0,1] 0.2449267498643516 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94401058 -0.19905575 -0.26309854 -23.4511994 ] [ 0.21460902 0.97619333 0.031457 -1.38593158] [ 0.25057334 -0.08615906 0.96425599 16.22143993] [ 0. 0. 0. 1. ]] SLAMing on 131.989072329 meters Centerline goodness [0,1] 0.24752775850104092 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94396255 -0.19909687 -0.26323972 -23.4505831 ] [ 0.21466053 0.97618251 0.03144138 -1.38581176] [ 0.25071013 -0.08618667 0.96421797 16.22137756] [ 0. 0. 0. 1. ]] SLAMing on 132.019072329 meters Centerline goodness [0,1] 0.2502868275787423 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94390061 -0.19918398 -0.26339586 -23.45011978] [ 0.21474963 0.97616482 0.0313821 -1.38561346] [ 0.25086696 -0.08618575 0.96417726 16.22153282] [ 0. 0. 0. 1. ]] SLAMing on 132.049072329 meters Centerline goodness [0,1] 0.2523544985026691 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.9437777 -0.20000983 -0.26321043 -23.45119593] [ 0.21556869 0.97598648 0.03131347 -1.38615637] [ 0.25062682 -0.08629288 0.96423013 16.22221234] [ 0. 0. 0. 1. ]] SLAMing on 132.079072329 meters Centerline goodness [0,1] 0.25781351597381763 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94370744 -0.2002079 -0.26331174 -23.45100846] [ 0.21582135 0.97592588 0.03146132 -1.38713003] [ 0.25067393 -0.08651858 0.96419765 16.22265556] [ 0. 0. 0. 1. ]] SLAMing on 132.109072329 meters Centerline goodness [0,1] 0.2666233062330623 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94339854 -0.20145394 -0.26346824 -23.45026815] [ 0.21707841 0.97565274 0.0312841 -1.38818948] [ 0.25075121 -0.08670664 0.96416067 16.22292764] [ 0. 0. 0. 1. ]] SLAMing on 132.13907232900002 meters Centerline goodness [0,1] 0.27279242496633804 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94331609 -0.20159153 -0.26365811 -23.44938279] [ 0.21729592 0.97559721 0.0315052 -1.38914391] [ 0.25087294 -0.0870112 0.96410156 16.22298833] [ 0. 0. 0. 1. ]] SLAMing on 132.16907232900002 meters Centerline goodness [0,1] 0.279705117085863 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94306476 -0.20243421 -0.26391144 -23.44807756] [ 0.21824112 0.97537998 0.03169713 -1.39008498] [ 0.25099735 -0.08748878 0.96402596 16.22287267] [ 0. 0. 0. 1. ]] SLAMing on 132.19907232900002 meters Centerline goodness [0,1] 0.2918412994853309 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94297281 -0.20258478 -0.26412438 -23.44716049] [ 0.21847352 0.97532086 0.0319146 -1.39090012] [ 0.2511406 -0.08779878 0.96396046 16.22297905] [ 0. 0. 0. 1. ]] SLAMing on 132.22907232900002 meters Centerline goodness [0,1] 0.3006635483520069 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94289849 -0.20284677 -0.26418863 -23.44672404] [ 0.21882271 0.97523347 0.03219156 -1.39212724] [ 0.25111564 -0.08816385 0.96393364 16.22312422] [ 0. 0. 0. 1. ]] SLAMing on 132.25907232900002 meters Centerline goodness [0,1] 0.294679813630946 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94279577 -0.20316662 -0.26430942 -23.44613757] [ 0.21923894 0.97513057 0.03247542 -1.39364139] [ 0.25113827 -0.0885646 0.96389101 16.22340716] [ 0. 0. 0. 1. ]] SLAMing on 132.289072329 meters Centerline goodness [0,1] 0.30407693643626255 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.39, Z:16.22 [[ 0.94176388 -0.20878514 -0.2636087 -23.44547597] [ 0.22395647 0.97418161 0.02852511 -1.39441984] [ 0.25084713 -0.0859008 0.96420785 16.22374179] [ 0. 0. 0. 1. ]] SLAMing on 132.319072329 meters Centerline goodness [0,1] 0.3083950296575313 Centerline is valid? [False, False] Translation: X:-23.45, Y:-1.40, Z:16.22 [[ 0.94161325 -0.20943994 -0.26362739 -23.44535608] [ 0.2247149 0.97399796 0.02883026 -1.39637903] [ 0.25073433 -0.08638796 0.96419366 16.22424286] [ 0. 0. 0. 1. ]] SLAMing on 132.349072329 meters Centerline goodness [0,1] 0.32976877358899825 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.39, Z:16.23 [[ 0.93921342 -0.22080668 -0.26291169 -23.4358206 ] [ 0.23666866 0.97113153 0.02985813 -1.39239687] [ 0.24872896 -0.09026611 0.96435778 16.22833754] [ 0. 0. 0. 1. ]] SLAMing on 132.379072329 meters Centerline goodness [0,1] 0.3368695652173913 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.39, Z:16.23 [[ 0.93906998 -0.22133465 -0.26298014 -23.43547935] [ 0.23729024 0.97097156 0.0301258 -1.39366243] [ 0.24867836 -0.09069286 0.96433079 16.22868175] [ 0. 0. 0. 1. ]] SLAMing on 132.409072329 meters Centerline goodness [0,1] 0.35004548014033876 Centerline is valid? [False, False] Translation: X:-23.44, Y:-1.40, Z:16.23 [[ 0.93894419 -0.2218234 -0.26301748 -23.43524151] [ 0.23787105 0.97082075 0.03040438 -1.39507758] [ 0.24859843 -0.09111226 0.96431187 16.2290737 ] [ 0. 0. 0. 1. ]] SLAMing on 132.439072329 meters Centerline goodness [0,1] 0.3564806792583608 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.40, Z:16.23 [[ 0.93772551 -0.22745868 -0.26255175 -23.43427238] [ 0.24262774 0.9697595 0.02642531 -1.3952516 ] [ 0.24860138 -0.08848202 0.964556 16.23002165] [ 0. 0. 0. 1. ]] SLAMing on 132.469072329 meters Centerline goodness [0,1] 0.35773465723494924 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.40, Z:16.23 [[ 0.9375807 -0.22796785 -0.26262728 -23.43383303] [ 0.24322849 0.96960188 0.02668528 -1.39686171] [ 0.24856052 -0.08889804 0.96452828 16.23042559] [ 0. 0. 0. 1. ]] SLAMing on 132.499072329 meters Centerline goodness [0,1] 0.35734227897413695 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.40, Z:16.23 [[ 0.93744654 -0.22835742 -0.26276773 -23.43321179] [ 0.24372826 0.9694674 0.02700917 -1.39847112] [ 0.248577 -0.08936358 0.96448101 16.23083742] [ 0. 0. 0. 1. ]] SLAMing on 132.529072329 meters Centerline goodness [0,1] 0.3577342989947033 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.40, Z:16.23 [[ 0.93732769 -0.22863608 -0.26294933 -23.43214918] [ 0.24412874 0.96935631 0.02737714 -1.3998801 ] [ 0.24863219 -0.08985484 0.96442114 16.23089344] [ 0. 0. 0. 1. ]] SLAMing on 132.559072329 meters Centerline goodness [0,1] 0.3527664556413147 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.40, Z:16.23 [[ 0.93693856 -0.22937362 -0.26369276 -23.4289427 ] [ 0.24512049 0.96908863 0.02798512 -1.40185298] [ 0.24912261 -0.09085683 0.96420069 16.23086696] [ 0. 0. 0. 1. ]] SLAMing on 132.589072329 meters Centerline goodness [0,1] 0.3527664556413147 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.40, Z:16.23 [[ 0.93693856 -0.22937362 -0.26369276 -23.4289427 ] [ 0.24512049 0.96908863 0.02798512 -1.40185298] [ 0.24912261 -0.09085683 0.96420069 16.23086696] [ 0. 0. 0. 1. ]] SLAMing on 132.619072329 meters Centerline goodness [0,1] 0.34699270104611124 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.40, Z:16.23 [[ 0.93684196 -0.22951097 -0.26391638 -23.427612 ] [ 0.24538691 0.96900967 0.02838174 -1.40333912] [ 0.2492236 -0.09135083 0.96412791 16.23088236] [ 0. 0. 0. 1. ]] SLAMing on 132.649072329 meters Centerline goodness [0,1] 0.33765867418899864 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.40, Z:16.23 [[ 0.93570845 -0.2346047 -0.26345842 -23.42570073] [ 0.24961844 0.96803331 0.02453867 -1.40391626] [ 0.24927964 -0.08872512 0.9643586 16.23129621] [ 0. 0. 0. 1. ]] SLAMing on 132.679072329 meters Centerline goodness [0,1] 0.3296080932102635 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.41, Z:16.23 [[ 0.93561715 -0.23499043 -0.26343888 -23.42559625] [ 0.2501003 0.96790057 0.02486632 -1.40581326] [ 0.2491393 -0.0891515 0.96435555 16.23177886] [ 0. 0. 0. 1. ]] SLAMing on 132.709072329 meters Centerline goodness [0,1] 0.32366898524345056 Centerline is valid? [False, False] Translation: X:-23.43, Y:-1.41, Z:16.23 [[ 0.93552866 -0.23534253 -0.26343885 -23.42547691] [ 0.25056592 0.96776997 0.02525885 -1.40795867] [ 0.24900372 -0.08963918 0.96434536 16.23234038] [ 0. 0. 0. 1. ]] SLAMing on 132.739072329 meters Centerline goodness [0,1] 0.3133183039972254 Centerline is valid? [False, False] Translation: X:-23.42, Y:-1.41, Z:16.23 [[ 0.93518897 -0.23627792 -0.26380739 -23.42411624] [ 0.25167399 0.96747172 0.02566468 -1.41085953] [ 0.24916219 -0.09039479 0.96423388 16.23333071] [ 0. 0. 0. 1. ]] SLAMing on 132.769072329 meters Centerline goodness [0,1] 0.3116333318933864 Centerline is valid? [False, False] Translation: X:-23.42, Y:-1.41, Z:16.23 [[ 0.93511852 -0.23617182 -0.26415191 -23.42245169] [ 0.25170315 0.96745323 0.02607244 -1.41245876] [ 0.24939704 -0.09086869 0.96412862 16.23344065] [ 0. 0. 0. 1. ]] SLAMing on 132.799072329 meters Centerline goodness [0,1] 0.3078070934256055 Centerline is valid? [False, False] Translation: X:-23.42, Y:-1.41, Z:16.23 [[ 0.93506387 -0.23595688 -0.26453716 -23.42063366] [ 0.25162227 0.96746337 0.02647363 -1.41392263] [ 0.24968338 -0.09131798 0.96401205 16.23349785] [ 0. 0. 0. 1. ]] SLAMing on 132.829072329 meters Centerline goodness [0,1] 0.30037446697980474 Centerline is valid? [False, False] Translation: X:-23.42, Y:-1.42, Z:16.23 [[ 0.93491668 -0.23619683 -0.26484308 -23.41858517] [ 0.25203885 0.96734019 0.02700708 -1.41613427] [ 0.24981437 -0.09200011 0.96391325 16.23344833] [ 0. 0. 0. 1. ]] SLAMing on 132.859072329 meters Centerline goodness [0,1] 0.29964945687454014 Centerline is valid? [False, False] Translation: X:-23.42, Y:-1.42, Z:16.23 [[ 0.93486219 -0.23605056 -0.26516564 -23.41724931] [ 0.25197097 0.9673523 0.02720595 -1.41689631] [ 0.25008661 -0.09224786 0.96381898 16.23367148] [ 0. 0. 0. 1. ]] SLAMing on 132.88907232900002 meters Centerline goodness [0,1] 0.29985289663825554 Centerline is valid? [False, False] Translation: X:-23.42, Y:-1.42, Z:16.23 [[ 0.93478044 -0.23595487 -0.26553875 -23.41595657] [ 0.25193691 0.96735813 0.02731368 -1.41728402] [ 0.25042628 -0.09243131 0.9637132 16.23406802] [ 0. 0. 0. 1. ]] SLAMing on 132.91907232900002 meters Centerline goodness [0,1] 0.2950138504155124 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.42, Z:16.23 [[ 0.9347139 -0.23581341 -0.26589839 -23.41480217] [ 0.25185829 0.96737512 0.02743684 -1.41777344] [ 0.25075351 -0.09261431 0.96361054 16.23452622] [ 0. 0. 0. 1. ]] SLAMing on 132.94907232900002 meters Centerline goodness [0,1] 0.2976177596988121 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.42, Z:16.23 [[ 0.93461138 -0.23565077 -0.26640247 -23.41271689] [ 0.25181757 0.96737725 0.02773386 -1.41894836] [ 0.25117618 -0.09300521 0.96346279 16.2349453 ] [ 0. 0. 0. 1. ]] SLAMing on 132.97907232900002 meters Centerline goodness [0,1] 0.29988083631242557 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.42, Z:16.24 [[ 0.93459635 -0.23536293 -0.26670949 -23.41133356] [ 0.25162043 0.96742081 0.02800252 -1.4199628 ] [ 0.25142956 -0.09328061 0.96337008 16.23503215] [ 0. 0. 0. 1. ]] SLAMing on 133.00907232900002 meters Centerline goodness [0,1] 0.2977903780812431 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.42, Z:16.24 [[ 0.93453383 -0.23492696 -0.26731226 -23.40882976] [ 0.25132059 0.96748861 0.02835049 -1.42153444] [ 0.25196127 -0.09367557 0.96319282 16.2354311 ] [ 0. 0. 0. 1. ]] SLAMing on 133.039072329 meters Centerline goodness [0,1] 0.29710411748142695 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.42, Z:16.24 [[ 0.93449431 -0.23476301 -0.26759433 -23.40778491] [ 0.25120365 0.96751625 0.02844363 -1.42191388] [ 0.25222434 -0.09380108 0.96311175 16.23566139] [ 0. 0. 0. 1. ]] SLAMing on 133.069072329 meters Centerline goodness [0,1] 0.3067604110329908 Centerline is valid? [False, False] Translation: X:-23.41, Y:-1.42, Z:16.24 [[ 0.93442941 -0.23436793 -0.26816666 -23.4057738 ] [ 0.25090315 0.96758851 0.0286373 -1.42289319] [ 0.25276332 -0.09404339 0.9629468 16.23629451] [ 0. 0. 0. 1. ]] SLAMing on 133.099072329 meters Centerline goodness [0,1] 0.3110090351656447 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.42, Z:16.24 [[ 0.93443653 -0.23408411 -0.26838963 -23.40485426] [ 0.25068792 0.96763794 0.02885091 -1.42377947] [ 0.25295045 -0.09424138 0.96287831 16.23650714] [ 0. 0. 0. 1. ]] SLAMing on 133.129072329 meters Centerline goodness [0,1] 0.30953772869979435 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.42, Z:16.24 [[ 0.93443062 -0.23385849 -0.26860683 -23.40410988] [ 0.25050655 0.96768148 0.02896599 -1.42455356] [ 0.25315191 -0.09435448 0.96281428 16.23689149] [ 0. 0. 0. 1. ]] SLAMing on 133.159072329 meters Centerline goodness [0,1] 0.3161748775943498 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.43, Z:16.24 [[ 0.93443721 -0.23361953 -0.26879175 -23.40343116] [ 0.25032594 0.96772272 0.02914877 -1.42550819] [ 0.25330617 -0.09452324 0.96275716 16.23722451] [ 0. 0. 0. 1. ]] SLAMing on 133.189072329 meters Centerline goodness [0,1] 0.32130877929497303 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.43, Z:16.24 [[ 0.93441663 -0.23313355 -0.26928483 -23.40168704] [ 0.24992475 0.96782045 0.02934598 -1.42669596] [ 0.25377783 -0.09472232 0.96261337 16.23794759] [ 0. 0. 0. 1. ]] SLAMing on 133.219072329 meters Centerline goodness [0,1] 0.32449094777059007 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.43, Z:16.24 [[ 0.93529496 -0.22877194 -0.26997545 -23.4015458 ] [ 0.24661338 0.96852967 0.0336469 -1.42973183] [ 0.25378177 -0.09804934 0.96227914 16.2380367 ] [ 0. 0. 0. 1. ]] SLAMing on 133.249072329 meters Centerline goodness [0,1] 0.3250054218173932 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.43, Z:16.24 [[ 0.93625486 -0.22375334 -0.27085286 -23.40077003] [ 0.24276749 0.96932389 0.03840751 -1.4330028 ] [ 0.25395034 -0.10171349 0.96185425 16.2379422 ] [ 0. 0. 0. 1. ]] SLAMing on 133.279072329 meters Centerline goodness [0,1] 0.3270627919045148 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.44, Z:16.24 [[ 0.93718072 -0.21847838 -0.27195493 -23.39939267] [ 0.23868652 0.97013694 0.04316322 -1.43585145] [ 0.2544033 -0.10536372 0.96134148 16.23797856] [ 0. 0. 0. 1. ]] SLAMing on 133.309072329 meters Centerline goodness [0,1] 0.3340835804098946 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.44, Z:16.24 [[ 0.93808484 -0.21262243 -0.27347491 -23.39665355] [ 0.23403378 0.97105198 0.04781465 -1.43816119] [ 0.25539189 -0.10885657 0.96068998 16.23845759] [ 0. 0. 0. 1. ]] SLAMing on 133.339072329 meters Centerline goodness [0,1] 0.33582476453814913 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.44, Z:16.24 [[ 0.93806952 -0.21235623 -0.27373418 -23.39585141] [ 0.23377219 0.97111803 0.04775292 -1.43793879] [ 0.25568757 -0.10878699 0.96061921 16.23873381] [ 0. 0. 0. 1. ]] SLAMing on 133.369072329 meters Centerline goodness [0,1] 0.3413571010344154 Centerline is valid? [False, False] Translation: X:-23.40, Y:-1.44, Z:16.24 [[ 0.93803237 -0.21216155 -0.27401233 -23.39511339] [ 0.23355982 0.97117712 0.04758995 -1.4374598 ] [ 0.25601775 -0.10863918 0.96054799 16.23912097] [ 0. 0. 0. 1. ]] SLAMing on 133.399072329 meters Centerline goodness [0,1] 0.3468703347108332 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.44, Z:16.24 [[ 0.93793911 -0.21136627 -0.27494458 -23.39234635] [ 0.23276071 0.97138443 0.04727306 -1.43609897] [ 0.25708495 -0.10833555 0.96029721 16.24009889] [ 0. 0. 0. 1. ]] SLAMing on 133.429072329 meters Centerline goodness [0,1] 0.3471789546555901 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.44, Z:16.24 [[ 0.93878334 -0.20634842 -0.27587346 -23.39140522] [ 0.22888362 0.97207545 0.05178425 -1.43882833] [ 0.25748422 -0.11175711 0.95979801 16.24033474] [ 0. 0. 0. 1. ]] SLAMing on 133.459072329 meters Centerline goodness [0,1] 0.34780257807768833 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.44, Z:16.24 [[ 0.9396083 -0.20121722 -0.27685353 -23.38993062] [ 0.22492265 0.97274469 0.0563699 -1.44178689] [ 0.25796521 -0.11523625 0.95925729 16.2404086 ] [ 0. 0. 0. 1. ]] SLAMing on 133.489072329 meters Centerline goodness [0,1] 0.34678395435290055 Centerline is valid? [False, False] Translation: X:-23.39, Y:-1.44, Z:16.24 [[ 0.94036921 -0.19634479 -0.27776695 -23.38852309] [ 0.22119691 0.97332973 0.06083712 -1.4447075 ] [ 0.25841378 -0.11865055 0.95872017 16.24046314] [ 0. 0. 0. 1. ]] SLAMing on 133.519072329 meters Centerline goodness [0,1] 0.34676566445792234 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.45, Z:16.24 [[ 0.94026958 -0.19520263 -0.27890689 -23.38437422] [ 0.22027784 0.97351099 0.06127009 -1.44619401] [ 0.25955884 -0.11904741 0.95836158 16.24149956] [ 0. 0. 0. 1. ]] SLAMing on 133.549072329 meters Centerline goodness [0,1] 0.3419605305726302 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.45, Z:16.24 [[ 0.9402442 -0.19467649 -0.27935983 -23.38271072] [ 0.21989073 0.97357538 0.06163643 -1.44786746] [ 0.25997868 -0.11938193 0.95820616 16.24216216] [ 0. 0. 0. 1. ]] SLAMing on 133.579072329 meters Centerline goodness [0,1] 0.3433785620294669 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.45, Z:16.24 [[ 0.94019246 -0.19414136 -0.27990582 -23.38079871] [ 0.21950805 0.97363814 0.06200793 -1.44937934] [ 0.26048868 -0.11974097 0.95802283 16.24283955] [ 0. 0. 0. 1. ]] SLAMing on 133.609072329 meters Centerline goodness [0,1] 0.3343292564967866 Centerline is valid? [False, False] Translation: X:-23.38, Y:-1.45, Z:16.24 [[ 0.94005789 -0.19279702 -0.2812836 -23.37547204] [ 0.21854004 0.97379817 0.0629077 -1.45192695] [ 0.26178504 -0.12060861 0.95756052 16.24386802] [ 0. 0. 0. 1. ]] SLAMing on 133.63907232900002 meters Centerline goodness [0,1] 0.3408143428015984 Centerline is valid? [False, False] Translation: X:-23.37, Y:-1.45, Z:16.24 [[ 0.94000061 -0.19215154 -0.28191602 -23.37302925] [ 0.21808412 0.97386956 0.06338294 -1.45331675] [ 0.2623703 -0.12106141 0.95734318 16.24429367] [ 0. 0. 0. 1. ]] SLAMing on 133.66907232900002 meters Centerline goodness [0,1] 0.3390979553943476 Centerline is valid? [False, False] Translation: X:-23.37, Y:-1.45, Z:16.24 [[ 0.93993719 -0.1914588 -0.28259797 -23.37055756] [ 0.21759915 0.97394393 0.06390489 -1.45495216] [ 0.26299942 -0.12155966 0.95710739 16.24493647] [ 0. 0. 0. 1. ]] SLAMing on 133.69907232900002 meters Centerline goodness [0,1] 0.3349479921285383 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.46, Z:16.25 [[ 0.93955408 -0.18882641 -0.28562687 -23.3620862 ] [ 0.21534431 0.97442723 0.06417474 -1.45873758] [ 0.26620472 -0.12180376 0.95618978 16.25055678] [ 0. 0. 0. 1. ]] SLAMing on 133.72907232900002 meters Centerline goodness [0,1] 0.33316026306680513 Centerline is valid? [False, False] Translation: X:-23.36, Y:-1.46, Z:16.25 [[ 0.93949538 -0.18803718 -0.28633973 -23.35977616] [ 0.21477458 0.97451632 0.06472878 -1.46117679] [ 0.26687133 -0.12231088 0.95593919 16.25173074] [ 0. 0. 0. 1. ]] SLAMing on 133.75907232900002 meters Centerline goodness [0,1] 0.3266179585837188 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.46, Z:16.26 [[ 0.93909235 -0.18483757 -0.28972508 -23.34927679] [ 0.21190278 0.97514497 0.06472636 -1.46476057] [ 0.27056009 -0.12217758 0.95491878 16.25760648] [ 0. 0. 0. 1. ]] SLAMing on 133.789072329 meters Centerline goodness [0,1] 0.32299451380189204 Centerline is valid? [False, False] Translation: X:-23.35, Y:-1.47, Z:16.26 [[ 0.9390194 -0.18403545 -0.29047119 -23.34620108] [ 0.21127865 0.97525468 0.06511255 -1.46581942] [ 0.27130037 -0.12251231 0.95466583 16.25793351] [ 0. 0. 0. 1. ]] SLAMing on 133.819072329 meters Centerline goodness [0,1] 0.31518519319336635 Centerline is valid? [False, False] Translation: X:-23.34, Y:-1.47, Z:16.26 [[ 0.93893675 -0.18314362 -0.29130087 -23.34272793] [ 0.21054484 0.97539413 0.06539997 -1.46623661] [ 0.27215558 -0.12273833 0.95439334 16.25804976] [ 0. 0. 0. 1. ]] SLAMing on 133.849072329 meters Centerline goodness [0,1] 0.3034767746262521 Centerline is valid? [False, False] Translation: X:-23.33, Y:-1.47, Z:16.26 [[ 0.93918974 -0.17492285 -0.29550741 -23.33208711] [ 0.20351116 0.97666081 0.0686795 -1.46737522] [ 0.2765969 -0.12464214 0.95286856 16.26419822] [ 0. 0. 0. 1. ]] SLAMing on 133.879072329 meters Centerline goodness [0,1] 0.3005951736825019 Centerline is valid? [False, False] Translation: X:-23.33, Y:-1.47, Z:16.27 [[ 0.93902675 -0.17381115 -0.29667904 -23.32844867] [ 0.20250388 0.97687266 0.06864387 -1.46670969] [ 0.27788657 -0.12453709 0.95250699 16.26517308] [ 0. 0. 0. 1. ]] SLAMing on 133.909072329 meters Centerline goodness [0,1] 0.29318383899720235 Centerline is valid? [False, False] Translation: X:-23.33, Y:-1.47, Z:16.27 [[ 0.93885087 -0.17296311 -0.29772941 -23.32534298] [ 0.20170015 0.97705431 0.0684246 -1.46587569] [ 0.27906287 -0.12429256 0.95219498 16.26627641] [ 0. 0. 0. 1. ]] SLAMing on 133.939072329 meters Centerline goodness [0,1] 0.28597430174860783 Centerline is valid? [False, False] Translation: X:-23.32, Y:-1.46, Z:16.27 [[ 0.93866584 -0.1720195 -0.29885738 -23.32216292] [ 0.20079564 0.97725854 0.0681679 -1.46499175] [ 0.28033472 -0.12399613 0.95185997 16.26756129] [ 0. 0. 0. 1. ]] SLAMing on 133.969072329 meters Centerline goodness [0,1] 0.26913639226075436 Centerline is valid? [False, False] Translation: X:-23.30, Y:-1.47, Z:16.28 [[ 0.94046236 -0.15959813 -0.30009829 -23.29857958] [ 0.18782828 0.9798793 0.06750629 -1.46530402] [ 0.28328623 -0.11985407 0.95151664 16.27718507] [ 0. 0. 0. 1. ]] SLAMing on 133.999072329 meters Centerline goodness [0,1] 0.2604016904108395 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.46, Z:16.28 [[ 0.94022682 -0.15833362 -0.30150288 -23.2945002 ] [ 0.18657878 0.98014459 0.06711887 -1.46320009] [ 0.28488925 -0.119361 0.95109993 16.27836825] [ 0. 0. 0. 1. ]] SLAMing on 134.029072329 meters Centerline goodness [0,1] 0.2517009760233029 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.46, Z:16.28 [[ 0.94001425 -0.15700494 -0.30285749 -23.2904688 ] [ 0.1852675 0.98041666 0.0667767 -1.46120594] [ 0.28644226 -0.1188807 0.95069354 16.27946838] [ 0. 0. 0. 1. ]] SLAMing on 134.059072329 meters Centerline goodness [0,1] 0.23723462166575937 Centerline is valid? [False, False] Translation: X:-23.29, Y:-1.46, Z:16.28 [[ 0.93979829 -0.15574238 -0.30417673 -23.28639432] [ 0.18401394 0.98067703 0.06641868 -1.45919184] [ 0.28795493 -0.11839292 0.95029736 16.28037743] [ 0. 0. 0. 1. ]] SLAMing on 134.089072329 meters Centerline goodness [0,1] 0.23276350791504952 Centerline is valid? [False, False] Translation: X:-23.26, Y:-1.46, Z:16.29 [[ 0.94139949 -0.14257478 -0.30567865 -23.26171716] [ 0.17034479 0.98316896 0.06604126 -1.45919731] [ 0.29111794 -0.11424197 0.94984163 16.28996842] [ 0. 0. 0. 1. ]] SLAMing on 134.119072329 meters Centerline goodness [0,1] 0.23672141172359573 Centerline is valid? [False, False] Translation: X:-23.26, Y:-1.46, Z:16.29 [[ 0.94116749 -0.14137553 -0.30694742 -23.25767635] [ 0.16915521 0.98339524 0.06572906 -1.45741361] [ 0.29255815 -0.11378381 0.94945404 16.29089853] [ 0. 0. 0. 1. ]] SLAMing on 134.149072329 meters Centerline goodness [0,1] 0.23963657013060757 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.46, Z:16.30 [[ 0.94078944 -0.1335471 -0.31157728 -23.24222904] [ 0.16165957 0.98463085 0.06609283 -1.45638429] [ 0.2979621 -0.11254889 0.94791948 16.29890521] [ 0. 0. 0. 1. ]] SLAMing on 134.179072329 meters Centerline goodness [0,1] 0.2377214082659086 Centerline is valid? [False, False] Translation: X:-23.24, Y:-1.46, Z:16.30 [[ 0.94057493 -0.13272837 -0.31257315 -23.2390156 ] [ 0.16089342 0.98476332 0.06598868 -1.45572739] [ 0.29905201 -0.11235826 0.94759882 16.29975508] [ 0. 0. 0. 1. ]] SLAMing on 134.209072329 meters Centerline goodness [0,1] 0.23643233090917037 Centerline is valid? [False, False] Translation: X:-23.22, Y:-1.46, Z:16.31 [[ 0.94004406 -0.12550694 -0.31712013 -23.22423955] [ 0.15417623 0.98577689 0.06688509 -1.45599308] [ 0.30421515 -0.11176732 0.94602389 16.30724066] [ 0. 0. 0. 1. ]] SLAMing on 134.239072329 meters Centerline goodness [0,1] 0.23814311317043324 Centerline is valid? [False, False] Translation: X:-23.22, Y:-1.46, Z:16.31 [[ 0.93981521 -0.12446966 -0.3182054 -23.22056269] [ 0.15325921 0.9859122 0.06699818 -1.45546219] [ 0.30538334 -0.11173381 0.9456514 16.30795786] [ 0. 0. 0. 1. ]] SLAMing on 134.269072329 meters Centerline goodness [0,1] 0.24678562057202835 Centerline is valid? [False, False] Translation: X:-23.22, Y:-1.46, Z:16.31 [[ 0.93960744 -0.12327216 -0.3192833 -23.2166437 ] [ 0.15222634 0.98605329 0.06727593 -1.45508009] [ 0.3065371 -0.11181629 0.94526828 16.30842515] [ 0. 0. 0. 1. ]] SLAMing on 134.299072329 meters Centerline goodness [0,1] 0.2456351463702796 Centerline is valid? [False, False] Translation: X:-23.21, Y:-1.45, Z:16.31 [[ 0.93941984 -0.12213817 -0.32026964 -23.21296895] [ 0.15124384 0.98618654 0.06753823 -1.45484426] [ 0.30759661 -0.11188556 0.94491584 16.30890651] [ 0. 0. 0. 1. ]] SLAMing on 134.329072329 meters Centerline goodness [0,1] 0.24292215464052858 Centerline is valid? [False, False] Translation: X:-23.19, Y:-1.45, Z:16.31 [[ 0.94221223 -0.11595331 -0.31431025 -23.1933435 ] [ 0.14393701 0.98729886 0.06725405 -1.45388531] [ 0.30251982 -0.10860846 0.94693503 16.3078855 ] [ 0. 0. 0. 1. ]] SLAMing on 134.359072329 meters Centerline goodness [0,1] 0.2387684093047684 Centerline is valid? [False, False] Translation: X:-23.19, Y:-1.45, Z:16.31 [[ 0.94206644 -0.11534269 -0.31497125 -23.19129238] [ 0.14338373 0.98737783 0.06727656 -1.45392949] [ 0.30323577 -0.10854074 0.94671378 16.30881912] [ 0. 0. 0. 1. ]] SLAMing on 134.38907232900002 meters Centerline goodness [0,1] 0.22830180416885615 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.45, Z:16.31 [[ 0.94507014 -0.1109007 -0.30747921 -23.17396086] [ 0.13726006 0.98837369 0.06539971 -1.45329404] [ 0.29665149 -0.10401192 0.9493047 16.30788753] [ 0. 0. 0. 1. ]] SLAMing on 134.41907232900002 meters Centerline goodness [0,1] 0.22399229725589742 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.45, Z:16.31 [[ 0.9449258 -0.11038705 -0.30810702 -23.17215405] [ 0.13675855 0.98845085 0.06528416 -1.4530871 ] [ 0.29734212 -0.10382496 0.94910908 16.30895348] [ 0. 0. 0. 1. ]] SLAMing on 134.44907232900002 meters Centerline goodness [0,1] 0.2166875041126538 Centerline is valid? [False, False] Translation: X:-23.17, Y:-1.45, Z:16.31 [[ 0.94477536 -0.10985292 -0.30875858 -23.17004973] [ 0.13624632 0.98852746 0.06519508 -1.4524752 ] [ 0.29805447 -0.10366192 0.94890344 16.30962964] [ 0. 0. 0. 1. ]] SLAMing on 134.47907232900002 meters Centerline goodness [0,1] 0.19782241987425242 Centerline is valid? [False, False] Translation: X:-23.16, Y:-1.45, Z:16.32 [[ 0.94435805 -0.10215174 -0.31265459 -23.15647062] [ 0.12911544 0.98938163 0.06673225 -1.45162512] [ 0.30251789 -0.10338767 0.94751988 16.31610505] [ 0. 0. 0. 1. ]] SLAMing on 134.50907232900002 meters Centerline goodness [0,1] 0.18553383392806322 Centerline is valid? [False, False] Translation: X:-23.15, Y:-1.45, Z:16.32 [[ 0.94418059 -0.10098603 -0.31356791 -23.15249844] [ 0.12803069 0.98951576 0.06683343 -1.45036096] [ 0.30353114 -0.10324914 0.94721088 16.31595185] [ 0. 0. 0. 1. ]] SLAMing on 134.539072329 meters Centerline goodness [0,1] 0.18553383392806322 Centerline is valid? [False, False] Translation: X:-23.15, Y:-1.45, Z:16.32 [[ 0.94418059 -0.10098603 -0.31356791 -23.15249844] [ 0.12803069 0.98951576 0.06683343 -1.45036096] [ 0.30353114 -0.10324914 0.94721088 16.31595185] [ 0. 0. 0. 1. ]] SLAMing on 134.569072329 meters Centerline goodness [0,1] 0.1790753724802805 Centerline is valid? [False, False] Translation: X:-23.15, Y:-1.45, Z:16.32 [[ 0.94400841 -0.09975414 -0.31447931 -23.14849557] [ 0.12688257 0.98965541 0.06695508 -1.44921802] [ 0.3045471 -0.1031081 0.94690009 16.31579334] [ 0. 0. 0. 1. ]] SLAMing on 134.599072329 meters Centerline goodness [0,1] 0.15858097822489903 Centerline is valid? [False, False] Translation: X:-23.14, Y:-1.45, Z:16.32 [[ 0.94330082 -0.0969805 -0.31745606 -23.13999362] [ 0.12361221 0.99021238 0.06480333 -1.44690523] [ 0.30806426 -0.10037047 0.94605612 16.32207278] [ 0. 0. 0. 1. ]] SLAMing on 134.629072329 meters Centerline goodness [0,1] 0.13018324204227982 Centerline is valid? [False, False] Translation: X:-23.13, Y:-1.44, Z:16.33 [[ 0.9430706 -0.08874835 -0.32053327 -23.12716882] [ 0.11553895 0.9911401 0.06551377 -1.44481881] [ 0.31187914 -0.09881819 0.94496898 16.32887615] [ 0. 0. 0. 1. ]] SLAMing on 134.659072329 meters Centerline goodness [0,1] 0.1251210920299427 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.44, Z:16.33 [[ 0.9428763 -0.08796779 -0.32131907 -23.12461552] [ 0.11468149 0.99126423 0.06514129 -1.44268776] [ 0.31278176 -0.09826953 0.94472783 16.32946708] [ 0. 0. 0. 1. ]] SLAMing on 134.689072329 meters Centerline goodness [0,1] 0.12077665642825797 Centerline is valid? [False, False] Translation: X:-23.12, Y:-1.44, Z:16.33 [[ 0.94269243 -0.0871257 -0.32208708 -23.12189173] [ 0.11377864 0.99138827 0.06483611 -1.44041234] [ 0.31366446 -0.09776714 0.94448726 16.3298277 ] [ 0. 0. 0. 1. ]] SLAMing on 134.719072329 meters Centerline goodness [0,1] 0.11221310396278583 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.44, Z:16.34 [[ 0.94230596 -0.07828609 -0.32547006 -23.10999816] [ 0.10538824 0.99220759 0.06646361 -1.43747325] [ 0.31773069 -0.09692977 0.94321356 16.33690238] [ 0. 0. 0. 1. ]] SLAMing on 134.749072329 meters Centerline goodness [0,1] 0.14177131526768005 Centerline is valid? [False, False] Translation: X:-23.11, Y:-1.44, Z:16.34 [[ 0.94214696 -0.07701698 -0.32623226 -23.10653842] [ 0.10419355 0.99232196 0.0666396 -1.43511443] [ 0.31859505 -0.09677559 0.94293779 16.33647973] [ 0. 0. 0. 1. ]] SLAMing on 134.779072329 meters Centerline goodness [0,1] 0.13450073696020415 Centerline is valid? [False, False] Translation: X:-23.10, Y:-1.43, Z:16.34 [[ 0.94198374 -0.07569052 -0.32701311 -23.10283088] [ 0.10294334 0.99243997 0.06682501 -1.43292115] [ 0.31948286 -0.09661189 0.94265415 16.33599393] [ 0. 0. 0. 1. ]] SLAMing on 134.809072329 meters Centerline goodness [0,1] 0.12787881456691175 Centerline is valid? [False, False] Translation: X:-23.10, Y:-1.43, Z:16.34 [[ 0.9418327 -0.07452096 -0.32771602 -23.09933047] [ 0.10181289 0.99255139 0.0669019 -1.43061881] [ 0.32028939 -0.09637611 0.94240456 16.33544585] [ 0. 0. 0. 1. ]] SLAMing on 134.839072329 meters Centerline goodness [0,1] 0.13312338963641568 Centerline is valid? [False, False] Translation: X:-23.09, Y:-1.43, Z:16.34 [[ 0.94149047 -0.06563488 -0.33058698 -23.08773992] [ 0.09313558 0.99332667 0.06802864 -1.4270995 ] [ 0.32391582 -0.09483772 0.94132054 16.34268507] [ 0. 0. 0. 1. ]] SLAMing on 134.869072329 meters Centerline goodness [0,1] 0.1310996374821487 Centerline is valid? [False, False] Translation: X:-23.08, Y:-1.42, Z:16.35 [[ 0.9407595 -0.06329109 -0.33311529 -23.08133325] [ 0.08991398 0.9938193 0.06510516 -1.42241647] [ 0.32693582 -0.09120002 0.9406357 16.34978058] [ 0. 0. 0. 1. ]] SLAMing on 134.899072329 meters Centerline goodness [0,1] 0.10482309452561167 Centerline is valid? [False, False] Translation: X:-23.07, Y:-1.42, Z:16.36 [[ 0.94001655 -0.06090476 -0.33564787 -23.07488916] [ 0.0866137 0.99430147 0.06215031 -1.41769922] [ 0.32994992 -0.08749402 0.93993502 16.35703949] [ 0. 0. 0. 1. ]] SLAMing on 134.929072329 meters Centerline goodness [0,1] 0.10100899078938697 Centerline is valid? [False, False] Translation: X:-23.06, Y:-1.41, Z:16.36 [[ 0.93955986 -0.05239168 -0.33835245 -23.06403842] [ 0.07803461 0.99498174 0.0626253 -1.411315 ] [ 0.33337347 -0.08524342 0.93893327 16.36492211] [ 0. 0. 0. 1. ]] SLAMing on 134.959072329 meters Centerline goodness [0,1] 0.0975486312824575 Centerline is valid? [False, False] Translation: X:-23.06, Y:-1.41, Z:16.36 [[ 0.93949245 -0.05097127 -0.33875635 -23.06083649] [ 0.07661928 0.99508283 0.06276665 -1.4076929 ] [ 0.33389133 -0.08492406 0.93877819 16.36388303] [ 0. 0. 0. 1. ]] SLAMing on 134.989072329 meters Centerline goodness [0,1] 0.10142094744471042 Centerline is valid? [False, False] Translation: X:-23.06, Y:-1.40, Z:16.36 [[ 0.93946393 -0.04941199 -0.33906632 -23.0573274 ] [ 0.07508388 0.99518448 0.06300997 -1.40391749] [ 0.3343201 -0.08465401 0.93864997 16.36239775] [ 0. 0. 0. 1. ]] SLAMing on 135.019072329 meters Centerline goodness [0,1] 0.09713519336895104 Centerline is valid? [False, False] Translation: X:-23.05, Y:-1.40, Z:16.37 [[ 0.93894645 -0.0410331 -0.34160775 -23.04508126] [ 0.06653478 0.99577623 0.06326793 -1.39570242] [ 0.33756879 -0.082134 0.93771068 16.36868001] [ 0. 0. 0. 1. ]] SLAMing on 135.049072329 meters Centerline goodness [0,1] 0.09522867629282872 Centerline is valid? [False, False] Translation: X:-23.04, Y:-1.39, Z:16.37 [[ 0.93908368 -0.03565674 -0.34183394 -23.0438718 ] [ 0.06220612 0.99581065 0.06701906 -1.39401106] [ 0.3380122 -0.08420067 0.93736759 16.36819851] [ 0. 0. 0. 1. ]] SLAMing on 135.079072329 meters Centerline goodness [0,1] 0.08317439438781105 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.39, Z:16.38 [[ 0.93864077 -0.02583385 -0.34392748 -23.0328873 ] [ 0.0524289 0.99628952 0.06825249 -1.38643297] [ 0.34088812 -0.08209631 0.93651241 16.37547726] [ 0. 0. 0. 1. ]] SLAMing on 135.109072329 meters Centerline goodness [0,1] 0.07916730646894943 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.38, Z:16.37 [[ 0.93860942 -0.02433452 -0.34412233 -23.03071993] [ 0.05092878 0.99635353 0.0684537 -1.3821298 ] [ 0.34120171 -0.08177702 0.93642614 16.37460757] [ 0. 0. 0. 1. ]] SLAMing on 135.13907232900002 meters Centerline goodness [0,1] 0.07836673699015473 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.38, Z:16.37 [[ 9.38598290e-01 -2.25824655e-02 -3.44272104e-01 -2.30281006e+01] [ 4.92518804e-02 9.96405845e-01 6.89176667e-02 -1.37830194e+00] [ 3.41478406e-01 -8.16420526e-02 9.36337051e-01 1.63734052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16907232900002 meters Centerline goodness [0,1] 0.07507349392303975 Centerline is valid? [False, False] Translation: X:-23.03, Y:-1.37, Z:16.37 [[ 9.38592911e-01 -2.09939855e-02 -3.44387281e-01 -2.30255211e+01] [ 4.76948566e-02 9.96459035e-01 6.92429979e-02 -1.37432385e+00] [ 3.41714131e-01 -8.14164889e-02 9.36270692e-01 1.63721340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19907232900002 meters Centerline goodness [0,1] 0.0704355072145959 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.37, Z:16.38 [[ 9.37990949e-01 -1.27640516e-02 -3.46424678e-01 -2.30140514e+01] [ 3.92368677e-02 9.96809219e-01 6.95115101e-02 -1.36613456e+00] [ 3.44432064e-01 -7.87937866e-02 9.35498847e-01 1.63786680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22907232900002 meters Centerline goodness [0,1] 0.06809108059491953 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.36, Z:16.38 [[ 9.37923876e-01 -1.15562538e-02 -3.46648604e-01 -2.30116602e+01] [ 3.79943243e-02 9.96853363e-01 6.95687019e-02 -1.36178379e+00] [ 3.44753874e-01 -7.84208261e-02 9.35411642e-01 1.63776824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25907232900002 meters Centerline goodness [0,1] 0.06504154153056974 Centerline is valid? [False, False] Translation: X:-23.01, Y:-1.36, Z:16.38 [[ 9.37849151e-01 -1.04664196e-02 -3.46885318e-01 -2.30089652e+01] [ 3.68493759e-02 9.96897783e-01 6.95480730e-02 -1.35724709e+00] [ 3.45081285e-01 -7.80081087e-02 9.35325420e-01 1.63765393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.289072329 meters Centerline goodness [0,1] 0.06190987359519795 Centerline is valid? [False, False] Translation: X:-23.00, Y:-1.35, Z:16.38 [[ 9.37170029e-01 -2.88647284e-03 -3.48861012e-01 -2.29972136e+01] [ 2.89124553e-02 9.97168527e-01 6.94190116e-02 -1.34828542e+00] [ 3.47672845e-01 -7.51438455e-02 9.34599912e-01 1.63829654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319072329 meters Centerline goodness [0,1] 0.06035427719559783 Centerline is valid? [False, False] Translation: X:-22.99, Y:-1.34, Z:16.38 [[ 9.37057958e-01 -1.97712466e-03 -3.49168260e-01 -2.29940910e+01] [ 2.79146521e-02 9.97207488e-01 6.92675887e-02 -1.34350428e+00] [ 3.48056253e-01 -7.46546557e-02 9.34496403e-01 1.63816260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.349072329 meters Centerline goodness [0,1] 0.05844482886986224 Centerline is valid? [False, False] Translation: X:-22.99, Y:-1.34, Z:16.38 [[ 9.36973092e-01 -1.10081618e-03 -3.49399791e-01 -2.29913219e+01] [ 2.69326712e-02 9.97247333e-01 6.90824747e-02 -1.33855176e+00] [ 3.48361962e-01 -7.41386896e-02 9.34423565e-01 1.63803199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379072329 meters Centerline goodness [0,1] 0.055216742716742706 Centerline is valid? [False, False] Translation: X:-22.98, Y:-1.33, Z:16.39 [[ 9.36224935e-01 6.64799211e-03 -3.51338405e-01 -2.29808274e+01] [ 1.88278460e-02 9.97435885e-01 6.90446714e-02 -1.32830543e+00] [ 3.50896542e-01 -7.12562884e-02 9.33699180e-01 1.63876711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.409072329 meters Centerline goodness [0,1] 0.05289810592774469 Centerline is valid? [False, False] Translation: X:-22.98, Y:-1.33, Z:16.39 [[ 9.36155388e-01 1.19701476e-02 -3.51382705e-01 -2.29801135e+01] [ 1.45914549e-02 9.97236433e-01 7.28463182e-02 -1.32653658e+00] [ 3.51283617e-01 -7.33226581e-02 9.33393598e-01 1.63874728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439072329 meters Centerline goodness [0,1] 0.04323802841606739 Centerline is valid? [False, False] Translation: X:-22.97, Y:-1.32, Z:16.40 [[ 9.35386674e-01 1.99869930e-02 -3.53061312e-01 -2.29700344e+01] [ 6.26941242e-03 9.97307253e-01 7.30680396e-02 -1.31769433e+00] [ 3.53571018e-01 -7.05603575e-02 9.32742607e-01 1.63950902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.469072329 meters Centerline goodness [0,1] 0.04974590379391919 Centerline is valid? [False, False] Translation: X:-22.97, Y:-1.31, Z:16.39 [[ 9.35307363e-01 2.10115781e-02 -3.53211905e-01 -2.29675293e+01] [ 5.20062097e-03 9.97311166e-01 7.30985003e-02 -1.31337784e+00] [ 3.53798092e-01 -7.02064868e-02 9.32683204e-01 1.63939383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499072329 meters Centerline goodness [0,1] 0.0480670356838121 Centerline is valid? [False, False] Translation: X:-22.96, Y:-1.31, Z:16.39 [[ 9.35214379e-01 2.19704798e-02 -3.53399723e-01 -2.29647696e+01] [ 4.19613929e-03 9.97315319e-01 7.31064122e-02 -1.30913872e+00] [ 3.54057140e-01 -6.98530824e-02 9.32611435e-01 1.63926964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.529072329 meters Centerline goodness [0,1] 0.04682259584822113 Centerline is valid? [False, False] Translation: X:-22.95, Y:-1.30, Z:16.40 [[ 9.34354389e-01 2.96590513e-02 -3.55108740e-01 -2.29535538e+01] [-3.79888998e-03 9.97302687e-01 7.33002009e-02 -1.30049676e+00] [ 3.56324915e-01 -6.71393454e-02 9.31946814e-01 1.63993300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559072329 meters Centerline goodness [0,1] 0.04576563969125136 Centerline is valid? [False, False] Translation: X:-22.95, Y:-1.30, Z:16.40 [[ 9.34281213e-01 3.11378023e-02 -3.55174679e-01 -2.29506347e+01] [-5.21055839e-03 9.97265150e-01 7.37229309e-02 -1.29614985e+00] [ 3.56498900e-01 -6.70272909e-02 9.31888339e-01 1.63978417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.589072329 meters Centerline goodness [0,1] 0.04536312360631367 Centerline is valid? [False, False] Translation: X:-22.95, Y:-1.29, Z:16.40 [[ 9.34159077e-01 3.65182908e-02 -3.54983428e-01 -2.29494606e+01] [-9.48430142e-03 9.96939468e-01 7.75999018e-02 -1.29483202e+00] [ 3.56730805e-01 -6.91238828e-02 9.31646404e-01 1.63970073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619072329 meters Centerline goodness [0,1] 0.04459435780620291 Centerline is valid? [False, False] Translation: X:-22.95, Y:-1.29, Z:16.40 [[ 9.34105639e-01 3.82370311e-02 -3.54943072e-01 -2.29467262e+01] [-1.10924783e-02 9.96876092e-01 7.81985558e-02 -1.29111874e+00] [ 3.56824343e-01 -6.91085136e-02 9.31611723e-01 1.63955489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.649072329 meters Centerline goodness [0,1] 0.043070259865255034 Centerline is valid? [False, False] Translation: X:-22.94, Y:-1.28, Z:16.40 [[ 9.33297594e-01 4.61635660e-02 -3.56124314e-01 -2.29351006e+01] [-1.94489945e-02 9.96745164e-01 7.82356339e-02 -1.28242808e+00] [ 3.58576824e-01 -6.60908690e-02 9.31157698e-01 1.64021237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679072329 meters Centerline goodness [0,1] 0.04236472595249552 Centerline is valid? [False, False] Translation: X:-22.93, Y:-1.28, Z:16.40 [[ 9.33241904e-01 4.73799059e-02 -3.56110506e-01 -2.29316720e+01] [-2.06753999e-02 9.96705444e-01 7.84269493e-02 -1.27853453e+00] [ 3.58653141e-01 -6.58285884e-02 9.31146885e-01 1.64001574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.709072329 meters Centerline goodness [0,1] 0.04313116511012449 Centerline is valid? [False, False] Translation: X:-22.93, Y:-1.27, Z:16.40 [[ 9.33206063e-01 4.85289808e-02 -3.56049690e-01 -2.29283051e+01] [-2.18673871e-02 9.96671866e-01 7.85303075e-02 -1.27472001e+00] [ 3.58675705e-01 -6.54990827e-02 9.31161430e-01 1.63981028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739072329 meters Centerline goodness [0,1] 0.045755924637300605 Centerline is valid? [False, False] Translation: X:-22.92, Y:-1.26, Z:16.40 [[ 0.93292597 0.05831442 -0.35531473 -22.92142839] [ -0.03472891 0.99677049 0.0724051 -1.26470128] [ 0.35838949 -0.0552089 0.93193827 16.39698001] [ 0. 0. 0. 1. ]] SLAMing on 135.769072329 meters Centerline goodness [0,1] 0.04968495668154371 Centerline is valid? [False, False] Translation: X:-22.92, Y:-1.26, Z:16.40 [[ 0.93265316 0.06354759 -0.35513348 -22.92042833] [ -0.03896343 0.99634924 0.0759608 -1.26152577] [ 0.3586641 -0.05700786 0.9317243 16.39640664] [ 0. 0. 0. 1. ]] SLAMing on 135.799072329 meters Centerline goodness [0,1] 0.05321012525181745 Centerline is valid? [False, False] Translation: X:-22.92, Y:-1.26, Z:16.40 [[ 0.93236203 0.06888247 -0.35490316 -22.91971143] [ -0.04329717 0.99589053 0.07954497 -1.25819846] [ 0.35892395 -0.05879841 0.93151293 16.39600143] [ 0. 0. 0. 1. ]] SLAMing on 135.829072329 meters Centerline goodness [0,1] 0.06434474616292796 Centerline is valid? [False, False] Translation: X:-22.92, Y:-1.26, Z:16.40 [[ 0.93205231 0.07429575 -0.35462463 -22.91893276] [ -0.04769598 0.99539234 0.08318168 -1.25543634] [ 0.35917069 -0.06061551 0.93130134 16.39553415] [ 0. 0. 0. 1. ]] SLAMing on 135.859072329 meters Centerline goodness [0,1] 0.1371318626057677 Centerline is valid? [False, False] Translation: X:-22.92, Y:-1.25, Z:16.40 [[ 0.93162838 0.08829522 -0.35252306 -22.91533442] [ -0.06408263 0.99474912 0.07979732 -1.24707722] [ 0.35771772 -0.05175084 0.9323947 16.39571923] [ 0. 0. 0. 1. ]] SLAMing on 135.88907232900002 meters Centerline goodness [0,1] 0.11935413484617063 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.24, Z:16.39 [[ 0.9312803 0.09365111 -0.35206032 -22.91451828] [ -0.06844623 0.99416274 0.08339996 -1.24459961] [ 0.35781576 -0.05357154 0.93225424 16.39494768] [ 0. 0. 0. 1. ]] SLAMing on 135.91907232900002 meters Centerline goodness [0,1] 0.15145889752773656 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.23, Z:16.39 [[ 0.93030665 0.10680193 -0.3508887 -22.91123998] [ -0.08343723 0.99320808 0.08109217 -1.23393832] [ 0.3571663 -0.04616341 0.93289934 16.39401882] [ 0. 0. 0. 1. ]] SLAMing on 135.94907232900002 meters Centerline goodness [0,1] 0.14597410523562493 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.23, Z:16.39 [[ 0.92983109 0.1120619 -0.35050859 -22.90962285] [ -0.08775799 0.99254925 0.08452531 -1.23030641] [ 0.3573691 -0.04783433 0.93273748 16.39300727] [ 0. 0. 0. 1. ]] SLAMing on 135.97907232900002 meters Centerline goodness [0,1] 0.15800492879419015 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.23, Z:16.39 [[ 0.92933682 0.11736613 -0.35008322 -22.90780295] [ -0.09214624 0.99185736 0.0879093 -1.2261856 ] [ 0.35755019 -0.0494385 0.93258442 16.39184652] [ 0. 0. 0. 1. ]] SLAMing on 136.00907232900002 meters Centerline goodness [0,1] 0.1917763444609082 Centerline is valid? [False, False] Translation: X:-22.90, Y:-1.21, Z:16.39 [[ 0.92819628 0.13176257 -0.34798031 -22.90148612] [ -0.10890387 0.99045042 0.08454538 -1.21343039] [ 0.35579716 -0.0405783 0.93368184 16.39109906] [ 0. 0. 0. 1. ]] SLAMing on 136.039072329 meters Centerline goodness [0,1] 0.2011979426636863 Centerline is valid? [False, False] Translation: X:-22.90, Y:-1.21, Z:16.38 [[ 0.92812082 0.13941215 -0.34518981 -22.90394715] [ -0.11811912 0.9896012 0.08208128 -1.20994459] [ 0.35304338 -0.03540783 0.93493671 16.38248792] [ 0. 0. 0. 1. ]] SLAMing on 136.069072329 meters Centerline goodness [0,1] 0.21782737061479684 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.21, Z:16.37 [[ 0.92796859 0.14716111 -0.34237101 -22.9061797 ] [ -0.12744598 0.98865266 0.07952005 -1.20618741] [ 0.35018827 -0.0301583 0.9361937 16.37374186] [ 0. 0. 0. 1. ]] SLAMing on 136.099072329 meters Centerline goodness [0,1] 0.22559309537233807 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.20, Z:16.37 [[ 0.92767478 0.15515576 -0.33962656 -22.90832524] [ -0.13687503 0.98756809 0.07729482 -1.20182826] [ 0.34739709 -0.02521806 0.93737896 16.36523612] [ 0. 0. 0. 1. ]] SLAMing on 136.129072329 meters Centerline goodness [0,1] 0.23778254556487444 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.19, Z:16.36 [[ 9.26266734e-01 1.72274319e-01 -3.35188746e-01 -2.29073170e+01] [-1.54103825e-01 9.84787054e-01 8.02899051e-02 -1.19209651e+00] [ 3.43921427e-01 -2.27160004e-02 9.38723620e-01 1.63552400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159072329 meters Centerline goodness [0,1] 0.2443828737174769 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.19, Z:16.35 [[ 9.25743932e-01 1.80196657e-01 -3.32456520e-01 -2.29089279e+01] [-1.63316874e-01 9.83462618e-01 7.82871430e-02 -1.18569502e+00] [ 3.41065641e-01 -1.81780879e-02 9.39863706e-01 1.63473626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.189072329 meters Centerline goodness [0,1] 0.25340965762484013 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.18, Z:16.34 [[ 9.23534015e-01 1.97862482e-01 -3.28535176e-01 -2.29075709e+01] [-1.81119814e-01 9.80108360e-01 8.11370176e-02 -1.17625686e+00] [ 3.38054044e-01 -1.54285658e-02 9.41000225e-01 1.63374832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219072329 meters Centerline goodness [0,1] 0.2563460001296204 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.17, Z:16.33 [[ 9.22937552e-01 2.05534320e-01 -3.25487201e-01 -2.29093852e+01] [-1.90313041e-01 9.78595411e-01 7.83068879e-02 -1.17081061e+00] [ 3.34615034e-01 -1.03279084e-02 9.42298314e-01 1.63286920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.249072329 meters Centerline goodness [0,1] 0.2607133581508094 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.17, Z:16.32 [[ 9.22296854e-01 2.13159337e-01 -3.22384259e-01 -2.29114890e+01] [-1.99489257e-01 9.77004041e-01 7.52804131e-02 -1.16519603e+00] [ 3.31017447e-01 -5.11869200e-03 9.43610751e-01 1.63199389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279072329 meters Centerline goodness [0,1] 0.2714369045304297 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.16, Z:16.31 [[ 9.19105648e-01 2.31528771e-01 -3.18809090e-01 -2.29106960e+01] [-2.18067643e-01 9.72825994e-01 7.78208798e-02 -1.15682983e+00] [ 3.28163542e-01 -2.00366337e-03 9.44618799e-01 1.63107738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.309072329 meters Centerline goodness [0,1] 0.277027027027027 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.15, Z:16.30 [[ 9.18213519e-01 2.39317843e-01 -3.15611951e-01 -2.29129425e+01] [-2.27187055e-01 9.70937832e-01 7.52713011e-02 -1.15139476e+00] [ 3.24453349e-01 2.58782370e-03 9.45898159e-01 1.63024549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339072329 meters Centerline goodness [0,1] 0.2920933246921581 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.14, Z:16.29 [[ 9.16175052e-01 2.52786799e-01 -3.11001783e-01 -2.29105063e+01] [-2.41264016e-01 9.67505160e-01 7.56666395e-02 -1.14048559e+00] [ 3.20023357e-01 5.70965171e-03 9.47392448e-01 1.62924455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.369072329 meters Centerline goodness [0,1] 0.2992815688981899 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.14, Z:16.29 [[ 9.15053939e-01 2.58344670e-01 -3.09732660e-01 -2.29072338e+01] [-2.46032017e-01 9.66044526e-01 7.89063965e-02 -1.13550340e+00] [ 3.19600587e-01 4.00054209e-03 9.47543909e-01 1.62903945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399072329 meters Centerline goodness [0,1] 0.30716318785578745 Centerline is valid? [False, False] Translation: X:-22.90, Y:-1.13, Z:16.29 [[ 9.13948290e-01 2.63657213e-01 -3.08518068e-01 -2.29042726e+01] [-2.50585616e-01 9.64613584e-01 8.20212373e-02 -1.13082112e+00] [ 3.19226210e-01 2.34702057e-03 9.47675640e-01 1.62885331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.429072329 meters Centerline goodness [0,1] 0.30716318785578745 Centerline is valid? [False, False] Translation: X:-22.90, Y:-1.13, Z:16.29 [[ 9.13948290e-01 2.63657213e-01 -3.08518068e-01 -2.29042726e+01] [-2.50585616e-01 9.64613584e-01 8.20212373e-02 -1.13082112e+00] [ 3.19226210e-01 2.34702057e-03 9.47675640e-01 1.62885331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459072329 meters Centerline goodness [0,1] 0.35056888102074746 Centerline is valid? [False, False] Translation: X:-22.90, Y:-1.13, Z:16.29 [[ 9.12885625e-01 2.68757369e-01 -3.07260985e-01 -2.29019969e+01] [-2.54971574e-01 9.63207601e-01 8.49741983e-02 -1.12652728e+00] [ 3.18793558e-01 7.71092895e-04 9.47823862e-01 1.62868422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.489072329 meters Centerline goodness [0,1] 0.32677529758701596 Centerline is valid? [False, False] Translation: X:-22.90, Y:-1.12, Z:16.28 [[ 9.10781909e-01 2.80712675e-01 -3.02781617e-01 -2.29016759e+01] [-2.67654636e-01 9.59783971e-01 8.47096510e-02 -1.11688895e+00] [ 3.14384016e-01 3.88888592e-03 9.49287926e-01 1.62777616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519072329 meters Centerline goodness [0,1] 0.3369852988656665 Centerline is valid? [False, False] Translation: X:-22.90, Y:-1.11, Z:16.28 [[ 9.09655866e-01 2.85866534e-01 -3.01341219e-01 -2.28999728e+01] [-2.72087372e-01 9.58266905e-01 8.77097570e-02 -1.11234050e+00] [ 3.13838601e-01 2.20544527e-03 9.49473785e-01 1.62764777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.549072329 meters Centerline goodness [0,1] 0.35840213278293775 Centerline is valid? [False, False] Translation: X:-22.90, Y:-1.11, Z:16.28 [[ 9.08482851e-01 2.91013307e-01 -2.99950272e-01 -2.28984236e+01] [-2.76515827e-01 9.56718856e-01 9.07084745e-02 -1.10730189e+00] [ 3.13365454e-01 5.33903881e-04 9.49632459e-01 1.62755525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579072329 meters Centerline goodness [0,1] 0.3871362611403415 Centerline is valid? [False, False] Translation: X:-22.89, Y:-1.10, Z:16.27 [[ 9.05447729e-01 3.03893231e-01 -2.96333113e-01 -2.28939335e+01] [-2.87457747e-01 9.52697011e-01 9.86734447e-02 -1.09732224e+00] [ 3.12301863e-01 -4.16039750e-03 9.49973809e-01 1.62731505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.609072329 meters Centerline goodness [0,1] 0.3667124110129514 Centerline is valid? [False, False] Translation: X:-22.89, Y:-1.09, Z:16.27 [[ 9.04117486e-01 3.09067165e-01 -2.95040775e-01 -2.28912066e+01] [-2.91950922e-01 9.51023081e-01 1.01586212e-01 -1.09134073e+00] [ 3.11987549e-01 -5.70844426e-03 9.50069041e-01 1.62719256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63907232900002 meters Centerline goodness [0,1] 0.3776026047468083 Centerline is valid? [False, False] Translation: X:-22.89, Y:-1.08, Z:16.26 [[ 9.01603430e-01 3.20431986e-01 -2.90576321e-01 -2.28881401e+01] [-3.03940550e-01 9.47266064e-01 1.01524115e-01 -1.07765458e+00] [ 3.07784661e-01 -3.21656368e-03 9.51450606e-01 1.62632922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66907232900002 meters Centerline goodness [0,1] 0.38671231411147966 Centerline is valid? [False, False] Translation: X:-22.88, Y:-1.07, Z:16.26 [[ 9.00254141e-01 3.25492709e-01 -2.89131419e-01 -2.28846945e+01] [-3.08399114e-01 9.45533186e-01 1.04196836e-01 -1.07159445e+00] [ 3.07298662e-01 -4.63575928e-03 9.51601829e-01 1.62613730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69907232900002 meters Centerline goodness [0,1] 0.41062356648303355 Centerline is valid? [False, False] Translation: X:-22.88, Y:-1.07, Z:16.26 [[ 8.98887254e-01 3.30499952e-01 -2.87700341e-01 -2.28815613e+01] [-3.12807385e-01 9.43786567e-01 1.06857172e-01 -1.06577268e+00] [ 3.06844008e-01 -6.05775819e-03 9.51740542e-01 1.62595789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72907232900002 meters Centerline goodness [0,1] 0.41241823056300264 Centerline is valid? [False, False] Translation: X:-22.88, Y:-1.06, Z:16.26 [[ 8.97537666e-01 3.35412412e-01 -2.86224826e-01 -2.28788203e+01] [-3.17124026e-01 9.42041448e-01 1.09500062e-01 -1.05995734e+00] [ 3.06363330e-01 -7.51166107e-03 9.51885017e-01 1.62580813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75907232900002 meters Centerline goodness [0,1] 0.41842195393441217 Centerline is valid? [False, False] Translation: X:-22.87, Y:-1.05, Z:16.26 [[ 8.94741876e-01 3.45671605e-01 -2.82750981e-01 -2.28732724e+01] [-3.26136807e-01 9.38294159e-01 1.15060218e-01 -1.04754763e+00] [ 3.05076644e-01 -1.07336927e-02 9.52267310e-01 1.62551389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.789072329 meters Centerline goodness [0,1] 0.41894091941219314 Centerline is valid? [False, False] Translation: X:-22.87, Y:-1.04, Z:16.25 [[ 8.93317011e-01 3.50509243e-01 -2.81296976e-01 -2.28706491e+01] [-3.30407915e-01 9.36480728e-01 1.17619964e-01 -1.04108397e+00] [ 3.04656081e-01 -1.21291672e-02 9.52385193e-01 1.62540532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819072329 meters Centerline goodness [0,1] 0.42159317029334364 Centerline is valid? [False, False] Translation: X:-22.87, Y:-1.03, Z:16.25 [[ 8.90991906e-01 3.59438626e-01 -2.77375732e-01 -2.28682790e+01] [-3.40611962e-01 9.33133897e-01 1.15085283e-01 -1.02636826e+00] [ 3.00194794e-01 -8.06256329e-03 9.53843845e-01 1.62463081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.849072329 meters Centerline goodness [0,1] 0.42105601095820044 Centerline is valid? [False, False] Translation: X:-22.87, Y:-1.02, Z:16.24 [[ 8.89891657e-01 3.63490909e-01 -2.75621477e-01 -2.28663029e+01] [-3.44307595e-01 9.31553182e-01 1.16880065e-01 -1.02134092e+00] [ 2.99240905e-01 -9.11202661e-03 9.54134085e-01 1.62444700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879072329 meters Centerline goodness [0,1] 0.42088032011640597 Centerline is valid? [False, False] Translation: X:-22.86, Y:-1.02, Z:16.24 [[ 8.88943875e-01 3.67145105e-01 -2.73830713e-01 -2.28641287e+01] [-3.47715778e-01 9.30110785e-01 1.18269463e-01 -1.01612974e+00] [ 2.98114953e-01 -9.91965524e-03 9.54478431e-01 1.62422332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.909072329 meters Centerline goodness [0,1] 0.4202362103641576 Centerline is valid? [False, False] Translation: X:-22.86, Y:-1.00, Z:16.23 [[ 8.86815590e-01 3.74792601e-01 -2.70349061e-01 -2.28607671e+01] [-3.56908671e-01 9.27094904e-01 1.14504323e-01 -1.00136079e+00] [ 2.93554610e-01 -5.05429476e-03 9.55928944e-01 1.62337776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939072329 meters Centerline goodness [0,1] 0.42193217074997325 Centerline is valid? [False, False] Translation: X:-22.86, Y:-0.99, Z:16.23 [[ 8.85193422e-01 3.79537993e-01 -2.69041851e-01 -2.28572383e+01] [-3.61107282e-01 9.25153837e-01 1.17012426e-01 -9.94109494e-01] [ 2.93315762e-01 -6.42565798e-03 9.55994024e-01 1.62328967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.969072329 meters Centerline goodness [0,1] 0.41437256496981634 Centerline is valid? [False, False] Translation: X:-22.85, Y:-0.99, Z:16.23 [[ 8.83483785e-01 3.84392282e-01 -2.67766643e-01 -2.28536847e+01] [-3.65395850e-01 9.23136685e-01 1.19601563e-01 -9.86617420e-01] [ 2.93159128e-01 -7.82522147e-03 9.56031637e-01 1.62321707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999072329 meters Centerline goodness [0,1] 0.41805190081937404 Centerline is valid? [False, False] Translation: X:-22.85, Y:-0.97, Z:16.23 [[ 8.80120080e-01 3.94061830e-01 -2.64771445e-01 -2.28464425e+01] [-3.73869877e-01 9.19017686e-01 1.25011235e-01 -9.73994062e-01] [ 2.92591796e-01 -1.10348312e-02 9.56173767e-01 1.62298631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.029072329 meters Centerline goodness [0,1] 0.4243059417376054 Centerline is valid? [False, False] Translation: X:-22.84, Y:-0.97, Z:16.23 [[ 8.78705569e-01 3.98200917e-01 -2.63272771e-01 -2.28444726e+01] [-3.77501794e-01 9.17213072e-01 1.27328616e-01 -9.69555529e-01] [ 2.92179599e-01 -1.24984210e-02 9.56281795e-01 1.62288876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059072329 meters Centerline goodness [0,1] 0.4215892053973014 Centerline is valid? [False, False] Translation: X:-22.84, Y:-0.96, Z:16.23 [[ 8.76973515e-01 4.03457222e-01 -2.61035869e-01 -2.28384287e+01] [-3.82440491e-01 9.14898966e-01 1.29225205e-01 -9.59001652e-01] [ 2.90958289e-01 -1.34963960e-02 9.56640539e-01 1.62257792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.089072329 meters Centerline goodness [0,1] 0.4258572949946752 Centerline is valid? [False, False] Translation: X:-22.83, Y:-0.95, Z:16.22 [[ 8.76769222e-01 4.04427585e-01 -2.60219253e-01 -2.28349719e+01] [-3.83663368e-01 9.14479189e-01 1.28569955e-01 -9.51948062e-01] [ 2.89962327e-01 -1.28895841e-02 9.56951256e-01 1.62238893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119072329 meters Centerline goodness [0,1] 0.4450127329923602 Centerline is valid? [False, False] Translation: X:-22.83, Y:-0.94, Z:16.22 [[ 8.76452258e-01 4.05540654e-01 -2.59553884e-01 -2.28312953e+01] [-3.84985995e-01 9.13993999e-01 1.28065429e-01 -9.44493995e-01] [ 2.89166430e-01 -1.23186241e-02 9.57199576e-01 1.62223564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.149072329 meters Centerline goodness [0,1] 0.4491345927558247 Centerline is valid? [False, False] Translation: X:-22.82, Y:-0.93, Z:16.22 [[ 8.74450742e-01 4.10678658e-01 -2.58222655e-01 -2.28244835e+01] [-3.89789611e-01 9.11687585e-01 1.29960785e-01 -9.31044987e-01] [ 2.88790510e-01 -1.29917968e-02 9.57304160e-01 1.62214964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179072329 meters Centerline goodness [0,1] 0.4214096199931531 Centerline is valid? [False, False] Translation: X:-22.82, Y:-0.92, Z:16.22 [[ 8.74170127e-01 4.11545477e-01 -2.57792378e-01 -2.28210946e+01] [-3.90832579e-01 9.11303947e-01 1.29518382e-01 -9.23843884e-01] [ 2.88229916e-01 -1.24674398e-02 9.57480067e-01 1.62206112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.209072329 meters Centerline goodness [0,1] 0.4224126875561065 Centerline is valid? [False, False] Translation: X:-22.82, Y:-0.92, Z:16.22 [[ 8.73957874e-01 4.12144460e-01 -2.57555001e-01 -2.28178158e+01] [-3.91641210e-01 9.11042120e-01 1.28916319e-01 -9.16998540e-01] [ 2.87775601e-01 -1.17982801e-02 9.57625190e-01 1.62198113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239072329 meters Centerline goodness [0,1] 0.42360992301112066 Centerline is valid? [False, False] Translation: X:-22.81, Y:-0.91, Z:16.22 [[ 8.73702181e-01 4.12812907e-01 -2.57351903e-01 -2.28119257e+01] [-3.92749013e-01 9.10756807e-01 1.27554897e-01 -9.06148348e-01] [ 2.87041305e-01 -1.03702852e-02 9.57862071e-01 1.62180593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.269072329 meters Centerline goodness [0,1] 0.42211954091518855 Centerline is valid? [False, False] Translation: X:-22.81, Y:-0.90, Z:16.22 [[ 8.73611822e-01 4.12834720e-01 -2.57623519e-01 -2.28090308e+01] [-3.93036387e-01 9.10757472e-01 1.26661853e-01 -9.00937446e-01] [ 2.86922956e-01 -9.39787469e-03 9.57907562e-01 1.62174888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299072329 meters Centerline goodness [0,1] 0.42763453034543164 Centerline is valid? [False, False] Translation: X:-22.80, Y:-0.89, Z:16.22 [[ 8.73405671e-01 4.12875421e-01 -2.58256500e-01 -2.28028654e+01] [-3.93489410e-01 9.10754182e-01 1.25271325e-01 -8.90085515e-01] [ 2.86929638e-01 -7.79148772e-03 9.57919973e-01 1.62171268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.329072329 meters Centerline goodness [0,1] 0.43033048360341963 Centerline is valid? [False, False] Translation: X:-22.80, Y:-0.88, Z:16.22 [[ 8.73249386e-01 4.12808006e-01 -2.58891985e-01 -2.27997757e+01] [-3.93617915e-01 9.10791972e-01 1.24591017e-01 -8.83885942e-01] [ 2.87228911e-01 -6.89450559e-03 9.57837157e-01 1.62176564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359072329 meters Centerline goodness [0,1] 0.43730397490878836 Centerline is valid? [False, False] Translation: X:-22.80, Y:-0.88, Z:16.22 [[ 8.73044625e-01 4.12738511e-01 -2.59692132e-01 -2.27967921e+01] [-3.93684877e-01 9.10829036e-01 1.24107550e-01 -8.77513324e-01] [ 2.87759100e-01 -6.11456472e-03 9.57683305e-01 1.62187464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38907232900002 meters Centerline goodness [0,1] 0.4428089935577456 Centerline is valid? [False, False] Translation: X:-22.80, Y:-0.87, Z:16.21 [[ 8.74068177e-01 4.12164662e-01 -2.57148037e-01 -2.27965311e+01] [-3.92833101e-01 9.11071931e-01 1.25020367e-01 -8.69171642e-01] [ 2.85809336e-01 -8.26006393e-03 9.58250904e-01 1.62146548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41907232900002 meters Centerline goodness [0,1] 0.44697454266342584 Centerline is valid? [False, False] Translation: X:-22.80, Y:-0.87, Z:16.22 [[ 8.74322068e-01 4.10860406e-01 -2.58369208e-01 -2.27951247e+01] [-3.91738882e-01 9.11669140e-01 1.24096843e-01 -8.65397581e-01] [ 2.86533714e-01 -7.28734386e-03 9.58042445e-01 1.62162761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44907232900002 meters Centerline goodness [0,1] 0.4756312514600013 Centerline is valid? [False, False] Translation: X:-22.79, Y:-0.86, Z:16.22 [[ 8.75747273e-01 4.06459906e-01 -2.60493875e-01 -2.27901527e+01] [-3.88102839e-01 9.13656277e-01 1.20865190e-01 -8.56291167e-01] [ 2.87128718e-01 -4.74894805e-03 9.57880236e-01 1.62171982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47907232900002 meters Centerline goodness [0,1] 0.47898121725797527 Centerline is valid? [False, False] Translation: X:-22.79, Y:-0.85, Z:16.22 [[ 8.76028924e-01 4.04985535e-01 -2.61839722e-01 -2.27885891e+01] [-3.86842749e-01 9.14315360e-01 1.19917093e-01 -8.51990160e-01] [ 2.87968768e-01 -3.76004440e-03 9.57632419e-01 1.62190836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50907232900002 meters Centerline goodness [0,1] 0.48408859470468435 Centerline is valid? [False, False] Translation: X:-22.79, Y:-0.84, Z:16.22 [[ 8.78672469e-01 3.99873079e-01 -2.60837523e-01 -2.27876419e+01] [-3.82258976e-01 9.16563951e-01 1.17424863e-01 -8.41593342e-01] [ 2.86029312e-01 -3.47051011e-03 9.58214583e-01 1.62163205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539072329 meters Centerline goodness [0,1] 0.4847398301105562 Centerline is valid? [False, False] Translation: X:-22.78, Y:-0.83, Z:16.22 [[ 8.79477788e-01 3.96536453e-01 -2.63206502e-01 -2.27835092e+01] [-3.79574578e-01 9.18018427e-01 1.14740175e-01 -8.34002395e-01] [ 2.87127081e-01 -1.00493808e-03 9.57891972e-01 1.62182193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.569072329 meters Centerline goodness [0,1] 0.4798277956565291 Centerline is valid? [False, False] Translation: X:-22.78, Y:-0.83, Z:16.22 [[ 8.80416307e-01 3.92878039e-01 -2.65544672e-01 -2.27793386e+01] [-3.76640139e-01 9.19589212e-01 1.11793943e-01 -8.26153447e-01] [ 2.88113401e-01 1.58957156e-03 9.57594978e-01 1.62199072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599072329 meters Centerline goodness [0,1] 0.48246027326851415 Centerline is valid? [False, False] Translation: X:-22.78, Y:-0.82, Z:16.22 [[ 8.81399798e-01 3.89042443e-01 -2.67918593e-01 -2.27752479e+01] [-3.73553462e-01 9.21210178e-01 1.08764054e-01 -8.18629213e-01] [ 2.89123168e-01 4.21730274e-03 9.57282617e-01 1.62214963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.629072329 meters Centerline goodness [0,1] 0.48204002694539216 Centerline is valid? [False, False] Translation: X:-22.77, Y:-0.81, Z:16.22 [[ 8.85994019e-01 3.78263037e-01 -2.68200808e-01 -2.27661805e+01] [-3.61805222e-01 9.25697854e-01 1.10365138e-01 -8.07713673e-01] [ 2.90019965e-01 -7.46399362e-04 9.57020304e-01 1.62219602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659072329 meters Centerline goodness [0,1] 0.47516804803236967 Centerline is valid? [False, False] Translation: X:-22.76, Y:-0.80, Z:16.22 [[ 8.87077900e-01 3.74158080e-01 -2.70367399e-01 -2.27621657e+01] [-3.58491497e-01 9.27363050e-01 1.07152322e-01 -8.00149921e-01] [ 2.90820643e-01 1.87195640e-03 9.56775757e-01 1.62230815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.689072329 meters Centerline goodness [0,1] 0.482529154679024 Centerline is valid? [False, False] Translation: X:-22.76, Y:-0.79, Z:16.22 [[ 8.88115075e-01 3.70171714e-01 -2.72441767e-01 -2.27579306e+01] [-3.55299266e-01 9.28952630e-01 1.03968467e-01 -7.92363317e-01] [ 2.91571682e-01 4.46239694e-03 9.56538573e-01 1.62241876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719072329 meters Centerline goodness [0,1] 0.4788641997167139 Centerline is valid? [False, False] Translation: X:-22.75, Y:-0.78, Z:16.22 [[ 8.92142460e-01 3.60286841e-01 -2.72534812e-01 -2.27473006e+01] [-3.44222486e-01 9.32840918e-01 1.06389389e-01 -7.79857349e-01] [ 2.92562321e-01 -1.10188047e-03 9.56245823e-01 1.62245830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.749072329 meters Centerline goodness [0,1] 0.4773649772651658 Centerline is valid? [False, False] Translation: X:-22.74, Y:-0.77, Z:16.23 [[ 8.93210406e-01 3.56129475e-01 -2.74494021e-01 -2.27432440e+01] [-3.40894995e-01 9.34435383e-01 1.03058804e-01 -7.71916850e-01] [ 2.93199204e-01 1.52044150e-03 9.56050163e-01 1.62254893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779072329 meters Centerline goodness [0,1] 0.4794879320855253 Centerline is valid? [False, False] Translation: X:-22.73, Y:-0.76, Z:16.23 [[ 8.97530050e-01 3.44007357e-01 -2.75860015e-01 -2.27321209e+01] [-3.28050925e-01 9.38963693e-01 1.03584621e-01 -7.60004193e-01] [ 2.94656410e-01 -2.47417731e-03 9.55600062e-01 1.62270075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.809072329 meters Centerline goodness [0,1] 0.4796285337096554 Centerline is valid? [False, False] Translation: X:-22.73, Y:-0.75, Z:16.23 [[ 8.98616287e-01 3.39633642e-01 -2.77736851e-01 -2.27284488e+01] [-3.24488465e-01 9.40557807e-01 1.00290814e-01 -7.52481554e-01] [ 2.95289698e-01 -5.54601322e-07 9.55407763e-01 1.62280833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839072329 meters Centerline goodness [0,1] 0.48271579383150487 Centerline is valid? [False, False] Translation: X:-22.72, Y:-0.74, Z:16.23 [[ 8.99594214e-01 3.35359687e-01 -2.79757272e-01 -2.27242294e+01] [-3.20951370e-01 9.42087396e-01 9.72705335e-02 -7.44701508e-01] [ 2.96176415e-01 2.28447034e-03 9.55130521e-01 1.62292443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.869072329 meters Centerline goodness [0,1] 0.48153356694946514 Centerline is valid? [False, False] Translation: X:-22.72, Y:-0.74, Z:16.23 [[ 9.00550013e-01 3.31134110e-01 -2.81708847e-01 -2.27198748e+01] [-3.17453136e-01 9.43572960e-01 9.43057561e-02 -7.36778560e-01] [ 2.97040703e-01 4.50230719e-03 9.54854203e-01 1.62303085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899072329 meters Centerline goodness [0,1] 0.4842667166135981 Centerline is valid? [False, False] Translation: X:-22.71, Y:-0.72, Z:16.23 [[ 9.04040296e-01 3.20858633e-01 -2.82419690e-01 -2.27089886e+01] [-3.05830180e-01 9.47126105e-01 9.70569037e-02 -7.24314647e-01] [ 2.98628606e-01 -1.37088719e-03 9.54368417e-01 1.62316024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.929072329 meters Centerline goodness [0,1] 0.48451222967230145 Centerline is valid? [False, False] Translation: X:-22.70, Y:-0.72, Z:16.23 [[ 9.04925440e-01 3.16689029e-01 -2.84285081e-01 -2.27041587e+01] [-3.02523604e-01 9.48528603e-01 9.36640675e-02 -7.16080190e-01] [ 2.99314913e-01 1.24394959e-03 9.54153570e-01 1.62318889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959072329 meters Centerline goodness [0,1] 0.4842264841061674 Centerline is valid? [False, False] Translation: X:-22.69, Y:-0.70, Z:16.23 [[ 9.08134994e-01 3.06399501e-01 -2.85324689e-01 -2.26935772e+01] [-2.90958272e-01 9.51893356e-01 9.61370037e-02 -7.04942224e-01] [ 3.01055006e-01 -4.28779862e-03 9.53597136e-01 1.62333462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.989072329 meters Centerline goodness [0,1] 0.4846188998725257 Centerline is valid? [False, False] Translation: X:-22.69, Y:-0.70, Z:16.23 [[ 9.08997227e-01 3.02226623e-01 -2.87024581e-01 -2.26889088e+01] [-2.87671239e-01 9.53234633e-01 9.26768219e-02 -6.96432217e-01] [ 3.01611174e-01 -1.67425721e-03 9.53429545e-01 1.62337983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019072329 meters Centerline goodness [0,1] 0.4826919357957842 Centerline is valid? [False, False] Translation: X:-22.68, Y:-0.69, Z:16.23 [[ 9.09776803e-01 2.98121878e-01 -2.88841677e-01 -2.26840916e+01] [-2.84428412e-01 9.54527394e-01 8.93192678e-02 -6.87565400e-01] [ 3.02335321e-01 8.94181755e-04 9.53201214e-01 1.62347413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.049072329 meters Centerline goodness [0,1] 0.47454896907216493 Centerline is valid? [False, False] Translation: X:-22.67, Y:-0.67, Z:16.24 [[ 9.12828153e-01 2.89136659e-01 -2.88348324e-01 -2.26733737e+01] [-2.73987373e-01 9.57272291e-01 9.25239428e-02 -6.74225265e-01] [ 3.02779924e-01 -5.45466004e-03 9.53044891e-01 1.62362873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079072329 meters Centerline goodness [0,1] 0.4767834949043003 Centerline is valid? [False, False] Translation: X:-22.67, Y:-0.66, Z:16.24 [[ 9.13545688e-01 2.84977192e-01 -2.90210744e-01 -2.26681733e+01] [-2.70781391e-01 9.58530787e-01 8.88603903e-02 -6.64501585e-01] [ 3.03499117e-01 -2.59435747e-03 9.52828188e-01 1.62367386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.109072329 meters Centerline goodness [0,1] 0.46836695850780363 Centerline is valid? [False, False] Translation: X:-22.66, Y:-0.65, Z:16.24 [[ 9.14841198e-01 2.79376114e-01 -2.91572581e-01 -2.26619329e+01] [-2.66041212e-01 9.60181641e-01 8.52835830e-02 -6.50636156e-01] [ 3.03788836e-01 -4.50612316e-04 9.52739282e-01 1.62368684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13907232900002 meters Centerline goodness [0,1] 0.46463792617638766 Centerline is valid? [False, False] Translation: X:-22.66, Y:-0.64, Z:16.24 [[ 9.15501083e-01 2.75170165e-01 -2.93494714e-01 -2.26565111e+01] [-2.62829847e-01 9.61392266e-01 8.15192146e-02 -6.41167203e-01] [ 3.04595204e-01 2.50824138e-03 9.52478593e-01 1.62372186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16907232900002 meters Centerline goodness [0,1] 0.46170537028905023 Centerline is valid? [False, False] Translation: X:-22.65, Y:-0.63, Z:16.24 [[ 9.16150362e-01 2.70896048e-01 -2.95438395e-01 -2.26509873e+01] [-2.59557227e-01 9.62593146e-01 7.77462643e-02 -6.31700379e-01] [ 3.05448130e-01 5.45590239e-03 9.52193086e-01 1.62376884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19907232900002 meters Centerline goodness [0,1] 0.45468881412952056 Centerline is valid? [False, False] Translation: X:-22.64, Y:-0.62, Z:16.24 [[ 9.17460998e-01 2.64706184e-01 -2.96978037e-01 -2.26431544e+01] [-2.54213238e-01 9.64300320e-01 7.41655076e-02 -6.17388747e-01] [ 3.06008085e-01 7.45178770e-03 9.51999750e-01 1.62385100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22907232900002 meters Centerline goodness [0,1] 0.45186734072682033 Centerline is valid? [False, False] Translation: X:-22.64, Y:-0.61, Z:16.24 [[ 9.17983209e-01 2.60549414e-01 -2.99033159e-01 -2.26373777e+01] [-2.50988175e-01 9.65406862e-01 7.06719678e-02 -6.07883602e-01] [ 3.07102204e-01 1.01781070e-02 9.51622111e-01 1.62393811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25907232900002 meters Centerline goodness [0,1] 0.44638230816484603 Centerline is valid? [False, False] Translation: X:-22.63, Y:-0.60, Z:16.24 [[ 9.18492940e-01 2.56385700e-01 -3.01059948e-01 -2.26317463e+01] [-2.47732252e-01 9.66489926e-01 6.72752124e-02 -5.98647734e-01] [ 3.08219809e-01 1.27904514e-02 9.51229180e-01 1.62402411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.289072329 meters Centerline goodness [0,1] 0.4377804977560179 Centerline is valid? [False, False] Translation: X:-22.62, Y:-0.59, Z:16.24 [[ 9.20515280e-01 2.47914561e-01 -3.01976803e-01 -2.26181211e+01] [-2.37492455e-01 9.68763253e-01 7.13799277e-02 -5.85800931e-01] [ 3.10240154e-01 6.01089832e-03 9.50639214e-01 1.62418475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319072329 meters Centerline goodness [0,1] 0.4377804977560179 Centerline is valid? [False, False] Translation: X:-22.62, Y:-0.59, Z:16.24 [[ 9.20515280e-01 2.47914561e-01 -3.01976803e-01 -2.26181211e+01] [-2.37492455e-01 9.68763253e-01 7.13799277e-02 -5.85800931e-01] [ 3.10240154e-01 6.01089832e-03 9.50639214e-01 1.62418475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.349072329 meters Centerline goodness [0,1] 0.4339042599912165 Centerline is valid? [False, False] Translation: X:-22.61, Y:-0.58, Z:16.24 [[ 9.20979566e-01 2.43623306e-01 -3.04046582e-01 -2.26124020e+01] [-2.34112352e-01 9.69831824e-01 6.79532165e-02 -5.76786015e-01] [ 3.11429038e-01 8.59753660e-03 9.50230518e-01 1.62426790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379072329 meters Centerline goodness [0,1] 0.42438969889950284 Centerline is valid? [False, False] Translation: X:-22.60, Y:-0.56, Z:16.24 [[ 9.23214193e-01 2.34741692e-01 -3.04256293e-01 -2.25985818e+01] [-2.23570271e-01 9.72055852e-01 7.15804027e-02 -5.64662062e-01] [ 3.12557015e-01 1.93861811e-03 9.49897023e-01 1.62434845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.409072329 meters Centerline goodness [0,1] 0.4201803421444422 Centerline is valid? [False, False] Translation: X:-22.59, Y:-0.56, Z:16.24 [[ 9.23588357e-01 2.30472418e-01 -3.06377236e-01 -2.25927546e+01] [-2.20182526e-01 9.73068764e-01 6.82410131e-02 -5.56175512e-01] [ 3.13853789e-01 4.43230867e-03 9.49460980e-01 1.62443233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439072329 meters Centerline goodness [0,1] 0.4189708792762228 Centerline is valid? [False, False] Translation: X:-22.59, Y:-0.55, Z:16.24 [[ 9.24022283e-01 2.26143309e-01 -3.08288865e-01 -2.25870744e+01] [-2.16741500e-01 9.74069904e-01 6.48917896e-02 -5.48078230e-01] [ 3.14969750e-01 6.85753157e-03 9.49076936e-01 1.62446746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.469072329 meters Centerline goodness [0,1] 0.4082638471016361 Centerline is valid? [False, False] Translation: X:-22.57, Y:-0.53, Z:16.25 [[ 9.26336268e-01 2.13944647e-01 -3.10046460e-01 -2.25711641e+01] [-2.03576507e-01 9.76843445e-01 6.58292456e-02 -5.34954951e-01] [ 3.16950667e-01 2.13815766e-03 9.48439615e-01 1.62471749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499072329 meters Centerline goodness [0,1] 0.4044836838916299 Centerline is valid? [False, False] Translation: X:-22.57, Y:-0.53, Z:16.25 [[ 9.26640563e-01 2.09544149e-01 -3.12135413e-01 -2.25653315e+01] [-1.99947412e-01 9.77790202e-01 6.28279685e-02 -5.27452946e-01] [ 3.18368182e-01 4.19172388e-03 9.47957874e-01 1.62478738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.529072329 meters Centerline goodness [0,1] 0.40155605875863676 Centerline is valid? [False, False] Translation: X:-22.56, Y:-0.52, Z:16.25 [[ 9.26913875e-01 2.05134390e-01 -3.14246002e-01 -2.25595478e+01] [-1.96280766e-01 9.78714614e-01 5.99296733e-02 -5.20106216e-01] [ 3.19850791e-01 6.13080006e-03 9.47448091e-01 1.62487551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559072329 meters Centerline goodness [0,1] 0.39442219342678764 Centerline is valid? [False, False] Translation: X:-22.54, Y:-0.51, Z:16.26 [[ 9.28822795e-01 1.92735872e-01 -3.16450786e-01 -2.25422926e+01] [-1.83363789e-01 9.81246624e-01 5.94372260e-02 -5.06293306e-01] [ 3.21971951e-01 2.81896475e-03 9.46745011e-01 1.62554877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.589072329 meters Centerline goodness [0,1] 0.39251700680272106 Centerline is valid? [False, False] Translation: X:-22.54, Y:-0.50, Z:16.26 [[ 9.32934895e-01 1.86778570e-01 -3.07808783e-01 -2.25409916e+01] [-1.79760738e-01 9.82373404e-01 5.12696034e-02 -4.97217745e-01] [ 3.11959225e-01 7.50073199e-03 9.50065882e-01 1.62558801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619072329 meters Centerline goodness [0,1] 0.38718124200315407 Centerline is valid? [False, False] Translation: X:-22.53, Y:-0.49, Z:16.26 [[ 9.36949198e-01 1.73695221e-01 -3.03242758e-01 -2.25296484e+01] [-1.67069734e-01 9.84782311e-01 4.78696607e-02 -4.85626445e-01] [ 3.06942835e-01 5.81124660e-03 9.51710211e-01 1.62594036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.649072329 meters Centerline goodness [0,1] 0.38471428998594626 Centerline is valid? [False, False] Translation: X:-22.53, Y:-0.48, Z:16.26 [[ 9.41063965e-01 1.67010085e-01 -2.94119440e-01 -2.25274933e+01] [-1.62737157e-01 9.85893343e-01 3.91271547e-02 -4.77199671e-01] [ 2.96505028e-01 1.10430061e-02 9.54967445e-01 1.62598249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679072329 meters Centerline goodness [0,1] 0.38208409506398533 Centerline is valid? [False, False] Translation: X:-22.53, Y:-0.47, Z:16.26 [[ 9.45137132e-01 1.60263972e-01 -2.84659903e-01 -2.25261321e+01] [-1.58098907e-01 9.86945095e-01 3.07264693e-02 -4.68733028e-01] [ 2.85868041e-01 1.59636924e-02 9.58136015e-01 1.62600063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.709072329 meters Centerline goodness [0,1] 0.37894610490937464 Centerline is valid? [False, False] Translation: X:-22.51, Y:-0.46, Z:16.26 [[ 9.48627652e-01 1.46824540e-01 -2.80264397e-01 -2.25146734e+01] [-1.44914610e-01 9.89057885e-01 2.76451921e-02 -4.57905508e-01] [ 2.81256704e-01 1.43894120e-02 9.59524680e-01 1.62639278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739072329 meters Centerline goodness [0,1] 0.3752718704688255 Centerline is valid? [False, False] Translation: X:-22.51, Y:-0.45, Z:16.27 [[ 9.52445462e-01 1.39286752e-01 -2.71010780e-01 -2.25131053e+01] [-1.39440435e-01 9.90052209e-01 1.87879837e-02 -4.49416896e-01] [ 2.70931738e-01 1.98953313e-02 9.62392939e-01 1.62651540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.769072329 meters Centerline goodness [0,1] 0.3710952885926375 Centerline is valid? [False, False] Translation: X:-22.50, Y:-0.44, Z:16.27 [[ 9.55594539e-01 1.23712060e-01 -2.67459163e-01 -2.25003245e+01] [-1.24503299e-01 9.92119466e-01 1.40674592e-02 -4.38908468e-01] [ 2.67091756e-01 1.98567608e-02 9.63466503e-01 1.62691796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799072329 meters Centerline goodness [0,1] 0.36856006557576126 Centerline is valid? [False, False] Translation: X:-22.49, Y:-0.44, Z:16.27 [[ 9.56211204e-01 1.14936662e-01 -2.69164812e-01 -2.24905042e+01] [-1.13835224e-01 9.93303284e-01 1.97516409e-02 -4.36079266e-01] [ 2.69632480e-01 1.17536964e-02 9.62891570e-01 1.62701974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.829072329 meters Centerline goodness [0,1] 0.36620446390561334 Centerline is valid? [False, False] Translation: X:-22.48, Y:-0.43, Z:16.27 [[ 9.56791588e-01 1.06088877e-01 -2.70730507e-01 -2.24807313e+01] [-1.03073487e-01 9.94350036e-01 2.53744356e-02 -4.32987526e-01] [ 2.71892834e-01 3.62709074e-03 9.62320701e-01 1.62710283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859072329 meters Centerline goodness [0,1] 0.3605076885525995 Centerline is valid? [False, False] Translation: X:-22.46, Y:-0.42, Z:16.28 [[ 9.58282455e-01 9.21571038e-02 -2.70558320e-01 -2.24626056e+01] [-8.91871212e-02 9.95742812e-01 2.32789745e-02 -4.23232196e-01] [ 2.71551825e-01 1.82248484e-03 9.62422093e-01 1.62754097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88907232900002 meters Centerline goodness [0,1] 0.35634220091017377 Centerline is valid? [False, False] Translation: X:-22.46, Y:-0.42, Z:16.28 [[ 9.60940093e-01 8.38214127e-02 -2.63757669e-01 -2.24564105e+01] [-7.99577806e-02 9.96475366e-01 2.53692555e-02 -4.20076245e-01] [ 2.64954506e-01 -3.28885695e-03 9.64255305e-01 1.62765531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91907232900002 meters Centerline goodness [0,1] 0.3465507210876022 Centerline is valid? [False, False] Translation: X:-22.45, Y:-0.42, Z:16.28 [[ 9.63442738e-01 7.51416998e-02 -2.57161069e-01 -2.24496266e+01] [-7.06371084e-02 9.97144044e-01 2.67236765e-02 -4.16415333e-01] [ 2.58434691e-01 -7.58161773e-03 9.65998980e-01 1.62788222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94907232900002 meters Centerline goodness [0,1] 0.32823212536728696 Centerline is valid? [False, False] Translation: X:-22.43, Y:-0.41, Z:16.28 [[ 9.64864776e-01 5.95510797e-02 -2.55909424e-01 -2.24318436e+01] [-5.55994706e-02 9.98196093e-01 2.26552203e-02 -4.08199654e-01] [ 2.56796930e-01 -7.63079559e-03 9.66435258e-01 1.62829853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97907232900002 meters Centerline goodness [0,1] 0.3180717722411204 Centerline is valid? [False, False] Translation: X:-22.42, Y:-0.40, Z:16.28 [[ 9.65381284e-01 4.65590891e-02 -2.56653908e-01 -2.24227471e+01] [-4.15260000e-02 9.98824644e-01 2.49984210e-02 -4.04031725e-01] [ 2.57516152e-01 -1.34751976e-02 9.66180030e-01 1.62836590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.009072329 meters Centerline goodness [0,1] 0.29932951657839146 Centerline is valid? [False, False] Translation: X:-22.40, Y:-0.39, Z:16.29 [[ 9.64631134e-01 2.23025415e-02 -2.62658280e-01 -2.23999398e+01] [-1.63928427e-02 9.99561243e-01 2.46697335e-02 -3.93869719e-01] [ 2.63093234e-01 -1.94914771e-02 9.64573498e-01 1.62918481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039072329 meters Centerline goodness [0,1] 0.284603373848085 Centerline is valid? [False, False] Translation: X:-22.39, Y:-0.39, Z:16.29 [[ 9.66364213e-01 9.82747374e-03 -2.56989550e-01 -2.23937713e+01] [-3.63698224e-03 9.99691920e-01 2.45527361e-02 -3.89966918e-01] [ 2.57151668e-01 -2.27922191e-02 9.66102238e-01 1.62934888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.069072329 meters Centerline goodness [0,1] 0.2731192660550459 Centerline is valid? [False, False] Translation: X:-22.39, Y:-0.39, Z:16.29 [[ 9.67926014e-01 -2.66656003e-03 -2.51221261e-01 -2.23874929e+01] [ 9.23508794e-03 9.99645516e-01 2.49710835e-02 -3.86360013e-01] [ 2.51065620e-01 -2.64902117e-02 9.67607525e-01 1.62938033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099072329 meters Centerline goodness [0,1] 0.26628860635995 Centerline is valid? [False, False] Translation: X:-22.38, Y:-0.38, Z:16.30 [[ 9.69255366e-01 -1.41934800e-02 -2.45647270e-01 -2.23793092e+01] [ 2.09006870e-02 9.99475938e-01 2.47186190e-02 -3.81703340e-01] [ 2.45167693e-01 -2.90928508e-02 9.69044069e-01 1.62969255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.129072329 meters Centerline goodness [0,1] 0.25614953726254264 Centerline is valid? [False, False] Translation: X:-22.36, Y:-0.37, Z:16.30 [[ 0.97012878 -0.03702416 -0.23974856 -22.36328179] [ 0.0451825 0.99856869 0.02862031 -0.37454906] [ 0.23834576 -0.03859783 0.97041306 16.29912718] [ 0. 0. 0. 1. ]] SLAMing on 139.159072329 meters Centerline goodness [0,1] 0.250045578851413 Centerline is valid? [False, False] Translation: X:-22.35, Y:-0.37, Z:16.30 [[ 0.97039871 -0.04777594 -0.23673572 -22.35062432] [ 0.05648575 0.99794829 0.03014242 -0.37086473] [ 0.23480992 -0.04262236 0.9711064 16.30025236] [ 0. 0. 0. 1. ]] SLAMing on 139.189072329 meters Centerline goodness [0,1] 0.2521199273167777 Centerline is valid? [False, False] Translation: X:-22.34, Y:-0.37, Z:16.30 [[ 0.97044355 -0.0592815 -0.23393381 -22.33875889] [ 0.0685984 0.99713466 0.03188608 -0.36741418] [ 0.23137326 -0.04699112 0.97172951 16.30011435] [ 0. 0. 0. 1. ]] SLAMing on 139.219072329 meters Centerline goodness [0,1] 0.24470082364341084 Centerline is valid? [False, False] Translation: X:-22.33, Y:-0.36, Z:16.30 [[ 0.96994926 -0.0723784 -0.23229247 -22.32926958] [ 0.0824963 0.99600682 0.03412873 -0.36447448] [ 0.2288947 -0.05226641 0.97204703 16.29809486] [ 0. 0. 0. 1. ]] SLAMing on 139.249072329 meters Centerline goodness [0,1] 0.23724137931034484 Centerline is valid? [False, False] Translation: X:-22.31, Y:-0.36, Z:16.30 [[ 0.96855576 -0.08942339 -0.23217063 -22.30533872] [ 0.09876627 0.99469063 0.0289099 -0.35922922] [ 0.22835273 -0.05093147 0.97224535 16.3024386 ] [ 0. 0. 0. 1. ]] SLAMing on 139.279072329 meters Centerline goodness [0,1] 0.23033590027866835 Centerline is valid? [False, False] Translation: X:-22.30, Y:-0.36, Z:16.30 [[ 0.96770039 -0.09409218 -0.23388591 -22.29809519] [ 0.10273001 0.99439507 0.02499967 -0.35983139] [ 0.23022272 -0.0482193 0.97194259 16.30375224] [ 0. 0. 0. 1. ]] SLAMing on 139.309072329 meters Centerline goodness [0,1] 0.2941968291953335 Centerline is valid? [False, False] Translation: X:-22.28, Y:-0.36, Z:16.31 [[ 0.96653798 -0.10814604 -0.2326129 -22.27533857] [ 0.11651414 0.99293417 0.02249848 -0.35735143] [ 0.22853618 -0.04884832 0.97230914 16.30841384] [ 0. 0. 0. 1. ]] SLAMing on 139.339072329 meters Centerline goodness [0,1] 0.3285411757687834 Centerline is valid? [False, False] Translation: X:-22.27, Y:-0.36, Z:16.31 [[ 9.65437718e-01 -1.12465587e-01 -2.35120189e-01 -2.22663137e+01] [ 1.20145096e-01 9.92583045e-01 1.85486965e-02 -3.57505852e-01] [ 2.31290224e-01 -4.61561491e-02 9.71789299e-01 1.63114414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.369072329 meters Centerline goodness [0,1] 0.29453865114483413 Centerline is valid? [False, False] Translation: X:-22.26, Y:-0.36, Z:16.31 [[ 9.64342252e-01 -1.16777224e-01 -2.37501793e-01 -2.22575883e+01] [ 1.23732929e-01 9.92209013e-01 1.45408492e-02 -3.57532795e-01] [ 2.33953380e-01 -4.34091478e-02 9.71278262e-01 1.63147284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399072329 meters Centerline goodness [0,1] 0.1987661973493905 Centerline is valid? [False, False] Translation: X:-22.23, Y:-0.36, Z:16.32 [[ 9.62891437e-01 -1.30499813e-01 -2.36241147e-01 -2.22341017e+01] [ 1.37385038e-01 9.90434382e-01 1.28486295e-02 -3.56269631e-01] [ 2.32304611e-01 -4.48278342e-02 9.71609507e-01 1.63188972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.429072329 meters Centerline goodness [0,1] 0.19599128796797738 Centerline is valid? [False, False] Translation: X:-22.23, Y:-0.36, Z:16.32 [[ 9.62022493e-01 -1.34771630e-01 -2.37380138e-01 -2.22270150e+01] [ 1.40948306e-01 9.89974559e-01 9.16233278e-03 -3.57584020e-01] [ 2.33765475e-01 -4.22726986e-02 9.71373626e-01 1.63205881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459072329 meters Centerline goodness [0,1] 0.19000319479538785 Centerline is valid? [False, False] Translation: X:-22.20, Y:-0.36, Z:16.32 [[ 9.60263531e-01 -1.49418401e-01 -2.35728854e-01 -2.22028134e+01] [ 1.55334223e-01 9.87839797e-01 6.61924110e-03 -3.57578650e-01] [ 2.31873307e-01 -4.29729742e-02 9.71796323e-01 1.63249106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.489072329 meters Centerline goodness [0,1] 0.18822337962962965 Centerline is valid? [False, False] Translation: X:-22.20, Y:-0.36, Z:16.33 [[ 9.59345726e-01 -1.53896818e-01 -2.36583067e-01 -2.21964621e+01] [ 1.59163031e-01 9.87247112e-01 3.20472871e-03 -3.59430022e-01] [ 2.33072752e-01 -4.07297207e-02 9.71605981e-01 1.63261239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519072329 meters Centerline goodness [0,1] 0.2600755849176355 Centerline is valid? [False, False] Translation: X:-22.19, Y:-0.36, Z:16.33 [[ 9.58815304e-01 -1.54460815e-01 -2.38359119e-01 -2.21888543e+01] [ 1.59998944e-01 9.87109312e-01 3.94248430e-03 -3.62991106e-01] [ 2.34677546e-01 -4.19173216e-02 9.71169083e-01 1.63259718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.549072329 meters Centerline goodness [0,1] 0.27350427350427353 Centerline is valid? [False, False] Translation: X:-22.18, Y:-0.37, Z:16.33 [[ 9.58205308e-01 -1.55180148e-01 -2.40336657e-01 -2.21811448e+01] [ 1.60962134e-01 9.86950359e-01 4.49231789e-03 -3.66070373e-01] [ 2.36503231e-01 -4.29896640e-02 9.70679201e-01 1.63259730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579072329 meters Centerline goodness [0,1] 0.298272706474491 Centerline is valid? [False, False] Translation: X:-22.16, Y:-0.37, Z:16.33 [[ 9.56108311e-01 -1.69412949e-01 -2.39073523e-01 -2.21570191e+01] [ 1.75057495e-01 9.84555249e-01 2.41564690e-03 -3.65789338e-01] [ 2.34971850e-01 -4.41612320e-02 9.70998463e-01 1.63317677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.609072329 meters Centerline goodness [0,1] 0.25863049536484106 Centerline is valid? [False, False] Translation: X:-22.15, Y:-0.37, Z:16.33 [[ 9.55064943e-01 -1.74112052e-01 -2.39866521e-01 -2.21508295e+01] [ 1.79090685e-01 9.83832001e-01 -1.05797807e-03 -3.67412195e-01] [ 2.36172566e-01 -4.19474218e-02 9.70805301e-01 1.63329444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63907232900002 meters Centerline goodness [0,1] 0.29303080339349774 Centerline is valid? [False, False] Translation: X:-22.14, Y:-0.37, Z:16.33 [[ 9.54006778e-01 -1.78742048e-01 -2.40670620e-01 -2.21444859e+01] [ 1.83048018e-01 9.83093520e-01 -4.53357665e-03 -3.69247444e-01] [ 2.37412067e-01 -3.97292172e-02 9.70596260e-01 1.63340690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66907232900002 meters Centerline goodness [0,1] 0.2825052779732583 Centerline is valid? [False, False] Translation: X:-22.12, Y:-0.37, Z:16.34 [[ 9.50935861e-01 -1.96060259e-01 -2.39335252e-01 -2.21189879e+01] [ 1.99604161e-01 9.79829697e-01 -9.58868234e-03 -3.67356433e-01] [ 2.36387747e-01 -3.86540903e-02 9.70889641e-01 1.63401678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69907232900002 meters Centerline goodness [0,1] 0.27900868933530776 Centerline is valid? [False, False] Translation: X:-22.11, Y:-0.37, Z:16.34 [[ 9.49643987e-01 -2.00278049e-01 -2.40966806e-01 -2.21118219e+01] [ 2.03471397e-01 9.79009514e-01 -1.18220700e-02 -3.72791428e-01] [ 2.38276496e-01 -3.78030949e-02 9.70461353e-01 1.63424220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72907232900002 meters Centerline goodness [0,1] 0.25901603755664704 Centerline is valid? [False, False] Translation: X:-22.09, Y:-0.39, Z:16.35 [[ 9.43997038e-01 -2.24964543e-01 -2.41372217e-01 -2.20865195e+01] [ 2.30223012e-01 9.73115693e-01 -6.57360565e-03 -3.87282493e-01] [ 2.36361921e-01 -4.93639746e-02 9.70410346e-01 1.63457368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759072329 meters Centerline goodness [0,1] 0.2520612167915073 Centerline is valid? [False, False] Translation: X:-22.08, Y:-0.40, Z:16.34 [[ 9.42925330e-01 -2.28971283e-01 -2.41793243e-01 -2.20782541e+01] [ 2.34177237e-01 9.72165848e-01 -7.38818591e-03 -3.98444925e-01] [ 2.36754816e-01 -4.96559660e-02 9.70299666e-01 1.63421127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.789072329 meters Centerline goodness [0,1] 0.25190454702306697 Centerline is valid? [False, False] Translation: X:-22.07, Y:-0.41, Z:16.34 [[ 9.40993464e-01 -2.37073721e-01 -2.41510563e-01 -2.20700587e+01] [ 2.41117354e-01 9.70407302e-01 -1.31183330e-02 -4.07178014e-01] [ 2.37473626e-01 -4.58881222e-02 9.70309516e-01 1.63411853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819072329 meters Centerline goodness [0,1] 0.24731520771124726 Centerline is valid? [False, False] Translation: X:-22.06, Y:-0.42, Z:16.34 [[ 9.39027490e-01 -2.45033138e-01 -2.41218022e-01 -2.20622617e+01] [ 2.47842786e-01 9.68611681e-01 -1.91145342e-02 -4.15462352e-01] [ 2.38330288e-01 -4.18350736e-02 9.70282691e-01 1.63415030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.849072329 meters Centerline goodness [0,1] 0.23822736030828517 Centerline is valid? [False, False] Translation: X:-22.04, Y:-0.43, Z:16.34 [[ 9.35698041e-01 -2.60485289e-01 -2.37942409e-01 -2.20387962e+01] [ 2.63577654e-01 9.64444894e-01 -1.93097666e-02 -4.30248054e-01] [ 2.34512251e-01 -4.46481910e-02 9.71087299e-01 1.63441503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879072329 meters Centerline goodness [0,1] 0.23184499593165175 Centerline is valid? [False, False] Translation: X:-22.03, Y:-0.44, Z:16.34 [[ 9.35454592e-01 -2.59961346e-01 -2.39467752e-01 -2.20328135e+01] [ 2.63815958e-01 9.64433582e-01 -1.64013855e-02 -4.39869383e-01] [ 2.35214468e-01 -4.78326629e-02 9.70765775e-01 1.63431284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.909072329 meters Centerline goodness [0,1] 0.22526401094030946 Centerline is valid? [False, False] Translation: X:-22.03, Y:-0.45, Z:16.34 [[ 9.35153531e-01 -2.59738328e-01 -2.40881452e-01 -2.20275466e+01] [ 2.64253815e-01 9.64352217e-01 -1.39543496e-02 -4.48512859e-01] [ 2.35919041e-01 -5.06043832e-02 9.70454225e-01 1.63424771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939072329 meters Centerline goodness [0,1] 0.21888966133677623 Centerline is valid? [False, False] Translation: X:-22.01, Y:-0.46, Z:16.34 [[ 9.31414309e-01 -2.75410260e-01 -2.37942373e-01 -2.20081773e+01] [ 2.80499103e-01 9.59767626e-01 -1.28979676e-02 -4.61356416e-01] [ 2.31921619e-01 -5.47292707e-02 9.71193631e-01 1.63436292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.969072329 meters Centerline goodness [0,1] 0.21718382989244656 Centerline is valid? [False, False] Translation: X:-22.00, Y:-0.47, Z:16.34 [[ 9.30688427e-01 -2.78448328e-01 -2.37245824e-01 -2.20034835e+01] [ 2.83311625e-01 9.58924805e-01 -1.40620301e-02 -4.70492039e-01] [ 2.31416454e-01 -5.41271312e-02 9.71347867e-01 1.63409013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999072329 meters Centerline goodness [0,1] 0.21143106880978968 Centerline is valid? [False, False] Translation: X:-21.98, Y:-0.49, Z:16.35 [[ 9.25399815e-01 -2.91345440e-01 -2.42390217e-01 -2.19845296e+01] [ 2.96793643e-01 9.54830414e-01 -1.45744524e-02 -4.86100429e-01] [ 2.35687751e-01 -5.84526799e-02 9.70069363e-01 1.63454208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.029072329 meters Centerline goodness [0,1] 0.20977385602005882 Centerline is valid? [False, False] Translation: X:-21.98, Y:-0.50, Z:16.34 [[ 9.25592018e-01 -2.90666248e-01 -2.42471747e-01 -2.19815281e+01] [ 2.96872866e-01 9.54849204e-01 -1.13798025e-02 -4.95881480e-01] [ 2.34831679e-01 -6.14502280e-02 9.70091724e-01 1.63411981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059072329 meters Centerline goodness [0,1] 0.206449284081338 Centerline is valid? [False, False] Translation: X:-21.98, Y:-0.51, Z:16.34 [[ 9.25715808e-01 -2.90135098e-01 -2.42635257e-01 -2.19786115e+01] [ 2.97071005e-01 9.54818983e-01 -8.33833050e-03 -5.05120818e-01] [ 2.34091992e-01 -6.43609754e-02 9.70081751e-01 1.63375962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.089072329 meters Centerline goodness [0,1] 0.2074337644852623 Centerline is valid? [False, False] Translation: X:-21.97, Y:-0.52, Z:16.33 [[ 9.21284716e-01 -3.05526679e-01 -2.40599086e-01 -2.19662823e+01] [ 3.13738210e-01 9.49499395e-01 -4.38563031e-03 -5.17118606e-01] [ 2.29788614e-01 -7.14447125e-02 9.70614674e-01 1.63347015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119072329 meters Centerline goodness [0,1] 0.2038832649771224 Centerline is valid? [False, False] Translation: X:-21.97, Y:-0.53, Z:16.33 [[ 9.21796646e-01 -3.04699426e-01 -2.39685635e-01 -2.19653641e+01] [ 3.13583421e-01 9.49559986e-01 -1.12746531e-03 -5.27269775e-01] [ 2.27939426e-01 -7.41221476e-02 9.70849898e-01 1.63293903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.149072329 meters Centerline goodness [0,1] 0.2042667800694592 Centerline is valid? [False, False] Translation: X:-21.97, Y:-0.54, Z:16.32 [[ 9.22271313e-01 -3.04197088e-01 -2.38494771e-01 -2.19653044e+01] [ 3.13664932e-01 9.49531946e-01 1.84203330e-03 -5.37012390e-01] [ 2.25898063e-01 -7.65063007e-02 9.71142034e-01 1.63241239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179072329 meters Centerline goodness [0,1] 0.2004686584651435 Centerline is valid? [False, False] Translation: X:-21.96, Y:-0.55, Z:16.32 [[ 9.20512556e-01 -3.09800078e-01 -2.38076765e-01 -2.19600515e+01] [ 3.19363295e-01 9.47630855e-01 1.68773660e-03 -5.50017540e-01] [ 2.25086027e-01 -7.75865628e-02 9.71244874e-01 1.63222004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.209072329 meters Centerline goodness [0,1] 0.20439524510147367 Centerline is valid? [False, False] Translation: X:-21.96, Y:-0.56, Z:16.32 [[ 9.20917267e-01 -3.08940064e-01 -2.37628754e-01 -2.19593617e+01] [ 3.19047154e-01 9.47729035e-01 4.31161992e-03 -5.58153839e-01] [ 2.23875638e-01 -7.97854230e-02 9.71346480e-01 1.63184591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239072329 meters Centerline goodness [0,1] 0.20439524510147367 Centerline is valid? [False, False] Translation: X:-21.97, Y:-0.56, Z:16.32 [[ 9.24952511e-01 -2.95637471e-01 -2.38875153e-01 -2.19675096e+01] [ 3.05200738e-01 9.52282643e-01 3.20567863e-03 -5.63957443e-01] [ 2.26528944e-01 -7.58699736e-02 9.71044996e-01 1.63157826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.269072329 meters Centerline goodness [0,1] 0.20158469059147877 Centerline is valid? [False, False] Translation: X:-21.97, Y:-0.57, Z:16.31 [[ 9.25057773e-01 -2.95412355e-01 -2.38746009e-01 -2.19661584e+01] [ 3.05491679e-01 9.52178887e-01 5.49556550e-03 -5.70844130e-01] [ 2.25705451e-01 -7.80186347e-02 9.71066497e-01 1.63121015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299072329 meters Centerline goodness [0,1] 0.18785714285714283 Centerline is valid? [False, False] Translation: X:-21.95, Y:-0.58, Z:16.32 [[ 9.20677654e-01 -3.04815971e-01 -2.43802956e-01 -2.19521814e+01] [ 3.15904374e-01 9.48766991e-01 6.75449750e-03 -5.81530066e-01] [ 2.29253319e-01 -8.32371353e-02 9.69801266e-01 1.63164395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.329072329 meters Centerline goodness [0,1] 0.18430262006722842 Centerline is valid? [False, False] Translation: X:-21.95, Y:-0.59, Z:16.31 [[ 9.21071741e-01 -3.04312154e-01 -2.42942301e-01 -2.19523572e+01] [ 3.15835694e-01 9.48771282e-01 8.99267175e-03 -5.88382841e-01] [ 2.27760099e-01 -8.50127462e-02 9.69999057e-01 1.63119200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359072329 meters Centerline goodness [0,1] 0.17950184122046609 Centerline is valid? [False, False] Translation: X:-21.95, Y:-0.60, Z:16.31 [[ 9.19638022e-01 -3.09413799e-01 -2.41927697e-01 -2.19492224e+01] [ 3.20810981e-01 9.47107815e-01 8.19149460e-03 -5.97727845e-01] [ 2.26597051e-01 -8.51462718e-02 9.70259702e-01 1.63093478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38907232900002 meters Centerline goodness [0,1] 0.17335803994235122 Centerline is valid? [False, False] Translation: X:-21.95, Y:-0.61, Z:16.30 [[ 9.21505400e-01 -3.05154668e-01 -2.40225782e-01 -2.19543705e+01] [ 3.17727516e-01 9.48071447e-01 1.44830158e-02 -6.05977434e-01] [ 2.23331645e-01 -8.96725182e-02 9.70608992e-01 1.63022159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41907232900002 meters Centerline goodness [0,1] 0.16446545884385444 Centerline is valid? [False, False] Translation: X:-21.96, Y:-0.61, Z:16.30 [[ 9.23306063e-01 -3.00845744e-01 -2.38742021e-01 -2.19595479e+01] [ 3.14593918e-01 9.48998575e-01 2.07935297e-02 -6.13794844e-01] [ 2.20310193e-01 -9.43055796e-02 9.70860380e-01 1.62954920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44907232900002 meters Centerline goodness [0,1] 0.15462033171612322 Centerline is valid? [False, False] Translation: X:-21.96, Y:-0.62, Z:16.29 [[ 0.92311151 -0.30180936 -0.23827769 -21.95897396] [ 0.31639072 0.94831068 0.02457164 -0.62485928] [ 0.21854532 -0.09807121 0.97088618 16.29078297] [ 0. 0. 0. 1. ]] SLAMing on 140.47907232900002 meters Centerline goodness [0,1] 0.15534787590142207 Centerline is valid? [False, False] Translation: X:-21.96, Y:-0.64, Z:16.29 [[ 0.92478556 -0.29826733 -0.23623775 -21.96158394] [ 0.3133791 0.94920558 0.02832508 -0.63593308] [ 0.21578974 -0.1002266 0.97128236 16.28578162] [ 0. 0. 0. 1. ]] SLAMing on 140.509072329 meters Centerline goodness [0,1] 0.15109542518479058 Centerline is valid? [False, False] Translation: X:-21.96, Y:-0.65, Z:16.28 [[ 0.92579883 -0.29593782 -0.23519636 -21.96138349] [ 0.31150232 0.94973473 0.0311487 -0.64638943] [ 0.21415607 -0.10210165 0.97144863 16.28123094] [ 0. 0. 0. 1. ]] SLAMing on 140.539072329 meters Centerline goodness [0,1] 0.1519077353836581 Centerline is valid? [False, False] Translation: X:-21.96, Y:-0.66, Z:16.28 [[ 0.92691781 -0.29333178 -0.23405093 -21.96096825] [ 0.30933318 0.95034538 0.0340094 -0.65768873] [ 0.21245319 -0.10392363 0.97162931 16.27705814] [ 0. 0. 0. 1. ]] SLAMing on 140.569072329 meters Centerline goodness [0,1] 0.16229363856482504 Centerline is valid? [False, False] Translation: X:-21.95, Y:-0.67, Z:16.28 [[ 0.9260163 -0.29600117 -0.23425866 -21.95225587] [ 0.31207999 0.94944903 0.03395024 -0.67458833] [ 0.21236735 -0.10454591 0.97158132 16.27821765] [ 0. 0. 0. 1. ]] SLAMing on 140.599072329 meters Centerline goodness [0,1] 0.1676380671695955 Centerline is valid? [False, False] Translation: X:-21.95, Y:-0.69, Z:16.28 [[ 0.92673365 -0.29367718 -0.23434688 -21.94980858] [ 0.31032266 0.94991995 0.03676875 -0.68563244] [ 0.21181264 -0.10679798 0.97145746 16.27617986] [ 0. 0. 0. 1. ]] SLAMing on 140.629072329 meters Centerline goodness [0,1] 0.1634634306329944 Centerline is valid? [False, False] Translation: X:-21.95, Y:-0.70, Z:16.27 [[ 0.92732398 -0.29147239 -0.23476391 -21.94656285] [ 0.30872736 0.95032589 0.03959946 -0.69623769] [ 0.21156007 -0.10919957 0.97124548 16.27445438] [ 0. 0. 0. 1. ]] SLAMing on 140.659072329 meters Centerline goodness [0,1] 0.17459939882793074 Centerline is valid? [False, False] Translation: X:-21.93, Y:-0.71, Z:16.28 [[ 0.92492467 -0.29511131 -0.23963237 -21.93017886] [ 0.31359842 0.94861856 0.04217647 -0.71331531] [ 0.21487296 -0.11415838 0.96994715 16.28143652] [ 0. 0. 0. 1. ]] SLAMing on 140.689072329 meters Centerline goodness [0,1] 0.17074269532758402 Centerline is valid? [False, False] Translation: X:-21.93, Y:-0.72, Z:16.28 [[ 0.92541671 -0.29301349 -0.24030607 -21.92617647] [ 0.31211359 0.94898726 0.04481392 -0.72316878] [ 0.21491632 -0.11647434 0.96966216 16.28000224] [ 0. 0. 0. 1. ]] SLAMing on 140.719072329 meters Centerline goodness [0,1] 0.1497715131621291 Centerline is valid? [False, False] Translation: X:-21.92, Y:-0.73, Z:16.28 [[ 0.92601051 -0.29079202 -0.24071671 -21.92274687] [ 0.31044974 0.94940956 0.04735442 -0.73281705] [ 0.21476846 -0.11858113 0.96943954 16.27837707] [ 0. 0. 0. 1. ]] SLAMing on 140.749072329 meters Centerline goodness [0,1] 0.16647890317780845 Centerline is valid? [False, False] Translation: X:-21.91, Y:-0.75, Z:16.29 [[ 0.92422761 -0.29385596 -0.24382781 -21.90754048] [ 0.31377916 0.94835986 0.04643506 -0.74684845] [ 0.21759129 -0.11942465 0.96870624 16.28514835] [ 0. 0. 0. 1. ]] SLAMing on 140.779072329 meters Centerline goodness [0,1] 0.14171994749544814 Centerline is valid? [False, False] Translation: X:-21.90, Y:-0.75, Z:16.28 [[ 0.92465199 -0.2920641 -0.24437114 -21.90413612] [ 0.31243916 0.94870673 0.04834579 -0.75470249] [ 0.21771648 -0.12105414 0.96847583 16.28444475] [ 0. 0. 0. 1. ]] SLAMing on 140.809072329 meters Centerline goodness [0,1] 0.1375467792854007 Centerline is valid? [False, False] Translation: X:-21.89, Y:-0.77, Z:16.29 [[ 0.92304342 -0.29447565 -0.24753776 -21.88930946] [ 0.31515925 0.94784309 0.04762488 -0.76667669] [ 0.22060259 -0.12197365 0.96770705 16.2910671 ] [ 0. 0. 0. 1. ]] SLAMing on 140.839072329 meters Centerline goodness [0,1] 0.13658729827780325 Centerline is valid? [False, False] Translation: X:-21.89, Y:-0.77, Z:16.29 [[ 0.92346229 -0.29255654 -0.24825004 -21.88514743] [ 0.31370751 0.94822893 0.04949235 -0.77391462] [ 0.22091856 -0.12358222 0.96743084 16.29042583] [ 0. 0. 0. 1. ]] SLAMing on 140.869072329 meters Centerline goodness [0,1] 0.13310643949612966 Centerline is valid? [False, False] Translation: X:-21.88, Y:-0.78, Z:16.29 [[ 0.92381877 -0.29088526 -0.24888681 -21.88104945] [ 0.31247069 0.94854541 0.05122173 -0.78063146] [ 0.2211808 -0.12508943 0.96717718 16.2896372 ] [ 0. 0. 0. 1. ]] SLAMing on 140.899072329 meters Centerline goodness [0,1] 0.13100526913937394 Centerline is valid? [False, False] Translation: X:-21.87, Y:-0.79, Z:16.30 [[ 0.92235605 -0.29333751 -0.25142081 -21.86671117] [ 0.31496411 0.94780414 0.04964804 -0.79062493] [ 0.22373406 -0.1249817 0.96660367 16.29531745] [ 0. 0. 0. 1. ]] SLAMing on 140.929072329 meters Centerline goodness [0,1] 0.13103989427603868 Centerline is valid? [False, False] Translation: X:-21.86, Y:-0.80, Z:16.29 [[ 0.92266873 -0.29191307 -0.25193091 -21.86292255] [ 0.31386553 0.94810047 0.0509306 -0.79634248] [ 0.22398851 -0.1260645 0.9664041 16.29476817] [ 0. 0. 0. 1. ]] SLAMing on 140.959072329 meters Centerline goodness [0,1] 0.12350515886853608 Centerline is valid? [False, False] Translation: X:-21.85, Y:-0.80, Z:16.30 [[ 0.9213288 -0.29419283 -0.25417281 -21.84900095] [ 0.31597072 0.94752219 0.04862318 -0.80476604] [ 0.22652979 -0.1251091 0.9659358 16.3008716 ] [ 0. 0. 0. 1. ]] SLAMing on 140.989072329 meters Centerline goodness [0,1] 0.12463388157220978 Centerline is valid? [False, False] Translation: X:-21.84, Y:-0.81, Z:16.30 [[ 0.92158158 -0.29270452 -0.25497343 -21.84451854] [ 0.31480471 0.94785332 0.04971998 -0.8096954 ] [ 0.22712415 -0.12608786 0.96566893 16.30101321] [ 0. 0. 0. 1. ]] SLAMing on 141.019072329 meters Centerline goodness [0,1] 0.12203389830508471 Centerline is valid? [False, False] Translation: X:-21.84, Y:-0.81, Z:16.30 [[ 0.92182485 -0.29113399 -0.25589049 -21.83981484] [ 0.31358309 0.94819738 0.0508663 -0.8145728 ] [ 0.22782578 -0.12713275 0.9653666 16.30136251] [ 0. 0. 0. 1. ]] SLAMing on 141.049072329 meters Centerline goodness [0,1] 0.12088740399698494 Centerline is valid? [False, False] Translation: X:-21.84, Y:-0.82, Z:16.30 [[ 0.92313479 -0.28595737 -0.25700302 -21.83662136] [ 0.30950667 0.94927619 0.05550074 -0.81875726] [ 0.228096 -0.13077881 0.96481559 16.29969488] [ 0. 0. 0. 1. ]] SLAMing on 141.079072329 meters Centerline goodness [0,1] 0.11791102357408267 Centerline is valid? [False, False] Translation: X:-21.82, Y:-0.82, Z:16.30 [[ 0.92277761 -0.28421374 -0.26019999 -21.82241213] [ 0.30827932 0.94964628 0.05599819 -0.82299888] [ 0.2311825 -0.13188815 0.96392954 16.30439965] [ 0. 0. 0. 1. ]] SLAMing on 141.109072329 meters Centerline goodness [0,1] 0.11190258751902582 Centerline is valid? [False, False] Translation: X:-21.82, Y:-0.83, Z:16.30 [[ 0.92287896 -0.28304727 -0.26111045 -21.81729369] [ 0.30736293 0.94990489 0.05664572 -0.82576883] [ 0.23199667 -0.13253282 0.96364547 16.30440476] [ 0. 0. 0. 1. ]] SLAMing on 141.13907232900002 meters Centerline goodness [0,1] 0.10403513032216283 Centerline is valid? [False, False] Translation: X:-21.81, Y:-0.83, Z:16.30 [[ 0.92292184 -0.28203732 -0.26205006 -21.81229488] [ 0.30655063 0.95014401 0.05703568 -0.82795404] [ 0.2328991 -0.13297109 0.96336737 16.30480562] [ 0. 0. 0. 1. ]] SLAMing on 141.16907232900002 meters Centerline goodness [0,1] 0.08695040025745204 Centerline is valid? [False, False] Translation: X:-21.79, Y:-0.83, Z:16.32 [[ 0.92303985 -0.28009972 -0.26370739 -21.78900206] [ 0.3034599 0.95144634 0.05159403 -0.82717251] [ 0.23645195 -0.12764796 0.96322192 16.31593666] [ 0. 0. 0. 1. ]] SLAMing on 141.19907232900002 meters Centerline goodness [0,1] 0.1184157294279472 Centerline is valid? [False, False] Translation: X:-21.78, Y:-0.83, Z:16.32 [[ 0.92199211 -0.27828141 -0.26923968 -21.77597863] [ 0.30246053 0.9517395 0.05205329 -0.831729 ] [ 0.24176057 -0.12942709 0.96166546 16.32285698] [ 0. 0. 0. 1. ]] SLAMing on 141.22907232900002 meters Centerline goodness [0,1] 0.13277024974175122 Centerline is valid? [False, False] Translation: X:-21.76, Y:-0.84, Z:16.33 [[ 0.92040074 -0.2770272 -0.27589566 -21.76077948] [ 0.30221235 0.95179398 0.05249684 -0.83585916] [ 0.24805277 -0.13169721 0.95975292 16.3310969 ] [ 0. 0. 0. 1. ]] SLAMing on 141.259072329 meters Centerline goodness [0,1] 0.14322911327524346 Centerline is valid? [False, False] Translation: X:-21.73, Y:-0.84, Z:16.35 [[ 0.91627662 -0.27731785 -0.28901896 -21.73015987] [ 0.30452676 0.95103305 0.05291109 -0.83513381] [ 0.2601934 -0.13649521 0.95586006 16.35090583] [ 0. 0. 0. 1. ]] SLAMing on 141.289072329 meters Centerline goodness [0,1] 0.14791155803746214 Centerline is valid? [False, False] Translation: X:-21.72, Y:-0.84, Z:16.35 [[ 0.91500941 -0.27651446 -0.29376441 -21.71798676] [ 0.30474223 0.95089457 0.05414512 -0.83842584] [ 0.26436708 -0.13906571 0.95434311 16.35394574] [ 0. 0. 0. 1. ]] SLAMing on 141.319072329 meters Centerline goodness [0,1] 0.15581477407169098 Centerline is valid? [False, False] Translation: X:-21.71, Y:-0.84, Z:16.36 [[ 0.91418365 -0.2753122 -0.29744149 -21.70785058] [ 0.30439553 0.95093507 0.05537019 -0.84143243] [ 0.26760345 -0.14115838 0.9531331 16.35628747] [ 0. 0. 0. 1. ]] SLAMing on 141.349072329 meters Centerline goodness [0,1] 0.15954511246759762 Centerline is valid? [False, False] Translation: X:-21.68, Y:-0.84, Z:16.38 [[ 0.91071838 -0.27561792 -0.3076147 -21.67900681] [ 0.30519969 0.95089013 0.05158599 -0.83599843] [ 0.27828975 -0.14086422 0.95011162 16.37629157] [ 0. 0. 0. 1. ]] SLAMing on 141.379072329 meters Centerline goodness [0,1] 0.16049152085019824 Centerline is valid? [False, False] Translation: X:-21.67, Y:-0.84, Z:16.38 [[ 0.90965687 -0.27447495 -0.31174971 -21.6679479 ] [ 0.30503102 0.95087366 0.05287113 -0.83887918] [ 0.28192279 -0.14318792 0.94869213 16.37928962] [ 0. 0. 0. 1. ]] SLAMing on 141.409072329 meters Centerline goodness [0,1] 0.16291374174599538 Centerline is valid? [False, False] Translation: X:-21.66, Y:-0.84, Z:16.38 [[ 0.90857186 -0.27342484 -0.31581012 -21.6572632 ] [ 0.30486716 0.95087213 0.05383509 -0.84076777] [ 0.28557519 -0.14519318 0.94729391 16.38259371] [ 0. 0. 0. 1. ]] SLAMing on 141.439072329 meters Centerline goodness [0,1] 0.17157094376906223 Centerline is valid? [False, False] Translation: X:-21.63, Y:-0.84, Z:16.39 [[ 0.91058761 -0.26366887 -0.31829064 -21.6279957 ] [ 0.29505461 0.95396114 0.05386023 -0.8354329 ] [ 0.28943564 -0.14295758 0.94646191 16.39366044] [ 0. 0. 0. 1. ]] SLAMing on 141.469072329 meters Centerline goodness [0,1] 0.17604418363824648 Centerline is valid? [False, False] Translation: X:-21.62, Y:-0.83, Z:16.40 [[ 0.91108233 -0.25752464 -0.32188516 -21.61763111] [ 0.28993128 0.95539147 0.05627604 -0.83433845] [ 0.29303387 -0.14459668 0.94510473 16.39907979] [ 0. 0. 0. 1. ]] SLAMing on 141.499072329 meters Centerline goodness [0,1] 0.1750367361051085 Centerline is valid? [False, False] Translation: X:-21.61, Y:-0.83, Z:16.41 [[ 0.91059134 -0.25543171 -0.32492778 -21.60662236] [ 0.28773964 0.95614347 0.05473175 -0.83186452] [ 0.29669735 -0.14333286 0.94415379 16.40641499] [ 0. 0. 0. 1. ]] SLAMing on 141.529072329 meters Centerline goodness [0,1] 0.17866158914894525 Centerline is valid? [False, False] Translation: X:-21.57, Y:-0.82, Z:16.42 [[ 0.91213313 -0.24962899 -0.32511308 -21.57363271] [ 0.28067877 0.95841498 0.05157662 -0.82397656] [ 0.29871823 -0.13829708 0.94426762 16.41516624] [ 0. 0. 0. 1. ]] SLAMing on 141.559072329 meters Centerline goodness [0,1] 0.1833961277958055 Centerline is valid? [False, False] Translation: X:-21.56, Y:-0.82, Z:16.42 [[ 0.91181023 -0.24731083 -0.32777959 -21.5624497 ] [ 0.27820228 0.95921144 0.05016881 -0.82201764] [ 0.30200264 -0.13693346 0.94342124 16.42197391] [ 0. 0. 0. 1. ]] SLAMing on 141.589072329 meters Centerline goodness [0,1] 0.18790689572582575 Centerline is valid? [False, False] Translation: X:-21.53, Y:-0.81, Z:16.43 [[ 0.91338634 -0.24093569 -0.32813928 -21.53074959] [ 0.27069998 0.96148968 0.0475301 -0.81422168] [ 0.30405084 -0.13224064 0.94343283 16.43138599] [ 0. 0. 0. 1. ]] SLAMing on 141.619072329 meters Centerline goodness [0,1] 0.19337998201320494 Centerline is valid? [False, False] Translation: X:-21.52, Y:-0.81, Z:16.44 [[ 0.91399687 -0.23432073 -0.33121522 -21.52041878] [ 0.26492065 0.96298418 0.0497848 -0.81405286] [ 0.3072894 -0.1332489 0.94224092 16.43764253] [ 0. 0. 0. 1. ]] SLAMing on 141.649072329 meters Centerline goodness [0,1] 0.19744901319400232 Centerline is valid? [False, False] Translation: X:-21.51, Y:-0.81, Z:16.44 [[ 0.91457495 -0.2279071 -0.33408236 -21.51071329] [ 0.2592398 0.96442456 0.05176874 -0.81399867] [ 0.31039877 -0.13395383 0.94112113 16.44419421] [ 0. 0. 0. 1. ]] SLAMing on 141.679072329 meters Centerline goodness [0,1] 0.19375082865603044 Centerline is valid? [False, False] Translation: X:-21.48, Y:-0.81, Z:16.46 [[ 0.91589393 -0.22258394 -0.33405793 -21.48045417] [ 0.25246271 0.9664021 0.0482655 -0.81012495] [ 0.31209116 -0.12854325 0.94131596 16.45532069] [ 0. 0. 0. 1. ]] SLAMing on 141.709072329 meters Centerline goodness [0,1] 0.18880056371523568 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.81, Z:16.46 [[ 0.91551099 -0.22034132 -0.33658481 -21.4701105 ] [ 0.24998626 0.96711517 0.04685219 -0.81008294] [ 0.3151928 -0.12703527 0.94048686 16.46298869] [ 0. 0. 0. 1. ]] SLAMing on 141.739072329 meters Centerline goodness [0,1] 0.18905903240124278 Centerline is valid? [False, False] Translation: X:-21.46, Y:-0.81, Z:16.47 [[ 0.91517931 -0.21801136 -0.3389954 -21.45988377] [ 0.24745146 0.96782563 0.04562149 -0.81074442] [ 0.31814243 -0.12563675 0.93968122 16.47025793] [ 0. 0. 0. 1. ]] SLAMing on 141.769072329 meters Centerline goodness [0,1] 0.15959888579387183 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.81, Z:16.48 [[ 0.91481054 -0.21442561 -0.34226209 -21.44208456] [ 0.24381547 0.96878926 0.04473689 -0.81366317] [ 0.3219871 -0.12437457 0.9385389 16.47858087] [ 0. 0. 0. 1. ]] SLAMing on 141.799072329 meters Centerline goodness [0,1] 0.15177793174351295 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.82, Z:16.49 [[ 0.91444705 -0.2123822 -0.3445002 -21.43320507] [ 0.24157012 0.96940354 0.04359657 -0.81512846] [ 0.32470058 -0.12308771 0.9377734 16.48548097] [ 0. 0. 0. 1. ]] SLAMing on 141.829072329 meters Centerline goodness [0,1] 0.14935487490182875 Centerline is valid? [False, False] Translation: X:-21.42, Y:-0.82, Z:16.49 [[ 0.91403807 -0.21044688 -0.34676581 -21.42485713] [ 0.23938089 0.97000377 0.04230229 -0.81676992] [ 0.32746175 -0.12167501 0.93699733 16.49286012] [ 0. 0. 0. 1. ]] SLAMing on 141.859072329 meters Centerline goodness [0,1] 0.1516274681582317 Centerline is valid? [False, False] Translation: X:-21.42, Y:-0.82, Z:16.50 [[ 0.91373378 -0.2089481 -0.34846989 -21.41837263] [ 0.23819162 0.97027568 0.04277694 -0.82015124] [ 0.3291737 -0.12208934 0.93634335 16.49554496] [ 0. 0. 0. 1. ]] SLAMing on 141.88907232900002 meters Centerline goodness [0,1] 0.1535761693702612 Centerline is valid? [False, False] Translation: X:-21.40, Y:-0.83, Z:16.50 [[ 0.91326527 -0.20569224 -0.35162089 -21.40334017] [ 0.23502622 0.97106479 0.04237742 -0.82615827] [ 0.33272996 -0.12134195 0.93518282 16.50367533] [ 0. 0. 0. 1. ]] SLAMing on 141.91907232900002 meters Centerline goodness [0,1] 0.15488048928563403 Centerline is valid? [False, False] Translation: X:-21.40, Y:-0.83, Z:16.50 [[ 0.91308841 -0.20445053 -0.35280241 -21.39860797] [ 0.23433656 0.9711734 0.04368757 -0.83039366] [ 0.33370037 -0.12256512 0.93467741 16.50432608] [ 0. 0. 0. 1. ]] SLAMing on 141.94907232900002 meters Centerline goodness [0,1] 0.1589025049558479 Centerline is valid? [False, False] Translation: X:-21.38, Y:-0.84, Z:16.51 [[ 0.91255395 -0.20188392 -0.35565177 -21.38427651] [ 0.23170244 0.97184226 0.04285557 -0.83692176] [ 0.33698557 -0.1215134 0.93363548 16.51188835] [ 0. 0. 0. 1. ]] SLAMing on 141.97907232900002 meters Centerline goodness [0,1] 0.16311912967092368 Centerline is valid? [False, False] Translation: X:-21.38, Y:-0.84, Z:16.51 [[ 0.91234919 -0.20067293 -0.35686038 -21.37963415] [ 0.23104998 0.97193953 0.04415257 -0.84138759] [ 0.33798649 -0.12273515 0.93311372 16.5125901 ] [ 0. 0. 0. 1. ]] SLAMing on 142.009072329 meters Centerline goodness [0,1] 0.1684558773884275 Centerline is valid? [False, False] Translation: X:-21.38, Y:-0.85, Z:16.51 [[ 0.91214772 -0.19956507 -0.35799487 -21.37533259] [ 0.2304913 0.97201351 0.04542573 -0.84576516] [ 0.33891046 -0.12394968 0.93261792 16.5132454 ] [ 0. 0. 0. 1. ]] SLAMing on 142.039072329 meters Centerline goodness [0,1] 0.1718725404214172 Centerline is valid? [False, False] Translation: X:-21.37, Y:-0.85, Z:16.51 [[ 0.91194848 -0.19846605 -0.35911167 -21.37102707] [ 0.22988119 0.97210571 0.04653099 -0.85014506] [ 0.33985968 -0.12498689 0.93213394 16.51410948] [ 0. 0. 0. 1. ]] SLAMing on 142.069072329 meters Centerline goodness [0,1] 0.1884623188079082 Centerline is valid? [False, False] Translation: X:-21.36, Y:-0.86, Z:16.52 [[ 0.91058031 -0.20046327 -0.36146643 -21.35909645] [ 0.23074528 0.9721001 0.04216641 -0.85533243] [ 0.34292874 -0.12180257 0.93143116 16.52253068] [ 0. 0. 0. 1. ]] SLAMing on 142.099072329 meters Centerline goodness [0,1] 0.19200827971021017 Centerline is valid? [False, False] Translation: X:-21.35, Y:-0.86, Z:16.53 [[ 0.91015952 -0.19943326 -0.36309231 -21.35462357] [ 0.22984386 0.97231698 0.04208911 -0.85904174] [ 0.34464685 -0.12176234 0.93080206 16.52629553] [ 0. 0. 0. 1. ]] SLAMing on 142.129072329 meters Centerline goodness [0,1] 0.19200827971021017 Centerline is valid? [False, False] Translation: X:-21.36, Y:-0.86, Z:16.52 [[ 0.91344973 -0.19217505 -0.35871764 -21.36275636] [ 0.22150881 0.97424809 0.04212502 -0.86402456] [ 0.3413846 -0.1179382 0.93249511 16.51973214] [ 0. 0. 0. 1. ]] SLAMing on 142.159072329 meters Centerline goodness [0,1] 0.19898166088406255 Centerline is valid? [False, False] Translation: X:-21.36, Y:-0.87, Z:16.53 [[ 0.91305696 -0.19079609 -0.3604495 -21.35673877] [ 0.21959433 0.97475904 0.04028834 -0.86726019] [ 0.34366455 -0.11593822 0.93190826 16.52700192] [ 0. 0. 0. 1. ]] SLAMing on 142.189072329 meters Centerline goodness [0,1] 0.2085374073241968 Centerline is valid? [False, False] Translation: X:-21.35, Y:-0.87, Z:16.54 [[ 0.91170569 -0.19333348 -0.36251194 -21.34730571] [ 0.22076546 0.97468417 0.0354031 -0.8713784 ] [ 0.34649004 -0.11230732 0.93130646 16.53562043] [ 0. 0. 0. 1. ]] SLAMing on 142.219072329 meters Centerline goodness [0,1] 0.20975204384152368 Centerline is valid? [False, False] Translation: X:-21.34, Y:-0.87, Z:16.54 [[ 0.9118751 -0.19439336 -0.36151765 -21.34307179] [ 0.21955399 0.97515615 0.02943682 -0.87408072] [ 0.34681384 -0.10621534 0.93190046 16.54294365] [ 0. 0. 0. 1. ]] SLAMing on 142.249072329 meters Centerline goodness [0,1] 0.21242013227216683 Centerline is valid? [False, False] Translation: X:-21.34, Y:-0.88, Z:16.55 [[ 0.91136113 -0.19687483 -0.36147086 -21.33817796] [ 0.21977525 0.97528116 0.02292386 -0.87526824] [ 0.34802259 -0.10033427 0.93210156 16.55123183] [ 0. 0. 0. 1. ]] SLAMing on 142.279072329 meters Centerline goodness [0,1] 0.2173270982032981 Centerline is valid? [False, False] Translation: X:-21.33, Y:-0.88, Z:16.55 [[ 9.10180471e-01 -2.00363278e-01 -3.62527332e-01 -2.13311027e+01] [ 2.22933749e-01 9.74606094e-01 2.10595786e-02 -8.82347446e-01] [ 3.49101780e-01 -9.99875943e-02 9.31735170e-01 1.65520199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.309072329 meters Centerline goodness [0,1] 0.21400022328904766 Centerline is valid? [False, False] Translation: X:-21.33, Y:-0.89, Z:16.55 [[ 0.9100472 -0.19958999 -0.36328766 -21.32816102] [ 0.22262963 0.97464979 0.02222242 -0.8868677 ] [ 0.34964287 -0.10110205 0.93141196 16.55220267] [ 0. 0. 0. 1. ]] SLAMing on 142.339072329 meters Centerline goodness [0,1] 0.2149495130015191 Centerline is valid? [False, False] Translation: X:-21.33, Y:-0.89, Z:16.55 [[ 0.90992372 -0.19894158 -0.36395202 -21.32572556] [ 0.22238314 0.97468309 0.02320827 -0.89095784] [ 0.35012079 -0.10205454 0.93112851 16.55249874] [ 0. 0. 0. 1. ]] SLAMing on 142.369072329 meters Centerline goodness [0,1] 0.2135066553888617 Centerline is valid? [False, False] Translation: X:-21.32, Y:-0.90, Z:16.55 [[ 9.08740436e-01 -2.02917767e-01 -3.64712489e-01 -2.13207329e+01] [ 2.25757005e-01 9.73965438e-01 2.06179602e-02 -8.96316828e-01] [ 3.51033608e-01 -1.01072773e-01 9.30891884e-01 1.65542388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399072329 meters Centerline goodness [0,1] 0.21671198680515313 Centerline is valid? [False, False] Translation: X:-21.32, Y:-0.90, Z:16.56 [[ 9.08627366e-01 -2.02746426e-01 -3.65089299e-01 -2.13197418e+01] [ 2.25777229e-01 9.73951685e-01 2.10418273e-02 -9.00088474e-01] [ 3.51313183e-01 -1.01548031e-01 9.30734680e-01 1.65550085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.429072329 meters Centerline goodness [0,1] 0.2345505617977528 Centerline is valid? [False, False] Translation: X:-21.32, Y:-0.91, Z:16.56 [[ 9.07524384e-01 -2.07089292e-01 -3.65395014e-01 -2.13158230e+01] [ 2.29409594e-01 9.73159095e-01 1.82377214e-02 -9.05473376e-01] [ 3.51810645e-01 -1.00376299e-01 9.30673879e-01 1.65561766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459072329 meters Centerline goodness [0,1] 0.26450965078656696 Centerline is valid? [False, False] Translation: X:-21.32, Y:-0.91, Z:16.55 [[ 9.09501180e-01 -2.06821777e-01 -3.60599995e-01 -2.13217300e+01] [ 2.26974878e-01 9.73800685e-01 1.39510016e-02 -9.10922235e-01] [ 3.48267151e-01 -9.45355923e-02 9.32616220e-01 1.65501797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.489072329 meters Centerline goodness [0,1] 0.5916806066688971 Centerline is valid? [False, False] Translation: X:-21.33, Y:-0.92, Z:16.55 [[ 9.11260842e-01 -2.06258527e-01 -3.56456305e-01 -2.13267223e+01] [ 2.24814197e-01 9.74340274e-01 1.09365022e-02 -9.16131448e-01] [ 3.45053988e-01 -9.01024444e-02 9.34247984e-01 1.65453799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519072329 meters Centerline goodness [0,1] 0.5035165813487648 Centerline is valid? [False, False] Translation: X:-21.32, Y:-0.92, Z:16.55 [[ 9.10189620e-01 -2.10930442e-01 -3.56459260e-01 -2.13236551e+01] [ 2.28639039e-01 9.73480292e-01 7.76597086e-03 -9.20132851e-01] [ 3.45367985e-01 -8.85690089e-02 9.34278591e-01 1.65461138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.549072329 meters Centerline goodness [0,1] 0.30900669296573735 Centerline is valid? [False, False] Translation: X:-21.35, Y:-0.93, Z:16.54 [[ 9.11395948e-01 -2.08912211e-01 -3.54560452e-01 -2.13452092e+01] [ 2.26132972e-01 9.74068802e-01 7.33811950e-03 -9.28091887e-01] [ 3.43833252e-01 -8.68657410e-02 9.35004298e-01 1.65351101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579072329 meters Centerline goodness [0,1] 0.2467154258275348 Centerline is valid? [False, False] Translation: X:-21.37, Y:-0.94, Z:16.52 [[ 9.12652523e-01 -2.06717632e-01 -3.52609123e-01 -2.13677428e+01] [ 2.23577757e-01 9.74658853e-01 7.28748494e-03 -9.36432265e-01] [ 3.42167152e-01 -8.54864984e-02 9.35742325e-01 1.65239838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.609072329 meters Centerline goodness [0,1] 0.21700417443822717 Centerline is valid? [False, False] Translation: X:-21.39, Y:-0.94, Z:16.51 [[ 9.13834869e-01 -2.04550360e-01 -3.50806190e-01 -2.13903345e+01] [ 2.21031473e-01 9.75240629e-01 7.12771172e-03 -9.44578814e-01] [ 3.40662473e-01 -8.40527606e-02 9.36420959e-01 1.65129153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63907232900002 meters Centerline goodness [0,1] 0.178860885977573 Centerline is valid? [False, False] Translation: X:-21.41, Y:-0.95, Z:16.50 [[ 9.14579830e-01 -2.05336953e-01 -3.48397002e-01 -2.14108096e+01] [ 2.21264065e-01 9.75194946e-01 6.08527432e-03 -9.54636708e-01] [ 3.38505464e-01 -8.26532059e-02 9.37327317e-01 1.65016522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66907232900002 meters Centerline goodness [0,1] 0.15948687218412239 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.96, Z:16.49 [[ 9.15282101e-01 -2.06237176e-01 -3.46012866e-01 -2.14323156e+01] [ 2.21532525e-01 9.75141261e-01 4.78125426e-03 -9.63551563e-01] [ 3.36425351e-01 -8.10293005e-02 9.38217584e-01 1.64901513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69907232900002 meters Centerline goodness [0,1] 0.15263927669192923 Centerline is valid? [False, False] Translation: X:-21.46, Y:-0.97, Z:16.48 [[ 9.16460165e-01 -2.04111636e-01 -3.44149975e-01 -2.14568564e+01] [ 2.19076247e-01 9.75696336e-01 4.71793831e-03 -9.70362621e-01] [ 3.34822884e-01 -7.97188874e-02 9.38902836e-01 1.64787269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72907232900002 meters Centerline goodness [0,1] 0.15683102493074796 Centerline is valid? [False, False] Translation: X:-21.48, Y:-0.98, Z:16.47 [[ 9.17538231e-01 -2.02337194e-01 -3.42320399e-01 -2.14816663e+01] [ 2.16893152e-01 9.76185658e-01 4.34999488e-03 -9.76684646e-01] [ 3.33288098e-01 -7.82382369e-02 9.39573213e-01 1.64671793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759072329 meters Centerline goodness [0,1] 0.13766262403528118 Centerline is valid? [False, False] Translation: X:-21.51, Y:-0.98, Z:16.46 [[ 9.18593626e-01 -1.99987516e-01 -3.40867633e-01 -2.15062563e+01] [ 2.14282835e-01 9.76761760e-01 4.39668713e-03 -9.82878563e-01] [ 3.32067186e-01 -7.70808516e-02 9.40101019e-01 1.64559665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.789072329 meters Centerline goodness [0,1] 0.13941149161010769 Centerline is valid? [False, False] Translation: X:-21.53, Y:-0.99, Z:16.45 [[ 9.18671878e-01 -2.03527224e-01 -3.38553761e-01 -2.15301644e+01] [ 2.16307303e-01 9.76325330e-01 1.96481109e-05 -9.88459084e-01] [ 3.30534613e-01 -7.32497010e-02 9.40947050e-01 1.64450945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819072329 meters Centerline goodness [0,1] 0.1321992709599028 Centerline is valid? [False, False] Translation: X:-21.56, Y:-0.99, Z:16.43 [[ 9.19784769e-01 -2.02062090e-01 -3.36402869e-01 -2.15564718e+01] [ 2.14309258e-01 9.76765578e-01 -7.39894038e-04 -9.93461658e-01] [ 3.28736248e-01 -7.14137061e-02 9.41717878e-01 1.64337358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.849072329 meters Centerline goodness [0,1] 0.1359471929708369 Centerline is valid? [False, False] Translation: X:-21.58, Y:-1.00, Z:16.42 [[ 9.21078606e-01 -2.00929014e-01 -3.33529210e-01 -2.15838350e+01] [ 2.12693223e-01 9.77118199e-01 -1.27190802e-03 -9.98190353e-01] [ 3.26153024e-01 -6.97678755e-02 9.42738908e-01 1.64209617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879072329 meters Centerline goodness [0,1] 0.1329066431251379 Centerline is valid? [False, False] Translation: X:-21.61, Y:-1.00, Z:16.41 [[ 9.22368045e-01 -1.99408855e-01 -3.30867493e-01 -2.16113973e+01] [ 2.10768830e-01 9.77534657e-01 -1.57958377e-03 -1.00289735e+00] [ 3.23749424e-01 -6.82795967e-02 9.43675902e-01 1.64085184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.909072329 meters Centerline goodness [0,1] 0.12177908715152586 Centerline is valid? [False, False] Translation: X:-21.63, Y:-1.01, Z:16.39 [[ 9.24930323e-01 -2.00960068e-01 -3.22674680e-01 -2.16318809e+01] [ 2.15296802e-01 9.76507431e-01 8.97355940e-03 -1.01034627e+00] [ 3.13290896e-01 -7.77707439e-02 9.46467393e-01 1.63906696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939072329 meters Centerline goodness [0,1] 0.12606241626951886 Centerline is valid? [False, False] Translation: X:-21.66, Y:-1.01, Z:16.38 [[ 9.25889426e-01 -2.00229973e-01 -3.20369676e-01 -2.16596293e+01] [ 2.13721690e-01 9.76868568e-01 7.13015800e-03 -1.01327563e+00] [ 3.11531396e-01 -7.50716867e-02 9.47265766e-01 1.63796908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.969072329 meters Centerline goodness [0,1] 0.12246554902132889 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.02, Z:16.36 [[ 9.27990204e-01 -2.02078577e-01 -3.13047010e-01 -2.16794870e+01] [ 2.18081294e-01 9.75789716e-01 1.65825154e-02 -1.01924245e+00] [ 3.02117082e-01 -8.36581089e-02 9.49592855e-01 1.63634300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999072329 meters Centerline goodness [0,1] 0.12138360641354651 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.02, Z:16.36 [[ 9.27988206e-01 -2.02566004e-01 -3.12737754e-01 -2.16801434e+01] [ 2.18524823e-01 9.75692633e-01 1.64556446e-02 -1.02023035e+00] [ 3.01802568e-01 -8.36116065e-02 9.49696956e-01 1.63632939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.029072329 meters Centerline goodness [0,1] 0.11870976218630924 Centerline is valid? [False, False] Translation: X:-21.68, Y:-1.02, Z:16.36 [[ 9.28011190e-01 -2.02927376e-01 -3.12435131e-01 -2.16806045e+01] [ 2.18870268e-01 9.75615543e-01 1.64352680e-02 -1.02137216e+00] [ 3.01481404e-01 -8.36348734e-02 9.49796910e-01 1.63629869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059072329 meters Centerline goodness [0,1] 0.11496793679280382 Centerline is valid? [False, False] Translation: X:-21.69, Y:-1.02, Z:16.36 [[ 9.27361667e-01 -2.05841747e-01 -3.12457218e-01 -2.16923425e+01] [ 2.23316930e-01 9.74524027e-01 2.07959101e-02 -1.02264390e+00] [ 3.00216400e-01 -8.90623165e-02 9.49704173e-01 1.63555146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.089072329 meters Centerline goodness [0,1] 0.11277144230349101 Centerline is valid? [False, False] Translation: X:-21.72, Y:-1.02, Z:16.35 [[ 9.28134937e-01 -2.05500025e-01 -3.10379248e-01 -2.17213625e+01] [ 2.21951602e-01 9.74887040e-01 1.82413116e-02 -1.02385805e+00] [ 2.98836116e-01 -8.58195699e-02 9.50437782e-01 1.63453310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119072329 meters Centerline goodness [0,1] 0.11083052138891913 Centerline is valid? [False, False] Translation: X:-21.74, Y:-1.03, Z:16.33 [[ 0.92804312 -0.20796696 -0.30900762 -21.73595896] [ 0.22642649 0.97371498 0.02470166 -1.02695624] [ 0.29574822 -0.09289172 0.95073872 16.33407301] [ 0. 0. 0. 1. ]] SLAMing on 143.149072329 meters Centerline goodness [0,1] 0.10927440403688882 Centerline is valid? [False, False] Translation: X:-21.77, Y:-1.03, Z:16.32 [[ 0.92943778 -0.20745696 -0.30513444 -21.7696925 ] [ 0.22574404 0.97385272 0.0255052 -1.02902183] [ 0.29186478 -0.09258778 0.95196768 16.31790423] [ 0. 0. 0. 1. ]] SLAMing on 143.179072329 meters Centerline goodness [0,1] 0.10802241237023846 Centerline is valid? [False, False] Translation: X:-21.80, Y:-1.03, Z:16.30 [[ 0.93070808 -0.20717645 -0.30143056 -21.80243826] [ 0.22493192 0.97405291 0.02503108 -1.03031321] [ 0.28842346 -0.09109799 0.95315952 16.30350557] [ 0. 0. 0. 1. ]] SLAMing on 143.209072329 meters Centerline goodness [0,1] 0.10732098711887927 Centerline is valid? [False, False] Translation: X:-21.84, Y:-1.03, Z:16.29 [[ 0.93202448 -0.2064171 -0.29786297 -21.83690717] [ 0.22406748 0.97422722 0.02598251 -1.03192939] [ 0.28482298 -0.09095774 0.95425498 16.28801257] [ 0. 0. 0. 1. ]] SLAMing on 143.239072329 meters Centerline goodness [0,1] 0.10562114155745694 Centerline is valid? [False, False] Translation: X:-21.87, Y:-1.03, Z:16.27 [[ 0.93361425 -0.20512915 -0.29374557 -21.87242673] [ 0.22294255 0.97442602 0.0281167 -1.03359549] [ 0.28046577 -0.09173854 0.95547004 16.27124327] [ 0. 0. 0. 1. ]] SLAMing on 143.269072329 meters Centerline goodness [0,1] 0.10366367664541232 Centerline is valid? [False, False] Translation: X:-21.89, Y:-1.03, Z:16.26 [[ 0.93326387 -0.20764498 -0.29309062 -21.88565023] [ 0.22690417 0.97336062 0.03291821 -1.03453879] [ 0.27844756 -0.09722485 0.95551781 16.26386399] [ 0. 0. 0. 1. ]] SLAMing on 143.299072329 meters Centerline goodness [0,1] 0.10461930138730069 Centerline is valid? [False, False] Translation: X:-21.92, Y:-1.03, Z:16.25 [[ 0.93413713 -0.20790058 -0.29011235 -21.9161377 ] [ 0.22587479 0.97370905 0.02951735 -1.03451461] [ 0.27634834 -0.09310231 0.95653727 16.25390668] [ 0. 0. 0. 1. ]] SLAMing on 143.329072329 meters Centerline goodness [0,1] 0.10410604591011963 Centerline is valid? [False, False] Translation: X:-21.95, Y:-1.04, Z:16.24 [[ 0.93537628 -0.20723382 -0.28657523 -21.94826039] [ 0.22450523 0.97405893 0.02840061 -1.03542125] [ 0.2732556 -0.0909029 0.9576367 16.24140122] [ 0. 0. 0. 1. ]] SLAMing on 143.359072329 meters Centerline goodness [0,1] 0.10366404334924528 Centerline is valid? [False, False] Translation: X:-21.97, Y:-1.04, Z:16.23 [[ 0.93532245 -0.21067054 -0.28423555 -21.96701997] [ 0.22963262 0.9726577 0.03472551 -1.03691282] [ 0.26914825 -0.09774931 0.95812541 16.23021614] [ 0. 0. 0. 1. ]] SLAMing on 143.38907232900002 meters Centerline goodness [0,1] 0.10100814685840798 Centerline is valid? [False, False] Translation: X:-22.00, Y:-1.04, Z:16.22 [[ 0.93643618 -0.21098288 -0.28030967 -22.00222113] [ 0.22933629 0.97275401 0.03397799 -1.03684748] [ 0.26550358 -0.0961034 0.95930808 16.21637224] [ 0. 0. 0. 1. ]] SLAMing on 143.41907232900002 meters Centerline goodness [0,1] 0.10344901548625107 Centerline is valid? [False, False] Translation: X:-22.02, Y:-1.04, Z:16.21 [[ 0.9359965 -0.21526947 -0.27851322 -22.02137491] [ 0.23514836 0.97115103 0.03963499 -1.0379396 ] [ 0.2619462 -0.10259014 0.95961422 16.20600576] [ 0. 0. 0. 1. ]] SLAMing on 143.44907232900002 meters Centerline goodness [0,1] 0.10433552039109739 Centerline is valid? [False, False] Translation: X:-22.06, Y:-1.04, Z:16.19 [[ 0.93692192 -0.21537934 -0.27529811 -22.05528134] [ 0.23490608 0.97120985 0.03963021 -1.03860244] [ 0.25883671 -0.10179962 0.96054172 16.1911281 ] [ 0. 0. 0. 1. ]] SLAMing on 143.47907232900002 meters Centerline goodness [0,1] 0.10366545984275588 Centerline is valid? [False, False] Translation: X:-22.09, Y:-1.04, Z:16.18 [[ 0.93775706 -0.21580001 -0.27210668 -22.08976409] [ 0.23499785 0.97118689 0.03964898 -1.03913185] [ 0.25571019 -0.10112559 0.9614499 16.17598971] [ 0. 0. 0. 1. ]] SLAMing on 143.509072329 meters Centerline goodness [0,1] 0.1267901102429626 Centerline is valid? [False, False] Translation: X:-22.13, Y:-1.04, Z:16.16 [[ 0.93741405 -0.22124206 -0.26889933 -22.12650146] [ 0.23936175 0.97025744 0.0361448 -1.03796092] [ 0.25290483 -0.09824685 0.96248985 16.16139103] [ 0. 0. 0. 1. ]] SLAMing on 143.539072329 meters Centerline goodness [0,1] 0.12481019696742868 Centerline is valid? [False, False] Translation: X:-22.17, Y:-1.04, Z:16.15 [[ 0.93837409 -0.22132275 -0.26546245 -22.16561229] [ 0.23945521 0.97017991 0.03757849 -1.03767038] [ 0.24922936 -0.09882905 0.96338857 16.14614224] [ 0. 0. 0. 1. ]] SLAMing on 143.569072329 meters Centerline goodness [0,1] 0.12656577316061735 Centerline is valid? [False, False] Translation: X:-22.20, Y:-1.04, Z:16.13 [[ 0.93901465 -0.22221626 -0.26243366 -22.20435119] [ 0.24013401 0.97000062 0.03787412 -1.03638376] [ 0.24614456 -0.0985836 0.96420648 16.13179778] [ 0. 0. 0. 1. ]] SLAMing on 143.599072329 meters Centerline goodness [0,1] 0.12132164242942689 Centerline is valid? [False, False] Translation: X:-22.25, Y:-1.04, Z:16.12 [[ 0.9392466 -0.2261426 -0.2582157 -22.24599659] [ 0.24349508 0.9692005 0.03688545 -1.03592017] [ 0.24192141 -0.09751879 0.96538289 16.11754613] [ 0. 0. 0. 1. ]] SLAMing on 143.629072329 meters Centerline goodness [0,1] 0.12799436355096294 Centerline is valid? [False, False] Translation: X:-22.29, Y:-1.04, Z:16.10 [[ 0.9405936 -0.22532591 -0.25399197 -22.28764821] [ 0.24304647 0.96917861 0.04026466 -1.03635041] [ 0.23709092 -0.09960453 0.96636786 16.10140674] [ 0. 0. 0. 1. ]] SLAMing on 143.659072329 meters Centerline goodness [0,1] 0.13033286451007975 Centerline is valid? [False, False] Translation: X:-22.33, Y:-1.04, Z:16.09 [[ 0.94155883 -0.22539683 -0.25032625 -22.32673745] [ 0.24312575 0.9690896 0.04189522 -1.03576246] [ 0.23314552 -0.10030757 0.96725465 16.0863545 ] [ 0. 0. 0. 1. ]] SLAMing on 143.689072329 meters Centerline goodness [0,1] 0.12748475446667384 Centerline is valid? [False, False] Translation: X:-22.37, Y:-1.04, Z:16.07 [[ 0.94276447 -0.22506799 -0.24604786 -22.37146604] [ 0.24342874 0.96880184 0.04653437 -1.03560859] [ 0.22789822 -0.10376607 0.96813997 16.06851692] [ 0. 0. 0. 1. ]] SLAMing on 143.719072329 meters Centerline goodness [0,1] 0.12729411764705878 Centerline is valid? [False, False] Translation: X:-22.41, Y:-1.04, Z:16.05 [[ 0.94274881 -0.22942362 -0.24205265 -22.41284161] [ 0.24735708 0.9678282 0.04607652 -1.03613037] [ 0.22369434 -0.10331202 0.96916844 16.05287073] [ 0. 0. 0. 1. ]] SLAMing on 143.749072329 meters Centerline goodness [0,1] 0.12352916007017245 Centerline is valid? [False, False] Translation: X:-22.46, Y:-1.04, Z:16.04 [[ 0.94382475 -0.2292999 -0.23794199 -22.45593751] [ 0.24761937 0.96757791 0.04977585 -1.03616951] [ 0.21881381 -0.10589872 0.97000308 16.03617126] [ 0. 0. 0. 1. ]] SLAMing on 143.779072329 meters Centerline goodness [0,1] 0.13320933812211389 Centerline is valid? [False, False] Translation: X:-22.50, Y:-1.03, Z:16.02 [[ 0.94429072 -0.2305556 -0.23485985 -22.49586087] [ 0.24864776 0.96729428 0.05016038 -1.0347511 ] [ 0.21561383 -0.10576336 0.97073415 16.02284897] [ 0. 0. 0. 1. ]] SLAMing on 143.809072329 meters Centerline goodness [0,1] 0.12608062997517766 Centerline is valid? [False, False] Translation: X:-22.54, Y:-1.03, Z:16.01 [[ 0.94409973 -0.23609516 -0.23007558 -22.54445981] [ 0.25394977 0.96587617 0.05091901 -1.03359495] [ 0.21020279 -0.10650026 0.97183974 16.00680056] [ 0. 0. 0. 1. ]] SLAMing on 143.839072329 meters Centerline goodness [0,1] 0.12047031611410952 Centerline is valid? [False, False] Translation: X:-22.59, Y:-1.03, Z:15.99 [[ 0.94479137 -0.23774012 -0.225497 -22.5938459 ] [ 0.25583417 0.96519449 0.05429987 -1.03147489] [ 0.20473921 -0.10899189 0.97272947 15.99082157] [ 0. 0. 0. 1. ]] SLAMing on 143.869072329 meters Centerline goodness [0,1] 0.1270504985525892 Centerline is valid? [False, False] Translation: X:-22.65, Y:-1.03, Z:15.98 [[ 0.94436673 -0.24320702 -0.22140872 -22.64682149] [ 0.26137772 0.96358806 0.05638909 -1.03001577] [ 0.19963258 -0.11112329 0.97354941 15.97502825] [ 0. 0. 0. 1. ]] SLAMing on 143.899072329 meters Centerline goodness [0,1] 0.12198523731868505 Centerline is valid? [False, False] Translation: X:-22.71, Y:-1.02, Z:15.96 [[ 0.94376981 -0.24650986 -0.22029852 -22.7118027 ] [ 0.26339126 0.96337236 0.05038587 -1.02223621] [ 0.1998089 -0.10557737 0.97413029 15.96015501] [ 0. 0. 0. 1. ]] SLAMing on 143.929072329 meters Centerline goodness [0,1] 0.1273437164800275 Centerline is valid? [False, False] Translation: X:-22.78, Y:-1.01, Z:15.94 [[ 0.94327159 -0.24910579 -0.21951086 -22.77704064] [ 0.26512848 0.96309832 0.04635216 -1.01465759] [ 0.19986395 -0.10192125 0.97450832 15.94481478] [ 0. 0. 0. 1. ]] SLAMing on 143.959072329 meters Centerline goodness [0,1] 0.13535686744923314 Centerline is valid? [False, False] Translation: X:-22.83, Y:-1.01, Z:15.93 [[ 0.94275839 -0.25477925 -0.21516076 -22.83470297] [ 0.27172576 0.96092864 0.0527376 -1.01389724] [ 0.19331769 -0.10818354 0.97515362 15.92556223] [ 0. 0. 0. 1. ]] SLAMing on 143.989072329 meters Centerline goodness [0,1] 0.12780956054080694 Centerline is valid? [False, False] Translation: X:-22.91, Y:-1.01, Z:15.91 [[ 0.94237271 -0.25793357 -0.21308201 -22.90745763] [ 0.27434563 0.96028293 0.05090356 -1.00547863] [ 0.19148928 -0.10642825 0.97570738 15.90702211] [ 0. 0. 0. 1. ]] SLAMing on 144.019072329 meters Centerline goodness [0,1] 0.13377244738140703 Centerline is valid? [False, False] Translation: X:-22.99, Y:-1.00, Z:15.89 [[ 0.94208318 -0.26041602 -0.21133571 -22.98518302] [ 0.2768606 0.95951124 0.05183044 -0.99693683] [ 0.18928151 -0.10733912 0.97603833 15.88797583] [ 0. 0. 0. 1. ]] SLAMing on 144.049072329 meters Centerline goodness [0,1] 0.13377244738140703 Centerline is valid? [False, False] Translation: X:-23.05, Y:-0.99, Z:15.87 [[ 0.94310959 -0.25800854 -0.20970432 -23.05034472] [ 0.27400017 0.96039481 0.05065287 -0.98805 ] [ 0.18833006 -0.10523022 0.97645194 15.87161437] [ 0. 0. 0. 1. ]] SLAMing on 144.079072329 meters Centerline goodness [0,1] 0.1277176248173928 Centerline is valid? [False, False] Translation: X:-23.13, Y:-0.98, Z:15.85 [[ 0.94304691 -0.2602421 -0.20721143 -23.12794818] [ 0.27615641 0.95973349 0.05147108 -0.97944445] [ 0.1854728 -0.10576241 0.97694122 15.85241048] [ 0. 0. 0. 1. ]] SLAMing on 144.109072329 meters Centerline goodness [0,1] 0.1409676446512429 Centerline is valid? [False, False] Translation: X:-23.21, Y:-0.97, Z:15.83 [[ 0.94167976 -0.26685874 -0.20500156 -23.2145453 ] [ 0.28289982 0.95769285 0.05284023 -0.97228216] [ 0.18222765 -0.10775348 0.97733427 15.83186868] [ 0. 0. 0. 1. ]] SLAMing on 144.13907232900002 meters Centerline goodness [0,1] 0.13645463351630616 Centerline is valid? [False, False] Translation: X:-23.29, Y:-0.96, Z:15.81 [[ 0.94143477 -0.26907765 -0.20321858 -23.29386866] [ 0.28514654 0.95696874 0.05387286 -0.96327214] [ 0.17997785 -0.10866485 0.97765021 15.81332024] [ 0. 0. 0. 1. ]] SLAMing on 144.16907232900002 meters Centerline goodness [0,1] 0.14065294688072405 Centerline is valid? [False, False] Translation: X:-23.38, Y:-0.95, Z:15.79 [[ 0.93978682 -0.27656619 -0.2007782 -23.38472473] [ 0.29282743 0.95453585 0.05579798 -0.95490753] [ 0.17621815 -0.11123157 0.97804637 15.79283587] [ 0. 0. 0. 1. ]] SLAMing on 144.19907232900002 meters Centerline goodness [0,1] 0.14689716120966523 Centerline is valid? [False, False] Translation: X:-23.47, Y:-0.95, Z:15.77 [[ 0.94006417 -0.27746982 -0.19821669 -23.46672754] [ 0.29406441 0.95394617 0.05926915 -0.94665816] [ 0.17264266 -0.11400528 0.97836461 15.77284445] [ 0. 0. 0. 1. ]] SLAMing on 144.22907232900002 meters Centerline goodness [0,1] 0.13299833940779404 Centerline is valid? [False, False] Translation: X:-23.55, Y:-0.94, Z:15.75 [[ 0.94031479 -0.27875983 -0.19519492 -23.5506332 ] [ 0.29561963 0.95324213 0.06275729 -0.93810168] [ 0.16857381 -0.11671506 0.97875455 15.75237755] [ 0. 0. 0. 1. ]] SLAMing on 144.259072329 meters Centerline goodness [0,1] 0.1455043575804642 Centerline is valid? [False, False] Translation: X:-23.64, Y:-0.93, Z:15.73 [[ 0.93884963 -0.28511678 -0.19305386 -23.64184765] [ 0.30239941 0.95087338 0.06629042 -0.93096084] [ 0.16466927 -0.12061611 0.97894626 15.73020923] [ 0. 0. 0. 1. ]] SLAMing on 144.289072329 meters Centerline goodness [0,1] 0.15115249184506707 Centerline is valid? [False, False] Translation: X:-23.74, Y:-0.92, Z:15.71 [[ 0.93780012 -0.2885454 -0.19306083 -23.74429505] [ 0.30473991 0.9505703 0.05957933 -0.91501965] [ 0.16632655 -0.11470684 0.97937624 15.71004133] [ 0. 0. 0. 1. ]] SLAMing on 144.319072329 meters Centerline goodness [0,1] 0.14820488478467253 Centerline is valid? [False, False] Translation: X:-23.84, Y:-0.90, Z:15.69 [[ 0.93760901 -0.2903782 -0.19123245 -23.83776034] [ 0.30728401 0.94939598 0.0649908 -0.90351686] [ 0.16268341 -0.11969863 0.9793908 15.68870949] [ 0. 0. 0. 1. ]] SLAMing on 144.349072329 meters Centerline goodness [0,1] 0.1612805733652829 Centerline is valid? [False, False] Translation: X:-23.94, Y:-0.89, Z:15.67 [[ 0.9360442 -0.29670239 -0.18917966 -23.93975397] [ 0.3139496 0.94698902 0.06817217 -0.89332678] [ 0.15892422 -0.12320504 0.97957318 15.66834805] [ 0. 0. 0. 1. ]] SLAMing on 144.379072329 meters Centerline goodness [0,1] 0.1616443090748061 Centerline is valid? [False, False] Translation: X:-24.05, Y:-0.88, Z:15.65 [[ 0.93563238 -0.29889316 -0.18776297 -24.0525972 ] [ 0.31549036 0.94669329 0.06509719 -0.87583469] [ 0.15829684 -0.12014445 0.98005481 15.64615694] [ 0. 0. 0. 1. ]] SLAMing on 144.409072329 meters Centerline goodness [0,1] 0.14705628453038677 Centerline is valid? [False, False] Translation: X:-24.17, Y:-0.86, Z:15.62 [[ 0.93508647 -0.30085718 -0.18734527 -24.16688375] [ 0.3171072 0.94628681 0.06312131 -0.85818569] [ 0.15829186 -0.11843242 0.98026397 15.6241861 ] [ 0. 0. 0. 1. ]] SLAMing on 144.439072329 meters Centerline goodness [0,1] 0.17419535766675298 Centerline is valid? [False, False] Translation: X:-24.28, Y:-0.84, Z:15.60 [[ 0.93468399 -0.30243028 -0.18682013 -24.28286481] [ 0.31847311 0.94589452 0.06211631 -0.83993121] [ 0.15792628 -0.11755631 0.98042838 15.60113601] [ 0. 0. 0. 1. ]] SLAMing on 144.469072329 meters Centerline goodness [0,1] 0.16979826590845204 Centerline is valid? [False, False] Translation: X:-24.41, Y:-0.82, Z:15.58 [[ 0.93315014 -0.30742475 -0.18633531 -24.4063205 ] [ 0.32368015 0.94403711 0.0634437 -0.82430845] [ 0.15640328 -0.11951553 0.98043564 15.57542823] [ 0. 0. 0. 1. ]] SLAMing on 144.499072329 meters Centerline goodness [0,1] 0.1630430084287876 Centerline is valid? [False, False] Translation: X:-24.53, Y:-0.81, Z:15.55 [[ 0.93324165 -0.30790589 -0.1850783 -24.5294238 ] [ 0.32450328 0.94353994 0.0665582 -0.80542342] [ 0.15413511 -0.1221734 0.98046725 15.54932309] [ 0. 0. 0. 1. ]] SLAMing on 144.529072329 meters Centerline goodness [0,1] 0.16195400558163686 Centerline is valid? [False, False] Translation: X:-24.65, Y:-0.79, Z:15.52 [[ 0.93310868 -0.30880813 -0.18424369 -24.65135371] [ 0.32565564 0.94298392 0.06877307 -0.78564461] [ 0.15250115 -0.12417274 0.98047158 15.52409063] [ 0. 0. 0. 1. ]] SLAMing on 144.559072329 meters Centerline goodness [0,1] 0.1780747853543545 Centerline is valid? [False, False] Translation: X:-24.77, Y:-0.77, Z:15.50 [[ 0.93311816 -0.30967103 -0.18274123 -24.77241272] [ 0.32655026 0.94257157 0.07016955 -0.76561479] [ 0.15051722 -0.12515067 0.9806538 15.49889629] [ 0. 0. 0. 1. ]] SLAMing on 144.589072329 meters Centerline goodness [0,1] 0.16645024455698398 Centerline is valid? [False, False] Translation: X:-24.90, Y:-0.75, Z:15.47 [[ 0.93221451 -0.31348928 -0.18083301 -24.90351967] [ 0.33064336 0.94089901 0.07337586 -0.74748201] [ 0.14714306 -0.12819327 0.98077286 15.47272317] [ 0. 0. 0. 1. ]] SLAMing on 144.619072329 meters Centerline goodness [0,1] 0.17825701369211133 Centerline is valid? [False, False] Translation: X:-25.03, Y:-0.73, Z:15.45 [[ 0.93245127 -0.31387287 -0.17893701 -25.03322205] [ 0.33133479 0.94035532 0.07713059 -0.72503653] [ 0.14405517 -0.13120857 0.98083251 15.44659686] [ 0. 0. 0. 1. ]] SLAMing on 144.649072329 meters Centerline goodness [0,1] 0.3028932505247668 Centerline is valid? [False, False] Translation: X:-25.17, Y:-0.70, Z:15.42 [[ 0.93165446 -0.31764681 -0.17640996 -25.16894647] [ 0.33533622 0.93862046 0.08087804 -0.70444118] [ 0.13989134 -0.13450703 0.98098842 15.42002047] [ 0. 0. 0. 1. ]] SLAMing on 144.679072329 meters Centerline goodness [0,1] 0.3626414033266282 Centerline is valid? [False, False] Translation: X:-25.31, Y:-0.68, Z:15.39 [[ 0.93174166 -0.3177997 -0.17567254 -25.31183375] [ 0.33482679 0.93913348 0.0769371 -0.67625836] [ 0.14052938 -0.13050538 0.98143764 15.39298211] [ 0. 0. 0. 1. ]] SLAMing on 144.709072329 meters Centerline goodness [0,1] 0.32374194106702436 Centerline is valid? [False, False] Translation: X:-25.45, Y:-0.65, Z:15.37 [[ 0.93206832 -0.31792021 -0.17371062 -25.45315256] [ 0.33552519 0.9383747 0.08292021 -0.64968816] [ 0.13664364 -0.13557159 0.98129958 15.36532065] [ 0. 0. 0. 1. ]] SLAMing on 144.739072329 meters Centerline goodness [0,1] 0.3285043912519373 Centerline is valid? [False, False] Translation: X:-25.58, Y:-0.63, Z:15.34 [[ 0.93239071 -0.31776477 -0.17225887 -25.58098969] [ 0.33554865 0.93811686 0.08569634 -0.62573426] [ 0.13436767 -0.1377037 0.98131698 15.34047744] [ 0. 0. 0. 1. ]] SLAMing on 144.769072329 meters Centerline goodness [0,1] 0.3168845198228367 Centerline is valid? [False, False] Translation: X:-25.74, Y:-0.60, Z:15.31 [[ 0.93152464 -0.32097718 -0.17098389 -25.73756444] [ 0.33831749 0.9373104 0.08360922 -0.59701114] [ 0.13342833 -0.13573089 0.98171992 15.31119995] [ 0. 0. 0. 1. ]] SLAMing on 144.799072329 meters Centerline goodness [0,1] 0.3281881661153988 Centerline is valid? [False, False] Translation: X:-25.89, Y:-0.57, Z:15.28 [[ 0.93210322 -0.32038676 -0.16892577 -25.88974441] [ 0.33723832 0.9378307 0.08212117 -0.56543106] [ 0.13211324 -0.13351365 0.98220171 15.28252282] [ 0. 0. 0. 1. ]] SLAMing on 144.829072329 meters Centerline goodness [0,1] 0.36789203474644194 Centerline is valid? [False, False] Translation: X:-26.04, Y:-0.53, Z:15.25 [[ 0.93238912 -0.3204688 -0.16718338 -26.04426845] [ 0.33690329 0.9380685 0.08076922 -0.53224256] [ 0.13094545 -0.13163297 0.98261185 15.25386203] [ 0. 0. 0. 1. ]] SLAMing on 144.859072329 meters Centerline goodness [0,1] 0.3690148775364359 Centerline is valid? [False, False] Translation: X:-26.20, Y:-0.50, Z:15.23 [[ 0.93218397 -0.32187685 -0.16561503 -26.19815744] [ 0.33792198 0.93782298 0.07935238 -0.50266996] [ 0.12977588 -0.12993598 0.98299281 15.22561306] [ 0. 0. 0. 1. ]] SLAMing on 144.88907232900002 meters Centerline goodness [0,1] 0.31765622969988305 Centerline is valid? [False, False] Translation: X:-26.35, Y:-0.47, Z:15.20 [[ 0.9334816 -0.31936154 -0.16315732 -26.34531907] [ 0.33491081 0.9390029 0.07815565 -0.47196239] [ 0.12824529 -0.12760001 0.98349956 15.19730396] [ 0. 0. 0. 1. ]] SLAMing on 144.91907232900002 meters Centerline goodness [0,1] 0.37909120485847525 Centerline is valid? [False, False] Translation: X:-26.50, Y:-0.44, Z:15.17 [[ 0.93343198 -0.32016235 -0.16186665 -26.49824136] [ 0.33549937 0.93882412 0.07777821 -0.44188425] [ 0.12706266 -0.12690683 0.98374272 15.16892995] [ 0. 0. 0. 1. ]] SLAMing on 144.94907232900002 meters Centerline goodness [0,1] 0.30390139289041007 Centerline is valid? [False, False] Translation: X:-26.65, Y:-0.41, Z:15.14 [[ 0.93466714 -0.31749481 -0.15998244 -26.6454361 ] [ 0.33242737 0.94000997 0.07663746 -0.40911706] [ 0.12605309 -0.12481306 0.9841404 15.14114489] [ 0. 0. 0. 1. ]] SLAMing on 144.97907232900002 meters Centerline goodness [0,1] 0.40014739990895887 Centerline is valid? [False, False] Translation: X:-26.80, Y:-0.37, Z:15.11 [[ 0.93584014 -0.31504798 -0.15794935 -26.79537512] [ 0.32965587 0.94101939 0.07622022 -0.37453716] [ 0.12462037 -0.12339887 0.98450113 15.113662 ] [ 0. 0. 0. 1. ]] SLAMing on 145.009072329 meters Centerline goodness [0,1] 0.3830313551046979 Centerline is valid? [False, False] Translation: X:-26.94, Y:-0.34, Z:15.09 [[ 0.93704823 -0.31236547 -0.15610392 -26.9387729 ] [ 0.32648271 0.94228061 0.07427176 -0.34112942] [ 0.12389376 -0.12056145 0.9849443 15.08744637] [ 0. 0. 0. 1. ]] SLAMing on 145.039072329 meters Centerline goodness [0,1] 0.42528536087843405 Centerline is valid? [False, False] Translation: X:-27.08, Y:-0.31, Z:15.06 [[ 0.93798806 -0.31128635 -0.15257527 -27.07914491] [ 0.32577675 0.94197496 0.08094863 -0.31225418] [ 0.11852388 -0.12563432 0.98497112 15.06257444] [ 0. 0. 0. 1. ]] SLAMing on 145.069072329 meters Centerline goodness [0,1] 0.4473096358628468 Centerline is valid? [False, False] Translation: X:-27.22, Y:-0.28, Z:15.04 [[ 0.93890096 -0.30904962 -0.15150353 -27.21977349] [ 0.32277459 0.94343509 0.07580758 -0.27622965] [ 0.11950544 -0.1200773 0.98554548 15.03908409] [ 0. 0. 0. 1. ]] SLAMing on 145.099072329 meters Centerline goodness [0,1] 0.42479987851704015 Centerline is valid? [False, False] Translation: X:-27.35, Y:-0.24, Z:15.02 [[ 0.94013599 -0.30649711 -0.14900951 -27.34926248] [ 0.32034683 0.94395661 0.07952249 -0.24474276] [ 0.1162851 -0.12249668 0.98563296 15.01701468] [ 0. 0. 0. 1. ]] SLAMing on 145.129072329 meters Centerline goodness [0,1] 0.41755186271315303 Centerline is valid? [False, False] Translation: X:-27.49, Y:-0.21, Z:14.99 [[ 0.94072413 -0.30502167 -0.14832362 -27.48971798] [ 0.31821508 0.9450673 0.07474596 -0.21039777] [ 0.11737667 -0.11751414 0.98611011 14.99447461] [ 0. 0. 0. 1. ]] SLAMing on 145.159072329 meters Centerline goodness [0,1] 0.4126477233229058 Centerline is valid? [False, False] Translation: X:-27.62, Y:-0.18, Z:14.97 [[ 0.94204785 -0.30203375 -0.14601871 -27.61952574] [ 0.31544009 0.94564756 0.07904587 -0.17761716] [ 0.11420771 -0.12052515 0.9861188 14.9720175 ] [ 0. 0. 0. 1. ]] SLAMing on 145.189072329 meters Centerline goodness [0,1] 0.33781056742974935 Centerline is valid? [False, False] Translation: X:-27.75, Y:-0.14, Z:14.95 [[ 0.94319165 -0.29875203 -0.14538478 -27.75452859] [ 0.31146673 0.9473808 0.07387899 -0.14100735] [ 0.11566325 -0.11496456 0.98661297 14.94925054] [ 0. 0. 0. 1. ]] SLAMing on 145.219072329 meters Centerline goodness [0,1] 0.4248170109250451 Centerline is valid? [False, False] Translation: X:-27.88, Y:-0.11, Z:14.93 [[ 0.94449623 -0.29549532 -0.14355971 -27.87786604] [ 0.30831405 0.94818383 0.07674556 -0.10878015] [ 0.11344304 -0.11674737 0.98666141 14.92866317] [ 0. 0. 0. 1. ]] SLAMing on 145.249072329 meters Centerline goodness [0,1] 0.3996526270082501 Centerline is valid? [False, False] Translation: X:-28.01, Y:-0.08, Z:14.91 [[ 0.94619139 -0.29087677 -0.14181875 -28.00709938] [ 0.30299737 0.95022202 0.07259967 -0.07627311] [ 0.11364174 -0.11166389 0.98722679 14.90712444] [ 0. 0. 0. 1. ]] SLAMing on 145.279072329 meters Centerline goodness [0,1] 0.4242048740190004 Centerline is valid? [False, False] Translation: X:-28.13, Y:-0.04, Z:14.89 [[ 0.94757887 -0.28753878 -0.13934032 -28.12708828] [ 0.29962453 0.95111289 0.07489595 -0.04357749] [ 0.11099289 -0.1127196 0.98740816 14.88763101] [ 0. 0. 0. 1. ]] SLAMing on 145.309072329 meters Centerline goodness [0,1] 0.3706628379995214 Centerline is valid? [False, False] Translation: X:-28.24, Y:-0.01, Z:14.87 [[ 9.48747614e-01 -2.84493600e-01 -1.37627599e-01 -2.82430553e+01] [ 2.96410489e-01 9.52092669e-01 7.52354395e-02 -1.07958845e-02] [ 1.09630227e-01 -1.12173708e-01 9.87622536e-01 1.48697402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339072329 meters Centerline goodness [0,1] 0.4534903938103103 Centerline is valid? [False, False] Translation: X:-28.35, Y:0.01, Z:14.85 [[ 9.50682271e-01 -2.79095801e-01 -1.35309845e-01 -2.83490072e+01] [ 2.90653053e-01 9.53922388e-01 7.45176467e-02 1.45700986e-02] [ 1.08277528e-01 -1.10170825e-01 9.87997149e-01 1.48520982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.369072329 meters Centerline goodness [0,1] 0.40666608650248015 Centerline is valid? [False, False] Translation: X:-28.46, Y:0.04, Z:14.83 [[ 0.95213586 -0.27471026 -0.13405813 -28.45584543] [ 0.28607833 0.95532928 0.07419676 0.04425564] [ 0.10768704 -0.10899652 0.98819191 14.83481087] [ 0. 0. 0. 1. ]] SLAMing on 145.399072329 meters Centerline goodness [0,1] 0.36351563180353563 Centerline is valid? [False, False] Translation: X:-28.56, Y:0.07, Z:14.82 [[ 0.95329531 -0.27073819 -0.13389879 -28.55750069] [ 0.28179706 0.95679434 0.07165893 0.07387402] [ 0.1087128 -0.10604441 0.98840078 14.81908166] [ 0. 0. 0. 1. ]] SLAMing on 145.429072329 meters Centerline goodness [0,1] 0.38247090108548765 Centerline is valid? [False, False] Translation: X:-28.66, Y:0.10, Z:14.80 [[ 0.95480102 -0.26536379 -0.13392936 -28.65705549] [ 0.27629132 0.9584756 0.07062312 0.10073533] [ 0.1096272 -0.10443454 0.98847119 14.80396446] [ 0. 0. 0. 1. ]] SLAMing on 145.459072329 meters Centerline goodness [0,1] 0.4494894396927911 Centerline is valid? [False, False] Translation: X:-28.76, Y:0.13, Z:14.79 [[ 0.95573981 -0.26179219 -0.13426196 -28.75565176] [ 0.27236806 0.95983697 0.06729509 0.13123652] [ 0.11125226 -0.10088527 0.98865823 14.78962068] [ 0. 0. 0. 1. ]] SLAMing on 145.489072329 meters Centerline goodness [0,1] 0.4656882016336872 Centerline is valid? [False, False] Translation: X:-28.85, Y:0.16, Z:14.78 [[ 0.95682175 -0.25790408 -0.13408064 -28.85427907] [ 0.26810497 0.96124198 0.06429294 0.16208959] [ 0.11230253 -0.09746457 0.9888826 14.77541017] [ 0. 0. 0. 1. ]] SLAMing on 145.519072329 meters Centerline goodness [0,1] 0.38893868182315006 Centerline is valid? [False, False] Translation: X:-28.95, Y:0.19, Z:14.76 [[ 0.9594032 -0.2498073 -0.1309267 -28.94628252] [ 0.25926332 0.96389611 0.06071925 0.18624433] [ 0.11103163 -0.09219873 0.98953088 14.76073566] [ 0. 0. 0. 1. ]] SLAMing on 145.549072329 meters Centerline goodness [0,1] 0.3942330832002451 Centerline is valid? [False, False] Translation: X:-29.03, Y:0.21, Z:14.75 [[ 0.96090304 -0.24455834 -0.1298328 -29.0341783 ] [ 0.25333128 0.96577128 0.05575923 0.21336834] [ 0.11175241 -0.08646993 0.98996684 14.74697302] [ 0. 0. 0. 1. ]] SLAMing on 145.579072329 meters Centerline goodness [0,1] 0.39084199493405536 Centerline is valid? [False, False] Translation: X:-29.11, Y:0.23, Z:14.73 [[ 0.96282838 -0.23927448 -0.12533651 -29.11034314] [ 0.24801555 0.96693938 0.05930031 0.23443377] [ 0.10700376 -0.08818143 0.99034046 14.73398351] [ 0. 0. 0. 1. ]] SLAMing on 145.609072329 meters Centerline goodness [0,1] 0.3738188976377953 Centerline is valid? [False, False] Translation: X:-29.19, Y:0.26, Z:14.72 [[ 0.96451818 -0.23191802 -0.12616936 -29.19140001] [ 0.24009126 0.96926031 0.05376464 0.25808864] [ 0.10982196 -0.08214913 0.99055068 14.7221864 ] [ 0. 0. 0. 1. ]] SLAMing on 145.63907232900002 meters Centerline goodness [0,1] 0.40873198153859613 Centerline is valid? [False, False] Translation: X:-29.26, Y:0.28, Z:14.71 [[ 0.96610356 -0.22624167 -0.12433273 -29.25709743] [ 0.23433366 0.97061825 0.05466207 0.27747337] [ 0.10831278 -0.08194457 0.99073378 14.71176702] [ 0. 0. 0. 1. ]] SLAMing on 145.66907232900002 meters Centerline goodness [0,1] 0.44706345388551183 Centerline is valid? [False, False] Translation: X:-29.32, Y:0.30, Z:14.70 [[ 0.96743822 -0.22072094 -0.12387718 -29.31811958] [ 0.22865442 0.97202027 0.05379356 0.29591002] [ 0.10853777 -0.08036701 0.99083838 14.70229325] [ 0. 0. 0. 1. ]] SLAMing on 145.69907232900002 meters Centerline goodness [0,1] 0.3731585764780786 Centerline is valid? [False, False] Translation: X:-29.38, Y:0.31, Z:14.69 [[ 0.96951556 -0.2122405 -0.12244814 -29.38170856] [ 0.22022449 0.97385831 0.05568808 0.31248019] [ 0.10742787 -0.08095654 0.99091134 14.69301167] [ 0. 0. 0. 1. ]] SLAMing on 145.72907232900002 meters Centerline goodness [0,1] 0.36922239163580917 Centerline is valid? [False, False] Translation: X:-29.43, Y:0.33, Z:14.69 [[ 0.97025991 -0.207627 -0.12444572 -29.42961661] [ 0.21480139 0.97551833 0.04716299 0.3288244 ] [ 0.11160678 -0.07249147 0.9911049 14.68793488] [ 0. 0. 0. 1. ]] SLAMing on 145.759072329 meters Centerline goodness [0,1] 0.311699948796723 Centerline is valid? [False, False] Translation: X:-29.45, Y:0.33, Z:14.68 [[ 0.97245011 -0.19979888 -0.12008829 -29.44679128] [ 0.20637409 0.97744052 0.04494176 0.3288818 ] [ 0.10839985 -0.06848673 0.99174545 14.68202817] [ 0. 0. 0. 1. ]] SLAMing on 145.789072329 meters Centerline goodness [0,1] 0.3984749884966805 Centerline is valid? [False, False] Translation: X:-29.54, Y:0.36, Z:14.67 [[ 0.97444115 -0.19070732 -0.11872301 -29.53806257] [ 0.19713851 0.97934668 0.0449053 0.35766736] [ 0.10770722 -0.06716245 0.99191147 14.67017707] [ 0. 0. 0. 1. ]] SLAMing on 145.819072329 meters Centerline goodness [0,1] 0.3852693084966172 Centerline is valid? [False, False] Translation: X:-29.59, Y:0.38, Z:14.66 [[ 0.97540933 -0.1854707 -0.11906833 -29.59381962] [ 0.19168606 0.98051552 0.0429625 0.3756629 ] [ 0.10878006 -0.06472976 0.99195613 14.66190016] [ 0. 0. 0. 1. ]] SLAMing on 145.849072329 meters Centerline goodness [0,1] 0.4691733298090266 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.39, Z:14.66 [[ 0.97666073 -0.17702313 -0.12164137 -29.63975165] [ 0.18278121 0.98242503 0.03784298 0.38872142] [ 0.11280445 -0.05919351 0.99185245 14.65659089] [ 0. 0. 0. 1. ]] SLAMing on 145.879072329 meters Centerline goodness [0,1] 0.4389777621517096 Centerline is valid? [False, False] Translation: X:-29.68, Y:0.40, Z:14.65 [[ 0.97817311 -0.1704633 -0.11882601 -29.67532996] [ 0.17635354 0.98347769 0.04087855 0.39704946] [ 0.10989444 -0.06094169 0.99207324 14.65052368] [ 0. 0. 0. 1. ]] SLAMing on 145.909072329 meters Centerline goodness [0,1] 0.3565362784353412 Centerline is valid? [False, False] Translation: X:-29.71, Y:0.41, Z:14.64 [[ 0.97935448 -0.16502749 -0.11675075 -29.70862584] [ 0.17091666 0.984377 0.04230145 0.40551632] [ 0.10794585 -0.06138277 0.99225997 14.64476628] [ 0. 0. 0. 1. ]] SLAMing on 145.939072329 meters Centerline goodness [0,1] 0.3565362784353412 Centerline is valid? [False, False] Translation: X:-29.71, Y:0.41, Z:14.64 [[ 0.97935448 -0.16502749 -0.11675075 -29.70862584] [ 0.17091666 0.984377 0.04230145 0.40551632] [ 0.10794585 -0.06138277 0.99225997 14.64476628] [ 0. 0. 0. 1. ]] SLAMing on 145.969072329 meters Centerline goodness [0,1] 0.4421998988855428 Centerline is valid? [False, False] Translation: X:-29.74, Y:0.41, Z:14.64 [[ 0.98037716 -0.15998466 -0.11517609 -29.741127 ] [ 0.16580997 0.98522637 0.04284921 0.41446913] [ 0.1066193 -0.06110573 0.99242048 14.63988996] [ 0. 0. 0. 1. ]] SLAMing on 145.999072329 meters Centerline goodness [0,1] 0.41899453648219953 Centerline is valid? [False, False] Translation: X:-29.77, Y:0.42, Z:14.63 [[ 0.98272179 -0.14773966 -0.11149386 -29.77126888] [ 0.15248192 0.9876781 0.03523128 0.42010887] [ 0.10491498 -0.05162334 0.99314041 14.63240995] [ 0. 0. 0. 1. ]] SLAMing on 146.029072329 meters Centerline goodness [0,1] 0.45215189873417716 Centerline is valid? [False, False] Translation: X:-29.79, Y:0.42, Z:14.63 [[ 0.9845276 -0.13943487 -0.10612882 -29.78783578] [ 0.14374362 0.98902875 0.03405727 0.42092848] [ 0.10021569 -0.04878566 0.99376897 14.62625745] [ 0. 0. 0. 1. ]] SLAMing on 146.059072329 meters Centerline goodness [0,1] 0.41886750962067065 Centerline is valid? [False, False] Translation: X:-29.80, Y:0.42, Z:14.62 [[ 0.98623244 -0.13128469 -0.10054803 -29.80426257] [ 0.1351821 0.99027265 0.03295274 0.42201168] [ 0.09524378 -0.04609135 0.99438635 14.62010151] [ 0. 0. 0. 1. ]] SLAMing on 146.089072329 meters Centerline goodness [0,1] 0.33806936899289597 Centerline is valid? [False, False] Translation: X:-29.82, Y:0.42, Z:14.61 [[ 0.98780386 -0.12317765 -0.09524071 -29.82042208] [ 0.12666967 0.99144437 0.03150969 0.42295969] [ 0.09054458 -0.0431895 0.99495545 14.61401844] [ 0. 0. 0. 1. ]] SLAMing on 146.119072329 meters Centerline goodness [0,1] 0.3780061935823944 Centerline is valid? [False, False] Translation: X:-29.84, Y:0.42, Z:14.61 [[ 0.98957498 -0.11174643 -0.0908521 -29.83547279] [ 0.11516391 0.99278918 0.0332703 0.42146996] [ 0.08647915 -0.04338634 0.99530849 14.60793606] [ 0. 0. 0. 1. ]] SLAMing on 146.149072329 meters Centerline goodness [0,1] 0.38575817423743686 Centerline is valid? [False, False] Translation: X:-29.85, Y:0.42, Z:14.60 [[ 0.99083283 -0.10424382 -0.08592741 -29.8504005 ] [ 0.10724424 0.99374736 0.03106219 0.42229633] [ 0.0821521 -0.03999266 0.99581706 14.60144561] [ 0. 0. 0. 1. ]] SLAMing on 146.179072329 meters Centerline goodness [0,1] 0.39298215100984846 Centerline is valid? [False, False] Translation: X:-29.85, Y:0.42, Z:14.60 [[ 9.91907758e-01 -9.36745791e-02 -8.56975638e-02 -2.98511567e+01] [ 9.60748898e-02 9.95077003e-01 2.43181839e-02 4.18315714e-01] [ 8.29976793e-02 -3.23547792e-02 9.96024374e-01 1.46008338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.209072329 meters Centerline goodness [0,1] 0.3732173230406908 Centerline is valid? [False, False] Translation: X:-29.87, Y:0.42, Z:14.60 [[ 9.93113754e-01 -8.55611407e-02 -8.00272670e-02 -2.98675470e+01] [ 8.76686496e-02 9.95879577e-01 2.31964569e-02 4.19701509e-01] [ 7.77128055e-02 -3.00526028e-02 9.96522735e-01 1.45950114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239072329 meters Centerline goodness [0,1] 0.34212083360725787 Centerline is valid? [False, False] Translation: X:-29.88, Y:0.42, Z:14.59 [[ 9.94217808e-01 -7.74912286e-02 -7.43374774e-02 -2.98839848e+01] [ 7.93246589e-02 9.96605329e-01 2.20321859e-02 4.21207948e-01] [ 7.23778250e-02 -2.78015866e-02 9.96989730e-01 1.45894577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.269072329 meters Centerline goodness [0,1] 0.3934706023938207 Centerline is valid? [False, False] Translation: X:-29.89, Y:0.42, Z:14.59 [[ 9.95179321e-01 -6.65537328e-02 -7.20327711e-02 -2.98858249e+01] [ 6.78672676e-02 9.97566995e-01 1.59412718e-02 4.17208044e-01] [ 7.07965638e-02 -2.07530914e-02 9.97274865e-01 1.45888838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299072329 meters Centerline goodness [0,1] 0.4000218292949138 Centerline is valid? [False, False] Translation: X:-29.88, Y:0.41, Z:14.59 [[ 9.95843663e-01 -5.87927285e-02 -6.95615825e-02 -2.98841666e+01] [ 5.94196594e-02 9.98208714e-01 6.97622594e-03 4.13608173e-01] [ 6.90268265e-02 -1.10805559e-02 9.97553266e-01 1.45863120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.329072329 meters Centerline goodness [0,1] 0.3945398598956855 Centerline is valid? [False, False] Translation: X:-29.87, Y:0.40, Z:14.59 [[ 9.96656553e-01 -5.32121728e-02 -6.20014447e-02 -2.98735142e+01] [ 5.46779482e-02 9.98257490e-01 2.21879562e-02 4.02050468e-01] [ 6.07127372e-02 -2.55038837e-02 9.97829402e-01 1.45850103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359072329 meters Centerline goodness [0,1] 0.35114071752002785 Centerline is valid? [False, False] Translation: X:-29.87, Y:0.40, Z:14.58 [[ 9.97306887e-01 -4.18108103e-02 -6.02563656e-02 -2.98733553e+01] [ 4.28901042e-02 9.98939703e-01 1.67304804e-02 3.96018497e-01] [ 5.94929610e-02 -1.92698251e-02 9.98042715e-01 1.45831761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38907232900002 meters Centerline goodness [0,1] 0.3744878388980908 Centerline is valid? [False, False] Translation: X:-29.87, Y:0.39, Z:14.58 [[ 9.97658862e-01 -3.38503893e-02 -5.94217662e-02 -2.98725666e+01] [ 3.43793259e-02 9.99377621e-01 7.90144147e-03 3.93097742e-01] [ 5.91173165e-02 -9.92582337e-03 9.98201694e-01 1.45812611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41907232900002 meters Centerline goodness [0,1] 0.33687221042596527 Centerline is valid? [False, False] Translation: X:-29.86, Y:0.39, Z:14.59 [[ 9.97492841e-01 -3.07805077e-02 -6.37227829e-02 -2.98581577e+01] [ 3.11097256e-02 9.99507233e-01 4.18042740e-03 3.86666507e-01] [ 6.35627067e-02 -6.15234469e-03 9.97958882e-01 1.45855164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44907232900002 meters Centerline goodness [0,1] 0.386602642099774 Centerline is valid? [False, False] Translation: X:-29.85, Y:0.38, Z:14.59 [[ 9.97426556e-01 -2.37568157e-02 -6.76452470e-02 -2.98450561e+01] [ 2.40547754e-02 9.99704183e-01 3.59350925e-03 3.78995888e-01] [ 6.75398661e-02 -5.21145278e-03 9.97702965e-01 1.45912874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47907232900002 meters Centerline goodness [0,1] 0.37651276480173823 Centerline is valid? [False, False] Translation: X:-29.84, Y:0.37, Z:14.59 [[ 9.98063066e-01 -1.84047590e-02 -5.94254296e-02 -2.98354276e+01] [ 1.95172329e-02 9.99643953e-01 1.81946234e-02 3.68258188e-01] [ 5.90694037e-02 -1.93192016e-02 9.98066919e-01 1.45901679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.509072329 meters Centerline goodness [0,1] 0.30783922215470094 Centerline is valid? [False, False] Translation: X:-29.83, Y:0.36, Z:14.59 [[ 9.98333235e-01 -1.05462962e-02 -5.67408728e-02 -2.98335794e+01] [ 1.10881481e-02 9.99895802e-01 9.24323969e-03 3.64329267e-01] [ 5.66374786e-02 -9.85698458e-03 9.98346150e-01 1.45872190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539072329 meters Centerline goodness [0,1] 0.3329789772850541 Centerline is valid? [False, False] Translation: X:-29.82, Y:0.36, Z:14.59 [[ 9.98128130e-01 -7.31604914e-03 -6.07182998e-02 -2.98190305e+01] [ 7.64290568e-03 9.99957517e-01 5.15266097e-03 3.57828539e-01] [ 6.06780232e-02 -5.60708010e-03 9.98141642e-01 1.45912329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.569072329 meters Centerline goodness [0,1] 0.35000433764205774 Centerline is valid? [False, False] Translation: X:-29.81, Y:0.35, Z:14.60 [[ 9.97920356e-01 8.14076718e-05 -6.44589570e-02 -2.98056155e+01] [ 2.58202332e-04 9.99986131e-01 5.26027603e-03 3.49066307e-01] [ 6.44584912e-02 -5.26597998e-03 9.97906495e-01 1.45956240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599072329 meters Centerline goodness [0,1] 0.3306262993762994 Centerline is valid? [False, False] Translation: X:-29.79, Y:0.34, Z:14.59 [[ 9.98357990e-01 4.51626228e-03 -5.71045216e-02 -2.97920528e+01] [-3.45729676e-03 9.99820477e-01 1.86295521e-02 3.37005389e-01] [ 5.71784060e-02 -1.84015350e-02 9.98194377e-01 1.45933613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.629072329 meters Centerline goodness [0,1] 0.28733889310083394 Centerline is valid? [False, False] Translation: X:-29.79, Y:0.33, Z:14.59 [[ 9.98452642e-01 1.20023576e-02 -5.42979263e-02 -2.97877695e+01] [-1.14302657e-02 9.99875974e-01 1.08344833e-02 3.31403796e-01] [ 5.44212313e-02 -1.01970788e-02 9.98465998e-01 1.45900509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659072329 meters Centerline goodness [0,1] 0.2959216824413593 Centerline is valid? [False, False] Translation: X:-29.78, Y:0.32, Z:14.60 [[ 9.98117938e-01 1.86372835e-02 -5.84228857e-02 -2.97753536e+01] [-1.80650729e-02 9.99783684e-01 1.03072393e-02 3.24251978e-01] [ 5.86023468e-02 -9.23242676e-03 9.98238713e-01 1.45956040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.689072329 meters Centerline goodness [0,1] 0.35126014061654953 Centerline is valid? [False, False] Translation: X:-29.76, Y:0.32, Z:14.60 [[ 9.97828649e-01 2.19106636e-02 -6.21120755e-02 -2.97612265e+01] [-2.15922116e-02 9.99750073e-01 5.79372441e-03 3.17510055e-01] [ 6.22234964e-02 -4.44000712e-03 9.98052365e-01 1.45997351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719072329 meters Centerline goodness [0,1] 0.29625790848826417 Centerline is valid? [False, False] Translation: X:-29.75, Y:0.31, Z:14.61 [[ 9.97447821e-01 2.89890169e-02 -6.52493758e-02 -2.97487937e+01] [-2.87464895e-02 9.99575905e-01 4.65290969e-03 3.09338396e-01] [ 6.53565872e-02 -2.76534414e-03 9.97858141e-01 1.46051888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.749072329 meters Centerline goodness [0,1] 0.29326362182949484 Centerline is valid? [False, False] Translation: X:-29.74, Y:0.30, Z:14.60 [[ 9.97802822e-01 3.30487732e-02 -5.74221764e-02 -2.97363395e+01] [-3.21078471e-02 9.99335844e-01 1.72324228e-02 2.98293807e-01] [ 5.79535496e-02 -1.53508576e-02 9.98201251e-01 1.46035005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779072329 meters Centerline goodness [0,1] 0.28613473565755587 Centerline is valid? [False, False] Translation: X:-29.74, Y:0.30, Z:14.60 [[ 9.97742383e-01 3.37061416e-02 -5.80864339e-02 -2.97351686e+01] [-3.27251510e-02 9.99306618e-01 1.77580237e-02 2.97438020e-01] [ 5.86447122e-02 -1.58170456e-02 9.98153605e-01 1.46040485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.809072329 meters Centerline goodness [0,1] 0.28094765031098823 Centerline is valid? [False, False] Translation: X:-29.72, Y:0.29, Z:14.61 [[ 9.97346191e-01 3.90751405e-02 -6.14305119e-02 -2.97188529e+01] [-3.82747187e-02 9.99167018e-01 1.41533358e-02 2.89239751e-01] [ 6.19323850e-02 -1.17645400e-02 9.98011010e-01 1.46075564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839072329 meters Centerline goodness [0,1] 0.31309400380162433 Centerline is valid? [False, False] Translation: X:-29.72, Y:0.29, Z:14.61 [[ 9.97273575e-01 3.97813142e-02 -6.21519345e-02 -2.97175098e+01] [-3.89332170e-02 9.99132235e-01 1.47980083e-02 2.87987970e-01] [ 6.26866855e-02 -1.23378879e-02 9.97956991e-01 1.46080342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.869072329 meters Centerline goodness [0,1] 0.2808063784274324 Centerline is valid? [False, False] Translation: X:-29.72, Y:0.29, Z:14.61 [[ 9.97208447e-01 4.03664980e-02 -6.28160745e-02 -2.97162241e+01] [-3.94805135e-02 9.99103460e-01 1.52828135e-02 2.87133737e-01] [ 6.33766710e-02 -1.27601398e-02 9.97908100e-01 1.46084746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899072329 meters Centerline goodness [0,1] 0.26154942657825964 Centerline is valid? [False, False] Translation: X:-29.70, Y:0.28, Z:14.61 [[ 9.96783149e-01 4.52425485e-02 -6.61548572e-02 -2.97009553e+01] [-4.45982500e-02 9.98942391e-01 1.11845976e-02 2.79238891e-01] [ 6.65909109e-02 -8.19822753e-03 9.97746681e-01 1.46125986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.929072329 meters Centerline goodness [0,1] 0.24738886491152356 Centerline is valid? [False, False] Translation: X:-29.70, Y:0.28, Z:14.61 [[ 9.96586624e-01 4.99681496e-02 -6.57136560e-02 -2.97017960e+01] [-4.90165439e-02 9.98669556e-01 1.60155096e-02 2.76941265e-01] [ 6.64264930e-02 -1.27397863e-02 9.97709987e-01 1.46127614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959072329 meters Centerline goodness [0,1] 0.30466204992125645 Centerline is valid? [False, False] Translation: X:-29.70, Y:0.28, Z:14.61 [[ 9.96612815e-01 4.69874756e-02 -6.74912962e-02 -2.96984767e+01] [-4.62499580e-02 9.98852314e-01 1.24497230e-02 2.77707100e-01] [ 6.79988185e-02 -9.28608385e-03 9.97642185e-01 1.46137205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.989072329 meters Centerline goodness [0,1] 0.2763010511804239 Centerline is valid? [False, False] Translation: X:-29.68, Y:0.27, Z:14.62 [[ 9.96192442e-01 5.31410909e-02 -6.91132679e-02 -2.96822492e+01] [-5.26450513e-02 9.98572909e-01 8.98020771e-03 2.69518896e-01] [ 6.94918550e-02 -5.30754351e-03 9.97568400e-01 1.46158166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019072329 meters Centerline goodness [0,1] 0.28301114200125 Centerline is valid? [False, False] Translation: X:-29.68, Y:0.27, Z:14.62 [[ 9.96112032e-01 5.37604047e-02 -6.97899537e-02 -2.96811096e+01] [-5.32326141e-02 9.98537878e-01 9.40182732e-03 2.69132917e-01] [ 7.01933583e-02 -5.65017165e-03 9.97517402e-01 1.46165443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.049072329 meters Centerline goodness [0,1] 0.2972408296896203 Centerline is valid? [False, False] Translation: X:-29.68, Y:0.27, Z:14.62 [[ 9.95804699e-01 5.90819549e-02 -6.98736352e-02 -2.96812060e+01] [-5.82001585e-02 9.98198301e-01 1.45908497e-02 2.66686112e-01] [ 7.06097999e-02 -1.04629801e-02 9.97449138e-01 1.46174948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079072329 meters Centerline goodness [0,1] 0.28867754012996516 Centerline is valid? [False, False] Translation: X:-29.68, Y:0.27, Z:14.62 [[ 9.95726252e-01 5.95742653e-02 -7.05700862e-02 -2.96800594e+01] [-5.86646086e-02 9.98166618e-01 1.48951512e-02 2.66488295e-01] [ 7.13280720e-02 -1.06915266e-02 9.97395607e-01 1.46182598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.109072329 meters Centerline goodness [0,1] 0.2692787944025834 Centerline is valid? [False, False] Translation: X:-29.68, Y:0.27, Z:14.62 [[ 9.95650308e-01 6.01353082e-02 -7.11632578e-02 -2.96789035e+01] [-5.91955194e-02 9.98130006e-01 1.52440807e-02 2.66202137e-01] [ 7.19468904e-02 -1.09652277e-02 9.97348188e-01 1.46186956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13907232900002 meters Centerline goodness [0,1] 0.3135943213594321 Centerline is valid? [False, False] Translation: X:-29.68, Y:0.27, Z:14.62 [[ 9.95564569e-01 6.06912210e-02 -7.18871647e-02 -2.96776153e+01] [-5.97209481e-02 9.98093636e-01 1.55724804e-02 2.66056024e-01] [ 7.26952344e-02 -1.12102401e-02 9.97291198e-01 1.46193587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16907232900002 meters Centerline goodness [0,1] 0.28238509209846785 Centerline is valid? [False, False] Translation: X:-29.68, Y:0.27, Z:14.62 [[ 9.95423782e-01 6.19033295e-02 -7.27974706e-02 -2.96761077e+01] [-6.08780528e-02 9.98013388e-01 1.62215805e-02 2.65902384e-01] [ 7.36570201e-02 -1.17155788e-02 9.97214816e-01 1.46204029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19907232900002 meters Centerline goodness [0,1] 0.3318802736355986 Centerline is valid? [False, False] Translation: X:-29.67, Y:0.27, Z:14.62 [[ 9.95493951e-01 5.88715159e-02 -7.43366525e-02 -2.96733136e+01] [-5.80944538e-02 9.98231895e-01 1.25745171e-02 2.67172514e-01] [ 7.49454983e-02 -8.19930849e-03 9.97153922e-01 1.46211461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22907232900002 meters Centerline goodness [0,1] 0.3139707304493585 Centerline is valid? [False, False] Translation: X:-29.67, Y:0.26, Z:14.62 [[ 9.95172124e-01 6.41554365e-02 -7.42733068e-02 -2.96733907e+01] [-6.30108975e-02 9.97856680e-01 1.76542852e-02 2.64982382e-01] [ 7.52467337e-02 -1.28890248e-02 9.97081643e-01 1.46217672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259072329 meters Centerline goodness [0,1] 0.2939782397931703 Centerline is valid? [False, False] Translation: X:-29.67, Y:0.27, Z:14.62 [[ 9.95257745e-01 6.11054569e-02 -7.56845094e-02 -2.96708571e+01] [-6.02235205e-02 9.98088369e-01 1.38829020e-02 2.66818643e-01] [ 7.63881496e-02 -9.25907816e-03 9.97035165e-01 1.46225120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.289072329 meters Centerline goodness [0,1] 0.3187182358514945 Centerline is valid? [False, False] Translation: X:-29.67, Y:0.27, Z:14.62 [[ 9.95190886e-01 6.15925188e-02 -7.61673271e-02 -2.96699477e+01] [-6.06889733e-02 9.98056805e-01 1.41231080e-02 2.66772487e-01] [ 7.68891969e-02 -9.43267147e-03 9.96995023e-01 1.46229173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319072329 meters Centerline goodness [0,1] 0.2778627598836583 Centerline is valid? [False, False] Translation: X:-29.67, Y:0.27, Z:14.62 [[ 9.95048234e-01 6.27009757e-02 -7.71206856e-02 -2.96686690e+01] [-6.17561264e-02 9.97984795e-01 1.45783963e-02 2.67131549e-01] [ 7.78793513e-02 -9.74353265e-03 9.96915177e-01 1.46244065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.349072329 meters Centerline goodness [0,1] 0.27388397670907916 Centerline is valid? [False, False] Translation: X:-29.67, Y:0.27, Z:14.63 [[ 9.95125157e-01 5.96337431e-02 -7.85476874e-02 -2.96661122e+01] [-5.89639075e-02 9.98201457e-01 1.08217248e-02 2.68937707e-01] [ 7.90517559e-02 -6.13749200e-03 9.96851619e-01 1.46251535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379072329 meters Centerline goodness [0,1] 0.26627997239951695 Centerline is valid? [False, False] Translation: X:-29.67, Y:0.27, Z:14.63 [[ 9.95060412e-01 6.00479052e-02 -7.90507759e-02 -2.96651095e+01] [-5.93626257e-02 9.98175957e-01 1.09926351e-02 2.69078436e-01] [ 7.95666686e-02 -6.24567436e-03 9.96809980e-01 1.46255262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.409072329 meters Centerline goodness [0,1] 0.28588713162215884 Centerline is valid? [False, False] Translation: X:-29.66, Y:0.27, Z:14.63 [[ 9.94990609e-01 6.04414366e-02 -7.96273811e-02 -2.96641751e+01] [-5.97408791e-02 9.98151608e-01 1.11532416e-02 2.69259515e-01] [ 8.01543165e-02 -6.34036088e-03 9.96762301e-01 1.46261406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439072329 meters Centerline goodness [0,1] 0.2840110387650382 Centerline is valid? [False, False] Translation: X:-29.66, Y:0.27, Z:14.63 [[ 9.94848562e-01 6.16225006e-02 -8.04922796e-02 -2.96626147e+01] [-6.08816782e-02 9.98077257e-01 1.16280269e-02 2.69817341e-01] [ 8.10540617e-02 -6.66762075e-03 9.96687404e-01 1.46269942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.469072329 meters Centerline goodness [0,1] 0.29414806515556324 Centerline is valid? [False, False] Translation: X:-29.66, Y:0.27, Z:14.63 [[ 9.94777100e-01 6.21131394e-02 -8.09967887e-02 -2.96615257e+01] [-6.13474943e-02 9.98045411e-01 1.19097469e-02 2.69774197e-01] [ 8.15782251e-02 -6.87859348e-03 9.96643205e-01 1.46271953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499072329 meters Centerline goodness [0,1] 0.3067803930036709 Centerline is valid? [False, False] Translation: X:-29.66, Y:0.27, Z:14.63 [[ 9.94657517e-01 6.31032328e-02 -8.16970416e-02 -2.96604637e+01] [-6.22979038e-02 9.97980916e-01 1.23718531e-02 2.69865183e-01] [ 8.23127923e-02 -7.21620228e-03 9.96580419e-01 1.46281063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.529072329 meters Centerline goodness [0,1] 0.2694790474751182 Centerline is valid? [False, False] Translation: X:-29.66, Y:0.27, Z:14.63 [[ 9.94765174e-01 5.98354981e-02 -8.28369579e-02 -2.96584739e+01] [-5.93451190e-02 9.98202421e-01 8.37164247e-03 2.72147660e-01] [ 8.31889732e-02 -3.41184926e-03 9.96527949e-01 1.46286807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559072329 meters Centerline goodness [0,1] 0.27511011313584943 Centerline is valid? [False, False] Translation: X:-29.66, Y:0.27, Z:14.63 [[ 9.94704423e-01 6.02004842e-02 -8.33007365e-02 -2.96575877e+01] [-5.96969912e-02 9.98180148e-01 8.52413929e-03 2.72362038e-01] [ 8.36622988e-02 -3.50619571e-03 9.96487996e-01 1.46290748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.589072329 meters Centerline goodness [0,1] 0.3106735258516341 Centerline is valid? [False, False] Translation: X:-29.66, Y:0.27, Z:14.63 [[ 9.94584966e-01 6.11136812e-02 -8.40586943e-02 -2.96564015e+01] [-6.05863268e-02 9.98124057e-01 8.81271821e-03 2.72947002e-01] [ 8.44395826e-02 -3.67218951e-03 9.96421834e-01 1.46300764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619072329 meters Centerline goodness [0,1] 0.28373642538830957 Centerline is valid? [False, False] Translation: X:-29.66, Y:0.27, Z:14.63 [[ 9.94536405e-01 6.13732723e-02 -8.44432351e-02 -2.96556615e+01] [-6.08427874e-02 9.98108182e-01 8.84378921e-03 2.73330585e-01] [ 8.48262561e-02 -3.65770853e-03 9.96389044e-01 1.46303375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.649072329 meters Centerline goodness [0,1] 0.3344728358467297 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.27, Z:14.63 [[ 9.94428044e-01 6.22830676e-02 -8.50510755e-02 -2.96545551e+01] [-6.17189350e-02 9.98050717e-01 9.24880072e-03 2.73442717e-01] [ 8.54613305e-02 -3.94800501e-03 9.96333666e-01 1.46308498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679072329 meters Centerline goodness [0,1] 0.28975318523005045 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.27, Z:14.63 [[ 9.94376808e-01 6.25666307e-02 -8.54410925e-02 -2.96538451e+01] [-6.19930786e-02 9.98032762e-01 9.35226358e-03 2.73550864e-01] [ 8.58581491e-02 -4.00291765e-03 9.96299330e-01 1.46312048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.709072329 meters Centerline goodness [0,1] 0.31871922250905704 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.27, Z:14.63 [[ 9.94324591e-01 6.28894831e-02 -8.58109589e-02 -2.96531177e+01] [-6.23051440e-02 9.98012185e-01 9.47354076e-03 2.73733709e-01] [ 8.62361687e-02 -4.07331039e-03 9.96266396e-01 1.46314511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739072329 meters Centerline goodness [0,1] 0.3181031498788508 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.27, Z:14.63 [[ 9.94283033e-01 6.31358809e-02 -8.61110364e-02 -2.96526167e+01] [-6.25518349e-02 9.97996819e-01 9.46661658e-03 2.74341670e-01] [ 8.65362236e-02 -4.02609291e-03 9.96240570e-01 1.46318064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.769072329 meters Centerline goodness [0,1] 0.3288501651312359 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.28, Z:14.63 [[ 9.94211626e-01 6.38052025e-02 -8.64415304e-02 -2.96522118e+01] [-6.32085614e-02 9.97953929e-01 9.62460859e-03 2.75005959e-01] [ 8.68787650e-02 -4.10505297e-03 9.96210434e-01 1.46324409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799072329 meters Centerline goodness [0,1] 0.32381776863975764 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.27, Z:14.63 [[ 9.94144791e-01 6.41938264e-02 -8.69211577e-02 -2.96513066e+01] [-6.35789327e-02 9.97928428e-01 9.82706065e-03 2.74974317e-01] [ 8.73719310e-02 -4.24316671e-03 9.96166724e-01 1.46327944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.829072329 meters Centerline goodness [0,1] 0.30741261768206907 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.28, Z:14.63 [[ 9.94100289e-01 6.44286964e-02 -8.72557102e-02 -2.96508138e+01] [-6.38083438e-02 9.97913233e-01 9.88308621e-03 2.75218324e-01] [ 8.77103822e-02 -4.25713651e-03 9.96136921e-01 1.46332429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859072329 meters Centerline goodness [0,1] 0.30741261768206907 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.28, Z:14.63 [[ 9.94100289e-01 6.44286964e-02 -8.72557102e-02 -2.96508138e+01] [-6.38083438e-02 9.97913233e-01 9.88308621e-03 2.75218324e-01] [ 8.77103822e-02 -4.25713651e-03 9.96136921e-01 1.46332429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88907232900002 meters Centerline goodness [0,1] 0.2882471807574474 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.28, Z:14.63 [[ 9.94054638e-01 6.46701859e-02 -8.75964862e-02 -2.96501184e+01] [-6.40415633e-02 9.97897421e-01 9.97070608e-03 2.75283183e-01] [ 8.80571151e-02 -4.30161070e-03 9.96106139e-01 1.46333841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91907232900002 meters Centerline goodness [0,1] 0.3795801277871952 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.28, Z:14.63 [[ 9.93953984e-01 6.52846747e-02 -8.82801769e-02 -2.96488616e+01] [-6.46422761e-02 9.97857192e-01 1.01193079e-02 2.75942563e-01] [ 8.87516451e-02 -4.35149479e-03 9.96044281e-01 1.46339364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94907232900002 meters Centerline goodness [0,1] 0.3099783080260303 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.28, Z:14.63 [[ 9.94076521e-01 6.20855385e-02 -8.92034554e-02 -2.96468840e+01] [-6.17556032e-02 9.98070418e-01 6.45652319e-03 2.77686598e-01] [ 8.94321867e-02 -9.09464917e-04 9.95992498e-01 1.46338977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97907232900002 meters Centerline goodness [0,1] 0.3634015583964578 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.28, Z:14.63 [[ 9.94001385e-01 6.26509121e-02 -8.96443548e-02 -2.96463188e+01] [-6.23024796e-02 9.98034942e-01 6.68250059e-03 2.77829054e-01] [ 8.98868632e-02 -1.05734925e-03 9.95951421e-01 1.46345998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.009072329 meters Centerline goodness [0,1] 0.3879880010433875 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.28, Z:14.63 [[ 9.93974005e-01 6.28311950e-02 -8.98215906e-02 -2.96459210e+01] [-6.24833737e-02 9.98023638e-01 6.68178623e-03 2.78139386e-01] [ 9.00638952e-02 -1.02916582e-03 9.95935458e-01 1.46346466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039072329 meters Centerline goodness [0,1] 0.35050627960540615 Centerline is valid? [False, False] Translation: X:-29.65, Y:0.28, Z:14.63 [[ 9.93921303e-01 6.31084997e-02 -9.02095354e-02 -2.96451145e+01] [-6.27445131e-02 9.98005991e-01 6.86792788e-03 2.77932906e-01] [ 9.04630813e-02 -1.16602645e-03 9.95899127e-01 1.46347706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.069072329 meters Centerline goodness [0,1] 0.37313627472288635 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.28, Z:14.64 [[ 9.93846880e-01 6.36002154e-02 -9.06829135e-02 -2.96443209e+01] [-6.32279440e-02 9.97974737e-01 6.97500111e-03 2.78508338e-01] [ 9.09428683e-02 -1.19838893e-03 9.95855390e-01 1.46352174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099072329 meters Centerline goodness [0,1] 0.36782233028678113 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.28, Z:14.64 [[ 9.93795517e-01 6.38792539e-02 -9.10489462e-02 -2.96436473e+01] [-6.34960549e-02 9.97956818e-01 7.10213902e-03 2.78584927e-01] [ 9.13165960e-02 -1.27682503e-03 9.95821093e-01 1.46355012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.129072329 meters Centerline goodness [0,1] 0.38974370103517875 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.28, Z:14.64 [[ 9.93759103e-01 6.40652794e-02 -9.13153012e-02 -2.96432049e+01] [-6.36757548e-02 9.97944842e-01 7.17573119e-03 2.78676775e-01] [ 9.15873491e-02 -1.31637746e-03 9.95796176e-01 1.46357214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159072329 meters Centerline goodness [0,1] 0.4117557649715551 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.28, Z:14.64 [[ 9.93692052e-01 6.45756590e-02 -9.16847269e-02 -2.96429637e+01] [-6.41719335e-02 9.97911807e-01 7.34770357e-03 2.78875314e-01] [ 9.19677543e-02 -1.41776844e-03 9.95760976e-01 1.46365645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.189072329 meters Centerline goodness [0,1] 0.4188164214461131 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.28, Z:14.64 [[ 9.93671678e-01 6.46355292e-02 -9.18631890e-02 -2.96427088e+01] [-6.42436130e-02 9.97908126e-01 7.22009660e-03 2.79395557e-01] [ 9.21376975e-02 -1.27278234e-03 9.95745462e-01 1.46368407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219072329 meters Centerline goodness [0,1] 0.40166481928234554 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.28, Z:14.64 [[ 9.93633761e-01 6.47704802e-02 -9.21777350e-02 -2.96422144e+01] [-6.43816936e-02 9.97899457e-01 7.18831585e-03 2.79777232e-01] [ 9.24497023e-02 -1.20799462e-03 9.95716623e-01 1.46372120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.249072329 meters Centerline goodness [0,1] 0.40818231144872485 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.28, Z:14.64 [[ 9.93589156e-01 6.49254526e-02 -9.25487728e-02 -2.96415202e+01] [-6.45398768e-02 9.97889469e-01 7.15626754e-03 2.80254610e-01] [ 9.28180696e-02 -1.13730344e-03 9.95682436e-01 1.46374418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279072329 meters Centerline goodness [0,1] 0.40602790778297804 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.28, Z:14.64 [[ 9.93539384e-01 6.53110025e-02 -9.28114539e-02 -2.96409100e+01] [-6.49359887e-02 9.97864470e-01 7.05803742e-03 2.81419162e-01] [ 9.30742198e-02 -9.85634629e-04 9.95658686e-01 1.46376169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.309072329 meters Centerline goodness [0,1] 0.37499728703201307 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.28, Z:14.64 [[ 9.93505494e-01 6.54013324e-02 -9.31101458e-02 -2.96403187e+01] [-6.50385522e-02 9.97858698e-01 6.92866957e-03 2.82120176e-01] [ 9.33639131e-02 -8.27922204e-04 9.95631706e-01 1.46377782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339072329 meters Centerline goodness [0,1] 0.40116354795293707 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.28, Z:14.64 [[ 9.93650212e-01 6.17570854e-02 -9.40495526e-02 -2.96386045e+01] [-6.17723356e-02 9.98086472e-01 2.75192347e-03 2.84520990e-01] [ 9.40395369e-02 3.07521118e-03 9.95563714e-01 1.46378774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.369072329 meters Centerline goodness [0,1] 0.4835472730826872 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.29, Z:14.64 [[ 9.93579480e-01 6.22173970e-02 -9.44923963e-02 -2.96378189e+01] [-6.22252394e-02 9.98058016e-01 2.86637754e-03 2.85105871e-01] [ 9.44872321e-02 3.03183808e-03 9.95521457e-01 1.46382466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399072329 meters Centerline goodness [0,1] 0.45601042458464547 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.29, Z:14.64 [[ 9.93537096e-01 6.24220087e-02 -9.48025937e-02 -2.96372619e+01] [-6.24258102e-02 9.98045310e-01 2.92855782e-03 2.85308764e-01] [ 9.48000905e-02 3.00849789e-03 9.95491784e-01 1.46384935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.429072329 meters Centerline goodness [0,1] 0.4789351197337799 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.29, Z:14.64 [[ 9.93500086e-01 6.25582333e-02 -9.51001871e-02 -2.96366684e+01] [-6.25653865e-02 9.98036626e-01 2.90947030e-03 2.85720714e-01] [ 9.50954813e-02 3.05942097e-03 9.95463455e-01 1.46386444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459072329 meters Centerline goodness [0,1] 0.41578821534917076 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.29, Z:14.64 [[ 9.93434700e-01 6.29214822e-02 -9.55425757e-02 -2.96358690e+01] [-6.29353381e-02 9.98013476e-01 2.87137427e-03 2.86634371e-01] [ 9.55334492e-02 3.16048147e-03 9.95421203e-01 1.46390080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.489072329 meters Centerline goodness [0,1] 0.4849855400204397 Centerline is valid? [False, False] Translation: X:-29.64, Y:0.29, Z:14.64 [[ 9.93395582e-01 6.30922894e-02 -9.58362174e-02 -2.96350971e+01] [-6.31048270e-02 9.98002682e-01 2.90305400e-03 2.86882656e-01] [ 9.58279624e-02 3.16384690e-03 9.95392883e-01 1.46389198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519072329 meters Centerline goodness [0,1] 0.5257705032213129 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.93361782e-01 6.32230517e-02 -9.61000276e-02 -2.96343708e+01] [-6.32365234e-02 9.97994330e-01 2.90844435e-03 2.87140556e-01] [ 9.60911634e-02 3.18789418e-03 9.95367432e-01 1.46388019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.549072329 meters Centerline goodness [0,1] 0.537876807806238 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.93306565e-01 6.36780615e-02 -9.63699729e-02 -2.96338401e+01] [-6.36791637e-02 9.97965709e-01 3.06724619e-03 2.87320910e-01] [ 9.63692446e-02 3.09004350e-03 9.95340856e-01 1.46389437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579072329 meters Centerline goodness [0,1] 0.640508759299256 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.93281831e-01 6.37583126e-02 -9.65716412e-02 -2.96336055e+01] [-6.37668491e-02 9.97960311e-01 3.00101463e-03 2.87754312e-01] [ 9.65660048e-02 3.17721597e-03 9.95321512e-01 1.46392800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.609072329 meters Centerline goodness [0,1] 0.5480298513957486 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.93237714e-01 6.42679679e-02 -9.66874953e-02 -2.96338388e+01] [-6.42715903e-02 9.97927690e-01 3.08020567e-03 2.88535248e-01] [ 9.66850875e-02 3.15488265e-03 9.95310022e-01 1.46400869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63907232900002 meters Centerline goodness [0,1] 0.5654730789336122 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.93225044e-01 6.43693742e-02 -9.67501686e-02 -2.96340167e+01] [-6.43850933e-02 9.97920729e-01 2.96274107e-03 2.89224126e-01] [ 9.67397086e-02 3.28660001e-03 9.95304289e-01 1.46405756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66907232900002 meters Centerline goodness [0,1] 0.729268664186087 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.93189112e-01 6.44592205e-02 -9.70587332e-02 -2.96336758e+01] [-6.44850331e-02 9.97914535e-01 2.87413915e-03 2.89803662e-01] [ 9.70415854e-02 3.40427191e-03 9.95274506e-01 1.46411060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69907232900002 meters Centerline goodness [0,1] 0.5387778188700589 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.93152721e-01 6.45680868e-02 -9.73582838e-02 -2.96332928e+01] [-6.45968103e-02 9.97907346e-01 2.86026284e-03 2.90135835e-01] [ 9.73392283e-02 3.44835676e-03 9.95245288e-01 1.46414831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72907232900002 meters Centerline goodness [0,1] 0.6307227212423063 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.93106213e-01 6.48604768e-02 -9.76379407e-02 -2.96327515e+01] [-6.48921654e-02 9.97888200e-01 2.85433913e-03 2.90685173e-01] [ 9.76168827e-02 3.50127548e-03 9.95217908e-01 1.46417093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759072329 meters Centerline goodness [0,1] 0.7225338028781357 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.93072078e-01 6.49229992e-02 -9.79431094e-02 -2.96320711e+01] [-6.49559507e-02 9.97884046e-01 2.85557897e-03 2.90794699e-01] [ 9.79212591e-02 3.52619205e-03 9.95187918e-01 1.46417614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.789072329 meters Centerline goodness [0,1] 0.6830284486687065 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.93039129e-01 6.50766768e-02 -9.81749220e-02 -2.96315319e+01] [-6.51058402e-02 9.97874121e-01 2.90995695e-03 2.90892434e-01] [ 9.81555844e-02 3.50205968e-03 9.95164919e-01 1.46417606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819072329 meters Centerline goodness [0,1] 0.8174687669744705 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.92995019e-01 6.53132090e-02 -9.84635808e-02 -2.96310182e+01] [-6.53456275e-02 9.97858479e-01 2.89910976e-03 2.91482391e-01] [ 9.84420692e-02 3.55536293e-03 9.95136432e-01 1.46419995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.849072329 meters Centerline goodness [0,1] 0.7119901645708863 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.92958708e-01 6.54236449e-02 -9.87560211e-02 -2.96304229e+01] [-6.54542719e-02 9.97851259e-01 2.93326039e-03 2.91509246e-01] [ 9.87357245e-02 3.55139701e-03 9.95107353e-01 1.46420874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879072329 meters Centerline goodness [0,1] 0.8807014494013342 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.92935080e-01 6.55194512e-02 -9.89299127e-02 -2.96301891e+01] [-6.55520128e-02 9.97844867e-01 2.92484803e-03 2.91705894e-01] [ 9.89083400e-02 3.58087069e-03 9.95090105e-01 1.46423150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.909072329 meters Centerline goodness [0,1] 0.6112835652419302 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.92885519e-01 6.57664692e-02 -9.92628765e-02 -2.96299172e+01] [-6.57941849e-02 9.97828712e-01 2.99787727e-03 2.91968642e-01] [ 9.92445079e-02 3.55437111e-03 9.95056729e-01 1.46429734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939072329 meters Centerline goodness [0,1] 0.8849509506033509 Centerline is valid? [False, False] Translation: X:-29.63, Y:0.29, Z:14.64 [[ 9.92845281e-01 6.59343994e-02 -9.95535153e-02 -2.96295378e+01] [-6.59562403e-02 9.97817777e-01 3.07547071e-03 2.91977570e-01] [ 9.95390467e-02 3.51270900e-03 9.95027456e-01 1.46433734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.969072329 meters Centerline goodness [0,1] 0.9413100287023948 Centerline is valid? [False, False] Translation: X:-29.62, Y:0.29, Z:14.64 [[ 9.93178558e-01 6.80591383e-02 -9.46800201e-02 -2.96166020e+01] [-6.69866173e-02 9.97649028e-01 1.44640998e-02 2.86880628e-01] [ 9.54418442e-02 -8.02313952e-03 9.95402674e-01 1.46432313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999072329 meters Centerline goodness [0,1] 0.9640102270757497 Centerline is valid? [False, True] Translation: X:-29.62, Y:0.29, Z:14.64 [[ 9.93159821e-01 6.81895313e-02 -9.47826827e-02 -2.96164999e+01] [-6.71101080e-02 9.97639720e-01 1.45334776e-02 2.86824089e-01] [ 9.55500001e-02 -8.07318994e-03 9.95391893e-01 1.46434353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.029072329 meters Centerline goodness [0,1] 0.8418022853185596 Centerline is valid? [True, False] Translation: X:-29.62, Y:0.29, Z:14.64 [[ 9.93380978e-01 6.38410952e-02 -9.54910867e-02 -2.96154352e+01] [-6.31925253e-02 9.97953201e-01 9.80377147e-03 2.89420823e-01] [ 9.59215191e-02 -3.70455718e-03 9.95382006e-01 1.46434493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059072329 meters Centerline goodness [0,1] 0.9280366234544132 Centerline is valid? [False, False] Translation: X:-29.61, Y:0.29, Z:14.64 [[ 9.93339115e-01 6.39862997e-02 -9.58287872e-02 -2.96146460e+01] [-6.33264517e-02 9.97943619e-01 9.91432742e-03 2.89156152e-01] [ 9.62661078e-02 -3.77979215e-03 9.95348456e-01 1.46434579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.089072329 meters Centerline goodness [0,1] 0.9886282409513288 Centerline is valid? [False, True] Translation: X:-29.61, Y:0.29, Z:14.64 [[ 9.93313639e-01 6.42366654e-02 -9.59253119e-02 -2.96144558e+01] [-6.35687599e-02 9.97927301e-01 1.00057626e-02 2.89159249e-01] [ 9.63692244e-02 -3.84100730e-03 9.95338244e-01 1.46435415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119072329 meters Centerline goodness [0,1] 0.9272782332201337 Centerline is valid? [True, False] Translation: X:-29.61, Y:0.29, Z:14.64 [[ 9.93532802e-01 5.98836767e-02 -9.64702843e-02 -2.96138197e+01] [-5.96563857e-02 9.98205212e-01 5.24122205e-03 2.91838886e-01] [ 9.66110043e-02 5.47742453e-04 9.95322065e-01 1.46437452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.149072329 meters Centerline goodness [0,1] 0.9817603531091782 Centerline is valid? [False, True] Translation: X:-29.61, Y:0.29, Z:14.64 [[ 9.93706335e-01 5.58494845e-02 -9.71007450e-02 -2.96129365e+01] [-5.60310494e-02 9.98428658e-01 8.58047240e-04 2.94021588e-01] [ 9.69960880e-02 4.58800967e-03 9.95274188e-01 1.46438701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179072329 meters Centerline goodness [0,1] 0.9599143802296166 Centerline is valid? [True, True] Translation: X:-29.59, Y:0.28, Z:14.65 [[ 9.93764664e-01 5.83706783e-02 -9.49981935e-02 -2.95858328e+01] [-5.73262986e-02 9.98261653e-01 1.36882596e-02 2.82362835e-01] [ 9.56320466e-02 -8.15701389e-03 9.95383331e-01 1.46477887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.209072329 meters Centerline goodness [0,1] 0.9833546180653261 Centerline is valid? [True, True] Translation: X:-29.56, Y:0.28, Z:14.65 [[ 9.93607767e-01 6.12320182e-02 -9.48379995e-02 -2.95554448e+01] [-6.02045000e-02 9.98092581e-01 1.36608140e-02 2.80673293e-01] [ 9.54935829e-02 -7.86381655e-03 9.95398983e-01 1.46511398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239072329 meters Centerline goodness [0,1] 0.9986576018706967 Centerline is valid? [True, True] Translation: X:-29.53, Y:0.29, Z:14.65 [[ 9.93523133e-01 6.23131957e-02 -9.50202577e-02 -2.95259555e+01] [-6.12867162e-02 9.98026369e-01 1.36859461e-02 2.85790525e-01] [ 9.56855378e-02 -7.77382453e-03 9.95381256e-01 1.46549484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.269072329 meters Centerline goodness [0,1] 0.9883513507704872 Centerline is valid? [True, True] Translation: X:-29.50, Y:0.27, Z:14.66 [[ 9.93408310e-01 6.35550525e-02 -9.53975143e-02 -2.94994428e+01] [-6.25267182e-02 9.97948799e-01 1.37333437e-02 2.72974737e-01] [ 9.60746582e-02 -7.67792427e-03 9.95344518e-01 1.46554401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299072329 meters Centerline goodness [0,1] 0.9912791322092149 Centerline is valid? [True, True] Translation: X:-29.47, Y:0.27, Z:14.66 [[ 9.93228470e-01 6.54295501e-02 -9.60009387e-02 -2.94695851e+01] [-6.43975390e-02 9.97828728e-01 1.38125286e-02 2.68140941e-01] [ 9.66962421e-02 -7.53677243e-03 9.95285403e-01 1.46575155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.329072329 meters Centerline goodness [0,1] 0.9911207363291824 Centerline is valid? [True, True] Translation: X:-29.44, Y:0.26, Z:14.66 [[ 9.93198642e-01 6.61966566e-02 -9.57834015e-02 -2.94409888e+01] [-6.51732374e-02 9.97778848e-01 1.37774695e-02 2.63342733e-01] [ 9.64826744e-02 -7.44124960e-03 9.95306848e-01 1.46609305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359072329 meters Centerline goodness [0,1] 0.9994582764523608 Centerline is valid? [True, True] Translation: X:-29.41, Y:0.27, Z:14.67 [[ 9.93112335e-01 6.75297213e-02 -9.57477228e-02 -2.94108744e+01] [-6.65152206e-02 9.97690643e-01 1.37516059e-02 2.69841430e-01] [ 9.64552492e-02 -7.28820855e-03 9.95310638e-01 1.46662121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38907232900002 meters Centerline goodness [0,1] 0.9980530858589136 Centerline is valid? [True, True] Translation: X:-29.38, Y:0.26, Z:14.67 [[ 9.93038864e-01 6.82907572e-02 -9.59697178e-02 -2.93841470e+01] [-6.72770453e-02 9.97639404e-01 1.37629837e-02 2.60285033e-01] [ 9.66830566e-02 -7.21061864e-03 9.95289100e-01 1.46680288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41907232900002 meters Centerline goodness [0,1] 0.9997186329891998 Centerline is valid? [True, True] Translation: X:-29.36, Y:0.26, Z:14.67 [[ 9.92990879e-01 6.93834809e-02 -9.56820040e-02 -2.93553542e+01] [-6.83816888e-02 9.97564977e-01 1.37135220e-02 2.61416609e-01] [ 9.64005080e-02 -7.07450522e-03 9.95317484e-01 1.46709623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44907232900002 meters Centerline goodness [0,1] 0.9996753457567691 Centerline is valid? [True, True] Translation: X:-29.33, Y:0.25, Z:14.67 [[ 9.92787971e-01 7.14792152e-02 -9.62432716e-02 -2.93273908e+01] [-7.04760009e-02 9.97418188e-01 1.37873889e-02 2.54605738e-01] [ 9.69803013e-02 -6.90511292e-03 9.95262348e-01 1.46726062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47907232900002 meters Centerline goodness [0,1] 0.9984445548618462 Centerline is valid? [True, True] Translation: X:-29.30, Y:0.25, Z:14.67 [[ 9.92761602e-01 7.21542041e-02 -9.60113161e-02 -2.93005377e+01] [-7.11594933e-02 9.97370191e-01 1.37487933e-02 2.47064635e-01] [ 9.67508579e-02 -6.81715749e-03 9.95285285e-01 1.46746167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.509072329 meters Centerline goodness [0,1] 0.9996324244848537 Centerline is valid? [True, True] Translation: X:-29.27, Y:0.25, Z:14.68 [[ 9.92670388e-01 7.33336716e-02 -9.60607758e-02 -2.92710705e+01] [-7.23441935e-02 9.97284971e-01 1.37478583e-02 2.49871375e-01] [ 9.68081490e-02 -6.69765253e-03 9.95280525e-01 1.46787255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539072329 meters Centerline goodness [0,1] 0.9996750433275563 Centerline is valid? [True, True] Translation: X:-29.24, Y:0.25, Z:14.68 [[ 9.92624783e-01 7.38403792e-02 -9.61438415e-02 -2.92422625e+01] [-7.28522030e-02 9.97247919e-01 1.37529595e-02 2.45765804e-01] [ 9.68947696e-02 -6.64723782e-03 9.95272434e-01 1.46809060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.569072329 meters Centerline goodness [0,1] 0.999567745142536 Centerline is valid? [True, True] Translation: X:-29.22, Y:0.24, Z:14.68 [[ 9.92548219e-01 7.52423120e-02 -9.58468941e-02 -2.92155882e+01] [-7.42674162e-02 9.97144204e-01 1.37035588e-02 2.35327392e-01] [ 9.66042624e-02 -6.48314168e-03 9.95301756e-01 1.46839191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599072329 meters Centerline goodness [0,1] 0.9994594243950959 Centerline is valid? [True, True] Translation: X:-29.19, Y:0.23, Z:14.69 [[ 9.92545025e-01 7.57499140e-02 -9.54794418e-02 -2.91867434e+01] [-7.47857840e-02 9.97106315e-01 1.36412591e-02 2.31485560e-01] [ 9.62364785e-02 -6.39905891e-03 9.95337929e-01 1.46870651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.629072329 meters Centerline goodness [0,1] 0.999311354050099 Centerline is valid? [True, True] Translation: X:-29.16, Y:0.23, Z:14.69 [[ 9.92523664e-01 7.59994983e-02 -9.55031578e-02 -2.91578380e+01] [-7.50380822e-02 9.97087602e-01 1.36234788e-02 2.26827698e-01] [ 9.62603922e-02 -6.35525125e-03 9.95335897e-01 1.46895692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659072329 meters Centerline goodness [0,1] 0.9997836949233199 Centerline is valid? [True, True] Translation: X:-29.13, Y:0.22, Z:14.69 [[ 9.92373576e-01 7.70933019e-02 -9.61837217e-02 -2.91287762e+01] [-7.61252667e-02 9.97004150e-01 1.36991874e-02 2.23401973e-01] [ 9.69516854e-02 -6.27270013e-03 9.95269322e-01 1.46922294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.689072329 meters Centerline goodness [0,1] 0.9998267985884085 Centerline is valid? [True, True] Translation: X:-29.10, Y:0.22, Z:14.69 [[ 9.92278440e-01 7.77725424e-02 -9.66174355e-02 -2.91005139e+01] [-7.68008513e-02 9.96951758e-01 1.37412456e-02 2.18489833e-01] [ 9.73916138e-02 -6.21484050e-03 9.95226733e-01 1.46936862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719072329 meters Centerline goodness [0,1] 0.9998485438573715 Centerline is valid? [True, True] Translation: X:-29.07, Y:0.21, Z:14.70 [[ 9.92190498e-01 7.82882188e-02 -9.71028832e-02 -2.90729011e+01] [-7.73098051e-02 9.96911557e-01 1.38036698e-02 2.12256700e-01] [ 9.78836512e-02 -6.18886509e-03 9.95178622e-01 1.46956366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.749072329 meters Centerline goodness [0,1] 0.9998485438573715 Centerline is valid? [True, True] Translation: X:-29.05, Y:0.21, Z:14.70 [[ 9.92198166e-01 7.81897783e-02 -9.71038528e-02 -2.90456933e+01] [-7.72115613e-02 9.96919265e-01 1.37968456e-02 2.08537102e-01] [ 9.78834739e-02 -6.19166486e-03 9.95178622e-01 1.46979975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779072329 meters Centerline goodness [0,1] 0.9994590149744655 Centerline is valid? [True, True] Translation: X:-29.02, Y:0.20, Z:14.70 [[ 9.92197526e-01 7.86291946e-02 -9.67549468e-02 -2.90181212e+01] [-7.76610121e-02 9.96885167e-01 1.37379401e-02 2.01485644e-01] [ 9.75337744e-02 -6.11666303e-03 9.95213419e-01 1.47001311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.809072329 meters Centerline goodness [0,1] 0.9996104486333239 Centerline is valid? [True, True] Translation: X:-28.99, Y:0.20, Z:14.70 [[ 9.92211755e-01 7.90765824e-02 -9.62430667e-02 -2.89899440e+01] [-7.81213711e-02 9.96850283e-01 1.36588628e-02 1.96140276e-01] [ 9.70200245e-02 -6.03384385e-03 9.95264140e-01 1.47030541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839072329 meters Centerline goodness [0,1] 0.9998053043741617 Centerline is valid? [True, True] Translation: X:-28.96, Y:0.19, Z:14.71 [[ 9.92239360e-01 7.94379216e-02 -9.56591320e-02 -2.89617453e+01] [-7.84965914e-02 9.96822025e-01 1.35696637e-02 1.90743722e-01] [ 9.64330755e-02 -5.95543866e-03 9.95321654e-01 1.47067405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.869072329 meters Centerline goodness [0,1] 0.9994371075990474 Centerline is valid? [True, True] Translation: X:-28.93, Y:0.19, Z:14.71 [[ 9.92254742e-01 7.96626692e-02 -9.53120463e-02 -2.89335013e+01] [-7.87298203e-02 9.96804386e-01 1.35141423e-02 1.85708918e-01] [ 9.60840384e-02 -5.90557148e-03 9.95355706e-01 1.47103500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899072329 meters Centerline goodness [0,1] 0.9998497789604704 Centerline is valid? [True, True] Translation: X:-28.91, Y:0.18, Z:14.71 [[ 9.92231382e-01 8.02160732e-02 -9.50908267e-02 -2.89064395e+01] [-7.92906910e-02 9.96760437e-01 1.34765499e-02 1.78896578e-01] [ 9.58638099e-02 -5.83203835e-03 9.95377374e-01 1.47125257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.929072329 meters Centerline goodness [0,1] 0.9995889581169956 Centerline is valid? [True, True] Translation: X:-28.88, Y:0.17, Z:14.71 [[ 9.92237275e-01 8.00830889e-02 -9.51414185e-02 -2.88791326e+01] [-7.91567242e-02 9.96771074e-01 1.34773506e-02 1.73249380e-01] [ 9.59135218e-02 -5.84164659e-03 9.95372529e-01 1.47148746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959072329 meters Centerline goodness [0,1] 0.9994803620144632 Centerline is valid? [True, True] Translation: X:-28.85, Y:0.17, Z:14.72 [[ 9.92122008e-01 8.06137282e-02 -9.58923759e-02 -2.88504891e+01] [-7.96758341e-02 9.96728374e-01 1.35760710e-02 1.67310367e-01] [ 9.66730696e-02 -5.82881378e-03 9.95299122e-01 1.47165866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.989072329 meters Centerline goodness [0,1] 0.9999783226030218 Centerline is valid? [True, True] Translation: X:-28.82, Y:0.18, Z:14.72 [[ 9.92087058e-01 8.08804845e-02 -9.60292470e-02 -2.88200263e+01] [-7.99419322e-02 9.96706914e-01 1.35873375e-02 1.75410306e-01] [ 9.68119649e-02 -5.80305814e-03 9.95285772e-01 1.47215442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019072329 meters Centerline goodness [0,1] 0.9994582999284956 Centerline is valid? [True, True] Translation: X:-28.80, Y:0.15, Z:14.72 [[ 9.92069841e-01 8.10926349e-02 -9.60281982e-02 -2.87951511e+01] [-8.01571264e-02 9.96689917e-01 1.35662645e-02 1.53244198e-01] [ 9.68104611e-02 -5.76133748e-03 9.95286161e-01 1.47208320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.049072329 meters Centerline goodness [0,1] 0.9999349381912818 Centerline is valid? [True, True] Translation: X:-28.76, Y:0.16, Z:14.73 [[ 9.92062852e-01 8.11038080e-02 -9.60909509e-02 -2.87649216e+01] [-8.01679439e-02 9.96689041e-01 1.35667050e-02 1.63399041e-01] [ 9.68731091e-02 -5.75561005e-03 9.95280098e-01 1.47265494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079072329 meters Centerline goodness [0,1] 0.9993717776526148 Centerline is valid? [True, True] Translation: X:-28.74, Y:0.14, Z:14.73 [[ 9.92085910e-01 8.10075808e-02 -9.59339260e-02 -2.87401773e+01] [-8.00750686e-02 9.96696911e-01 1.35370072e-02 1.43430152e-01] [ 9.67136479e-02 -5.74795843e-03 9.95295650e-01 1.47266356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.109072329 meters Centerline goodness [0,1] 0.9994799453942664 Centerline is valid? [True, True] Translation: X:-28.71, Y:0.14, Z:14.73 [[ 9.92085876e-01 8.12955312e-02 -9.56903880e-02 -2.87118309e+01] [-8.03701926e-02 9.96673776e-01 1.34913350e-02 1.37119380e-01] [ 9.64688856e-02 -5.69390804e-03 9.95319714e-01 1.47292322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13907232900002 meters Centerline goodness [0,1] 0.9996748390453274 Centerline is valid? [True, True] Translation: X:-28.68, Y:0.13, Z:14.73 [[ 9.92123005e-01 8.14245195e-02 -9.51944914e-02 -2.86839982e+01] [-8.05099428e-02 9.96663521e-01 1.34155026e-02 1.30439683e-01] [ 9.59692278e-02 -5.64572566e-03 9.95368290e-01 1.47327654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.65, Y:0.14, Z:14.74 [[ 9.92101592e-01 8.16925475e-02 -9.51880193e-02 -2.86539994e+01] [-8.07799043e-02 9.96641770e-01 1.34085521e-02 1.41742002e-01] [ 9.59637349e-02 -5.61336677e-03 9.95369003e-01 1.47383584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19907232900002 meters Centerline goodness [0,1] 0.9994363510232397 Centerline is valid? [True, True] Translation: X:-28.63, Y:0.12, Z:14.74 [[ 9.92121670e-01 8.16133650e-02 -9.50465725e-02 -2.86294139e+01] [-8.07037860e-02 9.96648303e-01 1.33813009e-02 1.19646965e-01] [ 9.58200982e-02 -5.60526032e-03 9.95382886e-01 1.47380904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22907232900002 meters Centerline goodness [0,1] 0.9999139340735003 Centerline is valid? [True, True] Translation: X:-28.60, Y:0.13, Z:14.74 [[ 9.92101179e-01 8.19599899e-02 -9.49621551e-02 -2.85998415e+01] [-8.10546887e-02 9.96620136e-01 1.33582061e-02 1.26568746e-01] [ 9.57360344e-02 -5.55556411e-03 9.95391253e-01 1.47430453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259072329 meters Centerline goodness [0,1] 0.9999349494774274 Centerline is valid? [True, True] Translation: X:-28.57, Y:0.12, Z:14.75 [[ 9.92163727e-01 8.18934255e-02 -9.43642174e-02 -2.85713683e+01] [-8.09998472e-02 9.96625805e-01 1.32676433e-02 1.23889294e-01] [ 9.51323469e-02 -5.52018727e-03 9.95449328e-01 1.47461331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.289072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.54, Y:0.12, Z:14.75 [[ 9.92100843e-01 8.20776444e-02 -9.48639926e-02 -2.85427784e+01] [-8.11760234e-02 9.96610622e-01 1.33312016e-02 1.22842633e-01] [ 9.56366564e-02 -5.52521467e-03 9.95400975e-01 1.47491805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319072329 meters Centerline goodness [0,1] 0.9999782877738455 Centerline is valid? [True, True] Translation: X:-28.52, Y:0.11, Z:14.75 [[ 9.92090475e-01 8.25790547e-02 -9.45367077e-02 -2.85160837e+01] [-8.16866023e-02 9.96569611e-01 1.32781889e-02 1.13376356e-01] [ 9.53089103e-02 -5.45078232e-03 9.95432821e-01 1.47519159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.349072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.49, Y:0.11, Z:14.75 [[ 9.92080533e-01 8.32564027e-02 -9.40456660e-02 -2.84878855e+01] [-8.23770294e-02 9.96513801e-01 1.32011089e-02 1.10471727e-01] [ 9.48168810e-02 -5.34936059e-03 9.95480358e-01 1.47547981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379072329 meters Centerline goodness [0,1] 0.9999782750380187 Centerline is valid? [True, True] Translation: X:-28.46, Y:0.11, Z:14.76 [[ 9.92079177e-01 8.33771328e-02 -9.39529672e-02 -2.84592958e+01] [-8.25005309e-02 9.96503825e-01 1.31829044e-02 1.07301122e-01] [ 9.47236439e-02 -5.32731528e-03 9.95489353e-01 1.47581295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.409072329 meters Centerline goodness [0,1] 0.9999566207569678 Centerline is valid? [True, True] Translation: X:-28.43, Y:0.10, Z:14.76 [[ 9.91925595e-01 8.48083606e-02 -9.42929311e-02 -2.84310727e+01] [-8.39324658e-02 9.96383698e-01 1.32237578e-02 1.03369405e-01] [ 9.50734246e-02 -5.20274562e-03 9.95456667e-01 1.47600181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439072329 meters Centerline goodness [0,1] 0.9999783004947487 Centerline is valid? [True, True] Translation: X:-28.40, Y:0.10, Z:14.76 [[ 9.91921284e-01 8.49820270e-02 -9.41818550e-02 -2.84036771e+01] [-8.41096445e-02 9.96369056e-01 1.32012202e-02 9.77651079e-02] [ 9.49617524e-02 -5.17296897e-03 9.95467481e-01 1.47618774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.469072329 meters Centerline goodness [0,1] 0.9999782962561041 Centerline is valid? [True, True] Translation: X:-28.37, Y:0.09, Z:14.76 [[ 9.91892953e-01 8.54471302e-02 -9.40593347e-02 -2.83747893e+01] [-8.45798735e-02 9.96329583e-01 1.31759721e-02 9.34576553e-02] [ 9.48399468e-02 -5.11362728e-03 9.95479400e-01 1.47642494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499072329 meters Centerline goodness [0,1] 0.9999782929582357 Centerline is valid? [True, True] Translation: X:-28.35, Y:0.09, Z:14.77 [[ 9.91778223e-01 8.64895516e-02 -9.43160358e-02 -2.83458476e+01] [-8.56227118e-02 9.96240097e-01 1.32068562e-02 8.90445984e-02] [ 9.51036717e-02 -5.02267758e-03 9.95454702e-01 1.47668085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.529072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.32, Y:0.08, Z:14.77 [[ 9.91783478e-01 8.68214452e-02 -9.39551438e-02 -2.83188828e+01] [-8.59632413e-02 9.96211510e-01 1.31509622e-02 8.25512986e-02] [ 9.47409812e-02 -4.96621828e-03 9.95489570e-01 1.47697657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.29, Y:0.08, Z:14.77 [[ 9.91775969e-01 8.75851032e-02 -9.33235115e-02 -2.82899404e+01] [-8.67425559e-02 9.96145224e-01 1.30545871e-02 7.94633432e-02] [ 9.41071576e-02 -4.85210588e-03 9.95550250e-01 1.47739464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.589072329 meters Centerline goodness [0,1] 0.9999782915445566 Centerline is valid? [True, True] Translation: X:-28.26, Y:0.08, Z:14.78 [[ 9.91743001e-01 8.83448986e-02 -9.29569747e-02 -2.82610407e+01] [-8.75127702e-02 9.96078591e-01 1.29983229e-02 7.54757956e-02] [ 9.37407879e-02 -4.75607343e-03 9.95585277e-01 1.47776031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.23, Y:0.07, Z:14.78 [[ 9.91709431e-01 8.88012233e-02 -9.28802862e-02 -2.82339211e+01] [-8.79729665e-02 9.96038261e-01 1.29822545e-02 6.71489358e-02] [ 9.36651589e-02 -4.70366991e-03 9.95592644e-01 1.47787614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.649072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.21, Y:0.06, Z:14.78 [[ 9.91517136e-01 8.97020525e-02 -9.40601479e-02 -2.82064883e+01] [-8.88573934e-02 9.95957700e-01 1.31386325e-02 5.96135942e-02] [ 9.48584909e-02 -4.66923974e-03 9.95479816e-01 1.47792376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.18, Y:0.06, Z:14.78 [[ 9.91525989e-01 8.95240097e-02 -9.41364161e-02 -2.81777631e+01] [-8.86779372e-02 9.95973659e-01 1.31413126e-02 6.09898233e-02] [ 9.49338538e-02 -4.68212980e-03 9.95472572e-01 1.47829151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.709072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.15, Y:0.05, Z:14.78 [[ 9.91518780e-01 8.95483324e-02 -9.41892016e-02 -2.81510871e+01] [-8.87020840e-02 9.95971504e-01 1.31416892e-02 5.05312929e-02] [ 9.49865771e-02 -4.67545317e-03 9.95467574e-01 1.47840857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.12, Y:0.05, Z:14.79 [[ 9.91537462e-01 8.97802069e-02 -9.37708653e-02 -2.81217563e+01] [-8.89432982e-02 9.95950868e-01 1.30750934e-02 5.14879001e-02] [ 9.45650593e-02 -4.62415489e-03 9.95507944e-01 1.47883497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.769072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.10, Y:0.04, Z:14.79 [[ 9.91686192e-01 8.98635285e-02 -9.21034337e-02 -2.80950175e+01] [-8.90571973e-02 9.95943801e-01 1.28359099e-02 4.45111420e-02] [ 9.28833240e-02 -4.52672098e-03 9.95666710e-01 1.47924667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.07, Y:0.03, Z:14.79 [[ 9.91681034e-01 9.00739543e-02 -9.19533033e-02 -2.80687969e+01] [-8.92719249e-02 9.95924952e-01 1.28067599e-02 3.44985760e-02] [ 9.27321447e-02 -4.49137255e-03 9.95680961e-01 1.47948308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.829072329 meters Centerline goodness [0,1] 0.999978286359491 Centerline is valid? [True, True] Translation: X:-28.04, Y:0.03, Z:14.80 [[ 9.91714460e-01 9.00818875e-02 -9.15843003e-02 -2.80407033e+01] [-8.92870759e-02 9.95924356e-01 1.27473972e-02 3.17914579e-02] [ 9.23593449e-02 -4.46448379e-03 9.95715732e-01 1.47979085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-28.01, Y:0.03, Z:14.80 [[ 9.91675194e-01 9.02190593e-02 -9.18739956e-02 -2.80123074e+01] [-8.94203796e-02 9.95911961e-01 1.27812889e-02 2.94188824e-02] [ 9.26515270e-02 -4.45947958e-03 9.95688610e-01 1.48008259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.99, Y:0.02, Z:14.80 [[ 9.91646949e-01 9.02015263e-02 -9.21955211e-02 -2.79861748e+01] [-8.93978121e-02 9.95913503e-01 1.28189572e-02 2.19520661e-02] [ 9.29750539e-02 -4.46980193e-03 9.95658405e-01 1.48019522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.96, Y:0.02, Z:14.80 [[ 9.91682840e-01 8.97079763e-02 -9.22909787e-02 -2.79574353e+01] [-8.89015052e-02 9.95957902e-01 1.28210873e-02 2.06761955e-02] [ 9.30680833e-02 -4.50964533e-03 9.95649534e-01 1.48044263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.93, Y:0.01, Z:14.81 [[ 9.91574577e-01 9.00589756e-02 -9.31087529e-02 -2.79309461e+01] [-8.92403034e-02 9.95926224e-01 1.29276718e-02 1.02254070e-02] [ 9.38937016e-02 -4.50969737e-03 9.95572014e-01 1.48052714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.90, Y:0.01, Z:14.81 [[ 9.91611857e-01 8.99213414e-02 -9.28443733e-02 -2.79032070e+01] [-8.91075290e-02 9.95938699e-01 1.28824327e-02 6.81707503e-03] [ 9.36257099e-02 -4.50124031e-03 9.95597291e-01 1.48080609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.009072329 meters Centerline goodness [0,1] 0.9999782651220414 Centerline is valid? [True, True] Translation: X:-27.88, Y:0.00, Z:14.81 [[ 9.91649586e-01 8.94707207e-02 -9.28767360e-02 -2.78755925e+01] [-8.86552864e-02 9.95979125e-01 1.28771972e-02 1.00190283e-03] [ 9.36554224e-02 -4.53565360e-03 9.95594340e-01 1.48112279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.85, Y:-0.01, Z:14.81 [[ 9.91794943e-01 8.90210386e-02 -9.17499037e-02 -2.78487381e+01] [-8.82241868e-02 9.96019518e-01 1.27127058e-02 -7.11748978e-03] [ 9.25163932e-02 -4.51383672e-03 9.95700930e-01 1.48145270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.069072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.82, Y:-0.01, Z:14.82 [[ 9.91814031e-01 8.89237613e-02 -9.16378300e-02 -2.78206642e+01] [-8.81295173e-02 9.96028244e-01 1.26856561e-02 -9.88821654e-03] [ 9.24019231e-02 -4.50581403e-03 9.95711596e-01 1.48174429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.79, Y:-0.01, Z:14.82 [[ 9.91876588e-01 8.84919379e-02 -9.13783919e-02 -2.77923025e+01] [-8.77012575e-02 9.96066622e-01 1.26402049e-02 -1.42678770e-02] [ 9.21375223e-02 -4.52352339e-03 9.95736017e-01 1.48205825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.129072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.76, Y:-0.02, Z:14.82 [[ 9.91977923e-01 8.76849631e-02 -9.10557357e-02 -2.77641275e+01] [-8.68970935e-02 9.96137747e-01 1.25890285e-02 -1.81952456e-02] [ 9.18079239e-02 -4.57555959e-03 9.95766222e-01 1.48228434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.74, Y:-0.03, Z:14.83 [[ 9.92030383e-01 8.74628234e-02 -9.06971537e-02 -2.77377051e+01] [-8.66808847e-02 9.96157298e-01 1.25324609e-02 -2.64325381e-02] [ 9.14447559e-02 -4.57087249e-03 9.95799660e-01 1.48250417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.189072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.71, Y:-0.03, Z:14.83 [[ 9.92025378e-01 8.71311017e-02 -9.10704140e-02 -2.77094318e+01] [-8.63423517e-02 9.96186191e-01 1.25726470e-02 -2.96824971e-02] [ 9.18185574e-02 -4.60915122e-03 9.95765087e-01 1.48271528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219072329 meters Centerline goodness [0,1] 0.9999356126456764 Centerline is valid? [True, True] Translation: X:-27.68, Y:-0.05, Z:14.83 [[ 9.92057728e-01 8.63686174e-02 -9.14435638e-02 -2.76840784e+01] [-8.55707803e-02 9.96252200e-01 1.26173030e-02 -4.81438972e-02] [ 9.21905906e-02 -4.69219586e-03 9.95730324e-01 1.48277924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.249072329 meters Centerline goodness [0,1] 0.9999782603969651 Centerline is valid? [True, True] Translation: X:-27.65, Y:-0.04, Z:14.83 [[ 9.92100081e-01 8.59448959e-02 -9.13832825e-02 -2.76544416e+01] [-8.51470818e-02 9.96288710e-01 1.26008037e-02 -4.23861287e-02] [ 9.21271074e-02 -4.72023852e-03 9.95736067e-01 1.48318032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279072329 meters Centerline goodness [0,1] 0.9999782901306934 Centerline is valid? [True, True] Translation: X:-27.63, Y:-0.05, Z:14.83 [[ 9.92211112e-01 8.51733175e-02 -9.08989310e-02 -2.76276347e+01] [-8.43813653e-02 9.96354783e-01 1.25272535e-02 -5.13986772e-02] [ 9.16345724e-02 -4.75950421e-03 9.95781328e-01 1.48345922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.309072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.60, Y:-0.05, Z:14.84 [[ 9.92257935e-01 8.48338151e-02 -9.07050904e-02 -2.75993789e+01] [-8.40445840e-02 9.96383685e-01 1.24923960e-02 -5.27897648e-02] [ 9.14368499e-02 -4.77240750e-03 9.95799441e-01 1.48380760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.57, Y:-0.06, Z:14.84 [[ 9.92475391e-01 8.35832507e-02 -8.94787080e-02 -2.75722947e+01] [-8.28108237e-02 9.96489168e-01 1.23168899e-02 -6.17019452e-02] [ 9.01940490e-02 -4.81440457e-03 9.95912574e-01 1.48415734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.369072329 meters Centerline goodness [0,1] 0.9996956852516031 Centerline is valid? [True, True] Translation: X:-27.55, Y:-0.08, Z:14.84 [[ 9.92523063e-01 8.28657866e-02 -8.96171310e-02 -2.75461352e+01] [-8.20887903e-02 9.96548773e-01 1.23277807e-02 -7.85612858e-02] [ 9.03293931e-02 -4.87904475e-03 9.95899993e-01 1.48433030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-27.52, Y:-0.07, Z:14.85 [[ 9.92590908e-01 8.20741043e-02 -8.95942550e-02 -2.75160447e+01] [-8.12950204e-02 9.96613977e-01 1.23166525e-02 -7.23176032e-02] [ 9.03017650e-02 -4.94183055e-03 9.95902189e-01 1.48471382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.429072329 meters Centerline goodness [0,1] 0.9999782990820512 Centerline is valid? [True, True] Translation: X:-27.49, Y:-0.08, Z:14.85 [[ 9.92718145e-01 8.06659483e-02 -8.94633362e-02 -2.74887892e+01] [-7.98840615e-02 9.96728370e-01 1.22919828e-02 -8.11846655e-02] [ 9.01621897e-02 -5.05577971e-03 9.95914263e-01 1.48494812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459072329 meters Centerline goodness [0,1] 0.999978286830963 Centerline is valid? [True, True] Translation: X:-27.46, Y:-0.09, Z:14.85 [[ 9.92830940e-01 7.96583763e-02 -8.91137952e-02 -2.74619601e+01] [-7.88793073e-02 9.96809079e-01 1.22357710e-02 -8.88758871e-02] [ 8.98041218e-02 -5.11881761e-03 9.95946292e-01 1.48521130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.489072329 meters Centerline goodness [0,1] 0.9998914459400782 Centerline is valid? [True, True] Translation: X:-27.44, Y:-0.10, Z:14.85 [[ 9.92875040e-01 7.87608014e-02 -8.94197455e-02 -2.74352183e+01] [-7.79734797e-02 9.96879930e-01 1.22695538e-02 -9.68566800e-02] [ 9.01071095e-02 -5.20976502e-03 9.95918454e-01 1.48541668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519072329 meters Centerline goodness [0,1] 0.9996097730179722 Centerline is valid? [True, True] Translation: X:-27.41, Y:-0.11, Z:14.86 [[ 9.93057310e-01 7.68935431e-02 -8.90200081e-02 -2.74084477e+01] [-7.61065148e-02 9.97024971e-01 1.22068249e-02 -1.08592298e-01] [ 8.96937970e-02 -5.34707409e-03 9.95955035e-01 1.48573330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.549072329 meters Centerline goodness [0,1] 0.9998914647911783 Centerline is valid? [True, True] Translation: X:-27.38, Y:-0.11, Z:14.86 [[ 9.93057373e-01 7.65802674e-02 -8.92889496e-02 -2.73801441e+01] [-7.57877743e-02 9.97048876e-01 1.22373646e-02 -1.11282207e-01] [ 8.99625875e-02 -5.38539438e-03 9.95930585e-01 1.48598889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579072329 meters Centerline goodness [0,1] 0.9999566085220862 Centerline is valid? [True, True] Translation: X:-27.35, Y:-0.11, Z:14.86 [[ 9.93093284e-01 7.52368308e-02 -9.00286027e-02 -2.73517362e+01] [-7.44262071e-02 9.97150267e-01 1.23322976e-02 -1.14522321e-01] [ 9.06998882e-02 -5.54663449e-03 9.95862824e-01 1.48617271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.609072329 meters Centerline goodness [0,1] 0.9993485907847309 Centerline is valid? [True, True] Translation: X:-27.32, Y:-0.13, Z:14.86 [[ 9.93180344e-01 7.37337627e-02 -9.03113262e-02 -2.73245439e+01] [-7.29124280e-02 9.97261698e-01 1.23646401e-02 -1.28876924e-01] [ 9.09757179e-02 -5.69549940e-03 9.95836824e-01 1.48633946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63907232900002 meters Centerline goodness [0,1] 0.9995660193121406 Centerline is valid? [True, True] Translation: X:-27.30, Y:-0.13, Z:14.87 [[ 9.93253103e-01 7.27167624e-02 -9.03357394e-02 -2.72955706e+01] [-7.18912537e-02 9.97335853e-01 1.23630295e-02 -1.32003822e-01] [ 9.09940712e-02 -5.78526791e-03 9.95834630e-01 1.48659422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66907232900002 meters Centerline goodness [0,1] 0.9995660193121406 Centerline is valid? [True, True] Translation: X:-27.27, Y:-0.14, Z:14.87 [[ 9.93260732e-01 7.26113683e-02 -9.03366376e-02 -2.72683331e+01] [-7.17860212e-02 9.97343514e-01 1.23564627e-02 -1.35583421e-01] [ 9.09938793e-02 -5.78828140e-03 9.95834630e-01 1.48683034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69907232900002 meters Centerline goodness [0,1] 0.9990263954997837 Centerline is valid? [True, True] Translation: X:-27.24, Y:-0.14, Z:14.87 [[ 9.93480339e-01 7.05774628e-02 -8.95300950e-02 -2.72399332e+01] [-6.97594818e-02 9.97488786e-01 1.22367124e-02 -1.43858507e-01] [ 9.01689019e-02 -5.91136018e-03 9.95908944e-01 1.48711531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72907232900002 meters Centerline goodness [0,1] 0.9963830109809187 Centerline is valid? [True, True] Translation: X:-27.21, Y:-0.15, Z:14.87 [[ 9.93571411e-01 6.99182557e-02 -8.90353204e-02 -2.72134435e+01] [-6.91072984e-02 9.97535092e-01 1.21623381e-02 -1.54423315e-01] [ 8.96662260e-02 -5.93116094e-03 9.95954210e-01 1.48736531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759072329 meters Centerline goodness [0,1] 0.9978773635989516 Centerline is valid? [True, True] Translation: X:-27.18, Y:-0.16, Z:14.88 [[ 9.93621352e-01 6.88657970e-02 -8.92978794e-02 -2.71849261e+01] [-6.80465271e-02 9.97607672e-01 1.21902693e-02 -1.56685604e-01] [ 8.99237422e-02 -6.03610127e-03 9.95930362e-01 1.48762382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.789072329 meters Centerline goodness [0,1] 0.9958644581574104 Centerline is valid? [True, True] Translation: X:-27.16, Y:-0.17, Z:14.88 [[ 9.93682605e-01 6.79366793e-02 -8.93279841e-02 -2.71580938e+01] [-6.71137153e-02 9.97670890e-01 1.21878479e-02 -1.65743109e-01] [ 8.99479314e-02 -6.11571952e-03 9.95927692e-01 1.48784923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819072329 meters Centerline goodness [0,1] 0.9926038062283737 Centerline is valid? [True, True] Translation: X:-27.13, Y:-0.18, Z:14.88 [[ 9.93779787e-01 6.62100674e-02 -8.95430682e-02 -2.71296690e+01] [-6.53769652e-02 9.97785954e-01 1.22083001e-02 -1.75661616e-01] [ 9.01531281e-02 -6.27830782e-03 9.95908126e-01 1.48798443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.849072329 meters Centerline goodness [0,1] 0.9904314506526963 Centerline is valid? [True, True] Translation: X:-27.10, Y:-0.18, Z:14.88 [[ 9.93899196e-01 6.51124536e-02 -8.90210986e-02 -2.71012651e+01] [-6.42849865e-02 9.97857810e-01 1.21339088e-02 -1.82126386e-01] [ 8.96204670e-02 -6.33716213e-03 9.95955828e-01 1.48824161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879072329 meters Centerline goodness [0,1] 0.9913436776385552 Centerline is valid? [True, True] Translation: X:-27.07, Y:-0.19, Z:14.88 [[ 9.93899634e-01 6.45191170e-02 -8.94471917e-02 -2.70732643e+01] [-6.36818607e-02 9.97895850e-01 1.21857492e-02 -1.86900580e-01] [ 9.00451952e-02 -6.41524803e-03 9.95917018e-01 1.48848073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.909072329 meters Centerline goodness [0,1] 0.9908099789756595 Centerline is valid? [True, True] Translation: X:-27.05, Y:-0.19, Z:14.89 [[ 9.93958874e-01 6.37522305e-02 -8.93387379e-02 -2.70452365e+01] [-6.29144988e-02 9.97944781e-01 1.21647267e-02 -1.94859340e-01] [ 8.99306556e-02 -6.47053611e-03 9.95927010e-01 1.48875206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939072329 meters Centerline goodness [0,1] 0.9968413993033771 Centerline is valid? [True, True] Translation: X:-27.02, Y:-0.19, Z:14.89 [[ 9.94027547e-01 6.31003383e-02 -8.90369790e-02 -2.70161446e+01] [-6.22662384e-02 9.97986014e-01 1.21174247e-02 -1.94024258e-01] [ 8.96222734e-02 -6.50105621e-03 9.95954610e-01 1.48901455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.969072329 meters Centerline goodness [0,1] 0.9797450823397027 Centerline is valid? [True, True] Translation: X:-26.99, Y:-0.21, Z:14.89 [[ 9.94087903e-01 6.26356271e-02 -8.86905787e-02 -2.69908297e+01] [-6.18067737e-02 9.98015224e-01 1.20637766e-02 -2.10651204e-01] [ 8.92701700e-02 -6.51077583e-03 9.95986168e-01 1.48928859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999072329 meters Centerline goodness [0,1] 0.9705106014712246 Centerline is valid? [True, True] Translation: X:-26.96, Y:-0.22, Z:14.90 [[ 9.94156832e-01 6.19856076e-02 -8.83740778e-02 -2.69625303e+01] [-6.11608328e-02 9.98055632e-01 1.20128555e-02 -2.17945126e-01] [ 8.89468702e-02 -6.53763015e-03 9.96014916e-01 1.48957072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.029072329 meters Centerline goodness [0,1] 0.9878404984962894 Centerline is valid? [True, True] Translation: X:-26.93, Y:-0.22, Z:14.90 [[ 9.94210770e-01 6.15627830e-02 -8.80622970e-02 -2.69341333e+01] [-6.07427229e-02 9.98081746e-01 1.19644918e-02 -2.18460180e-01] [ 8.86299386e-02 -6.54608289e-03 9.96043113e-01 1.48991860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059072329 meters Centerline goodness [0,1] 0.9668801107601782 Centerline is valid? [True, True] Translation: X:-26.91, Y:-0.23, Z:14.90 [[ 9.94252406e-01 6.11394398e-02 -8.78869897e-02 -2.69078251e+01] [-6.03215650e-02 9.98107649e-01 1.19344331e-02 -2.29226283e-01] [ 8.84503412e-02 -6.56435808e-03 9.96058957e-01 1.49016566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.089072329 meters Centerline goodness [0,1] 0.9889423702354625 Centerline is valid? [True, True] Translation: X:-26.88, Y:-0.23, Z:14.90 [[ 9.94320906e-01 6.02952648e-02 -8.76950196e-02 -2.68784496e+01] [-5.94783865e-02 9.98158651e-01 1.19007559e-02 -2.28379364e-01] [ 8.82511017e-02 -6.61721217e-03 9.96076280e-01 1.49046257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119072329 meters Centerline goodness [0,1] 0.9847592656737097 Centerline is valid? [True, True] Translation: X:-26.85, Y:-0.24, Z:14.91 [[ 9.94339274e-01 5.99956344e-02 -8.76922575e-02 -2.68519125e+01] [-5.91782187e-02 9.98176573e-01 1.18939779e-02 -2.35833298e-01] [ 8.82459439e-02 -6.63717774e-03 9.96076604e-01 1.49065852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.149072329 meters Centerline goodness [0,1] 0.9937361827560796 Centerline is valid? [True, True] Translation: X:-26.82, Y:-0.24, Z:14.91 [[ 9.94346840e-01 5.92166639e-02 -8.81348348e-02 -2.68229524e+01] [-5.83887487e-02 9.98222460e-01 1.19446097e-02 -2.37078687e-01] [ 8.86854916e-02 -6.73100223e-03 9.96036936e-01 1.49084199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179072329 meters Centerline goodness [0,1] 0.9742672563302116 Centerline is valid? [True, True] Translation: X:-26.80, Y:-0.25, Z:14.91 [[ 9.94306443e-01 5.91343634e-02 -8.86443714e-02 -2.67968156e+01] [-5.82970870e-02 9.98227069e-01 1.20070006e-02 -2.50311993e-01] [ 8.91972374e-02 -6.77092941e-03 9.95990968e-01 1.49101335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.209072329 meters Centerline goodness [0,1] 0.9714211651869613 Centerline is valid? [True, True] Translation: X:-26.77, Y:-0.26, Z:14.91 [[ 9.94330638e-01 5.86055834e-02 -8.87241062e-02 -2.67693514e+01] [-5.77654329e-02 9.98257944e-01 1.20096944e-02 -2.56873548e-01] [ 8.92733789e-02 -6.81642067e-03 9.95983835e-01 1.49123940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239072329 meters Centerline goodness [0,1] 0.972921491807182 Centerline is valid? [True, True] Translation: X:-26.74, Y:-0.26, Z:14.92 [[ 9.94385137e-01 5.83355862e-02 -8.82902014e-02 -2.67408421e+01] [-5.75032859e-02 9.98273875e-01 1.19433287e-02 -2.61148725e-01] [ 8.88345225e-02 -6.79929185e-03 9.96023191e-01 1.49153093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.269072329 meters Centerline goodness [0,1] 0.9772077922077922 Centerline is valid? [True, True] Translation: X:-26.71, Y:-0.27, Z:14.92 [[ 9.94471628e-01 5.77750047e-02 -8.76825519e-02 -2.67126058e+01] [-5.69525424e-02 9.98306500e-01 1.18549821e-02 -2.67437625e-01] [ 8.82189832e-02 -6.79569907e-03 9.96077923e-01 1.49193779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299072329 meters Centerline goodness [0,1] 0.9598492723492723 Centerline is valid? [True, True] Translation: X:-26.69, Y:-0.28, Z:14.92 [[ 9.94543168e-01 5.70920643e-02 -8.73177118e-02 -2.66853656e+01] [-5.62743999e-02 9.98345615e-01 1.17993486e-02 -2.75339503e-01] [ 8.78469039e-02 -6.82120970e-03 9.96110633e-01 1.49223433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.329072329 meters Centerline goodness [0,1] 0.9520757086861424 Centerline is valid? [True, True] Translation: X:-26.66, Y:-0.28, Z:14.93 [[ 9.94607367e-01 5.63579168e-02 -8.70630287e-02 -2.66570089e+01] [-5.55430520e-02 9.98387086e-01 1.17557088e-02 -2.82691085e-01] [ 8.75851308e-02 -6.85656827e-03 9.96133441e-01 1.49256194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359072329 meters Centerline goodness [0,1] 0.9504139395778249 Centerline is valid? [True, True] Translation: X:-26.63, Y:-0.29, Z:14.93 [[ 9.94628954e-01 5.62498404e-02 -8.68861312e-02 -2.66296445e+01] [-5.54384285e-02 9.98393254e-01 1.17256355e-02 -2.87997865e-01] [ 8.74060924e-02 -6.84582597e-03 9.96149241e-01 1.49278906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38907232900002 meters Centerline goodness [0,1] 0.8565268267313859 Centerline is valid? [True, False] Translation: X:-26.63, Y:-0.29, Z:14.93 [[ 9.94826801e-01 5.18374685e-02 -8.73642487e-02 -2.66287260e+01] [-5.14016977e-02 9.98651875e-01 7.23177555e-03 -2.86711455e-01] [ 8.76213477e-02 -2.70369345e-03 9.96150184e-01 1.49274745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41907232900002 meters Centerline goodness [0,1] 0.9405367935359487 Centerline is valid? [False, False] Translation: X:-26.63, Y:-0.29, Z:14.93 [[ 9.95003624e-01 4.78652808e-02 -8.76167978e-02 -2.66283484e+01] [-4.77473353e-02 9.98853513e-01 3.44263023e-03 -2.87548144e-01] [ 8.76811287e-02 7.58039064e-04 9.96148305e-01 1.49270283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44907232900002 meters Centerline goodness [0,1] 0.9348830149402606 Centerline is valid? [False, False] Translation: X:-26.63, Y:-0.29, Z:14.93 [[ 9.95162088e-01 4.37397971e-02 -8.79729992e-02 -2.66277398e+01] [-4.39685924e-02 9.99032693e-01 -6.63714965e-04 -2.87202607e-01] [ 8.78588716e-02 4.52855292e-03 9.96122638e-01 1.49267131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47907232900002 meters Centerline goodness [0,1] 0.9156589953625449 Centerline is valid? [False, False] Translation: X:-26.63, Y:-0.29, Z:14.93 [[ 9.95156505e-01 4.39807435e-02 -8.79160048e-02 -2.66279261e+01] [-4.41636858e-02 9.99024299e-01 -1.35899634e-04 -2.89056591e-01] [ 8.78242482e-02 4.01793622e-03 9.96127882e-01 1.49266891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.509072329 meters Centerline goodness [0,1] 0.9425854936867867 Centerline is valid? [False, False] Translation: X:-26.63, Y:-0.29, Z:14.93 [[ 9.95149102e-01 4.41280356e-02 -8.79259945e-02 -2.66278944e+01] [-4.42781345e-02 9.99019213e-01 2.43495278e-04 -2.90553932e-01] [ 8.78505027e-02 3.65088491e-03 9.96126980e-01 1.49266620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539072329 meters Centerline goodness [0,1] 0.9198933934259279 Centerline is valid? [False, False] Translation: X:-26.63, Y:-0.29, Z:14.93 [[ 9.95149821e-01 4.45297739e-02 -8.77150690e-02 -2.66281790e+01] [-4.46090910e-02 9.99003960e-01 1.05673530e-03 -2.93465308e-01] [ 8.76747575e-02 2.86127955e-03 9.96145045e-01 1.49262658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.569072329 meters Centerline goodness [0,1] 0.9007302749907903 Centerline is valid? [False, False] Translation: X:-26.63, Y:-0.29, Z:14.93 [[ 9.95129917e-01 4.47544812e-02 -8.78264463e-02 -2.66280455e+01] [-4.48011162e-02 9.98994886e-01 1.44110076e-03 -2.94853750e-01] [ 8.78026664e-02 2.50064035e-03 9.96134749e-01 1.49263025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599072329 meters Centerline goodness [0,1] 0.874664414999567 Centerline is valid? [False, False] Translation: X:-26.63, Y:-0.30, Z:14.93 [[ 9.95120286e-01 4.48719122e-02 -8.78756377e-02 -2.66280990e+01] [-4.48929462e-02 9.98990292e-01 1.73794643e-03 -2.96133587e-01] [ 8.78648939e-02 2.21553053e-03 9.96129937e-01 1.49264899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.629072329 meters Centerline goodness [0,1] 0.9223095068060334 Centerline is valid? [False, False] Translation: X:-26.63, Y:-0.30, Z:14.93 [[ 9.95099344e-01 4.53489851e-02 -8.78678893e-02 -2.66283989e+01] [-4.52905870e-02 9.98970316e-01 2.65918004e-03 -2.99440280e-01] [ 8.78980043e-02 1.33343998e-03 9.96128587e-01 1.49267019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659072329 meters Centerline goodness [0,1] 0.8982092977935604 Centerline is valid? [False, False] Translation: X:-26.63, Y:-0.30, Z:14.93 [[ 9.95251159e-01 4.12344149e-02 -8.81751283e-02 -2.66279728e+01] [-4.15294439e-02 9.99136135e-01 -1.51327561e-03 -2.98735731e-01] [ 8.80365578e-02 5.16795335e-03 9.96103838e-01 1.49265134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.689072329 meters Centerline goodness [0,1] 0.9535548719726181 Centerline is valid? [False, True] Translation: X:-26.63, Y:-0.30, Z:14.93 [[ 9.95231688e-01 4.17506437e-02 -8.81519801e-02 -2.66283468e+01] [-4.19648917e-02 9.99118919e-01 -5.77774959e-04 -3.02032531e-01] [ 8.80501886e-02 4.27430825e-03 9.96106869e-01 1.49267957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719072329 meters Centerline goodness [0,1] 0.9004530772399142 Centerline is valid? [True, False] Translation: X:-26.63, Y:-0.30, Z:14.93 [[ 9.95233561e-01 4.18048607e-02 -8.81051223e-02 -2.66283701e+01] [-4.19977467e-02 9.99117649e-01 -3.35881111e-04 -3.03038016e-01] [ 8.80133411e-02 4.03449676e-03 9.96111126e-01 1.49266501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.749072329 meters Centerline goodness [0,1] 0.954363750297111 Centerline is valid? [False, True] Translation: X:-26.63, Y:-0.30, Z:14.93 [[ 9.95215510e-01 4.20517795e-02 -8.81914745e-02 -2.66282570e+01] [-4.22032783e-02 9.99109034e-01 1.46904078e-04 -3.04882413e-01] [ 8.81190765e-02 3.57576812e-03 9.96103530e-01 1.49266777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779072329 meters Centerline goodness [0,1] 0.9497215178900374 Centerline is valid? [True, False] Translation: X:-26.63, Y:-0.31, Z:14.93 [[ 9.95214457e-01 4.24817968e-02 -8.79970519e-02 -2.66287653e+01] [-4.25627659e-02 9.99093337e-01 9.56851117e-04 -3.07764313e-01] [ 8.79579169e-02 2.79312586e-03 9.96120276e-01 1.49266359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.809072329 meters Centerline goodness [0,1] 0.9737207285342585 Centerline is valid? [False, True] Translation: X:-26.63, Y:-0.31, Z:14.93 [[ 9.95201010e-01 4.27100632e-02 -8.80386241e-02 -2.66289281e+01] [-4.27566064e-02 9.99084595e-01 1.35790705e-03 -3.09207011e-01] [ 8.80160295e-02 2.41284233e-03 9.96116136e-01 1.49268822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839072329 meters Centerline goodness [0,1] 0.8143742416363321 Centerline is valid? [True, False] Translation: X:-26.63, Y:-0.31, Z:14.93 [[ 9.95192108e-01 4.29251717e-02 -8.80346421e-02 -2.66289497e+01] [-4.29409902e-02 9.99076138e-01 1.71500892e-03 -3.10543411e-01] [ 8.80269274e-02 2.07353137e-03 9.96115937e-01 1.49268411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.869072329 meters Centerline goodness [0,1] 0.9585707785313428 Centerline is valid? [False, True] Translation: X:-26.63, Y:-0.31, Z:14.93 [[ 9.95184114e-01 4.31422812e-02 -8.80188720e-02 -2.66291263e+01] [-4.31266614e-02 9.99067447e-01 2.08001287e-03 -3.11914591e-01] [ 8.80265263e-02 1.72596432e-03 9.96116636e-01 1.49269540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899072329 meters Centerline goodness [0,1] 0.9875715773034878 Centerline is valid? [True, True] Translation: X:-26.60, Y:-0.31, Z:14.93 [[ 9.95196645e-01 4.53001467e-02 -8.67844133e-02 -2.66004531e+01] [-4.45763515e-02 9.98953283e-01 1.02609989e-02 -3.14501635e-01] [ 8.71583993e-02 -6.34317913e-03 9.96174271e-01 1.49323257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.929072329 meters Centerline goodness [0,1] 0.9756626610559195 Centerline is valid? [True, True] Translation: X:-26.57, Y:-0.32, Z:14.93 [[ 9.95187535e-01 4.54928201e-02 -8.67880969e-02 -2.65738010e+01] [-4.47701079e-02 9.98944662e-01 1.02566656e-02 -3.21798901e-01] [ 8.71631108e-02 -6.32179331e-03 9.96173994e-01 1.49347144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959072329 meters Centerline goodness [0,1] 0.9716427287103833 Centerline is valid? [True, True] Translation: X:-26.55, Y:-0.33, Z:14.94 [[ 9.95213687e-01 4.61416579e-02 -8.61432795e-02 -2.65467218e+01] [-4.54327694e-02 9.98915602e-01 1.01726808e-02 -3.26705965e-01] [ 8.65192503e-02 -6.21026345e-03 9.96230823e-01 1.49372694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.989072329 meters Centerline goodness [0,1] 0.9621855124058437 Centerline is valid? [True, True] Translation: X:-26.52, Y:-0.33, Z:14.94 [[ 9.95160536e-01 4.72572020e-02 -8.61525659e-02 -2.65200839e+01] [-4.65529687e-02 9.98864090e-01 1.01662061e-02 -3.34821215e-01] [ 8.65351308e-02 -6.10634937e-03 9.96230086e-01 1.49403423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019072329 meters Centerline goodness [0,1] 0.9807083025910334 Centerline is valid? [True, True] Translation: X:-26.49, Y:-0.34, Z:14.94 [[ 9.95087383e-01 4.78409622e-02 -8.66737702e-02 -2.64907823e+01] [-4.71310148e-02 9.98836431e-01 1.02201365e-02 -3.36381638e-01] [ 8.70618604e-02 -6.08490610e-03 9.96184323e-01 1.49427219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.049072329 meters Centerline goodness [0,1] 0.9837667967056783 Centerline is valid? [True, True] Translation: X:-26.46, Y:-0.34, Z:14.94 [[ 9.94946477e-01 4.93541135e-02 -8.74395716e-02 -2.64635401e+01] [-4.86377438e-02 9.98763316e-01 1.03057025e-02 -3.43194592e-01] [ 8.78400653e-02 -6.00075892e-03 9.96116516e-01 1.49437569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079072329 meters Centerline goodness [0,1] 0.9917593737124022 Centerline is valid? [True, True] Translation: X:-26.43, Y:-0.35, Z:14.95 [[ 9.94902071e-01 4.97924095e-02 -8.76959857e-02 -2.64343272e+01] [-4.90742000e-02 9.98741735e-01 1.03281157e-02 -3.45569827e-01] [ 8.80999026e-02 -5.97185335e-03 9.96093743e-01 1.49456287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.109072329 meters Centerline goodness [0,1] 0.9799917625891483 Centerline is valid? [True, True] Translation: X:-26.41, Y:-0.35, Z:14.95 [[ 9.94878561e-01 5.05514065e-02 -8.75283032e-02 -2.64072949e+01] [-4.98397163e-02 9.98704129e-01 1.02987631e-02 -3.53384100e-01] [ 8.79354948e-02 -5.88363278e-03 9.96108795e-01 1.49480694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13907232900002 meters Centerline goodness [0,1] 0.9958789719119401 Centerline is valid? [True, True] Translation: X:-26.38, Y:-0.35, Z:14.95 [[ 9.94884431e-01 5.13817209e-02 -8.69763677e-02 -2.63777381e+01] [-5.06828241e-02 9.98662443e-01 1.02262524e-02 -3.52151536e-01] [ 8.73854743e-02 -5.76573136e-03 9.96157887e-01 1.49511801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16907232900002 meters Centerline goodness [0,1] 0.9973316556751128 Centerline is valid? [True, True] Translation: X:-26.35, Y:-0.36, Z:14.95 [[ 9.94867790e-01 5.20360718e-02 -8.67774589e-02 -2.63489860e+01] [-5.13432657e-02 9.98628994e-01 1.01981404e-02 -3.56801935e-01] [ 8.71891576e-02 -5.69036325e-03 9.96175522e-01 1.49542398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19907232900002 meters Centerline goodness [0,1] 0.9907694307815649 Centerline is valid? [True, True] Translation: X:-26.32, Y:-0.37, Z:14.96 [[ 9.94858955e-01 5.28505383e-02 -8.63856486e-02 -2.63219943e+01] [-5.21674530e-02 9.98586795e-01 1.01474258e-02 -3.65063385e-01] [ 8.67998648e-02 -5.58873817e-03 9.96210093e-01 1.49571635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22907232900002 meters Centerline goodness [0,1] 0.9962015150528533 Centerline is valid? [True, True] Translation: X:-26.29, Y:-0.37, Z:14.96 [[ 9.94892776e-01 5.29442175e-02 -8.59376152e-02 -2.62935674e+01] [-5.22690989e-02 9.98582075e-01 1.00886864e-02 -3.65111463e-01] [ 8.63498997e-02 -5.54527950e-03 9.96249439e-01 1.49602770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259072329 meters Centerline goodness [0,1] 0.997069549361813 Centerline is valid? [True, True] Translation: X:-26.27, Y:-0.37, Z:14.96 [[ 9.94820985e-01 5.50196307e-02 -8.54637240e-02 -2.62651121e+01] [-5.43601102e-02 9.98471052e-01 1.00268291e-02 -3.70528908e-01] [ 8.58847269e-02 -5.32908250e-03 9.96290828e-01 1.49629923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.289072329 meters Centerline goodness [0,1] 0.998135945899081 Centerline is valid? [True, True] Translation: X:-26.24, Y:-0.37, Z:14.96 [[ 9.94771200e-01 5.59319377e-02 -8.54510222e-02 -2.62365859e+01] [-5.52762239e-02 9.98420800e-01 1.00222826e-02 -3.73173969e-01] [ 8.58766435e-02 -5.24646827e-03 9.96291964e-01 1.49649685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319072329 meters Centerline goodness [0,1] 0.9988942370235463 Centerline is valid? [True, True] Translation: X:-26.21, Y:-0.38, Z:14.97 [[ 9.94702971e-01 5.66083481e-02 -8.57991541e-02 -2.62081271e+01] [-5.59503092e-02 9.98382904e-01 1.00568388e-02 -3.77483015e-01] [ 8.62297097e-02 -5.20307824e-03 9.96261695e-01 1.49677709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.349072329 meters Centerline goodness [0,1] 0.9985681433592225 Centerline is valid? [True, True] Translation: X:-26.18, Y:-0.38, Z:14.97 [[ 9.94604330e-01 5.75334191e-02 -8.63257299e-02 -2.61808102e+01] [-5.68712677e-02 9.98330307e-01 1.01122441e-02 -3.84309862e-01] [ 8.67633844e-02 -5.14822809e-03 9.96215645e-01 1.49692858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379072329 meters Centerline goodness [0,1] 0.9985046485924192 Centerline is valid? [True, True] Translation: X:-26.15, Y:-0.39, Z:14.97 [[ 9.94591235e-01 5.75540995e-02 -8.64627175e-02 -2.61525302e+01] [-5.68905987e-02 9.98329122e-01 1.01204637e-02 -3.89984940e-01] [ 8.69007230e-02 -5.14680876e-03 9.96203681e-01 1.49710395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.409072329 meters Centerline goodness [0,1] 0.9985036757530414 Centerline is valid? [True, True] Translation: X:-26.12, Y:-0.40, Z:14.97 [[ 9.94488370e-01 5.85387988e-02 -8.69832769e-02 -2.61237099e+01] [-5.78715539e-02 9.98272182e-01 1.01751411e-02 -3.96330151e-01] [ 8.74286262e-02 -5.08520212e-03 9.96157807e-01 1.49730857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439072329 meters Centerline goodness [0,1] 0.9991339929420425 Centerline is valid? [True, True] Translation: X:-26.10, Y:-0.40, Z:14.98 [[ 9.94452617e-01 5.89433141e-02 -8.71187606e-02 -2.60956786e+01] [-5.82759376e-02 9.98248543e-01 1.01863106e-02 -4.00470382e-01] [ 8.75665907e-02 -5.05287576e-03 9.96145853e-01 1.49755594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.469072329 meters Centerline goodness [0,1] 0.9994574181786613 Centerline is valid? [True, True] Translation: X:-26.07, Y:-0.40, Z:14.98 [[ 9.94447281e-01 5.97539345e-02 -8.66260529e-02 -2.60672275e+01] [-5.90977040e-02 9.98200879e-01 1.01225770e-02 -4.02286973e-01] [ 8.70750659e-02 -4.94696833e-03 9.96189470e-01 1.49780386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499072329 meters Centerline goodness [0,1] 0.9998480045164372 Centerline is valid? [True, True] Translation: X:-26.04, Y:-0.40, Z:14.98 [[ 9.94376079e-01 6.14622256e-02 -8.62473720e-02 -2.60381743e+01] [-6.08186707e-02 9.98098012e-01 1.00721212e-02 -4.04519192e-01] [ 8.67023855e-02 -4.77002583e-03 9.96222838e-01 1.49810894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.529072329 meters Centerline goodness [0,1] 0.9988717236590869 Centerline is valid? [True, True] Translation: X:-26.01, Y:-0.42, Z:14.98 [[ 9.94344603e-01 6.19176114e-02 -8.62845299e-02 -2.60115759e+01] [-6.12756246e-02 9.98070067e-01 1.00716544e-02 -4.15118811e-01] [ 8.67416194e-02 -4.72755671e-03 9.96219625e-01 1.49838926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559072329 meters Centerline goodness [0,1] 0.9988717236590869 Centerline is valid? [True, True] Translation: X:-25.98, Y:-0.42, Z:14.99 [[ 9.94348819e-01 6.18485873e-02 -8.62854459e-02 -2.59834666e+01] [-6.12070214e-02 9.98074356e-01 1.00638011e-02 -4.18293472e-01] [ 8.67417227e-02 -4.72565363e-03 9.96219625e-01 1.49863552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.589072329 meters Centerline goodness [0,1] 0.9998481298273019 Centerline is valid? [True, True] Translation: X:-25.95, Y:-0.42, Z:14.99 [[ 9.94269635e-01 6.27816818e-02 -8.65237112e-02 -2.59538874e+01] [-6.21406020e-02 9.98016447e-01 1.00855280e-02 -4.17676876e-01] [ 8.69852732e-02 -4.65109870e-03 9.96198740e-01 1.49886849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619072329 meters Centerline goodness [0,1] 0.9998913728301723 Centerline is valid? [True, True] Translation: X:-25.93, Y:-0.42, Z:14.99 [[ 9.94253651e-01 6.32868376e-02 -8.63391762e-02 -2.59251007e+01] [-6.26508059e-02 9.97984813e-01 1.00592842e-02 -4.17324573e-01] [ 8.68018069e-02 -4.59226109e-03 9.96215016e-01 1.49911393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.649072329 meters Centerline goodness [0,1] 0.9998915683553088 Centerline is valid? [True, True] Translation: X:-25.90, Y:-0.43, Z:14.99 [[ 9.94093437e-01 6.56674784e-02 -8.64061347e-02 -2.58975152e+01] [-6.50399820e-02 9.97831943e-01 1.00604931e-02 -4.25750805e-01] [ 8.68794485e-02 -4.38121671e-03 9.96209198e-01 1.49935365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679072329 meters Centerline goodness [0,1] 0.9999131435519945 Centerline is valid? [True, True] Translation: X:-25.87, Y:-0.43, Z:15.00 [[ 9.94053024e-01 6.64124299e-02 -8.63016526e-02 -2.58680771e+01] [-6.57896744e-02 9.97782966e-01 1.00434522e-02 -4.25414123e-01] [ 8.67773290e-02 -4.30596644e-03 9.96218427e-01 1.49969889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.709072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.84, Y:-0.43, Z:15.00 [[ 9.93964733e-01 6.87873047e-02 -8.54541812e-02 -2.58388607e+01] [-6.81857664e-02 9.97623107e-01 9.94167326e-03 -4.26907682e-01] [ 8.59349267e-02 -4.05491377e-03 9.96292500e-01 1.50001947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739072329 meters Centerline goodness [0,1] 0.9999349226664352 Centerline is valid? [True, True] Translation: X:-25.81, Y:-0.43, Z:15.00 [[ 9.93880044e-01 7.00971533e-02 -8.53747456e-02 -2.58104297e+01] [-6.95018275e-02 9.97532409e-01 9.92919950e-03 -4.34110212e-01] [ 8.58600843e-02 -3.93473239e-03 9.96299435e-01 1.50030401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.769072329 meters Centerline goodness [0,1] 0.9999566188751274 Centerline is valid? [True, True] Translation: X:-25.78, Y:-0.44, Z:15.01 [[ 9.93717281e-01 7.11259869e-02 -8.64121538e-02 -2.57798086e+01] [-7.05200785e-02 9.97459749e-01 1.00482213e-02 -4.35466127e-01] [ 8.69073349e-02 -3.89129925e-03 9.96208800e-01 1.50055821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.75, Y:-0.44, Z:15.01 [[ 9.93493808e-01 7.35700447e-02 -8.69338911e-02 -2.57507754e+01] [-7.29660962e-02 9.97283189e-01 1.01088774e-02 -4.40831228e-01] [ 8.74414187e-02 -3.69988042e-03 9.96162793e-01 1.50076841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.829072329 meters Centerline goodness [0,1] 0.9999132170441726 Centerline is valid? [True, True] Translation: X:-25.72, Y:-0.45, Z:15.01 [[ 9.93401721e-01 7.48377026e-02 -8.69041937e-02 -2.57213790e+01] [-7.42391414e-02 9.97189281e-01 1.01038172e-02 -4.45244816e-01] [ 8.74160769e-02 -3.58545667e-03 9.96165435e-01 1.50099021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.69, Y:-0.45, Z:15.01 [[ 9.93304661e-01 7.61332343e-02 -8.68883211e-02 -2.56905348e+01] [-7.55399653e-02 9.97091618e-01 1.01004382e-02 -4.46080967e-01] [ 8.74045957e-02 -3.46927160e-03 9.96166854e-01 1.50123790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.66, Y:-0.45, Z:15.01 [[ 9.93266788e-01 7.73928601e-02 -8.62057581e-02 -2.56605056e+01] [-7.68136294e-02 9.96995107e-01 1.00210928e-02 -4.47653790e-01] [ 8.67222800e-02 -3.33184156e-03 9.96226955e-01 1.50147276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.63, Y:-0.45, Z:15.02 [[ 9.93156818e-01 7.98927036e-02 -8.51862113e-02 -2.56308473e+01] [-7.93363044e-02 9.96798722e-01 9.90246100e-03 -4.53481066e-01] [ 8.57046409e-02 -3.07633747e-03 9.96315839e-01 1.50195959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.60, Y:-0.46, Z:15.02 [[ 9.93138789e-01 8.11974313e-02 -8.41565398e-02 -2.56000115e+01] [-8.06583352e-02 9.96693711e-01 9.79184352e-03 -4.55227240e-01] [ 8.46733665e-02 -2.93673321e-03 9.96404434e-01 1.50230704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.57, Y:-0.46, Z:15.03 [[ 9.92853158e-01 8.42503730e-02 -8.45250395e-02 -2.55699294e+01] [-8.37172982e-02 9.96440983e-01 9.83780151e-03 -4.57721014e-01] [ 8.50530518e-02 -2.69128436e-03 9.96372789e-01 1.50263321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.009072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.54, Y:-0.46, Z:15.03 [[ 9.92608079e-01 8.63846947e-02 -8.52460303e-02 -2.55383069e+01] [-8.58501961e-02 9.96258640e-01 9.92304504e-03 -4.60158781e-01] [ 8.57842934e-02 -2.53130626e-03 9.96310518e-01 1.50285946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.51, Y:-0.46, Z:15.03 [[ 9.92393298e-01 8.84706358e-02 -8.56065869e-02 -2.55058449e+01] [-8.79374962e-02 9.96075937e-01 9.98625890e-03 -4.61392564e-01] [ 8.61541519e-02 -2.38226750e-03 9.96278970e-01 1.50305023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.069072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.47, Y:-0.46, Z:15.03 [[ 9.91928086e-01 9.18555773e-02 -8.74141066e-02 -2.54735763e+01] [-9.13107702e-02 9.95770008e-01 1.02193053e-02 -4.61509950e-01] [ 8.79830458e-02 -2.15496651e-03 9.96119641e-01 1.50305042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.44, Y:-0.46, Z:15.03 [[ 9.91725074e-01 9.39735057e-02 -8.74663255e-02 -2.54422797e+01] [-9.34358166e-02 9.95572743e-01 1.02304366e-02 -4.64615681e-01] [ 8.80404796e-02 -1.97329294e-03 9.96114943e-01 1.50326049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.129072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.41, Y:-0.47, Z:15.04 [[ 9.91577854e-01 9.59859872e-02 -8.69485456e-02 -2.54117926e+01] [-9.54605935e-02 9.95381050e-01 1.01901908e-02 -4.68690360e-01] [ 8.75250501e-02 -1.80420775e-03 9.96160685e-01 1.50354861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.38, Y:-0.47, Z:15.04 [[ 9.91297791e-01 9.97672064e-02 -8.58789451e-02 -2.53792082e+01] [-9.92671546e-02 9.95009718e-01 1.00842971e-02 -4.66248960e-01] [ 8.64564671e-02 -1.47158294e-03 9.96254543e-01 1.50401569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.189072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.35, Y:-0.47, Z:15.04 [[ 9.91125049e-01 1.02059174e-01 -8.51766510e-02 -2.53479405e+01] [-1.01573830e-01 9.94777502e-01 1.00239141e-02 -4.69436298e-01] [ 8.57548485e-02 -1.28323371e-03 9.96315442e-01 1.50440474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.32, Y:-0.47, Z:15.05 [[ 9.90947934e-01 1.04159820e-01 -8.46931218e-02 -2.53173850e+01] [-1.03685772e-01 9.94559945e-01 9.98880533e-03 -4.71935470e-01] [ 8.52728187e-02 -1.11691426e-03 9.96357014e-01 1.50476327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.249072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.28, Y:-0.47, Z:15.05 [[ 9.90484155e-01 1.08297888e-01 -8.49276537e-02 -2.52843450e+01] [-1.07834703e-01 9.94118180e-01 1.00360106e-02 -4.69249936e-01] [ 8.55150033e-02 -7.82361175e-04 9.96336576e-01 1.50501586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.25, Y:-0.47, Z:15.05 [[ 9.90133357e-01 1.10690821e-01 -8.59271644e-02 -2.52535087e+01] [-1.10224951e-01 9.93854715e-01 1.01620229e-02 -4.71527351e-01] [ 8.65239601e-02 -5.90440379e-04 9.96249595e-01 1.50523561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.309072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.22, Y:-0.47, Z:15.05 [[ 9.89819919e-01 1.12895912e-01 -8.66662670e-02 -2.52217674e+01] [-1.12428611e-01 9.93606731e-01 1.02699658e-02 -4.73074464e-01] [ 8.72716234e-02 -4.21648703e-04 9.96184464e-01 1.50538347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.19, Y:-0.47, Z:15.06 [[ 9.89571335e-01 1.14859715e-01 -8.69242129e-02 -2.51887006e+01] [-1.14395317e-01 9.93381685e-01 1.03217632e-02 -4.74962619e-01] [ 8.75344759e-02 -2.70398086e-04 9.96161454e-01 1.50560570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.369072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.16, Y:-0.47, Z:15.06 [[ 9.89043771e-01 1.19082914e-01 -8.72449359e-02 -2.51555351e+01] [-1.18629296e-01 9.92884310e-01 1.03844565e-02 -4.74580174e-01] [ 8.78607394e-02 7.91233255e-05 9.96132764e-01 1.50590024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.12, Y:-0.48, Z:15.06 [[ 9.88804651e-01 1.21354939e-01 -8.68236208e-02 -2.51231000e+01] [-1.20912210e-01 9.92609145e-01 1.03597092e-02 -4.76425663e-01] [ 8.74391219e-02 2.54307159e-04 9.96169833e-01 1.50620163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.429072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.09, Y:-0.47, Z:15.07 [[ 9.88395255e-01 1.25288036e-01 -8.58937064e-02 -2.50918607e+01] [-1.24867417e-01 9.92120246e-01 1.02735745e-02 -4.74834154e-01] [ 8.65040411e-02 5.70972911e-04 9.96251336e-01 1.50650180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.06, Y:-0.48, Z:15.07 [[ 9.88097620e-01 1.27385793e-01 -8.62319675e-02 -2.50594448e+01] [-1.26968049e-01 9.91852971e-01 1.03343464e-02 -4.76488592e-01] [ 8.68458820e-02 7.37361516e-04 9.96221486e-01 1.50681387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.489072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.03, Y:-0.48, Z:15.07 [[ 9.87798481e-01 1.29438844e-01 -8.66010812e-02 -2.50286391e+01] [-1.29023538e-01 9.91586998e-01 1.03996380e-02 -4.77065377e-01] [ 8.72186232e-02 9.00831248e-04 9.96188787e-01 1.50708725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-25.00, Y:-0.48, Z:15.07 [[ 9.87280951e-01 1.33391912e-01 -8.65038847e-02 -2.49962462e+01] [-1.32990989e-01 9.91062605e-01 1.04072331e-02 -4.76810940e-01] [ 8.71190060e-02 1.22937419e-03 9.96197153e-01 1.50737301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.549072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.96, Y:-0.48, Z:15.08 [[ 9.87037137e-01 1.35205477e-01 -8.64706308e-02 -2.49644199e+01] [-1.34810024e-01 9.90816636e-01 1.04236033e-02 -4.79651844e-01] [ 8.70858677e-02 1.36862423e-03 9.96199869e-01 1.50768276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.93, Y:-0.48, Z:15.08 [[ 9.86851131e-01 1.36929722e-01 -8.58783765e-02 -2.49332690e+01] [-1.36544370e-01 9.90579645e-01 1.03731564e-02 -4.80489273e-01] [ 8.64897652e-02 1.48944765e-03 9.96251626e-01 1.50799838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.609072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.90, Y:-0.48, Z:15.08 [[ 9.86392723e-01 1.40352367e-01 -8.56189780e-02 -2.49013080e+01] [-1.39980522e-01 9.90100045e-01 1.03612118e-02 -4.79103988e-01] [ 8.62255746e-02 1.76476535e-03 9.96274077e-01 1.50825163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.87, Y:-0.48, Z:15.08 [[ 9.86038041e-01 1.42503392e-01 -8.61496628e-02 -2.48695867e+01] [-1.42134142e-01 9.89792385e-01 1.04365117e-02 -4.80206605e-01] [ 8.67575185e-02 1.95401080e-03 9.96227542e-01 1.50847552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.84, Y:-0.48, Z:15.09 [[ 9.85739982e-01 1.44448108e-01 -8.63216804e-02 -2.48386004e+01] [-1.44083113e-01 9.89510127e-01 1.04768598e-02 -4.81321668e-01] [ 8.69295395e-02 2.11003685e-03 9.96212228e-01 1.50870680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.81, Y:-0.48, Z:15.09 [[ 9.85284589e-01 1.47432382e-01 -8.64752631e-02 -2.48069294e+01] [-1.47075852e-01 9.89069326e-01 1.05148663e-02 -4.82064403e-01] [ 8.70802620e-02 2.35828723e-03 9.96198508e-01 1.50898084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.77, Y:-0.48, Z:15.09 [[ 9.85093040e-01 1.48744329e-01 -8.64108058e-02 -2.47747701e+01] [-1.48391633e-01 9.88872645e-01 1.05268421e-02 -4.84232739e-01] [ 8.70150902e-02 2.45272171e-03 9.96203974e-01 1.50928277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.74, Y:-0.48, Z:15.10 [[ 9.84891187e-01 1.50245475e-01 -8.61141451e-02 -2.47435354e+01] [-1.49899079e-01 9.88645420e-01 1.05118497e-02 -4.84681431e-01] [ 8.67157130e-02 2.55540290e-03 9.96229820e-01 1.50952261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.789072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.71, Y:-0.49, Z:15.10 [[ 9.84717437e-01 1.51237236e-01 -8.63647354e-02 -2.47116027e+01] [-1.50890906e-01 9.88493994e-01 1.05621028e-02 -4.86988410e-01] [ 8.69684055e-02 2.63096634e-03 9.96207596e-01 1.50979405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.68, Y:-0.49, Z:15.10 [[ 9.84390922e-01 1.53360613e-01 -8.63425473e-02 -2.46801189e+01] [-1.53020788e-01 9.88166331e-01 1.05801786e-02 -4.86430110e-01] [ 8.69433809e-02 2.79717286e-03 9.96209328e-01 1.51005565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.849072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.65, Y:-0.49, Z:15.10 [[ 9.84136290e-01 1.54703250e-01 -8.68485294e-02 -2.46481413e+01] [-1.54362937e-01 9.87956687e-01 1.06615774e-02 -4.90626280e-01] [ 8.74519660e-02 2.91374879e-03 9.96164476e-01 1.51030285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.62, Y:-0.49, Z:15.11 [[ 9.83963843e-01 1.55756825e-01 -8.69193193e-02 -2.46159562e+01] [-1.55418186e-01 9.87790908e-01 1.06915272e-02 -4.93898821e-01] [ 8.75233917e-02 2.98876670e-03 9.96157981e-01 1.51050451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.909072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.58, Y:-0.49, Z:15.11 [[ 9.83642780e-01 1.57823520e-01 -8.68252161e-02 -2.45838696e+01] [-1.57491756e-01 9.87462317e-01 1.07013761e-02 -4.94065470e-01] [ 8.74255579e-02 3.14792441e-03 9.96166082e-01 1.51083093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.55, Y:-0.50, Z:15.11 [[ 9.83467158e-01 1.59272374e-01 -8.61664624e-02 -2.45521150e+01] [-1.58949339e-01 9.87229392e-01 1.06412018e-02 -4.96550667e-01] [ 8.67609138e-02 3.23082969e-03 9.96223923e-01 1.51114210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.969072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.52, Y:-0.50, Z:15.11 [[ 9.83290977e-01 1.60343963e-01 -8.61897209e-02 -2.45213843e+01] [-1.60023009e-01 9.87055666e-01 1.06652675e-02 -4.97020414e-01] [ 8.67841636e-02 3.30527719e-03 9.96221654e-01 1.51143842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.49, Y:-0.50, Z:15.12 [[ 9.82944633e-01 1.62373073e-01 -8.63413813e-02 -2.44892228e+01] [-1.62057866e-01 9.86723302e-01 1.06945847e-02 -4.98096692e-01] [ 8.69315654e-02 3.48011535e-03 9.96208207e-01 1.51175731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.029072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.46, Y:-0.50, Z:15.12 [[ 9.82801316e-01 1.63254137e-01 -8.63114104e-02 -2.44578091e+01] [-1.62942006e-01 9.86577660e-01 1.06969274e-02 -4.97196547e-01] [ 8.68992269e-02 3.55080003e-03 9.96210779e-01 1.51194960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.43, Y:-0.50, Z:15.12 [[ 9.82543311e-01 1.64477204e-01 -8.69246254e-02 -2.44259582e+01] [-1.64163661e-01 9.86374073e-01 1.07925974e-02 -5.00717925e-01] [ 8.75153330e-02 3.66567039e-03 9.96156428e-01 1.51223291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.089072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.39, Y:-0.50, Z:15.12 [[ 9.82201775e-01 1.65975707e-01 -8.79303010e-02 -2.43941268e+01] [-1.65658966e-01 9.86122433e-01 1.09386353e-02 -5.01545781e-01] [ 8.85255901e-02 3.82249574e-03 9.96066568e-01 1.51233350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.36, Y:-0.50, Z:15.13 [[ 9.82017305e-01 1.67033741e-01 -8.79871727e-02 -2.43626826e+01] [-1.66719814e-01 9.85943430e-01 1.09570161e-02 -5.03761982e-01] [ 8.85805663e-02 3.90922565e-03 9.96061344e-01 1.51258730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.149072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.33, Y:-0.51, Z:15.13 [[ 9.81949282e-01 1.67428925e-01 -8.79952428e-02 -2.43318572e+01] [-1.67114799e-01 9.85876332e-01 1.09773881e-02 -5.06066877e-01] [ 8.85903595e-02 3.92606889e-03 9.96060407e-01 1.51284472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.30, Y:-0.51, Z:15.13 [[ 9.81909257e-01 1.67991911e-01 -8.73666376e-02 -2.43010227e+01] [-1.67684213e-01 9.85780479e-01 1.09019281e-02 -5.05203801e-01] [ 8.79557616e-02 3.94530175e-03 9.96116569e-01 1.51318609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.209072329 meters Centerline goodness [0,1] 0.9999783760406531 Centerline is valid? [True, True] Translation: X:-24.27, Y:-0.51, Z:15.13 [[ 9.81875873e-01 1.68269954e-01 -8.72066101e-02 -2.42705437e+01] [-1.67964343e-01 9.85732991e-01 1.08834604e-02 -5.09355068e-01] [ 8.77937920e-02 3.96139373e-03 9.96130793e-01 1.51348776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.24, Y:-0.51, Z:15.14 [[ 9.81924477e-01 1.68290634e-01 -8.66174587e-02 -2.42398865e+01] [-1.67988960e-01 9.85729573e-01 1.08128687e-02 -5.12589645e-01] [ 8.72010951e-02 3.93335638e-03 9.96182964e-01 1.51382682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.269072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.21, Y:-0.52, Z:15.14 [[ 9.81845738e-01 1.68642527e-01 -8.68253741e-02 -2.42093392e+01] [-1.68340512e-01 9.85669279e-01 1.08418054e-02 -5.16457339e-01] [ 8.74094933e-02 3.97124757e-03 9.96164549e-01 1.51405903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.18, Y:-0.52, Z:15.14 [[ 9.81938385e-01 1.68019845e-01 -8.69847135e-02 -2.41778852e+01] [-1.67714022e-01 9.85775819e-01 1.08647168e-02 -5.18507789e-01] [ 8.75729152e-02 3.92007371e-03 9.96150399e-01 1.51429347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.329072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.15, Y:-0.52, Z:15.15 [[ 9.81933611e-01 1.67795771e-01 -8.74697840e-02 -2.41473836e+01] [-1.67485378e-01 9.85813989e-01 1.09283084e-02 -5.20574785e-01] [ 8.80626606e-02 3.91903655e-03 9.96107228e-01 1.51452125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.12, Y:-0.53, Z:15.15 [[ 9.82003823e-01 1.67592726e-01 -8.70699082e-02 -2.41167069e+01] [-1.67284237e-01 9.85848677e-01 1.08798490e-02 -5.26231186e-01] [ 8.76611373e-02 3.88136983e-03 9.96142791e-01 1.51480124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.09, Y:-0.53, Z:15.15 [[ 9.82126628e-01 1.66931928e-01 -8.69541157e-02 -2.40855075e+01] [-1.66621414e-01 9.85961045e-01 1.08683877e-02 -5.30753456e-01] [ 8.75476517e-02 3.81428475e-03 9.96153030e-01 1.51504963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.05, Y:-0.53, Z:15.15 [[ 9.82279613e-01 1.66269902e-01 -8.64932420e-02 -2.40548789e+01] [-1.65959848e-01 9.86073217e-01 1.08138190e-02 -5.30716905e-01] [ 8.70866821e-02 3.73221140e-03 9.96193746e-01 1.51535280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-24.02, Y:-0.54, Z:15.16 [[ 9.82336448e-01 1.66058634e-01 -8.62533106e-02 -2.40244853e+01] [-1.65748785e-01 9.86108957e-01 1.07918535e-02 -5.36191511e-01] [ 8.68472426e-02 3.69515044e-03 9.96214787e-01 1.51568925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.99, Y:-0.54, Z:15.16 [[ 9.82330801e-01 1.66092224e-01 -8.62529433e-02 -2.39939897e+01] [-1.65782247e-01 9.86103300e-01 1.07947880e-02 -5.40054464e-01] [ 8.68472424e-02 3.69515397e-03 9.96214787e-01 1.51595721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.509072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.96, Y:-0.54, Z:15.16 [[ 9.82438738e-01 1.65269212e-01 -8.66037719e-02 -2.39633139e+01] [-1.64953259e-01 9.86241796e-01 1.08417035e-02 -5.41800803e-01] [ 8.72040593e-02 3.63426495e-03 9.96183841e-01 1.51620712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.93, Y:-0.55, Z:15.16 [[ 9.82521407e-01 1.64720924e-01 -8.67104497e-02 -2.39321156e+01] [-1.64401803e-01 9.86333691e-01 1.08580389e-02 -5.47447432e-01] [ 8.73139841e-02 3.58709869e-03 9.96174383e-01 1.51645985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.569072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.90, Y:-0.55, Z:15.17 [[ 9.82517249e-01 1.64602068e-01 -8.69828451e-02 -2.39019163e+01] [-1.64280210e-01 9.86353541e-01 1.08951635e-02 -5.47971111e-01] [ 8.75892037e-02 3.58487402e-03 9.96150230e-01 1.51673942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.87, Y:-0.55, Z:15.17 [[ 9.82625621e-01 1.63904579e-01 -8.70756963e-02 -2.38720544e+01] [-1.63579174e-01 9.86469900e-01 1.09082803e-02 -5.51537075e-01] [ 8.76854705e-02 3.52501477e-03 9.96141974e-01 1.51696013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.629072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.84, Y:-0.56, Z:15.17 [[ 9.82589976e-01 1.63776504e-01 -8.77165674e-02 -2.38412367e+01] [-1.63445778e-01 9.86491119e-01 1.09886194e-02 -5.56439297e-01] [ 8.83312925e-02 3.53959527e-03 9.96084863e-01 1.51721011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.81, Y:-0.56, Z:15.17 [[ 9.82700831e-01 1.63367554e-01 -8.72359977e-02 -2.38100539e+01] [-1.63038568e-01 9.86559136e-01 1.09314566e-02 -5.60084274e-01] [ 8.78493158e-02 3.48048068e-03 9.96127695e-01 1.51747417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.689072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.78, Y:-0.56, Z:15.18 [[ 9.82668787e-01 1.63086411e-01 -8.81185413e-02 -2.37801391e+01] [-1.62749333e-01 9.86605625e-01 1.10451363e-02 -5.61414378e-01] [ 8.87395602e-02 3.48752313e-03 9.96048758e-01 1.51768597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.75, Y:-0.56, Z:15.18 [[ 9.82587488e-01 1.63469279e-01 -8.83154794e-02 -2.37502339e+01] [-1.63132098e-01 9.86542115e-01 1.10713272e-02 -5.64414167e-01] [ 8.89367617e-02 3.52854186e-03 9.96031025e-01 1.51796219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.749072329 meters Centerline goodness [0,1] 0.9999783708958775 Centerline is valid? [True, True] Translation: X:-23.72, Y:-0.56, Z:15.18 [[ 9.82541134e-01 1.63754026e-01 -8.83036732e-02 -2.37211364e+01] [-1.63418092e-01 9.86494799e-01 1.10697349e-02 -5.63449748e-01] [ 8.89238280e-02 3.55394784e-03 9.96032089e-01 1.51816308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.69, Y:-0.57, Z:15.18 [[ 9.82589945e-01 1.63936138e-01 -8.74182078e-02 -2.36914204e+01] [-1.63608022e-01 9.86464606e-01 1.09542499e-02 -5.65346825e-01] [ 8.80307653e-02 3.53878428e-03 9.96111470e-01 1.51844869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.809072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.66, Y:-0.57, Z:15.19 [[ 9.82571668e-01 1.64074702e-01 -8.73636593e-02 -2.36615852e+01] [-1.63747807e-01 9.86441522e-01 1.09444012e-02 -5.68553595e-01] [ 8.79748404e-02 3.55194907e-03 9.96116364e-01 1.51873818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.63, Y:-0.57, Z:15.19 [[ 9.82513680e-01 1.64622939e-01 -8.69836566e-02 -2.36334293e+01] [-1.64301290e-01 9.86350046e-01 1.08937415e-02 -5.69214149e-01] [ 8.75896934e-02 3.58827693e-03 9.96150174e-01 1.51903701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.869072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.60, Y:-0.57, Z:15.19 [[ 9.82261440e-01 1.65839962e-01 -8.75189745e-02 -2.36039053e+01] [-1.65519690e-01 9.86145641e-01 1.09547249e-02 -5.70351884e-01] [ 8.81231864e-02 3.72570973e-03 9.96102617e-01 1.51932732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.57, Y:-0.57, Z:15.20 [[ 9.82151233e-01 1.66485912e-01 -8.75294093e-02 -2.35742706e+01] [-1.66168390e-01 9.86036561e-01 1.09529626e-02 -5.72094777e-01] [ 8.81307117e-02 3.78715539e-03 9.96101719e-01 1.51957759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.929072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.55, Y:-0.57, Z:15.20 [[ 9.82009981e-01 1.67229680e-01 -8.76962431e-02 -2.35455277e+01] [-1.66914178e-01 9.85910392e-01 1.09707159e-02 -5.70189096e-01] [ 8.82952667e-02 3.86439378e-03 9.96086850e-01 1.51981414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.52, Y:-0.57, Z:15.20 [[ 9.81836712e-01 1.68065066e-01 -8.80386572e-02 -2.35159301e+01] [-1.67750849e-01 9.85767952e-01 1.10089595e-02 -5.74066802e-01] [ 8.86359083e-02 3.95955888e-03 9.96056222e-01 1.52009293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.989072329 meters Centerline goodness [0,1] 0.9999783629400437 Centerline is valid? [True, True] Translation: X:-23.49, Y:-0.57, Z:15.20 [[ 9.81603166e-01 1.69627994e-01 -8.76445509e-02 -2.34862605e+01] [-1.69323060e-01 9.85499698e-01 1.09565893e-02 -5.66715612e-01] [ 8.82322227e-02 4.08522080e-03 9.96091555e-01 1.52029610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019072329 meters Centerline goodness [0,1] 0.9999567492755503 Centerline is valid? [True, True] Translation: X:-23.46, Y:-0.57, Z:15.21 [[ 9.81494505e-01 1.70338226e-01 -8.74838596e-02 -2.34583679e+01] [-1.70037607e-01 9.85376934e-01 1.09320944e-02 -5.67127315e-01] [ 8.80667309e-02 4.14575554e-03 9.96105950e-01 1.52052672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.049072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.43, Y:-0.57, Z:15.21 [[ 9.81323060e-01 1.71221445e-01 -8.76827720e-02 -2.34299732e+01] [-1.70923602e-01 9.85223439e-01 1.09497950e-02 -5.72427782e-01] [ 8.82619619e-02 4.24176885e-03 9.96088266e-01 1.52086728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079072329 meters Centerline goodness [0,1] 0.9999783933278596 Centerline is valid? [True, True] Translation: X:-23.40, Y:-0.57, Z:15.21 [[ 9.81284460e-01 1.71701494e-01 -8.71745646e-02 -2.34011591e+01] [-1.71409499e-01 9.85139787e-01 1.08804197e-02 -5.73517286e-01] [ 8.77473164e-02 4.26576162e-03 9.96133631e-01 1.52115405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.109072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.37, Y:-0.57, Z:15.21 [[ 9.80933841e-01 1.73810462e-01 -8.69409137e-02 -2.33717303e+01] [-1.73528794e-01 9.84769078e-01 1.08453255e-02 -5.71729731e-01] [ 8.75017545e-02 4.44820507e-03 9.96154434e-01 1.52142194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13907232900002 meters Centerline goodness [0,1] 0.9999783718314733 Centerline is valid? [True, True] Translation: X:-23.34, Y:-0.57, Z:15.22 [[ 9.80785670e-01 1.74717326e-01 -8.67947364e-02 -2.33435861e+01] [-1.74440532e-01 9.84608233e-01 1.08225961e-02 -5.70946564e-01] [ 8.73497071e-02 4.52587279e-03 9.96167428e-01 1.52169730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.31, Y:-0.57, Z:15.22 [[ 9.80543303e-01 1.75973972e-01 -8.69942101e-02 -2.33144249e+01] [-1.75701479e-01 9.84383809e-01 1.08400379e-02 -5.72157935e-01] [ 8.75432565e-02 4.65588482e-03 9.96149839e-01 1.52193065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19907232900002 meters Centerline goodness [0,1] 0.999956738984664 Centerline is valid? [True, True] Translation: X:-23.29, Y:-0.57, Z:15.22 [[ 9.80446777e-01 1.76152750e-01 -8.77173081e-02 -2.32859199e+01] [-1.75876971e-01 9.84351542e-01 1.09239780e-02 -5.71818905e-01] [ 8.82689562e-02 4.71707544e-03 9.96085509e-01 1.52209187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.26, Y:-0.57, Z:15.22 [[ 9.80272786e-01 1.76844861e-01 -8.82675546e-02 -2.32571235e+01] [-1.76569085e-01 9.84226951e-01 1.09848849e-02 -5.74924371e-01] [ 8.88179266e-02 4.81713767e-03 9.96036230e-01 1.52226771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259072329 meters Centerline goodness [0,1] 0.999913517253308 Centerline is valid? [True, True] Translation: X:-23.23, Y:-0.57, Z:15.22 [[ 9.80168117e-01 1.77368454e-01 -8.83792658e-02 -2.32288479e+01] [-1.77094649e-01 9.84132434e-01 1.09926204e-02 -5.71428386e-01] [ 8.89266461e-02 4.87687899e-03 9.96026238e-01 1.52241740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.289072329 meters Centerline goodness [0,1] 0.9999783821176877 Centerline is valid? [True, True] Translation: X:-23.20, Y:-0.57, Z:15.23 [[ 9.80127293e-01 1.77532378e-01 -8.85027869e-02 -2.32004173e+01] [-1.77259150e-01 9.84102731e-01 1.10004176e-02 -5.72689534e-01] [ 8.90487645e-02 4.90611924e-03 9.96015184e-01 1.52258848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319072329 meters Centerline goodness [0,1] 0.9999567539516077 Centerline is valid? [True, True] Translation: X:-23.17, Y:-0.58, Z:15.23 [[ 9.80044827e-01 1.78005377e-01 -8.84659354e-02 -2.31722078e+01] [-1.77734829e-01 9.84017050e-01 1.09898359e-02 -5.76086390e-01] [ 8.90082386e-02 4.95294607e-03 9.96018575e-01 1.52286936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.349072329 meters Centerline goodness [0,1] 0.9999783535727428 Centerline is valid? [True, True] Translation: X:-23.14, Y:-0.57, Z:15.23 [[ 9.80047765e-01 1.78304837e-01 -8.78280321e-02 -2.31441080e+01] [-1.78039905e-01 9.83962846e-01 1.09045388e-02 -5.73788384e-01] [ 8.83638524e-02 4.94992562e-03 9.96075965e-01 1.52310601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379072329 meters Centerline goodness [0,1] 0.999935175781672 Centerline is valid? [True, True] Translation: X:-23.12, Y:-0.58, Z:15.23 [[ 9.80041092e-01 1.78394986e-01 -8.77193596e-02 -2.31153236e+01] [-1.78131730e-01 9.83946459e-01 1.08835641e-02 -5.78087932e-01] [ 8.82527265e-02 4.95926126e-03 9.96085770e-01 1.52344420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.409072329 meters Centerline goodness [0,1] 0.9999567763826155 Centerline is valid? [True, True] Translation: X:-23.09, Y:-0.58, Z:15.24 [[ 9.80062510e-01 1.78519556e-01 -8.72252539e-02 -2.30869044e+01] [-1.78260274e-01 9.83923922e-01 1.08162515e-02 -5.77132710e-01] [ 8.77539263e-02 4.94819499e-03 9.96129893e-01 1.52368582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439072329 meters Centerline goodness [0,1] 0.9999783839868575 Centerline is valid? [True, True] Translation: X:-23.06, Y:-0.58, Z:15.24 [[ 9.80165653e-01 1.78022457e-01 -8.70821293e-02 -2.30587340e+01] [-1.77762726e-01 9.84014210e-01 1.07910697e-02 -5.79683644e-01] [ 8.76111055e-02 4.90292080e-03 9.96142688e-01 1.52398029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.469072329 meters Centerline goodness [0,1] 0.9999784040600367 Centerline is valid? [True, True] Translation: X:-23.03, Y:-0.58, Z:15.24 [[ 9.80168322e-01 1.78042674e-01 -8.70107291e-02 -2.30295345e+01] [-1.77783966e-01 9.84010535e-01 1.07763202e-02 -5.80871755e-01] [ 8.75381190e-02 4.90650482e-03 9.96149087e-01 1.52422940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-23.00, Y:-0.58, Z:15.24 [[ 9.80188695e-01 1.77734482e-01 -8.74103874e-02 -2.30003802e+01] [-1.77472703e-01 9.84066243e-01 1.08198355e-02 -5.83164618e-01] [ 8.79406694e-02 4.90747734e-03 9.96113626e-01 1.52447077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.529072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.97, Y:-0.58, Z:15.25 [[ 9.80181484e-01 1.77772226e-01 -8.74144914e-02 -2.29725119e+01] [-1.77510971e-01 9.84059385e-01 1.08158311e-02 -5.83526258e-01] [ 8.79438050e-02 4.91555386e-03 9.96113309e-01 1.52462604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.94, Y:-0.59, Z:15.25 [[ 9.80323012e-01 1.76581631e-01 -8.82367220e-02 -2.29435372e+01] [-1.76311313e-01 9.84273992e-01 1.09100737e-02 -5.86651638e-01] [ 8.87756292e-02 4.86173599e-03 9.96039784e-01 1.52480295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.589072329 meters Centerline goodness [0,1] 0.9999135359474298 Centerline is valid? [True, True] Translation: X:-22.92, Y:-0.59, Z:15.25 [[ 9.80408372e-01 1.75924405e-01 -8.86003822e-02 -2.29150397e+01] [-1.75649727e-01 9.84391839e-01 1.09490039e-02 -5.89211059e-01] [ 8.91436902e-02 4.82813780e-03 9.96007074e-01 1.52501806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.89, Y:-0.59, Z:15.25 [[ 9.80550111e-01 1.75016120e-01 -8.88303854e-02 -2.28864651e+01] [-1.74736845e-01 9.84554043e-01 1.09714243e-02 -5.94499863e-01] [ 8.93784912e-02 4.76390992e-03 9.95986341e-01 1.52516066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.649072329 meters Centerline goodness [0,1] 0.999956738048886 Centerline is valid? [True, True] Translation: X:-22.86, Y:-0.60, Z:15.25 [[ 9.80754641e-01 1.73624710e-01 -8.93017061e-02 -2.28580221e+01] [-1.73337282e-01 9.84800827e-01 1.10234629e-02 -5.97992714e-01] [ 8.98583396e-02 4.66800267e-03 9.95943617e-01 1.52535491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679072329 meters Centerline goodness [0,1] 0.9999566930838855 Centerline is valid? [True, True] Translation: X:-22.83, Y:-0.60, Z:15.26 [[ 9.80979520e-01 1.72659912e-01 -8.87002639e-02 -2.28297438e+01] [-1.72372967e-01 9.84970969e-01 1.09430325e-02 -5.97080716e-01] [ 8.92566080e-02 4.55463692e-03 9.95998250e-01 1.52558910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.709072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.80, Y:-0.60, Z:15.26 [[ 9.81184062e-01 1.71702882e-01 -8.82947118e-02 -2.28010309e+01] [-1.71415372e-01 9.85138710e-01 1.08854149e-02 -5.99739514e-01] [ 8.88515956e-02 4.45447531e-03 9.96034915e-01 1.52591780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.77, Y:-0.60, Z:15.26 [[ 9.81393238e-01 1.70881472e-01 -8.75604697e-02 -2.27720465e+01] [-1.70595978e-01 9.85281994e-01 1.07890987e-02 -6.03204832e-01] [ 8.81154113e-02 4.34911538e-03 9.96100778e-01 1.52617562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.769072329 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:-22.74, Y:-0.61, Z:15.27 [[ 9.81799751e-01 1.68539052e-01 -8.75433420e-02 -2.27438499e+01] [-1.68244784e-01 9.85686273e-01 1.07825753e-02 -6.05007830e-01] [ 8.81075555e-02 4.14238091e-03 9.96102354e-01 1.52653482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.72, Y:-0.61, Z:15.27 [[ 9.82047453e-01 1.67155989e-01 -8.74166713e-02 -2.27158586e+01] [-1.66857502e-01 9.85922279e-01 1.07625828e-02 -6.13905646e-01] [ 8.79850740e-02 4.01676037e-03 9.96113695e-01 1.52678493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.829072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.69, Y:-0.62, Z:15.27 [[ 9.82408692e-01 1.64458531e-01 -8.84678075e-02 -2.26868900e+01] [-1.64142467e-01 9.86376575e-01 1.08859420e-02 -6.16235888e-01] [ 8.90528590e-02 3.82688020e-03 9.96019550e-01 1.52691844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.66, Y:-0.62, Z:15.27 [[ 9.82585158e-01 1.63178134e-01 -8.88780244e-02 -2.26581284e+01] [-1.62854194e-01 9.86589567e-01 1.09332974e-02 -6.19902751e-01] [ 8.94702067e-02 3.73126333e-03 9.95982510e-01 1.52707571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.63, Y:-0.63, Z:15.27 [[ 9.82784593e-01 1.61746771e-01 -8.92884454e-02 -2.26291927e+01] [-1.61414482e-01 9.86825644e-01 1.09778519e-02 -6.25215143e-01] [ 8.98877598e-02 3.62358454e-03 9.95945310e-01 1.52724731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.60, Y:-0.63, Z:15.27 [[ 9.83322259e-01 1.58682996e-01 -8.88653045e-02 -2.26006172e+01] [-1.58341780e-01 9.87323962e-01 1.09213318e-02 -6.27696045e-01] [ 8.94718741e-02 3.33190185e-03 9.95983776e-01 1.52740897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.57, Y:-0.64, Z:15.28 [[ 9.83580344e-01 1.57344650e-01 -8.83876069e-02 -2.25721925e+01] [-1.57002104e-01 9.87538576e-01 1.08581755e-02 -6.35129527e-01] [ 8.89946473e-02 3.19715220e-03 9.96026973e-01 1.52770220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.54, Y:-0.64, Z:15.28 [[ 9.83945967e-01 1.55163200e-01 -8.81743452e-02 -2.25437756e+01] [-1.54813972e-01 9.87884305e-01 1.08274806e-02 -6.42485282e-01] [ 8.87860782e-02 2.99696474e-03 9.96046209e-01 1.52806349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.009072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.52, Y:-0.65, Z:15.29 [[ 9.84521178e-01 1.52284568e-01 -8.67609403e-02 -2.25152739e+01] [-1.51935700e-01 9.88333007e-01 1.06493801e-02 -6.46938388e-01] [ 8.73704374e-02 2.69754399e-03 9.96172239e-01 1.52850078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.49, Y:-0.65, Z:15.29 [[ 9.84781643e-01 1.50784428e-01 -8.64243661e-02 -2.24862794e+01] [-1.50433030e-01 9.88563352e-01 1.06020248e-02 -6.50787547e-01] [ 8.70345813e-02 2.56039981e-03 9.96202001e-01 1.52880185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.069072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.46, Y:-0.65, Z:15.29 [[ 9.84990189e-01 1.49054445e-01 -8.70465338e-02 -2.24591138e+01] [-1.48691635e-01 9.88826006e-01 1.06737165e-02 -6.54211405e-01] [ 8.76648412e-02 2.42958543e-03 9.96147064e-01 1.52902996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.43, Y:-0.66, Z:15.29 [[ 9.85246229e-01 1.47169416e-01 -8.73557764e-02 -2.24303469e+01] [-1.46797301e-01 9.89108678e-01 1.07040362e-02 -6.60041572e-01] [ 8.79796633e-02 2.27748087e-03 9.96119667e-01 1.52920304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.129072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.40, Y:-0.67, Z:15.29 [[ 9.85706485e-01 1.43171319e-01 -8.87958318e-02 -2.24016918e+01] [-1.42771062e-01 9.89695985e-01 1.08757185e-02 -6.66482243e-01] [ 8.94379692e-02 1.95720894e-03 9.95990471e-01 1.52928703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.37, Y:-0.67, Z:15.29 [[ 9.85972573e-01 1.41134267e-01 -8.91022139e-02 -2.23739496e+01] [-1.40723375e-01 9.89988858e-01 1.09084149e-02 -6.71055327e-01] [ 8.97497501e-02 1.78336631e-03 9.95962751e-01 1.52945000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.189072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.35, Y:-0.68, Z:15.30 [[ 9.86609725e-01 1.36825402e-01 -8.87697010e-02 -2.23466421e+01] [-1.36400858e-01 9.90594199e-01 1.08599698e-02 -6.77360571e-01] [ 8.94206706e-02 1.39371158e-03 9.95992972e-01 1.52965745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.32, Y:-0.68, Z:15.30 [[ 9.86899470e-01 1.35015037e-01 -8.83197315e-02 -2.23186868e+01] [-1.34588233e-01 9.90842785e-01 1.07973533e-02 -6.82374281e-01] [ 8.89687738e-02 1.23089432e-03 9.96033655e-01 1.52996708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.249072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.29, Y:-0.69, Z:15.30 [[ 9.87258975e-01 1.32668622e-01 -8.78564360e-02 -2.22906977e+01] [-1.32237550e-01 9.91159925e-01 1.07347106e-02 -6.88348159e-01] [ 8.85039378e-02 1.01998047e-03 9.96075305e-01 1.53025350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.26, Y:-0.70, Z:15.31 [[ 9.87858578e-01 1.28425641e-01 -8.74201600e-02 -2.22630017e+01] [-1.27982802e-01 9.91718933e-01 1.06752368e-02 -6.95428283e-01] [ 8.80672019e-02 6.42652753e-04 9.96114328e-01 1.53056955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.309072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.24, Y:-0.70, Z:15.31 [[ 9.88158146e-01 1.25916521e-01 -8.76841366e-02 -2.22352437e+01] [-1.25461694e-01 9.92040749e-01 1.07011930e-02 -7.00630139e-01] [ 8.83336935e-02 4.26529316e-04 9.96090848e-01 1.53080038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.21, Y:-0.71, Z:15.31 [[ 9.88471269e-01 1.23970065e-01 -8.69251041e-02 -2.22072992e+01] [-1.23516247e-01 9.92285925e-01 1.06009556e-02 -7.06212699e-01] [ 8.75687585e-02 2.57922563e-04 9.96158444e-01 1.53107216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.369072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.18, Y:-0.71, Z:15.31 [[ 9.89081254e-01 1.18619754e-01 -8.74507160e-02 -2.21793557e+01] [-1.18140085e-01 9.92939731e-01 1.06588437e-02 -7.14552487e-01] [ 8.80976399e-02 -2.11027466e-04 9.96111822e-01 1.53131403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.15, Y:-0.72, Z:15.32 [[ 9.89089629e-01 1.18549345e-01 -8.74514685e-02 -2.21513163e+01] [-1.18069947e-01 9.92948140e-01 1.06526664e-02 -7.17871496e-01] [ 8.80976396e-02 -2.11051585e-04 9.96111822e-01 1.53156000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.429072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.12, Y:-0.72, Z:15.32 [[ 9.89341914e-01 1.16507808e-01 -8.73413293e-02 -2.21233926e+01] [-1.16022232e-01 9.93189701e-01 1.06329719e-02 -7.23112493e-01] [ 8.79853330e-02 -3.86108779e-04 9.96121695e-01 1.53178931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.10, Y:-0.73, Z:15.32 [[ 9.89666131e-01 1.13754826e-01 -8.72971294e-02 -2.20959044e+01] [-1.13259611e-01 9.93508656e-01 1.06212411e-02 -7.29053117e-01] [ 8.79386712e-02 -6.24243736e-04 9.96125695e-01 1.53197190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.489072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.07, Y:-0.74, Z:15.32 [[ 9.90123211e-01 1.09261432e-01 -8.78519606e-02 -2.20674767e+01] [-1.08742930e-01 9.94012522e-01 1.06808370e-02 -7.36125338e-01] [ 8.84929525e-02 -1.02206501e-03 9.96076279e-01 1.53218769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.04, Y:-0.74, Z:15.32 [[ 9.90343501e-01 1.07078482e-01 -8.80565100e-02 -2.20406080e+01] [-1.06549532e-01 9.94249831e-01 1.06991122e-02 -7.41624007e-01] [ 8.86958149e-02 -1.21341629e-03 9.96058020e-01 1.53240843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.549072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-22.01, Y:-0.75, Z:15.33 [[ 9.90662223e-01 1.04456983e-01 -8.76190550e-02 -2.20135455e+01] [-1.03923764e-01 9.94528373e-01 1.06379439e-02 -7.48337327e-01] [ 8.82508438e-02 -1.43290719e-03 9.96097252e-01 1.53268384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.98, Y:-0.76, Z:15.33 [[ 9.91192301e-01 9.95410156e-02 -8.73464814e-02 -2.19849248e+01] [-9.89927606e-02 9.95031727e-01 1.05969521e-02 -7.56351789e-01] [ 8.79673516e-02 -1.85694802e-03 9.96121628e-01 1.53299082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.609072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.96, Y:-0.76, Z:15.33 [[ 9.91437272e-01 9.70095152e-02 -8.74144673e-02 -2.19563055e+01] [-9.64508676e-02 9.95281281e-01 1.06020143e-02 -7.61505657e-01] [ 8.80304792e-02 -2.08003094e-03 9.96115610e-01 1.53325868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.93, Y:-0.77, Z:15.33 [[ 9.91705254e-01 9.46423817e-02 -8.69684324e-02 -2.19296866e+01] [-9.40809112e-02 9.95508743e-01 1.05415779e-02 -7.69897110e-01] [ 8.75755149e-02 -2.27206877e-03 9.96155293e-01 1.53345388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.90, Y:-0.78, Z:15.34 [[ 9.92168751e-01 8.94172501e-02 -8.72108061e-02 -2.19011315e+01] [-8.88331939e-02 9.95990505e-01 1.05630602e-02 -7.78985753e-01] [ 8.78056546e-02 -2.73312382e-03 9.96133875e-01 1.53356006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.87, Y:-0.78, Z:15.34 [[ 9.92339863e-01 8.70479447e-02 -8.76598583e-02 -2.18727384e+01] [-8.64491527e-02 9.96199749e-01 1.06114747e-02 -7.81857588e-01] [ 8.82504359e-02 -2.95206892e-03 9.96093944e-01 1.53373935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.84, Y:-0.79, Z:15.34 [[ 9.92566968e-01 8.45245484e-02 -8.75580681e-02 -2.18435575e+01] [-8.39179231e-02 9.96416366e-01 1.05927975e-02 -7.88059084e-01] [ 8.81396435e-02 -3.16636968e-03 9.96103096e-01 1.53401349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.82, Y:-0.80, Z:15.34 [[ 9.92783529e-01 8.17788853e-02 -8.77101925e-02 -2.18161119e+01] [-8.11597501e-02 9.96644654e-01 1.06079536e-02 -7.95613797e-01] [ 8.82834011e-02 -3.41286431e-03 9.96089551e-01 1.53424925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.789072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.79, Y:-0.80, Z:15.35 [[ 9.93184922e-01 7.73045369e-02 -8.72222418e-02 -2.17864688e+01] [-7.66756363e-02 9.97000349e-01 1.05427743e-02 -8.02956610e-01] [ 8.77756099e-02 -3.78310357e-03 9.96133089e-01 1.53451029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.76, Y:-0.81, Z:15.35 [[ 9.93408792e-01 7.43972443e-02 -8.72010395e-02 -2.17579948e+01] [-7.37574960e-02 9.97220506e-01 1.05401556e-02 -8.08091448e-01] [ 8.77428232e-02 -4.03895297e-03 9.96134973e-01 1.53477200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.849072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-21.73, Y:-0.82, Z:15.35 [[ 9.93749503e-01 6.95435348e-02 -8.73248026e-02 -2.17304517e+01] [-6.88837244e-02 9.97568907e-01 1.05502793e-02 -8.19722958e-01] [ 8.78462116e-02 -4.46907716e-03 9.96124024e-01 1.53489410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879072329 meters Centerline goodness [0,1] 0.9999783390373869 Centerline is valid? [True, True] Translation: X:-21.70, Y:-0.82, Z:15.35 [[ 9.93883122e-01 6.70947853e-02 -8.77190433e-02 -2.17009366e+01] [-6.64197783e-02 9.97735519e-01 1.05946643e-02 -8.23099333e-01] [ 8.82312519e-02 -4.70357864e-03 9.96088913e-01 1.53506082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.909072329 meters Centerline goodness [0,1] 0.9999783268313828 Centerline is valid? [True, True] Translation: X:-21.67, Y:-0.83, Z:15.35 [[ 9.94013885e-01 6.46847957e-02 -8.80470009e-02 -2.16730040e+01] [-6.39955991e-02 9.97893554e-01 1.06309883e-02 -8.31735028e-01] [ 8.85491980e-02 -4.93272943e-03 9.96059590e-01 1.53526787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939072329 meters Centerline goodness [0,1] 0.9998047976402203 Centerline is valid? [True, True] Translation: X:-21.65, Y:-0.84, Z:15.36 [[ 9.94351187e-01 6.02083359e-02 -8.74109486e-02 -2.16453743e+01] [-5.95122962e-02 9.98171826e-01 1.05495062e-02 -8.42593077e-01] [ 8.78863144e-02 -5.28788775e-03 9.96116476e-01 1.53564028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.969072329 meters Centerline goodness [0,1] 0.9999132734920428 Centerline is valid? [True, True] Translation: X:-21.62, Y:-0.84, Z:15.36 [[ 9.94496088e-01 5.79542189e-02 -8.72859635e-02 -2.16161020e+01] [-5.72515369e-02 9.98304205e-01 1.05344659e-02 -8.43650480e-01] [ 8.77484612e-02 -5.47922956e-03 9.96127595e-01 1.53591449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999072329 meters Centerline goodness [0,1] 0.9998699102380643 Centerline is valid? [True, True] Translation: X:-21.59, Y:-0.85, Z:15.36 [[ 9.94711018e-01 5.55146370e-02 -8.64182644e-02 -2.15874017e+01] [-5.48171532e-02 9.98441985e-01 1.04250887e-02 -8.46684325e-01] [ 8.68623685e-02 -5.63274738e-03 9.96204397e-01 1.53620397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.029072329 meters Centerline goodness [0,1] 0.9996312924284816 Centerline is valid? [True, True] Translation: X:-21.56, Y:-0.85, Z:15.36 [[ 9.94969275e-01 5.07073398e-02 -8.63996910e-02 -2.15583600e+01] [-4.99925621e-02 9.98695253e-01 1.04180493e-02 -8.54791942e-01] [ 8.68152328e-02 -6.04629704e-03 9.96206082e-01 1.53647829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059072329 meters Centerline goodness [0,1] 0.97734375 Centerline is valid? [True, True] Translation: X:-21.53, Y:-0.87, Z:15.37 [[ 9.95070957e-01 4.84995555e-02 -8.64961436e-02 -2.15316744e+01] [-4.77750365e-02 9.98803686e-01 1.04280195e-02 -8.69368357e-01] [ 8.68984214e-02 -6.24426297e-03 9.96197608e-01 1.53670336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.089072329 meters Centerline goodness [0,1] 0.9952249690708224 Centerline is valid? [True, True] Translation: X:-21.50, Y:-0.87, Z:15.37 [[ 9.95229385e-01 4.58512051e-02 -8.61169984e-02 -2.15014072e+01] [-4.51237477e-02 9.98927518e-01 1.03760090e-02 -8.67824141e-01] [ 8.65003920e-02 -6.44058730e-03 9.96230998e-01 1.53697304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119072329 meters Centerline goodness [0,1] 0.9439223941491786 Centerline is valid? [True, False] Translation: X:-21.50, Y:-0.87, Z:15.37 [[ 9.95420901e-01 4.11219292e-02 -8.62914672e-02 -2.15009971e+01] [-4.07558405e-02 9.99151116e-01 6.00066217e-03 -8.67783067e-01] [ 8.64649746e-02 -2.45630326e-03 9.96251863e-01 1.53690789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.149072329 meters Centerline goodness [0,1] 0.9196345248171539 Centerline is valid? [False, False] Translation: X:-21.50, Y:-0.87, Z:15.37 [[ 9.95575166e-01 3.66011778e-02 -8.65473473e-02 -2.15004692e+01] [-3.66127359e-02 9.99328471e-01 1.45433067e-03 -8.66393111e-01] [ 8.65424585e-02 1.72083968e-03 9.96246677e-01 1.53686644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179072329 meters Centerline goodness [0,1] 0.8988217935643457 Centerline is valid? [False, False] Translation: X:-21.50, Y:-0.87, Z:15.37 [[ 9.95577214e-01 3.64916803e-02 -8.65700135e-02 -2.15004245e+01] [-3.64911543e-02 9.99332713e-01 1.58909713e-03 -8.67311302e-01] [ 8.65702353e-02 1.57697082e-03 9.96244502e-01 1.53686531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.209072329 meters Centerline goodness [0,1] 0.9153752658766332 Centerline is valid? [False, False] Translation: X:-21.50, Y:-0.87, Z:15.37 [[ 9.95581865e-01 3.63773198e-02 -8.65646644e-02 -2.15004860e+01] [-3.63587521e-02 9.99337196e-01 1.79166107e-03 -8.68505492e-01] [ 8.65724648e-02 1.36363790e-03 9.96244623e-01 1.53686823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239072329 meters Centerline goodness [0,1] 0.8151576385720183 Centerline is valid? [False, False] Translation: X:-21.50, Y:-0.87, Z:15.37 [[ 9.95605626e-01 3.61940706e-02 -8.63679785e-02 -2.15009478e+01] [-3.61407790e-02 9.99344329e-01 2.18108907e-03 -8.70703036e-01] [ 8.63902920e-02 9.49901473e-04 9.96260917e-01 1.53687186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.269072329 meters Centerline goodness [0,1] 0.8896538244364331 Centerline is valid? [False, False] Translation: X:-21.50, Y:-0.87, Z:15.37 [[ 9.95610825e-01 3.60647667e-02 -8.63621277e-02 -2.15009492e+01] [-3.59982800e-02 9.99349141e-01 2.32759912e-03 -8.71755024e-01] [ 8.63898625e-02 7.91505171e-04 9.96261093e-01 1.53686139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299072329 meters Centerline goodness [0,1] 0.8060488948716835 Centerline is valid? [False, False] Translation: X:-21.50, Y:-0.87, Z:15.37 [[ 9.95620761e-01 3.59013195e-02 -8.63156688e-02 -2.15009856e+01] [-3.58261869e-02 9.99355106e-01 2.41985684e-03 -8.72580846e-01] [ 8.63468805e-02 6.83101575e-04 9.96264899e-01 1.53685090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.329072329 meters Centerline goodness [0,1] 0.7889643500336321 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95767975e-01 3.22952429e-02 -8.60415987e-02 -2.14883755e+01] [-3.16946536e-02 9.99462823e-01 8.33751975e-03 -8.75571756e-01] [ 8.62646413e-02 -5.57517649e-03 9.96256658e-01 1.53716716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359072329 meters Centerline goodness [0,1] 0.7927091711410126 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.87, Z:15.37 [[ 9.95877070e-01 2.77995822e-02 -8.63483881e-02 -2.14877668e+01] [-2.75812080e-02 9.99612640e-01 3.72121769e-03 -8.73783557e-01] [ 8.64183884e-02 -1.32428252e-03 9.96258053e-01 1.53713570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38907232900002 meters Centerline goodness [0,1] 0.7837690986937906 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95891475e-01 2.75867455e-02 -8.62504590e-02 -2.14877911e+01] [-2.73455327e-02 9.99618129e-01 3.97711544e-03 -8.75480795e-01] [ 8.63272382e-02 -1.60221062e-03 9.96265547e-01 1.53710834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41907232900002 meters Centerline goodness [0,1] 0.8062067765647427 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95892748e-01 2.74365262e-02 -8.62836698e-02 -2.14877675e+01] [-2.71883865e-02 9.99622124e-01 4.04991690e-03 -8.76188988e-01] [ 8.63621809e-02 -1.68736911e-03 9.96262378e-01 1.53711360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44907232900002 meters Centerline goodness [0,1] 0.7984637813608373 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95888172e-01 2.73626506e-02 -8.63599153e-02 -2.14875109e+01] [-2.70980457e-02 9.99623810e-01 4.23499586e-03 -8.77278288e-01] [ 8.64433082e-02 -1.87739735e-03 9.96255002e-01 1.53709818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47907232900002 meters Centerline goodness [0,1] 0.7691470844212358 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95905938e-01 2.71503325e-02 -8.62219304e-02 -2.14876604e+01] [-2.68647837e-02 9.99629080e-01 4.47060541e-03 -8.78876353e-01] [ 8.63113273e-02 -2.13596896e-03 9.96265925e-01 1.53707706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.509072329 meters Centerline goodness [0,1] 0.7393354629810722 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95911852e-01 2.69723611e-02 -8.62094826e-02 -2.14875412e+01] [-2.66859128e-02 9.99633857e-01 4.47362092e-03 -8.79451490e-01] [ 8.62985818e-02 -2.15475335e-03 9.96266988e-01 1.53705955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539072329 meters Centerline goodness [0,1] 0.7505770151983626 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95919776e-01 2.69053621e-02 -8.61388472e-02 -2.14876800e+01] [-2.66072867e-02 9.99635348e-01 4.60684151e-03 -8.80245004e-01] [ 8.62313853e-02 -2.29612356e-03 9.96272491e-01 1.53706027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.569072329 meters Centerline goodness [0,1] 0.7416701125160504 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95930984e-01 2.66785395e-02 -8.60797964e-02 -2.14876199e+01] [-2.63668510e-02 9.99641020e-01 4.75603636e-03 -8.81482900e-01] [ 8.61757796e-02 -2.46703080e-03 9.96276894e-01 1.53703202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599072329 meters Centerline goodness [0,1] 0.7333246425933169 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95919838e-01 2.65810334e-02 -8.62387675e-02 -2.14871056e+01] [-2.62618917e-02 9.99643413e-01 4.83328000e-03 -8.82161587e-01] [ 8.63364894e-02 -2.54876627e-03 9.96262774e-01 1.53700941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.629072329 meters Centerline goodness [0,1] 0.7402371747534859 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95914171e-01 2.65273891e-02 -8.63206947e-02 -2.14866580e+01] [-2.61956153e-02 9.99644461e-01 4.97416115e-03 -8.83005607e-01] [ 8.64219558e-02 -2.69261387e-03 9.96254985e-01 1.53697526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659072329 meters Centerline goodness [0,1] 0.7326704669074453 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.88, Z:15.37 [[ 9.95923289e-01 2.64439862e-02 -8.62410404e-02 -2.14866348e+01] [-2.61020960e-02 9.99646325e-01 5.08978407e-03 -8.83804640e-01] [ 8.63451332e-02 -2.81796258e-03 9.96261300e-01 1.53694393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.689072329 meters Centerline goodness [0,1] 0.7348726980192638 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.89, Z:15.37 [[ 9.95929976e-01 2.64065739e-02 -8.61752562e-02 -2.14869342e+01] [-2.60346534e-02 9.99646255e-01 5.43707111e-03 -8.85515449e-01] [ 8.62883466e-02 -3.17139918e-03 9.96265157e-01 1.53696703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719072329 meters Centerline goodness [0,1] 0.7003175155495629 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.89, Z:15.37 [[ 9.95931337e-01 2.63376398e-02 -8.61806282e-02 -2.14869441e+01] [-2.59584021e-02 9.99647792e-01 5.51837978e-03 -8.86110549e-01] [ 8.62956159e-02 -3.25881595e-03 9.96264245e-01 1.53696586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.749072329 meters Centerline goodness [0,1] 0.7170041367298062 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.89, Z:15.37 [[ 9.95948643e-01 2.62374185e-02 -8.60110393e-02 -2.14873803e+01] [-2.58480995e-02 9.99649988e-01 5.63713084e-03 -8.86981285e-01] [ 8.61288381e-02 -3.39107091e-03 9.96278236e-01 1.53696922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779072329 meters Centerline goodness [0,1] 0.7276542995085034 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.89, Z:15.37 [[ 9.95933037e-01 2.61587535e-02 -8.62154593e-02 -2.14868244e+01] [-2.57634055e-02 9.99651845e-01 5.69526063e-03 -8.87544623e-01] [ 8.63344239e-02 -3.45089437e-03 9.96260236e-01 1.53695842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.809072329 meters Centerline goodness [0,1] 0.7321129274504256 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.89, Z:15.37 [[ 9.95928484e-01 2.61035455e-02 -8.62847592e-02 -2.14866059e+01] [-2.57023443e-02 9.99653060e-01 5.75759116e-03 -8.88028606e-01] [ 8.64051170e-02 -3.51642845e-03 9.96253879e-01 1.53694580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839072329 meters Centerline goodness [0,1] 0.6972580715247904 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.89, Z:15.37 [[ 9.95916789e-01 2.60940142e-02 -8.64225224e-02 -2.14859511e+01] [-2.56674388e-02 9.99652268e-01 6.04364718e-03 -8.89530687e-01] [ 8.65501736e-02 -3.80072488e-03 9.96240243e-01 1.53689850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.869072329 meters Centerline goodness [0,1] 0.706564209429539 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.89, Z:15.37 [[ 9.95903093e-01 2.59213820e-02 -8.66320462e-02 -2.14852995e+01] [-2.54933175e-02 9.99656721e-01 6.04406746e-03 -8.90063738e-01] [ 8.67589779e-02 -3.81076721e-03 9.96222042e-01 1.53687424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899072329 meters Centerline goodness [0,1] 0.6935375257955902 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.89, Z:15.37 [[ 9.95904151e-01 2.58661782e-02 -8.66363827e-02 -2.14851801e+01] [-2.54361590e-02 9.99658057e-01 6.06393198e-03 -8.90337344e-01] [ 8.67636087e-02 -3.83539823e-03 9.96221545e-01 1.53685826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.929072329 meters Centerline goodness [0,1] 0.7048368171743948 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.89, Z:15.37 [[ 9.95922684e-01 2.57846896e-02 -8.64474246e-02 -2.14858270e+01] [-2.53407413e-02 9.99659465e-01 6.22910331e-03 -8.91261729e-01] [ 8.65786016e-02 -4.01306346e-03 9.96236940e-01 1.53688825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959072329 meters Centerline goodness [0,1] 0.6888386353258388 Centerline is valid? [False, False] Translation: X:-21.49, Y:-0.89, Z:15.37 [[ 9.95918029e-01 2.57399187e-02 -8.65143679e-02 -2.14859293e+01] [-2.52921030e-02 9.99660450e-01 6.26852304e-03 -8.91588226e-01] [ 8.66463432e-02 -4.05480481e-03 9.96230882e-01 1.53692129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.989072329 meters Centerline goodness [0,1] 0.6884257664485016 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96311089e-01 2.34655216e-02 -8.25444267e-02 -2.14735440e+01] [-2.24632997e-02 9.99662498e-01 1.30495476e-02 -8.93579208e-01] [ 8.28227822e-02 -1.11471888e-02 9.96501945e-01 1.53700880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019072329 meters Centerline goodness [0,1] 0.698491262346684 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96309049e-01 2.34372823e-02 -8.25770692e-02 -2.14734508e+01] [-2.24326490e-02 9.99662880e-01 1.30729980e-02 -8.93877779e-01] [ 8.28556263e-02 -1.11723238e-02 9.96498933e-01 1.53700245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.049072329 meters Centerline goodness [0,1] 0.6918619791666667 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96357353e-01 1.90297709e-02 -8.31257652e-02 -2.14722268e+01] [-1.83965363e-02 9.99795674e-01 8.37716763e-03 -8.91499213e-01] [ 8.32681961e-02 -6.81742642e-03 9.96503854e-01 1.53698051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079072329 meters Centerline goodness [0,1] 0.6914369972027669 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96344403e-01 1.89737498e-02 -8.32936192e-02 -2.14715514e+01] [-1.83400898e-02 9.99796804e-01 8.36616982e-03 -8.91730670e-01] [ 8.34354319e-02 -6.80797401e-03 9.96489930e-01 1.53694073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.109072329 meters Centerline goodness [0,1] 0.6919706762677309 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96331565e-01 1.89153630e-02 -8.34603044e-02 -2.14709747e+01] [-1.82753551e-02 9.99797488e-01 8.42579298e-03 -8.92247976e-01] [ 8.36027797e-02 -6.86961680e-03 9.96475481e-01 1.53691598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13907232900002 meters Centerline goodness [0,1] 0.7196583790345306 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96313861e-01 1.88750172e-02 -8.36804865e-02 -2.14703995e+01] [-1.82324352e-02 9.99798181e-01 8.43661439e-03 -8.92533880e-01] [ 8.38228394e-02 -6.87981681e-03 9.96456923e-01 1.53690570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16907232900002 meters Centerline goodness [0,1] 0.6931182515935996 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96313660e-01 1.87783356e-02 -8.37046258e-02 -2.14702533e+01] [-1.81435278e-02 9.99800623e-01 8.33821323e-03 -8.92446890e-01] [ 8.38445148e-02 -6.78877854e-03 9.96455724e-01 1.53689835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19907232900002 meters Centerline goodness [0,1] 0.7078354405673266 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96300055e-01 1.86618993e-02 -8.38923929e-02 -2.14697449e+01] [-1.80336611e-02 9.99803423e-01 8.24023742e-03 -8.92317634e-01] [ 8.40296801e-02 -6.69686201e-03 9.96440748e-01 1.53688784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22907232900002 meters Centerline goodness [0,1] 0.705066331941048 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96287218e-01 1.85319825e-02 -8.40734503e-02 -2.14692790e+01] [-1.79153603e-02 9.99806835e-01 8.08291162e-03 -8.92040659e-01] [ 8.42070026e-02 -6.54669538e-03 9.96426777e-01 1.53687967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259072329 meters Centerline goodness [0,1] 0.705066331941048 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96287218e-01 1.85319825e-02 -8.40734503e-02 -2.14692790e+01] [-1.79153603e-02 9.99806835e-01 8.08291162e-03 -8.92040659e-01] [ 8.42070026e-02 -6.54669538e-03 9.96426777e-01 1.53687967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.289072329 meters Centerline goodness [0,1] 0.693665852657057 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96272596e-01 1.84763888e-02 -8.42587524e-02 -2.14687474e+01] [-1.78613162e-02 9.99808084e-01 8.04786492e-03 -8.92136206e-01] [ 8.43912773e-02 -6.51289506e-03 9.96411408e-01 1.53686456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319072329 meters Centerline goodness [0,1] 0.706398616515348 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96265121e-01 1.85150100e-02 -8.43386230e-02 -2.14682951e+01] [-1.78977018e-02 9.99807258e-01 8.06967557e-03 -8.92308732e-01] [ 8.44717775e-02 -6.53006879e-03 9.96404475e-01 1.53683172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.349072329 meters Centerline goodness [0,1] 0.6972328078988395 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96250529e-01 1.84841981e-02 -8.45175560e-02 -2.14677133e+01] [-1.78702032e-02 9.99808185e-01 8.01553109e-03 -8.92218225e-01] [ 8.46495050e-02 -6.47513118e-03 9.96389750e-01 1.53680649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379072329 meters Centerline goodness [0,1] 0.6960345759049162 Centerline is valid? [False, False] Translation: X:-21.47, Y:-0.89, Z:15.37 [[ 9.96228827e-01 1.84943462e-02 -8.47707674e-02 -2.14668874e+01] [-1.78759376e-02 9.99807819e-01 8.04838171e-03 -8.92521497e-01] [ 8.49033256e-02 -6.50267292e-03 9.96367974e-01 1.53677618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.409072329 meters Centerline goodness [0,1] 0.6726649528706083 Centerline is valid? [False, False] Translation: X:-21.45, Y:-0.89, Z:15.37 [[ 9.96290974e-01 1.98342060e-02 -8.37311147e-02 -2.14492260e+01] [-1.99738672e-02 9.99800157e-01 -8.30531080e-04 -8.93897816e-01] [ 8.36979087e-02 2.49988478e-03 9.96488038e-01 1.53652542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439072329 meters Centerline goodness [0,1] 0.6959377700950735 Centerline is valid? [False, False] Translation: X:-21.45, Y:-0.89, Z:15.37 [[ 9.96278068e-01 1.99470597e-02 -8.38577725e-02 -2.14490674e+01] [-2.00811084e-02 9.99798069e-01 -7.55280073e-04 -8.93914188e-01] [ 8.38257734e-02 2.43642599e-03 9.96477448e-01 1.53653932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.469072329 meters Centerline goodness [0,1] 0.6536009445100355 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.90, Z:15.37 [[ 9.96671449e-01 2.08831461e-02 -7.88030315e-02 -2.14376428e+01] [-2.02188626e-02 9.99753080e-01 9.21825736e-03 -8.97645292e-01] [ 7.89760797e-02 -7.59426626e-03 9.96847584e-01 1.53662235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499072329 meters Centerline goodness [0,1] 0.6880022345408447 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.90, Z:15.37 [[ 9.96672419e-01 2.08491153e-02 -7.87997666e-02 -2.14377304e+01] [-2.01959717e-02 9.99754839e-01 9.07662451e-03 -8.97210337e-01] [ 7.89696876e-02 -7.45498345e-03 9.96849142e-01 1.53663322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.529072329 meters Centerline goodness [0,1] 0.6879808107874492 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.90, Z:15.37 [[ 9.96668106e-01 2.08709767e-02 -7.88485230e-02 -2.14377186e+01] [-2.02223430e-02 9.99754855e-01 9.01597083e-03 -8.96893269e-01] [ 7.90173657e-02 -7.39142869e-03 9.96845837e-01 1.53664531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559072329 meters Centerline goodness [0,1] 0.6887099907193577 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.90, Z:15.37 [[ 9.96651355e-01 2.08211483e-02 -7.90731090e-02 -2.14372190e+01] [-2.01778569e-02 9.99756562e-01 8.92580584e-03 -8.96760025e-01] [ 7.92397052e-02 -7.30039060e-03 9.96828859e-01 1.53665125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.589072329 meters Centerline goodness [0,1] 0.7134022401937465 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.90, Z:15.37 [[ 9.96638882e-01 2.07884043e-02 -7.92387597e-02 -2.14367711e+01] [-2.01589853e-02 9.99758628e-01 8.73509324e-03 -8.96154622e-01] [ 7.94012223e-02 -7.10836056e-03 9.96817394e-01 1.53664424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619072329 meters Centerline goodness [0,1] 0.6935536119209589 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.90, Z:15.37 [[ 9.96627381e-01 2.07453783e-02 -7.93945348e-02 -2.14363358e+01] [-2.01246687e-02 9.99760401e-01 8.61031366e-03 -8.95926844e-01] [ 7.95541362e-02 -6.98348564e-03 9.96806085e-01 1.53663833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.649072329 meters Centerline goodness [0,1] 0.6890044415556278 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.90, Z:15.37 [[ 9.96620613e-01 2.07805963e-02 -7.94702528e-02 -2.14362299e+01] [-2.01603157e-02 9.99759775e-01 8.59967169e-03 -8.95746180e-01] [ 7.96298684e-02 -6.96846468e-03 9.96800143e-01 1.53664458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679072329 meters Centerline goodness [0,1] 0.7084722282349885 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.90, Z:15.37 [[ 9.96608273e-01 2.08431143e-02 -7.96085091e-02 -2.14361283e+01] [-2.02224767e-02 9.99758564e-01 8.59448944e-03 -8.95782802e-01] [ 7.97684246e-02 -6.95545806e-03 9.96789155e-01 1.53667593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.709072329 meters Centerline goodness [0,1] 0.686328412485389 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.90, Z:15.37 [[ 9.96596186e-01 2.08556038e-02 -7.97564185e-02 -2.14359898e+01] [-2.02335342e-02 9.99758293e-01 8.59993287e-03 -8.95879316e-01] [ 7.99164976e-02 -6.95690607e-03 9.96777284e-01 1.53670080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739072329 meters Centerline goodness [0,1] 0.7094378031878033 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.90, Z:15.37 [[ 9.96596085e-01 2.07372939e-02 -7.97885153e-02 -2.14359752e+01] [-2.01306037e-02 9.99762065e-01 8.40069468e-03 -8.95439118e-01] [ 7.99437385e-02 -6.76590845e-03 9.96776415e-01 1.53671340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.769072329 meters Centerline goodness [0,1] 0.6827178921409566 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.89, Z:15.37 [[ 9.96581742e-01 2.07074790e-02 -7.99751991e-02 -2.14354955e+01] [-2.01155800e-02 9.99764036e-01 8.19970450e-03 -8.94648432e-01] [ 8.01261231e-02 -6.56292827e-03 9.96763128e-01 1.53671168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799072329 meters Centerline goodness [0,1] 0.7062452646390303 Centerline is valid? [False, False] Translation: X:-21.44, Y:-0.89, Z:15.37 [[ 9.96577478e-01 2.06532482e-02 -8.00423188e-02 -2.14351645e+01] [-2.00763642e-02 9.99766399e-01 8.00540442e-03 -8.94075418e-01] [ 8.01889585e-02 -6.37104701e-03 9.96759319e-01 1.53669018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.829072329 meters Centerline goodness [0,1] 0.6988496302382909 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96540688e-01 2.07360097e-02 -8.04777911e-02 -2.14341315e+01] [-2.01537237e-02 9.99764557e-01 8.04100026e-03 -8.94120937e-01] [ 8.06255814e-02 -6.39125676e-03 9.96723968e-01 1.53668602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859072329 meters Centerline goodness [0,1] 0.7009471379960555 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96526340e-01 2.08100256e-02 -8.06362014e-02 -2.14336790e+01] [-2.02235168e-02 9.99762805e-01 8.08349586e-03 -8.94212350e-01] [ 8.07852927e-02 -6.42466897e-03 9.96710821e-01 1.53667370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88907232900002 meters Centerline goodness [0,1] 0.7175316236354184 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96519739e-01 2.07689730e-02 -8.07283109e-02 -2.14332849e+01] [-2.01865827e-02 9.99764033e-01 8.02375380e-03 -8.94149867e-01] [ 8.08759068e-02 -6.36620032e-03 9.96703847e-01 1.53665017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91907232900002 meters Centerline goodness [0,1] 0.7187791290021894 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96511251e-01 2.07408417e-02 -8.08402402e-02 -2.14328614e+01] [-2.01754433e-02 9.99765992e-01 7.80467681e-03 -8.93396858e-01] [ 8.09831985e-02 -6.14646058e-03 9.96696515e-01 1.53663672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94907232900002 meters Centerline goodness [0,1] 0.7058874477621635 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96498454e-01 2.07059510e-02 -8.10067575e-02 -2.14324010e+01] [-2.01507555e-02 9.99767568e-01 7.66530561e-03 -8.92939954e-01] [ 8.11466464e-02 -6.00611782e-03 9.96684076e-01 1.53663030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97907232900002 meters Centerline goodness [0,1] 0.6912567122813096 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96493117e-01 2.06709212e-02 -8.10813187e-02 -2.14321975e+01] [-2.01276499e-02 9.99769197e-01 7.51203431e-03 -8.92411247e-01] [ 8.12178855e-02 -5.85371409e-03 9.96679181e-01 1.53662956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.009072329 meters Centerline goodness [0,1] 0.7255815970340178 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96483249e-01 2.06875143e-02 -8.11982804e-02 -2.14320048e+01] [-2.01449823e-02 9.99768974e-01 7.49520207e-03 -8.92422004e-01] [ 8.13345786e-02 -5.83310539e-03 9.96669785e-01 1.53664154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039072329 meters Centerline goodness [0,1] 0.7155488135225918 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96458521e-01 2.08301982e-02 -8.14648286e-02 -2.14315656e+01] [-2.02831758e-02 9.99765868e-01 7.53672188e-03 -8.92442322e-01] [ 8.16027465e-02 -5.85766530e-03 9.96647721e-01 1.53666794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.069072329 meters Centerline goodness [0,1] 0.6908278569414623 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96449345e-01 2.08862579e-02 -8.15626592e-02 -2.14312118e+01] [-2.03377204e-02 9.99764656e-01 7.55044422e-03 -8.92428866e-01] [ 8.17011645e-02 -5.86483665e-03 9.96639616e-01 1.53665029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099072329 meters Centerline goodness [0,1] 0.7410722024789806 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96433461e-01 2.09644018e-02 -8.17364754e-02 -2.14305626e+01] [-2.04229345e-02 9.99763635e-01 7.45507135e-03 -8.91948129e-01] [ 8.18734468e-02 -5.75918387e-03 9.96626094e-01 1.53661626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.129072329 meters Centerline goodness [0,1] 0.7370643910679864 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96434658e-01 2.08678821e-02 -8.17465828e-02 -2.14303225e+01] [-2.03366970e-02 9.99766352e-01 7.32528011e-03 -8.91640366e-01] [ 8.18803460e-02 -5.63670749e-03 9.96626227e-01 1.53658780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159072329 meters Centerline goodness [0,1] 0.767771587139853 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96417091e-01 2.08772435e-02 -8.19580529e-02 -2.14298362e+01] [-2.03514136e-02 9.99766630e-01 7.24608602e-03 -8.91481095e-01] [ 8.20902046e-02 -5.55216172e-03 9.96609438e-01 1.53659007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.189072329 meters Centerline goodness [0,1] 0.740903482759367 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96410231e-01 2.08817334e-02 -8.20402607e-02 -2.14297872e+01] [-2.03612964e-02 9.99766939e-01 7.17528950e-03 -8.91304661e-01] [ 8.21709729e-02 -5.47908580e-03 9.96603186e-01 1.53661139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219072329 meters Centerline goodness [0,1] 0.7594530759063035 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96411498e-01 2.09281806e-02 -8.20130315e-02 -2.14298348e+01] [-2.04093863e-02 9.99766075e-01 7.15907854e-03 -8.91138583e-01] [ 8.21436731e-02 -5.45955253e-03 9.96605544e-01 1.53660856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.249072329 meters Centerline goodness [0,1] 0.7185728504046043 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96392397e-01 2.08835379e-02 -8.22561235e-02 -2.14293793e+01] [-2.03723851e-02 9.99767614e-01 7.04865694e-03 -8.90905639e-01] [ 8.23842092e-02 -5.34747476e-03 9.96586297e-01 1.53662517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279072329 meters Centerline goodness [0,1] 0.7634688346883469 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96400556e-01 2.08393891e-02 -8.21684343e-02 -2.14294478e+01] [-2.03402824e-02 9.99769259e-01 6.90668997e-03 -8.90361066e-01] [ 8.22934058e-02 -5.21050058e-03 9.96594524e-01 1.53661144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.309072329 meters Centerline goodness [0,1] 0.7957520589510186 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96393723e-01 2.09222119e-02 -8.22302232e-02 -2.14291873e+01] [-2.04327536e-02 9.99768176e-01 6.78940463e-03 -8.89831961e-01] [ 8.23532097e-02 -5.08473027e-03 9.96590234e-01 1.53660205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339072329 meters Centerline goodness [0,1] 0.7607593290859447 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96381275e-01 2.09559509e-02 -8.23723483e-02 -2.14287071e+01] [-2.04670416e-02 9.99767570e-01 6.77536933e-03 -8.89764076e-01] [ 8.24951868e-02 -5.06493285e-03 9.96578592e-01 1.53657879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.369072329 meters Centerline goodness [0,1] 0.8079648126882326 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96366924e-01 2.09370273e-02 -8.25505485e-02 -2.14282554e+01] [-2.04526919e-02 9.99768315e-01 6.70850553e-03 -8.89621395e-01] [ 8.26718790e-02 -4.99575209e-03 9.96564299e-01 1.53657492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399072329 meters Centerline goodness [0,1] 0.7814157950583599 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96358722e-01 2.10104479e-02 -8.26308545e-02 -2.14278709e+01] [-2.05293560e-02 9.99767017e-01 6.66760521e-03 -8.89441319e-01] [ 8.27516923e-02 -4.94696838e-03 9.96557919e-01 1.53655367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.429072329 meters Centerline goodness [0,1] 0.8433761054274319 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96352594e-01 2.10681212e-02 -8.26900438e-02 -2.14277153e+01] [-2.05859763e-02 9.99765776e-01 6.67910695e-03 -8.89364721e-01] [ 8.28113920e-02 -4.95249025e-03 9.96552932e-01 1.53654757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459072329 meters Centerline goodness [0,1] 0.7846080430350093 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96345015e-01 2.11819722e-02 -8.27522476e-02 -2.14277268e+01] [-2.07028119e-02 9.99763596e-01 6.64418630e-03 -8.89015659e-01] [ 8.28734216e-02 -4.90669769e-03 9.96548002e-01 1.53656974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.489072329 meters Centerline goodness [0,1] 0.8305868559890575 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96334445e-01 2.11964435e-02 -8.28757146e-02 -2.14275106e+01] [-2.07230835e-02 9.99763681e-01 6.56781678e-03 -8.88673831e-01] [ 8.29953439e-02 -4.82630174e-03 9.96538248e-01 1.53657983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519072329 meters Centerline goodness [0,1] 0.806369785794814 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96321726e-01 2.12097708e-02 -8.30250797e-02 -2.14272716e+01] [-2.07418823e-02 9.99763773e-01 6.49409233e-03 -8.88479314e-01] [ 8.31432051e-02 -4.74810885e-03 9.96526298e-01 1.53659304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.549072329 meters Centerline goodness [0,1] 0.8501637850619346 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96308372e-01 2.12694845e-02 -8.31699335e-02 -2.14269751e+01] [-2.08092791e-02 9.99763002e-01 6.39635892e-03 -8.87981097e-01] [ 8.32862697e-02 -4.64203958e-03 9.96514851e-01 1.53659580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579072329 meters Centerline goodness [0,1] 0.9085365853658537 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96307459e-01 2.12585362e-02 -8.31836626e-02 -2.14268493e+01] [-2.08070539e-02 9.99763718e-01 6.29078052e-03 -8.87594037e-01] [ 8.32977406e-02 -4.53674460e-03 9.96514377e-01 1.53659134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.609072329 meters Centerline goodness [0,1] 0.9541097375840382 Centerline is valid? [False, True] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96292227e-01 2.12285657e-02 -8.33735402e-02 -2.14264664e+01] [-2.07848141e-02 9.99764829e-01 6.18691100e-03 -8.87322846e-01] [ 8.34852724e-02 -4.43106780e-03 9.96499160e-01 1.53659590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63907232900002 meters Centerline goodness [0,1] 0.9080197890899623 Centerline is valid? [True, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96292787e-01 2.13511838e-02 -8.33355275e-02 -2.14266926e+01] [-2.09158824e-02 9.99762672e-01 6.09312552e-03 -8.86693086e-01] [ 8.34458450e-02 -4.32750092e-03 9.96502917e-01 1.53661306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66907232900002 meters Centerline goodness [0,1] 0.8433447543045496 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96275401e-01 2.13524004e-02 -8.35428035e-02 -2.14263763e+01] [-2.09196276e-02 9.99762841e-01 6.05230026e-03 -8.86698859e-01] [ 8.36522217e-02 -4.28207354e-03 9.96485810e-01 1.53663386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69907232900002 meters Centerline goodness [0,1] 0.851332611050921 Centerline is valid? [False, False] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96264576e-01 2.13385189e-02 -8.36753419e-02 -2.14260919e+01] [-2.09101032e-02 9.99763397e-01 5.99310367e-03 -8.86585051e-01] [ 8.37834281e-02 -4.22105685e-03 9.96475047e-01 1.53663458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72907232900002 meters Centerline goodness [0,1] 0.9854405797730379 Centerline is valid? [False, True] Translation: X:-21.43, Y:-0.89, Z:15.37 [[ 9.96249602e-01 2.14134627e-02 -8.38343246e-02 -2.14256382e+01] [-2.09877581e-02 9.99761991e-01 5.95603808e-03 -8.86261117e-01] [ 8.39419107e-02 -4.17420604e-03 9.96461907e-01 1.53662011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759072329 meters Centerline goodness [0,1] 0.9935317227757158 Centerline is valid? [True, True] Translation: X:-21.40, Y:-0.89, Z:15.37 [[ 9.96212115e-01 2.23632462e-02 -8.40315864e-02 -2.13969859e+01] [-2.17128098e-02 9.99726859e-01 8.64643583e-03 -8.88821206e-01] [ 8.42019964e-02 -6.78912228e-03 9.96425578e-01 1.53681851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.789072329 meters Centerline goodness [0,1] 0.9572838702679249 Centerline is valid? [True, True] Translation: X:-21.37, Y:-0.90, Z:15.37 [[ 9.96068783e-01 2.42461368e-02 -8.52003759e-02 -2.13683671e+01] [-2.35859648e-02 9.99683549e-01 8.74668478e-03 -8.97284468e-01] [ 8.53854875e-02 -6.70276659e-03 9.96325445e-01 1.53678929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819072329 meters Centerline goodness [0,1] 0.9773958649386676 Centerline is valid? [True, True] Translation: X:-21.34, Y:-0.90, Z:15.37 [[ 9.96024623e-01 2.51931167e-02 -8.54415401e-02 -2.13395633e+01] [-2.45329307e-02 9.99660570e-01 8.76812757e-03 -8.99033837e-01] [ 8.56334352e-02 -6.63713958e-03 9.96304604e-01 1.53695807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.849072329 meters Centerline goodness [0,1] 0.9933674354083579 Centerline is valid? [True, True] Translation: X:-21.31, Y:-0.90, Z:15.37 [[ 9.96006917e-01 2.74296477e-02 -8.49578421e-02 -2.13098798e+01] [-2.67854968e-02 9.99603233e-01 8.71284399e-03 -8.98799837e-01] [ 8.51631239e-02 -6.40241488e-03 9.96346451e-01 1.53728614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879072329 meters Centerline goodness [0,1] 0.9940995270944509 Centerline is valid? [True, True] Translation: X:-21.28, Y:-0.90, Z:15.38 [[ 9.96021116e-01 2.83483747e-02 -8.44884951e-02 -2.12810107e+01] [-2.77148949e-02 9.99578342e-01 8.66154440e-03 -9.01863278e-01] [ 8.46984105e-02 -6.28549135e-03 9.96386808e-01 1.53754365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.909072329 meters Centerline goodness [0,1] 0.996815424610052 Centerline is valid? [True, True] Translation: X:-21.25, Y:-0.90, Z:15.38 [[ 9.96038909e-01 2.92829530e-02 -8.39583223e-02 -2.12518767e+01] [-2.86612360e-02 9.99552177e-01 8.60109100e-03 -9.02883813e-01] [ 8.41725892e-02 -6.16067201e-03 9.96432146e-01 1.53788440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939072329 meters Centerline goodness [0,1] 0.9995015819355957 Centerline is valid? [True, True] Translation: X:-21.22, Y:-0.90, Z:15.38 [[ 9.95962615e-01 3.08229518e-02 -8.43114232e-02 -2.12223531e+01] [-3.02023592e-02 9.99506578e-01 8.62661785e-03 -9.00387420e-01] [ 8.45357199e-02 -6.04538498e-03 9.96402110e-01 1.53816199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.969072329 meters Centerline goodness [0,1] 0.9983512311530535 Centerline is valid? [True, True] Translation: X:-21.19, Y:-0.91, Z:15.38 [[ 9.95937225e-01 3.14952937e-02 -8.43628437e-02 -2.11949879e+01] [-3.08779563e-02 9.99486054e-01 8.61280526e-03 -9.06392811e-01] [ 8.45907486e-02 -5.97286117e-03 9.96397877e-01 1.53829364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999072329 meters Centerline goodness [0,1] 0.999328102648576 Centerline is valid? [True, True] Translation: X:-21.17, Y:-0.91, Z:15.38 [[ 9.95810687e-01 3.32077804e-02 -8.51957689e-02 -2.11662297e+01] [-3.25850201e-02 9.99431185e-01 8.69033851e-03 -9.08831956e-01] [ 8.54358952e-02 -5.87782612e-03 9.96326332e-01 1.53841120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.029072329 meters Centerline goodness [0,1] 0.9991110340192103 Centerline is valid? [True, True] Translation: X:-21.14, Y:-0.91, Z:15.39 [[ 9.95775283e-01 3.44584164e-02 -8.51128872e-02 -2.11388548e+01] [-3.38418101e-02 9.99389533e-01 8.67721353e-03 -9.12037220e-01] [ 8.53599316e-02 -5.76018059e-03 9.96333530e-01 1.53860289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059072329 meters Centerline goodness [0,1] 0.9999132377502549 Centerline is valid? [True, True] Translation: X:-21.11, Y:-0.91, Z:15.39 [[ 9.95775142e-01 3.53006622e-02 -8.47686794e-02 -2.11091495e+01] [-3.46926956e-02 9.99360723e-01 8.63492659e-03 -9.06124178e-01] [ 8.50193074e-02 -5.65759127e-03 9.96363242e-01 1.53893920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.089072329 meters Centerline goodness [0,1] 0.99956664933264 Centerline is valid? [True, True] Translation: X:-21.08, Y:-0.91, Z:15.39 [[ 9.95763047e-01 3.67852725e-02 -8.42780932e-02 -2.10814886e+01] [-3.61901496e-02 9.99308099e-01 8.57882543e-03 -9.14981986e-01] [ 8.45353556e-02 -5.49244055e-03 9.96405343e-01 1.53910471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119072329 meters Centerline goodness [0,1] 0.9998914482968237 Centerline is valid? [True, True] Translation: X:-21.05, Y:-0.91, Z:15.39 [[ 9.95706242e-01 3.87451316e-02 -8.40707723e-02 -2.10509791e+01] [-3.81603849e-02 9.99235033e-01 8.55183614e-03 -9.08529707e-01] [ 8.43378029e-02 -5.30694359e-03 9.96423089e-01 1.53941459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.149072329 meters Centerline goodness [0,1] 0.999848205573024 Centerline is valid? [True, True] Translation: X:-21.02, Y:-0.91, Z:15.40 [[ 9.95674844e-01 3.95865797e-02 -8.40506266e-02 -2.10235950e+01] [-3.90053791e-02 9.99202451e-01 8.54642909e-03 -9.13982188e-01] [ 8.43219160e-02 -5.23103789e-03 9.96424834e-01 1.53960579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179072329 meters Centerline goodness [0,1] 0.9999349494774274 Centerline is valid? [True, True] Translation: X:-20.99, Y:-0.91, Z:15.40 [[ 9.95596250e-01 4.08860210e-02 -8.43589937e-02 -2.09948233e+01] [-4.03058142e-02 9.99150635e-01 8.57023493e-03 -9.14669769e-01] [ 8.46377450e-02 -5.13233584e-03 9.96398570e-01 1.53979667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.209072329 meters Centerline goodness [0,1] 0.9999349494774274 Centerline is valid? [True, True] Translation: X:-20.97, Y:-0.92, Z:15.40 [[ 9.95600562e-01 4.07795978e-02 -8.43596227e-02 -2.09674625e+01] [-4.01995341e-02 9.99154970e-01 8.56403944e-03 -9.17300979e-01] [ 8.46375744e-02 -5.13514495e-03 9.96398570e-01 1.54001457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239072329 meters Centerline goodness [0,1] 0.9997832401265878 Centerline is valid? [True, True] Translation: X:-20.94, Y:-0.92, Z:15.40 [[ 9.95499312e-01 4.19712974e-02 -8.49678228e-02 -2.09399485e+01] [-4.13879314e-02 9.99105999e-01 8.61641290e-03 -9.22333527e-01] [ 8.52535034e-02 -5.06099069e-03 9.96346439e-01 1.54010277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.269072329 meters Centerline goodness [0,1] 0.999956619816068 Centerline is valid? [True, True] Translation: X:-20.91, Y:-0.92, Z:15.40 [[ 9.95448088e-01 4.29435896e-02 -8.50820337e-02 -2.09111266e+01] [-4.23631064e-02 9.99065119e-01 8.61720286e-03 -9.19716559e-01] [ 8.53725457e-02 -4.97363887e-03 9.96336686e-01 1.54038611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299072329 meters Centerline goodness [0,1] 0.9998065930287532 Centerline is valid? [True, True] Translation: X:-20.88, Y:-0.93, Z:15.41 [[ 9.95379497e-01 4.36684036e-02 -8.55144896e-02 -2.08842896e+01] [-4.30852177e-02 9.99033916e-01 8.65436917e-03 -9.28412586e-01] [ 8.58097980e-02 -4.92997123e-03 9.96299340e-01 1.54051045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.329072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.85, Y:-0.92, Z:15.41 [[ 9.95380145e-01 4.54863461e-02 -8.45538859e-02 -2.08545317e+01] [-4.49236659e-02 9.98953864e-01 8.54645734e-03 -9.19816464e-01] [ 8.48541782e-02 -4.70850343e-03 9.96382255e-01 1.54091685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.83, Y:-0.93, Z:15.41 [[ 9.95374313e-01 4.65539718e-02 -8.40399053e-02 -2.08270637e+01] [-4.60024520e-02 9.98905263e-01 8.48821074e-03 -9.25437877e-01] [ 8.43430636e-02 -4.58290522e-03 9.96426236e-01 1.54112575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38907232900002 meters Centerline goodness [0,1] 0.9999783371604349 Centerline is valid? [True, True] Translation: X:-20.80, Y:-0.93, Z:15.41 [[ 9.95336804e-01 4.74266136e-02 -8.39962130e-02 -2.07988896e+01] [-4.68794053e-02 9.98864593e-01 8.47618681e-03 -9.28061321e-01] [ 8.43028399e-02 -4.49896817e-03 9.96430023e-01 1.54132928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.77, Y:-0.93, Z:15.41 [[ 9.95174225e-01 4.90117680e-02 -8.50065149e-02 -2.07695747e+01] [-4.84575550e-02 9.98788459e-01 8.57203058e-03 -9.27847822e-01] [ 8.53236564e-02 -4.41145602e-03 9.96343521e-01 1.54144654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.74, Y:-0.93, Z:15.42 [[ 9.95049433e-01 5.01085629e-02 -8.58239950e-02 -2.07402728e+01] [-4.95481927e-02 9.98734290e-01 8.64838502e-03 -9.28172655e-01] [ 8.61487248e-02 -4.35314677e-03 9.96272778e-01 1.54162107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.71, Y:-0.93, Z:15.42 [[ 9.95035458e-01 5.09699827e-02 -8.54780516e-02 -2.07121857e+01] [-5.04177132e-02 9.98691115e-01 8.60871918e-03 -9.30861447e-01] [ 8.58049570e-02 -4.25637295e-03 9.96302862e-01 1.54178523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.509072329 meters Centerline goodness [0,1] 0.9999782957850415 Centerline is valid? [True, True] Translation: X:-20.68, Y:-0.93, Z:15.42 [[ 9.94972047e-01 5.28970868e-02 -8.50442430e-02 -2.06843175e+01] [-5.23579630e-02 9.98591703e-01 8.55886588e-03 -9.34812475e-01] [ 8.53772145e-02 -4.06308897e-03 9.96340415e-01 1.54199641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.66, Y:-0.93, Z:15.42 [[ 9.94960678e-01 5.38372436e-02 -8.45860513e-02 -2.06551217e+01] [-5.33078302e-02 9.98541893e-01 8.50670131e-03 -9.30697708e-01] [ 8.49206931e-02 -3.95473444e-03 9.96379865e-01 1.54239280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.569072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.63, Y:-0.94, Z:15.43 [[ 9.94938659e-01 5.47211705e-02 -8.42772681e-02 -2.06283118e+01] [-5.41993374e-02 9.98494219e-01 8.46914449e-03 -9.39187625e-01] [ 8.46138065e-02 -3.85850718e-03 9.96406351e-01 1.54259098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.60, Y:-0.94, Z:15.43 [[ 9.94842903e-01 5.68601848e-02 -8.39911764e-02 -2.05988940e+01] [-5.63503584e-02 9.98375465e-01 8.43016326e-03 -9.35513565e-01] [ 8.43340704e-02 -3.65375521e-03 9.96430838e-01 1.54291931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.629072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.57, Y:-0.94, Z:15.43 [[ 9.94796287e-01 5.76951828e-02 -8.39738789e-02 -2.05713229e+01] [-5.71890632e-02 9.98327841e-01 8.42213744e-03 -9.38721324e-01] [ 8.43193780e-02 -3.57592359e-03 9.96432364e-01 1.54301949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.54, Y:-0.94, Z:15.43 [[ 9.94728632e-01 5.86046609e-02 -8.41453589e-02 -2.05428426e+01] [-5.81005510e-02 9.98275148e-01 8.42940062e-03 -9.39375612e-01] [ 8.44942227e-02 -3.49607444e-03 9.96417836e-01 1.54324402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.689072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.51, Y:-0.94, Z:15.43 [[ 9.94616450e-01 5.95571079e-02 -8.48001643e-02 -2.05149475e+01] [-5.90490673e-02 9.98218987e-01 8.48892431e-03 -9.44831577e-01] [ 8.51547099e-02 -3.43585315e-03 9.96361817e-01 1.54331848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.49, Y:-0.94, Z:15.44 [[ 9.94496961e-01 6.16823271e-02 -8.46822540e-02 -2.04851086e+01] [-6.11838818e-02 9.98090562e-01 8.47124423e-03 -9.38696963e-01] [ 8.50430845e-02 -3.24343763e-03 9.96371996e-01 1.54359522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.749072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.46, Y:-0.94, Z:15.44 [[ 9.94498846e-01 6.18870418e-02 -8.45105819e-02 -2.04578237e+01] [-6.13917679e-02 9.98077983e-01 8.44925532e-03 -9.42267384e-01] [ 8.48710506e-02 -3.21452063e-03 9.96386758e-01 1.54379549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.43, Y:-0.94, Z:15.44 [[ 9.94386217e-01 6.31158744e-02 -8.49260720e-02 -2.04305097e+01] [-6.26208315e-02 9.98001337e-01 8.48308742e-03 -9.44026175e-01] [ 8.52917509e-02 -3.11732396e-03 9.96351143e-01 1.54402539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.809072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.40, Y:-0.94, Z:15.44 [[ 9.94324369e-01 6.45447178e-02 -8.45755841e-02 -2.04014494e+01] [-6.40595396e-02 9.97910381e-01 8.44076636e-03 -9.44656515e-01] [ 8.49436602e-02 -2.97498670e-03 9.96381315e-01 1.54430012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.37, Y:-0.94, Z:15.45 [[ 9.94379937e-01 6.51927340e-02 -8.34173155e-02 -2.03726822e+01] [-6.47235523e-02 9.97868554e-01 8.31934449e-03 -9.42231849e-01] [ 8.37818768e-02 -2.87352427e-03 9.96479975e-01 1.54462931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.869072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.34, Y:-0.95, Z:15.45 [[ 9.94240444e-01 6.72513254e-02 -8.34457881e-02 -2.03448574e+01] [-6.67895869e-02 9.97732428e-01 8.31581346e-03 -9.46307165e-01] [ 8.38158182e-02 -2.69460834e-03 9.96477620e-01 1.54480375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.32, Y:-0.94, Z:15.45 [[ 9.94217721e-01 6.79123762e-02 -8.31807252e-02 -2.03157793e+01] [-6.74565229e-02 9.97687842e-01 8.28174607e-03 -9.44081233e-01] [ 8.35508312e-02 -2.62277621e-03 9.96500065e-01 1.54506478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.929072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.29, Y:-0.95, Z:15.45 [[ 9.94170840e-01 6.88675487e-02 -8.29554141e-02 -2.02877105e+01] [-6.84180120e-02 9.97622606e-01 8.25299869e-03 -9.46241914e-01] [ 8.33265601e-02 -2.52924613e-03 9.96519085e-01 1.54522820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.26, Y:-0.95, Z:15.45 [[ 9.94113021e-01 6.97791840e-02 -8.28864692e-02 -2.02584660e+01] [-6.93341945e-02 9.97559470e-01 8.23850085e-03 -9.46584985e-01] [ 8.32590581e-02 -2.44313439e-03 9.96524942e-01 1.54549208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.989072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.23, Y:-0.95, Z:15.46 [[ 9.93972912e-01 7.17072129e-02 -8.29212012e-02 -2.02305126e+01] [-7.12690661e-02 9.97423127e-01 8.23566578e-03 -9.47958270e-01] [ 8.32980804e-02 -2.27631213e-03 9.96522076e-01 1.54575079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.20, Y:-0.95, Z:15.46 [[ 9.93882041e-01 7.24308552e-02 -8.33802138e-02 -2.02027585e+01] [-7.19910260e-02 9.97370965e-01 8.27347459e-03 -9.51662173e-01] [ 8.37602592e-02 -2.22023067e-03 9.96483462e-01 1.54594758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.049072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.17, Y:-0.95, Z:15.46 [[ 9.93883903e-01 7.29395896e-02 -8.29132341e-02 -2.01743731e+01] [-7.25070801e-02 9.97334027e-01 8.21961551e-03 -9.53361050e-01] [ 8.32917250e-02 -2.15754704e-03 9.96522872e-01 1.54612337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.15, Y:-0.95, Z:15.46 [[ 9.93715899e-01 7.46369341e-02 -8.34148658e-02 -2.01457032e+01] [-7.42056307e-02 9.97208725e-01 8.26335684e-03 -9.53219245e-01] [ 8.37987836e-02 -2.02157634e-03 9.96480646e-01 1.54628066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.109072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.12, Y:-0.95, Z:15.46 [[ 9.93626696e-01 7.54318758e-02 -8.37616939e-02 -2.01169615e+01] [-7.50002984e-02 9.97149038e-01 8.29166240e-03 -9.54254024e-01] [ 8.41483482e-02 -1.95666507e-03 9.96451317e-01 1.54643680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.09, Y:-0.96, Z:15.47 [[ 9.93636606e-01 7.58879450e-02 -8.32304913e-02 -2.00892307e+01] [-7.54639463e-02 9.97114543e-01 8.23296993e-03 -9.56514351e-01] [ 8.36151164e-02 -1.89967897e-03 9.96496314e-01 1.54669353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.06, Y:-0.96, Z:15.47 [[ 9.93589211e-01 7.74855700e-02 -8.23192958e-02 -2.00618925e+01] [-7.70769061e-02 9.96991958e-01 8.13549014e-03 -9.57275921e-01] [ 8.27020590e-02 -1.73841859e-03 9.96572801e-01 1.54703835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.03, Y:-0.96, Z:15.47 [[ 9.93604191e-01 7.78168774e-02 -8.18244743e-02 -2.00330694e+01] [-7.74148281e-02 9.96966231e-01 8.07950584e-03 -9.57219623e-01] [ 8.22049596e-02 -1.69340326e-03 9.96614006e-01 1.54734960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-20.01, Y:-0.96, Z:15.48 [[ 9.93561654e-01 7.83480893e-02 -8.18340753e-02 -2.00055332e+01] [-7.79482422e-02 9.96924709e-01 8.07440761e-03 -9.60203257e-01] [ 8.22150261e-02 -1.64359946e-03 9.96613259e-01 1.54759263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.98, Y:-0.96, Z:15.48 [[ 9.93521793e-01 7.87736610e-02 -8.19094416e-02 -1.99769955e+01] [-7.83751281e-02 9.96891239e-01 8.07446224e-03 -9.60476237e-01] [ 8.22908597e-02 -1.60249123e-03 9.96607067e-01 1.54777801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.289072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.95, Y:-0.96, Z:15.48 [[ 9.93328083e-01 7.98631051e-02 -8.31937718e-02 -1.99491302e+01] [-7.94562855e-02 9.96804667e-01 8.19479749e-03 -9.61482542e-01] [ 8.35824020e-02 -1.52985440e-03 9.96499695e-01 1.54785346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.92, Y:-0.96, Z:15.48 [[ 9.93279207e-01 7.99013829e-02 -8.37387984e-02 -1.99226118e+01] [-7.94900119e-02 9.96801601e-01 8.24051041e-03 -9.63634842e-01] [ 8.41293965e-02 -1.52872956e-03 9.96453666e-01 1.54796444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.349072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.89, Y:-0.96, Z:15.48 [[ 9.93272034e-01 8.05041530e-02 -8.32451104e-02 -1.98941970e+01] [-8.01007569e-02 9.96753209e-01 8.17983380e-03 -9.64269962e-01] [ 8.36333415e-02 -1.45680380e-03 9.96495530e-01 1.54824307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.87, Y:-0.97, Z:15.49 [[ 9.93287644e-01 8.12160952e-02 -8.23626315e-02 -1.98665266e+01] [-8.08241633e-02 9.96695567e-01 8.08715451e-03 -9.66932854e-01] [ 8.27472768e-02 -1.37597987e-03 9.96569614e-01 1.54853128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.409072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.84, Y:-0.97, Z:15.49 [[ 9.93262250e-01 8.15851751e-02 -8.23040825e-02 -1.98377699e+01] [-8.11955601e-02 9.96665475e-01 8.07544968e-03 -9.69187730e-01] [ 8.26884745e-02 -1.33831323e-03 9.96574546e-01 1.54883280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.81, Y:-0.97, Z:15.49 [[ 9.93289537e-01 8.18047885e-02 -8.17549470e-02 -1.98088059e+01] [-8.14215809e-02 9.96647517e-01 8.01584339e-03 -9.70821828e-01] [ 8.21365992e-02 -1.30543634e-03 9.96620226e-01 1.54910723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.469072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.78, Y:-0.97, Z:15.49 [[ 9.93185522e-01 8.24710951e-02 -8.23470521e-02 -1.97799738e+01] [-8.20850802e-02 9.96592669e-01 8.06799417e-03 -9.72445820e-01] [ 8.27318447e-02 -1.25355062e-03 9.96571056e-01 1.54933869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.75, Y:-0.97, Z:15.50 [[ 9.93208455e-01 8.24551960e-02 -8.20859611e-02 -1.97522370e+01] [-8.20720689e-02 9.96593995e-01 8.03645758e-03 -9.73850603e-01] [ 8.24690236e-02 -1.24491295e-03 9.96592851e-01 1.54958524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.529072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.72, Y:-0.98, Z:15.50 [[ 9.93136445e-01 8.29235718e-02 -8.24844383e-02 -1.97240209e+01] [-8.25390731e-02 9.96555184e-01 8.06641381e-03 -9.76080697e-01] [ 8.28691904e-02 -1.20286046e-03 9.96559707e-01 1.54970383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.70, Y:-0.98, Z:15.50 [[ 9.93112747e-01 8.30015885e-02 -8.26910428e-02 -1.96967554e+01] [-8.26160739e-02 9.96548702e-01 8.07885887e-03 -9.78873792e-01] [ 8.30762095e-02 -1.19160843e-03 9.96542485e-01 1.54986208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.589072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.67, Y:-0.98, Z:15.50 [[ 9.93069983e-01 8.29544179e-02 -8.32500691e-02 -1.96690031e+01] [-8.25644997e-02 9.96552630e-01 8.12151936e-03 -9.79709537e-01] [ 8.36367912e-02 -1.19173679e-03 9.96495593e-01 1.55013259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.64, Y:-0.98, Z:15.50 [[ 9.93138391e-01 8.28252445e-02 -8.25597620e-02 -1.96420622e+01] [-8.24420758e-02 9.96563384e-01 8.04526752e-03 -9.82149514e-01] [ 8.29423870e-02 -1.18366588e-03 9.96553641e-01 1.55037364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.649072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.62, Y:-0.98, Z:15.51 [[ 9.93171175e-01 8.28783124e-02 -8.21109179e-02 -1.96157212e+01] [-8.25003347e-02 9.96558997e-01 7.99130708e-03 -9.84542799e-01] [ 8.24906800e-02 -1.16255763e-03 9.96591158e-01 1.55063262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.59, Y:-0.99, Z:15.51 [[ 9.93225911e-01 8.23458156e-02 -8.19844848e-02 -1.95868359e+01] [-8.19680147e-02 9.96603100e-01 7.96905713e-03 -9.86926266e-01] [ 8.23622102e-02 -1.19496858e-03 9.96601745e-01 1.55090001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.709072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.56, Y:-0.99, Z:15.51 [[ 9.93292850e-01 8.21337804e-02 -8.13840053e-02 -1.95600514e+01] [-8.17612757e-02 9.96620594e-01 7.90482693e-03 -9.90057102e-01] [ 8.17582290e-02 -1.19774798e-03 9.96651472e-01 1.55115563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.53, Y:-0.99, Z:15.51 [[ 9.93288258e-01 8.16977663e-02 -8.18774118e-02 -1.95324218e+01] [-8.13200718e-02 9.96656390e-01 7.94270702e-03 -9.92881082e-01] [ 8.22525471e-02 -1.23112062e-03 9.96610758e-01 1.55137766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.769072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.50, Y:-1.00, Z:15.52 [[ 9.93308348e-01 8.12574601e-02 -8.20716170e-02 -1.95042137e+01] [-8.08770528e-02 9.96692344e-01 7.95447484e-03 -9.95473807e-01] [ 8.24465127e-02 -1.26353576e-03 9.96594690e-01 1.55153141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.48, Y:-1.00, Z:15.52 [[ 9.93359586e-01 8.07760213e-02 -8.19266015e-02 -1.94754364e+01] [-8.03957920e-02 9.96731436e-01 7.93477436e-03 -9.96870698e-01] [ 8.22997586e-02 -1.29553016e-03 9.96606779e-01 1.55164534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.829072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.45, Y:-1.00, Z:15.52 [[ 9.93382327e-01 8.01690882e-02 -8.22463951e-02 -1.94480364e+01] [-7.97843006e-02 9.96780371e-01 7.95973225e-03 -1.00044710e+00] [ 8.26197167e-02 -1.34508624e-03 9.96580239e-01 1.55184271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.42, Y:-1.00, Z:15.52 [[ 9.93466760e-01 7.96584563e-02 -8.17210336e-02 -1.94191166e+01] [-7.92774502e-02 9.96821273e-01 7.90166465e-03 -1.00247687e+00] [ 8.20906991e-02 -1.37140601e-03 9.96623919e-01 1.55214062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.39, Y:-1.01, Z:15.52 [[ 9.93488341e-01 7.94210695e-02 -8.16897221e-02 -1.93921905e+01] [-7.90400686e-02 9.96840197e-01 7.89239946e-03 -1.00733555e+00] [ 8.20584214e-02 -1.38424561e-03 9.96626560e-01 1.55234519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.36, Y:-1.01, Z:15.53 [[ 9.93610138e-01 7.81330470e-02 -8.14501073e-02 -1.93640956e+01] [-7.77509767e-02 9.96941851e-01 7.85690563e-03 -1.01042909e+00] [ 8.18149048e-02 -1.47387569e-03 9.96646451e-01 1.55262660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.34, Y:-1.01, Z:15.53 [[ 9.93629582e-01 7.77783489e-02 -8.15523263e-02 -1.93359213e+01] [-7.73945945e-02 9.96969549e-01 7.86104778e-03 -1.01264281e+00] [ 8.19166053e-02 -1.49926040e-03 9.96638060e-01 1.55286797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.31, Y:-1.02, Z:15.53 [[ 9.93649116e-01 7.71539942e-02 -8.19066265e-02 -1.93087432e+01] [-7.67652682e-02 9.97017981e-01 7.88921005e-03 -1.01665653e+00] [ 8.22710635e-02 -1.55152243e-03 9.96608782e-01 1.55302502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.009072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.28, Y:-1.02, Z:15.53 [[ 9.93752190e-01 7.58156466e-02 -8.19058764e-02 -1.92805719e+01] [-7.54229918e-02 9.97120478e-01 7.88185854e-03 -1.02089602e+00] [ 8.22675949e-02 -1.65502794e-03 9.96608902e-01 1.55321112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039072329 meters Centerline goodness [0,1] 0.9999783465419427 Centerline is valid? [True, True] Translation: X:-19.25, Y:-1.02, Z:15.53 [[ 9.93768140e-01 7.52092159e-02 -8.22706373e-02 -1.92515666e+01] [-7.48114521e-02 9.97166315e-01 7.91119505e-03 -1.02346630e+00] [ 8.26325030e-02 -1.70710775e-03 9.96578625e-01 1.55349482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.069072329 meters Centerline goodness [0,1] 0.9999783465419427 Centerline is valid? [True, True] Translation: X:-19.22, Y:-1.03, Z:15.54 [[ 9.93776069e-01 7.51037524e-02 -8.22712076e-02 -1.92242431e+01] [-7.47061192e-02 9.97174259e-01 7.90525961e-03 -1.02594431e+00] [ 8.26324451e-02 -1.70989518e-03 9.96578625e-01 1.55371234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.20, Y:-1.03, Z:15.54 [[ 9.93878005e-01 7.43397499e-02 -8.17319578e-02 -1.91953412e+01] [-7.39454530e-02 9.97231432e-01 7.84486203e-03 -1.02898663e+00] [ 8.20888624e-02 -1.75312917e-03 9.96623472e-01 1.55396893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.129072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.17, Y:-1.03, Z:15.54 [[ 9.93997790e-01 7.29538611e-02 -8.15237814e-02 -1.91673951e+01] [-7.25574101e-02 9.97333588e-01 7.81895463e-03 -1.03316232e+00] [ 8.18768284e-02 -1.85686919e-03 9.96640726e-01 1.55430688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.14, Y:-1.04, Z:15.55 [[ 9.94045461e-01 7.20081346e-02 -8.17829395e-02 -1.91395353e+01] [-7.16065708e-02 9.97402171e-01 7.83639010e-03 -1.03770147e+00] [ 8.21347652e-02 -1.93353217e-03 9.96619357e-01 1.55453169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.189072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.11, Y:-1.04, Z:15.55 [[ 9.94060659e-01 7.07370908e-02 -8.27022963e-02 -1.91110649e+01] [-7.03228198e-02 9.97492883e-01 7.91508875e-03 -1.04147311e+00] [ 8.30548424e-02 -2.05221965e-03 9.96542865e-01 1.55465568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.08, Y:-1.04, Z:15.55 [[ 9.94132838e-01 6.97718900e-02 -8.26546093e-02 -1.90827824e+01] [-6.93552529e-02 9.97560707e-01 7.90472058e-03 -1.04326924e+00] [ 8.30045177e-02 -2.12581098e-03 9.96546904e-01 1.55487087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.249072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.06, Y:-1.05, Z:15.55 [[ 9.94186589e-01 6.90023220e-02 -8.26541377e-02 -1.90558658e+01] [-6.85835430e-02 9.97614109e-01 7.89859237e-03 -1.04828027e+00] [ 8.30019551e-02 -2.18396100e-03 9.96546991e-01 1.55504688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.03, Y:-1.05, Z:15.55 [[ 9.94366841e-01 6.73358265e-02 -8.18564079e-02 -1.90274797e+01] [-6.69201366e-02 9.97727734e-01 7.81437582e-03 -1.05218714e+00] [ 8.21965958e-02 -2.29251421e-03 9.96613498e-01 1.55532030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.309072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-19.00, Y:-1.06, Z:15.56 [[ 9.94466096e-01 6.62135034e-02 -8.15656499e-02 -1.89990716e+01] [-6.57974784e-02 9.97802661e-01 7.78082937e-03 -1.05595234e+00] [ 8.19016185e-02 -2.37095692e-03 9.96637599e-01 1.55558533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.97, Y:-1.06, Z:15.56 [[ 9.94537792e-01 6.53502465e-02 -8.13875019e-02 -1.89706724e+01] [-6.49336309e-02 9.97859427e-01 7.75806664e-03 -1.06027193e+00] [ 8.17202776e-02 -2.43090447e-03 9.96652340e-01 1.55582678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.369072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.94, Y:-1.07, Z:15.56 [[ 9.94670429e-01 6.33573865e-02 -8.13423576e-02 -1.89433498e+01] [-6.29350618e-02 9.97987549e-01 7.74796768e-03 -1.06604396e+00] [ 8.16695510e-02 -2.58738804e-03 9.96656104e-01 1.55610328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.91, Y:-1.07, Z:15.56 [[ 9.94690034e-01 6.23594586e-02 -8.18720619e-02 -1.89147008e+01] [-6.19288210e-02 9.98050158e-01 7.79125897e-03 -1.06995444e+00] [ 8.21982830e-02 -2.67964738e-03 9.96612393e-01 1.55631227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.429072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.89, Y:-1.07, Z:15.57 [[ 9.94763428e-01 6.13153313e-02 -8.17688971e-02 -1.88862301e+01] [-6.08827367e-02 9.98114638e-01 7.77569318e-03 -1.07106747e+00] [ 8.20915023e-02 -2.75666097e-03 9.96620984e-01 1.55656438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.86, Y:-1.07, Z:15.57 [[ 9.94832033e-01 6.00174931e-02 -8.18970550e-02 -1.88573140e+01] [-5.95796482e-02 9.98193222e-01 7.78187014e-03 -1.07380845e+00] [ 8.22161336e-02 -2.86225595e-03 9.96610413e-01 1.55682152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.489072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.83, Y:-1.08, Z:15.57 [[ 9.94956742e-01 5.80700726e-02 -8.17859925e-02 -1.88307270e+01] [-5.76273714e-02 9.98307963e-01 7.76507334e-03 -1.08358780e+00] [ 8.20985260e-02 -3.01280030e-03 9.96619664e-01 1.55695027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.80, Y:-1.08, Z:15.57 [[ 9.95001179e-01 5.72575964e-02 -8.18182275e-02 -1.88014685e+01] [-5.68126346e-02 9.98354715e-01 7.75808761e-03 -1.08354897e+00] [ 8.21278226e-02 -3.07099726e-03 9.96617073e-01 1.55719614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.549072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.77, Y:-1.09, Z:15.57 [[ 9.95024684e-01 5.63867693e-02 -8.21365318e-02 -1.87741669e+01] [-5.59358733e-02 9.98404034e-01 7.78220431e-03 -1.09228620e+00] [ 8.24442581e-02 -3.14910675e-03 9.96590702e-01 1.55737814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.75, Y:-1.09, Z:15.58 [[ 9.95191107e-01 5.47729833e-02 -8.12070296e-02 -1.87452685e+01] [-5.43274950e-02 9.98493583e-01 7.68692640e-03 -1.09117127e+00] [ 8.15057339e-02 -3.23818630e-03 9.96667612e-01 1.55762114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.609072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.72, Y:-1.10, Z:15.58 [[ 9.95274595e-01 5.34643129e-02 -8.10558305e-02 -1.87178076e+01] [-5.30166583e-02 9.98564198e-01 7.66651321e-03 -1.09821934e+00] [ 8.13493353e-02 -3.33297656e-03 9.96680078e-01 1.55788219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.69, Y:-1.10, Z:15.58 [[ 9.95342865e-01 5.27299150e-02 -8.06978132e-02 -1.86888019e+01] [-5.22846481e-02 9.98603132e-01 7.62234865e-03 -1.10087452e+00] [ 8.09870148e-02 -3.36759358e-03 9.96709468e-01 1.55815485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.66, Y:-1.10, Z:15.58 [[ 9.95419122e-01 5.05547175e-02 -8.11479693e-02 -1.86598632e+01] [-5.00977263e-02 9.98714953e-01 7.65906603e-03 -1.10342943e+00] [ 8.14308923e-02 -3.55865203e-03 9.96672637e-01 1.55833378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.63, Y:-1.11, Z:15.58 [[ 9.95432962e-01 4.95638790e-02 -8.15882289e-02 -1.86328871e+01] [-4.90989710e-02 9.98764268e-01 7.69592866e-03 -1.10819358e+00] [ 8.18688478e-02 -3.65488298e-03 9.96636410e-01 1.55846187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.61, Y:-1.11, Z:15.59 [[ 9.95417243e-01 4.84146000e-02 -8.24653795e-02 -1.86055658e+01] [-4.79364332e-02 9.98820169e-01 7.76964621e-03 -1.11409929e+00] [ 8.27442487e-02 -3.78094365e-03 9.96563643e-01 1.55859179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.58, Y:-1.12, Z:15.59 [[ 9.95473778e-01 4.60082958e-02 -8.31576497e-02 -1.85769110e+01] [-4.55142999e-02 9.98933020e-01 7.82746820e-03 -1.11941300e+00] [ 8.34290506e-02 -4.00717713e-03 9.96505663e-01 1.55873611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.789072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.55, Y:-1.12, Z:15.59 [[ 9.95548464e-01 4.49622876e-02 -8.28350731e-02 -1.85484201e+01] [-4.44688930e-02 9.98980376e-01 7.79265176e-03 -1.12205317e+00] [ 8.31009879e-02 -4.07437849e-03 9.96532802e-01 1.55901696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819072329 meters Centerline goodness [0,1] 0.9999783273010988 Centerline is valid? [True, True] Translation: X:-18.52, Y:-1.13, Z:15.59 [[ 9.95642040e-01 4.36739697e-02 -8.23985041e-02 -1.85218127e+01] [-4.31818760e-02 9.99037202e-01 7.74564216e-03 -1.13234527e+00] [ 8.26574539e-02 -4.15376497e-03 9.96569361e-01 1.55926812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.849072329 meters Centerline goodness [0,1] 0.9999783338749865 Centerline is valid? [True, True] Translation: X:-18.49, Y:-1.13, Z:15.60 [[ 9.95813965e-01 4.18684587e-02 -8.12501026e-02 -1.84929993e+01] [-4.13846146e-02 9.99114151e-01 7.63066668e-03 -1.13415495e+00] [ 8.14976116e-02 -4.23622026e-03 9.96664534e-01 1.55969124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879072329 meters Centerline goodness [0,1] 0.9999350255566144 Centerline is valid? [True, True] Translation: X:-18.47, Y:-1.14, Z:15.60 [[ 9.95892971e-01 4.06444344e-02 -8.09025381e-02 -1.84657855e+01] [-4.01610599e-02 9.99164363e-01 7.59374482e-03 -1.13927122e+00] [ 8.11435764e-02 -4.31342542e-03 9.96693089e-01 1.55994147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.909072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-18.44, Y:-1.14, Z:15.60 [[ 9.95910811e-01 3.98412410e-02 -8.10822558e-02 -1.84372072e+01] [-3.93536277e-02 9.99196415e-01 7.60366031e-03 -1.13869394e+00] [ 8.13200386e-02 -4.38168660e-03 9.96678410e-01 1.56014137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939072329 meters Centerline goodness [0,1] 0.9999783193131558 Centerline is valid? [True, True] Translation: X:-18.41, Y:-1.15, Z:15.60 [[ 9.95974841e-01 3.86991680e-02 -8.08485648e-02 -1.84105951e+01] [-3.82111039e-02 9.99240971e-01 7.57584365e-03 -1.14795994e+00] [ 8.10803773e-02 -4.45603677e-03 9.96697605e-01 1.56031110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969072329 meters Centerline goodness [0,1] 0.9999350494706531 Centerline is valid? [True, True] Translation: X:-18.38, Y:-1.15, Z:15.60 [[ 9.95952544e-01 3.66182970e-02 -8.20830660e-02 -1.83808746e+01] [-3.61088584e-02 9.99318330e-01 7.68277756e-03 -1.15134443e+00] [ 8.23084427e-02 -4.68775605e-03 9.96595879e-01 1.56049661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999072329 meters Centerline goodness [0,1] 0.9999783343443973 Centerline is valid? [True, True] Translation: X:-18.35, Y:-1.15, Z:15.61 [[ 9.95985914e-01 3.61404827e-02 -8.18897073e-02 -1.83517308e+01] [-3.56320858e-02 9.99335606e-01 7.66171431e-03 -1.15007562e+00] [ 8.21121983e-02 -4.71305845e-03 9.96611948e-01 1.56074493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.029072329 meters Centerline goodness [0,1] 0.9999350607182285 Centerline is valid? [True, True] Translation: X:-18.32, Y:-1.16, Z:15.61 [[ 9.95985957e-01 3.51053467e-02 -8.23382580e-02 -1.83249503e+01] [-3.45883320e-02 9.99372000e-01 7.69760806e-03 -1.15942488e+00] [ 8.25567768e-02 -4.81876653e-03 9.96574713e-01 1.56092845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059072329 meters Centerline goodness [0,1] 0.9994580768230296 Centerline is valid? [True, True] Translation: X:-18.30, Y:-1.17, Z:15.61 [[ 9.96078310e-01 3.34182838e-02 -8.19220292e-02 -1.82966910e+01] [-3.29014150e-02 9.99429313e-01 7.65150201e-03 -1.16608203e+00] [ 8.21309774e-02 -4.92614452e-03 9.96609370e-01 1.56121518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.089072329 meters Centerline goodness [0,1] 0.99906880048509 Centerline is valid? [True, True] Translation: X:-18.27, Y:-1.17, Z:15.61 [[ 9.96111207e-01 3.28404319e-02 -8.17555452e-02 -1.82682826e+01] [-3.23240820e-02 9.99448303e-01 7.63169687e-03 -1.17013594e+00] [ 8.19610692e-02 -4.95934583e-03 9.96623193e-01 1.56149705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119072329 meters Centerline goodness [0,1] 0.999869969442819 Centerline is valid? [True, True] Translation: X:-18.24, Y:-1.17, Z:15.62 [[ 9.96166647e-01 3.11807122e-02 -8.17298903e-02 -1.82383534e+01] [-3.06595788e-02 9.99500809e-01 7.62386064e-03 -1.16853927e+00] [ 8.19268089e-02 -5.08883168e-03 9.96625357e-01 1.56176997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.149072329 meters Centerline goodness [0,1] 0.999761935679349 Centerline is valid? [True, True] Translation: X:-18.21, Y:-1.17, Z:15.62 [[ 9.96178931e-01 3.06161519e-02 -8.17935694e-02 -1.82110455e+01] [-3.00925657e-02 9.99518019e-01 7.62670642e-03 -1.17283964e+00] [ 8.19876469e-02 -5.13618589e-03 9.96620111e-01 1.56199679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179072329 meters Centerline goodness [0,1] 0.9991762232001561 Centerline is valid? [True, True] Translation: X:-18.18, Y:-1.18, Z:15.62 [[ 9.96226763e-01 2.98270133e-02 -8.15020554e-02 -1.81838881e+01] [-2.93051285e-02 9.99541678e-01 7.59231843e-03 -1.17854865e+00] [ 8.16911574e-02 -5.17524260e-03 9.96644255e-01 1.56219895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.209072329 meters Centerline goodness [0,1] 0.996835511628411 Centerline is valid? [True, True] Translation: X:-18.16, Y:-1.18, Z:15.62 [[ 9.96306302e-01 2.84915636e-02 -8.10060701e-02 -1.81562470e+01] [-2.79722149e-02 9.99580271e-01 7.53907465e-03 -1.18451446e+00] [ 8.11868695e-02 -5.24530838e-03 9.96685095e-01 1.56247359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239072329 meters Centerline goodness [0,1] 0.9985692297686921 Centerline is valid? [True, True] Translation: X:-18.13, Y:-1.19, Z:15.63 [[ 9.96323214e-01 2.74652739e-02 -8.11523990e-02 -1.81272697e+01] [-2.69412231e-02 9.99608539e-01 7.54575851e-03 -1.18570420e+00] [ 8.13278774e-02 -5.33166949e-03 9.96673141e-01 1.56271805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.269072329 meters Centerline goodness [0,1] 0.9980701678303482 Centerline is valid? [True, True] Translation: X:-18.10, Y:-1.19, Z:15.63 [[ 9.96362368e-01 2.67552753e-02 -8.09085077e-02 -1.80987998e+01] [-2.62325144e-02 9.99627603e-01 7.51739836e-03 -1.18881643e+00] [ 8.10795077e-02 -5.36761924e-03 9.96693184e-01 1.56298919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299072329 meters Centerline goodness [0,1] 0.9940213153106316 Centerline is valid? [True, True] Translation: X:-18.07, Y:-1.19, Z:15.63 [[ 9.96356636e-01 2.52183323e-02 -8.14707868e-02 -1.80705624e+01] [-2.46836206e-02 9.99666698e-01 7.56391115e-03 -1.19484896e+00] [ 8.16343816e-02 -5.52535908e-03 9.96647028e-01 1.56324626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.329072329 meters Centerline goodness [0,1] 0.9922995162794733 Centerline is valid? [True, True] Translation: X:-18.04, Y:-1.20, Z:15.64 [[ 9.96361812e-01 2.48009388e-02 -8.15355933e-02 -1.80435075e+01] [-2.42643420e-02 9.99676950e-01 7.56556762e-03 -1.20030927e+00] [ 8.16968864e-02 -5.55963515e-03 9.96641716e-01 1.56350635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359072329 meters Centerline goodness [0,1] 0.9977873226604191 Centerline is valid? [True, True] Translation: X:-18.01, Y:-1.20, Z:15.64 [[ 9.96369363e-01 2.42923249e-02 -8.15964148e-02 -1.80149444e+01] [-2.37538048e-02 9.99689221e-01 7.56420518e-03 -1.19950905e+00] [ 8.17548086e-02 -5.59851699e-03 9.96636748e-01 1.56379186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38907232900002 meters Centerline goodness [0,1] 0.9974620390455532 Centerline is valid? [True, True] Translation: X:-17.99, Y:-1.20, Z:15.64 [[ 9.96351007e-01 2.38256597e-02 -8.19573560e-02 -1.79866090e+01] [-2.32812637e-02 9.99700129e-01 7.59180794e-03 -1.20269162e+00] [ 8.21136591e-02 -5.65603467e-03 9.96606922e-01 1.56402707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41907232900002 meters Centerline goodness [0,1] 0.996839416374421 Centerline is valid? [True, True] Translation: X:-17.96, Y:-1.21, Z:15.64 [[ 9.96348847e-01 2.36286126e-02 -8.20406201e-02 -1.79583314e+01] [-2.30829253e-02 9.99704714e-01 7.59366989e-03 -1.20511620e+00] [ 8.21958225e-02 -5.67220673e-03 9.96600057e-01 1.56426431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44907232900002 meters Centerline goodness [0,1] 0.9980130877049004 Centerline is valid? [True, True] Translation: X:-17.93, Y:-1.21, Z:15.64 [[ 9.96332734e-01 2.34118679e-02 -8.22980417e-02 -1.79293036e+01] [-2.28624906e-02 9.99709643e-01 7.61163161e-03 -1.20550669e+00] [ 8.24523484e-02 -5.70217953e-03 9.96578695e-01 1.56449886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47907232900002 meters Centerline goodness [0,1] 0.9964011620344274 Centerline is valid? [True, True] Translation: X:-17.90, Y:-1.21, Z:15.65 [[ 9.96365653e-01 2.28596020e-02 -8.20543993e-02 -1.79018842e+01] [-2.23121270e-02 9.99722295e-01 7.58298002e-03 -1.21119562e+00] [ 8.22049563e-02 -5.72461267e-03 9.96599004e-01 1.56472251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.509072329 meters Centerline goodness [0,1] 0.994363265837055 Centerline is valid? [True, True] Translation: X:-17.87, Y:-1.21, Z:15.65 [[ 9.96385935e-01 2.26729719e-02 -8.18596621e-02 -1.78734786e+01] [-2.21283605e-02 9.99726597e-01 7.55422014e-03 -1.21463482e+00] [ 8.20085581e-02 -5.71549859e-03 9.96615236e-01 1.56496065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539072329 meters Centerline goodness [0,1] 0.997681774850507 Centerline is valid? [True, True] Translation: X:-17.84, Y:-1.22, Z:15.65 [[ 9.96383275e-01 2.25477896e-02 -8.19265900e-02 -1.78445297e+01] [-2.20023410e-02 9.99729376e-01 7.55460515e-03 -1.21598783e+00] [ 8.20747583e-02 -5.72470545e-03 9.96609734e-01 1.56522004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.569072329 meters Centerline goodness [0,1] 0.9845295021312505 Centerline is valid? [True, True] Translation: X:-17.82, Y:-1.23, Z:15.65 [[ 9.96392016e-01 2.11603804e-02 -8.21899573e-02 -1.78174947e+01] [-2.06072582e-02 9.99758971e-01 7.57236752e-03 -1.22594150e+00] [ 8.23303813e-02 -5.85133687e-03 9.96587914e-01 1.56536405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599072329 meters Centerline goodness [0,1] 0.9859701621996704 Centerline is valid? [True, True] Translation: X:-17.79, Y:-1.23, Z:15.66 [[ 9.96386870e-01 2.10094402e-02 -8.22910028e-02 -1.77890691e+01] [-2.04560838e-02 9.99762155e-01 7.56182178e-03 -1.22849834e+00] [ 8.24302999e-02 -5.85114828e-03 9.96579655e-01 1.56553881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.629072329 meters Centerline goodness [0,1] 0.9854055692694124 Centerline is valid? [True, True] Translation: X:-17.76, Y:-1.23, Z:15.66 [[ 9.96377335e-01 1.98148456e-02 -8.27017400e-02 -1.77600435e+01] [-1.92523854e-02 9.99785822e-01 7.59308356e-03 -1.23117605e+00] [ 8.28344829e-02 -5.97337060e-03 9.96545417e-01 1.56576536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659072329 meters Centerline goodness [0,1] 0.9877190322510776 Centerline is valid? [True, True] Translation: X:-17.73, Y:-1.23, Z:15.66 [[ 9.96371251e-01 1.95716847e-02 -8.28328391e-02 -1.77311519e+01] [-1.90082291e-02 9.99790551e-01 7.58554789e-03 -1.23378086e+00] [ 8.29639518e-02 -5.98351625e-03 9.96534586e-01 1.56604275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.689072329 meters Centerline goodness [0,1] 0.9960073776716936 Centerline is valid? [True, True] Translation: X:-17.70, Y:-1.23, Z:15.66 [[ 9.96397875e-01 1.94438937e-02 -8.25421742e-02 -1.77030021e+01] [-1.88844517e-02 9.99793143e-01 7.55303668e-03 -1.23230914e+00] [ 8.26719603e-02 -5.96706599e-03 9.96558950e-01 1.56630063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719072329 meters Centerline goodness [0,1] 0.9878234068414655 Centerline is valid? [True, True] Translation: X:-17.68, Y:-1.24, Z:15.66 [[ 9.96375911e-01 1.92730918e-02 -8.28467991e-02 -1.76756247e+01] [-1.87096613e-02 9.99796287e-01 7.57192552e-03 -1.23986482e+00] [ 8.29758565e-02 -5.99444863e-03 9.96533529e-01 1.56646000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.749072329 meters Centerline goodness [0,1] 0.9904778430904714 Centerline is valid? [True, True] Translation: X:-17.65, Y:-1.24, Z:15.67 [[ 9.96377246e-01 1.95382228e-02 -8.27685987e-02 -1.76473416e+01] [-1.89773814e-02 9.99791351e-01 7.55739739e-03 -1.24139786e+00] [ 8.28989872e-02 -5.95928753e-03 9.96540137e-01 1.56675870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779072329 meters Centerline goodness [0,1] 0.9857149050550594 Centerline is valid? [True, True] Translation: X:-17.62, Y:-1.25, Z:15.67 [[ 9.96417677e-01 1.93221937e-02 -8.23314396e-02 -1.76193837e+01] [-1.87670336e-02 9.99795666e-01 7.51160744e-03 -1.24568745e+00] [ 8.24597572e-02 -5.93958154e-03 9.96576695e-01 1.56698207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.809072329 meters Centerline goodness [0,1] 0.9978746475818694 Centerline is valid? [True, True] Translation: X:-17.59, Y:-1.24, Z:15.67 [[ 9.96409115e-01 1.99113230e-02 -8.22946780e-02 -1.75895419e+01] [-1.93592969e-02 9.99784457e-01 7.50050220e-03 -1.24056549e+00] [ 8.24262848e-02 -5.88040166e-03 9.96579815e-01 1.56717666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839072329 meters Centerline goodness [0,1] 0.9920223720436168 Centerline is valid? [True, True] Translation: X:-17.56, Y:-1.25, Z:15.67 [[ 9.96422097e-01 1.98855881e-02 -8.21435876e-02 -1.75627684e+01] [-1.93370832e-02 9.99785133e-01 7.46763603e-03 -1.24893127e+00] [ 8.22744360e-02 -5.85250016e-03 9.96592527e-01 1.56729954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.869072329 meters Centerline goodness [0,1] 0.9969135802469136 Centerline is valid? [True, True] Translation: X:-17.53, Y:-1.25, Z:15.68 [[ 9.96385041e-01 1.99633114e-02 -8.25731008e-02 -1.75341099e+01] [-1.94099223e-02 9.99783485e-01 7.49920766e-03 -1.24620769e+00] [ 8.27049315e-02 -5.86936086e-03 9.96556795e-01 1.56755064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899072329 meters Centerline goodness [0,1] 0.9811238880451291 Centerline is valid? [True, True] Translation: X:-17.51, Y:-1.26, Z:15.68 [[ 9.96372487e-01 2.01822650e-02 -8.26713008e-02 -1.75076382e+01] [-1.96288034e-02 9.99779190e-01 7.50210641e-03 -1.25866268e+00] [ 8.28044556e-02 -5.85215371e-03 9.96548631e-01 1.56769163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.929072329 meters Centerline goodness [0,1] 0.9900403593282124 Centerline is valid? [True, True] Translation: X:-17.48, Y:-1.26, Z:15.68 [[ 9.96396908e-01 2.04800188e-02 -8.23029138e-02 -1.74790619e+01] [-1.99329917e-02 9.99773466e-01 7.46277521e-03 -1.25807307e+00] [ 8.24371072e-02 -5.79534285e-03 9.96579418e-01 1.56795475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959072329 meters Centerline goodness [0,1] 0.9907172446700068 Centerline is valid? [True, True] Translation: X:-17.45, Y:-1.26, Z:15.68 [[ 9.96398274e-01 2.04677629e-02 -8.22894321e-02 -1.74501710e+01] [-1.99213495e-02 9.99773750e-01 7.45580312e-03 -1.26097990e+00] [ 8.24234177e-02 -5.78963282e-03 9.96580584e-01 1.56824581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.989072329 meters Centerline goodness [0,1] 0.9939249294857887 Centerline is valid? [True, True] Translation: X:-17.42, Y:-1.26, Z:15.69 [[ 9.96395325e-01 2.09846920e-02 -8.21948851e-02 -1.74210572e+01] [-2.04417549e-02 9.99763351e-01 7.44154538e-03 -1.26127412e+00] [ 8.23315923e-02 -5.73451333e-03 9.96588493e-01 1.56857694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019072329 meters Centerline goodness [0,1] 0.9939249294857887 Centerline is valid? [True, True] Translation: X:-17.39, Y:-1.26, Z:15.69 [[ 9.96397476e-01 2.08802182e-02 -8.21954146e-02 -1.73936528e+01] [-2.03374085e-02 9.99765523e-01 7.43569253e-03 -1.26360655e+00] [ 8.23314005e-02 -5.73726355e-03 9.96588493e-01 1.56879497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.049072329 meters Centerline goodness [0,1] 0.9971824880797573 Centerline is valid? [True, True] Translation: X:-17.36, Y:-1.26, Z:15.69 [[ 9.96420135e-01 2.07396893e-02 -8.19559620e-02 -1.73644865e+01] [-2.02002770e-02 9.99768527e-01 7.40551271e-03 -1.26448752e+00] [ 8.20905794e-02 -5.72346885e-03 9.96608438e-01 1.56904224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079072329 meters Centerline goodness [0,1] 0.9956830162483459 Centerline is valid? [True, True] Translation: X:-17.34, Y:-1.27, Z:15.69 [[ 9.96405059e-01 2.06381069e-02 -8.21646289e-02 -1.73376219e+01] [-2.00960915e-02 9.99770531e-01 7.41832389e-03 -1.26814731e+00] [ 8.22988749e-02 -5.74046755e-03 9.96591161e-01 1.56917846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.109072329 meters Centerline goodness [0,1] 0.9993285683344163 Centerline is valid? [True, True] Translation: X:-17.31, Y:-1.27, Z:15.69 [[ 9.96330218e-01 2.05615622e-02 -8.30862143e-02 -1.73097888e+01] [-2.00078744e-02 9.99771757e-01 7.49124564e-03 -1.26717478e+00] [ 8.32212821e-02 -5.80137586e-03 9.96514206e-01 1.56932327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13907232900002 meters Centerline goodness [0,1] 0.9994132220628504 Centerline is valid? [True, True] Translation: X:-17.28, Y:-1.27, Z:15.70 [[ 9.96331574e-01 2.07591381e-02 -8.30207935e-02 -1.72811114e+01] [-2.02078129e-02 9.99767852e-01 7.47568065e-03 -1.26832475e+00] [ 8.31567091e-02 -5.77058801e-03 9.96519775e-01 1.56954288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16907232900002 meters Centerline goodness [0,1] 0.9896199782844733 Centerline is valid? [True, True] Translation: X:-17.25, Y:-1.28, Z:15.70 [[ 9.96302187e-01 2.05200098e-02 -8.34318927e-02 -1.72547300e+01] [-1.99641114e-02 9.99772628e-01 7.49181462e-03 -1.28136005e+00] [ 8.35666547e-02 -5.79846769e-03 9.96485320e-01 1.56966319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19907232900002 meters Centerline goodness [0,1] 0.9979414059114154 Centerline is valid? [True, True] Translation: X:-17.23, Y:-1.28, Z:15.70 [[ 9.96379532e-01 2.07891603e-02 -8.24356631e-02 -1.72261186e+01] [-2.02480295e-02 9.99767639e-01 7.39495007e-03 -1.27769398e+00] [ 8.25702430e-02 -5.69901715e-03 9.96568952e-01 1.57006382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22907232900002 meters Centerline goodness [0,1] 0.9924529938626359 Centerline is valid? [True, True] Translation: X:-17.20, Y:-1.29, Z:15.70 [[ 9.96387768e-01 2.07094744e-02 -8.23561436e-02 -1.71999853e+01] [-2.01696273e-02 9.99769322e-01 7.38168631e-03 -1.28601016e+00] [ 8.24900166e-02 -5.69392922e-03 9.96575625e-01 1.57037777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259072329 meters Centerline goodness [0,1] 0.9973086773451404 Centerline is valid? [True, True] Translation: X:-17.17, Y:-1.28, Z:15.71 [[ 9.96407672e-01 2.08199452e-02 -8.20870340e-02 -1.71710972e+01] [-2.02848344e-02 9.99767243e-01 7.34750130e-03 -1.28448085e+00] [ 8.22209023e-02 -5.65598478e-03 9.96598080e-01 1.57066107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.289072329 meters Centerline goodness [0,1] 0.9995661416981214 Centerline is valid? [True, True] Translation: X:-17.14, Y:-1.28, Z:15.71 [[ 9.96361009e-01 2.09424435e-02 -8.26205377e-02 -1.71415633e+01] [-2.04012419e-02 9.99764566e-01 7.38933652e-03 -1.28176497e+00] [ 8.27558367e-02 -5.67688522e-03 9.96553684e-01 1.57090083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319072329 meters Centerline goodness [0,1] 0.9986131877180437 Centerline is valid? [True, True] Translation: X:-17.11, Y:-1.29, Z:15.71 [[ 9.96330860e-01 2.11834348e-02 -8.29221239e-02 -1.71145473e+01] [-2.06396141e-02 9.99759520e-01 7.41003776e-03 -1.28900305e+00] [ 8.30591528e-02 -5.67136866e-03 9.96528481e-01 1.57104353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.349072329 meters Centerline goodness [0,1] 0.9992622648469199 Centerline is valid? [True, True] Translation: X:-17.09, Y:-1.29, Z:15.71 [[ 9.96298711e-01 2.09460399e-02 -8.33675129e-02 -1.70858435e+01] [-2.03961572e-02 9.99764277e-01 7.44219585e-03 -1.28878129e+00] [ 8.35037458e-02 -5.71427324e-03 9.96491079e-01 1.57127586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379072329 meters Centerline goodness [0,1] 0.9947759738148397 Centerline is valid? [True, True] Translation: X:-17.06, Y:-1.30, Z:15.71 [[ 9.96304238e-01 2.14500557e-02 -8.31730801e-02 -1.70590723e+01] [-2.09050040e-02 9.99753942e-01 7.41867027e-03 -1.29849513e+00] [ 8.33117456e-02 -5.65251906e-03 9.96507502e-01 1.57146913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.409072329 meters Centerline goodness [0,1] 0.9957964985266077 Centerline is valid? [True, True] Translation: X:-17.03, Y:-1.30, Z:15.72 [[ 9.96321525e-01 2.13430505e-02 -8.29933253e-02 -1.70313679e+01] [-2.08006228e-02 9.99756294e-01 7.39506210e-03 -1.30028576e+00] [ 8.31309325e-02 -5.64154669e-03 9.96522665e-01 1.57172103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439072329 meters Centerline goodness [0,1] 0.9960980685439292 Centerline is valid? [True, True] Translation: X:-17.00, Y:-1.30, Z:15.72 [[ 9.96360252e-01 2.16907762e-02 -8.24363870e-02 -1.70025964e+01] [-2.11575126e-02 9.99749233e-01 7.33695731e-03 -1.30286961e+00] [ 8.25748589e-02 -5.56610374e-03 9.96569321e-01 1.57203006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.469072329 meters Centerline goodness [0,1] 0.9961760743927346 Centerline is valid? [True, True] Translation: X:-16.97, Y:-1.31, Z:15.72 [[ 9.96413591e-01 2.20955147e-02 -8.16807399e-02 -1.69737791e+01] [-2.15738266e-02 9.99740868e-01 7.26407458e-03 -1.30551537e+00] [ 8.18200773e-02 -5.47585653e-03 9.96632074e-01 1.57231329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499072329 meters Centerline goodness [0,1] 0.996110217740884 Centerline is valid? [True, True] Translation: X:-16.95, Y:-1.31, Z:15.73 [[ 9.96403884e-01 2.22043838e-02 -8.17695882e-02 -1.69453450e+01] [-2.16823891e-02 9.99738503e-01 7.26627965e-03 -1.30843597e+00] [ 8.19095490e-02 -5.46718924e-03 9.96624772e-01 1.57258427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.529072329 meters Centerline goodness [0,1] 0.9993269648284846 Centerline is valid? [True, True] Translation: X:-16.92, Y:-1.31, Z:15.73 [[ 9.96401984e-01 2.20746208e-02 -8.18278518e-02 -1.69163428e+01] [-2.15519157e-02 9.99741329e-01 7.26573059e-03 -1.30513956e+00] [ 8.19670735e-02 -5.47604141e-03 9.96619994e-01 1.57283535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559072329 meters Centerline goodness [0,1] 0.9991108605135323 Centerline is valid? [True, True] Translation: X:-16.89, Y:-1.31, Z:15.73 [[ 9.96412228e-01 2.18247988e-02 -8.17700990e-02 -1.68875462e+01] [-2.13024903e-02 9.99746755e-01 7.25460750e-03 -1.30949431e+00] [ 8.19077215e-02 -5.48667288e-03 9.96624815e-01 1.57303380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.589072329 meters Centerline goodness [0,1] 0.9981139029201986 Centerline is valid? [True, True] Translation: X:-16.86, Y:-1.32, Z:15.73 [[ 9.96427061e-01 2.16294849e-02 -8.16411554e-02 -1.68613391e+01] [-2.11086952e-02 9.99750995e-01 7.23683874e-03 -1.31527248e+00] [ 8.17773554e-02 -5.48764368e-03 9.96635515e-01 1.57322968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619072329 meters Centerline goodness [0,1] 0.9939753814147018 Centerline is valid? [True, True] Translation: X:-16.83, Y:-1.32, Z:15.73 [[ 9.96404373e-01 2.15200191e-02 -8.19464099e-02 -1.68343788e+01] [-2.09962812e-02 9.99753283e-01 7.24770415e-03 -1.32208698e+00] [ 8.20821631e-02 -5.50107424e-03 9.96610384e-01 1.57340150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.649072329 meters Centerline goodness [0,1] 0.997633418732902 Centerline is valid? [True, True] Translation: X:-16.81, Y:-1.32, Z:15.74 [[ 9.96392905e-01 2.14022196e-02 -8.21165221e-02 -1.68064148e+01] [-2.08767321e-02 9.99755751e-01 7.25267420e-03 -1.32182336e+00] [ 8.22516886e-02 -5.51218848e-03 9.96596345e-01 1.57367633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679072329 meters Centerline goodness [0,1] 0.9969664138678224 Centerline is valid? [True, True] Translation: X:-16.78, Y:-1.33, Z:15.74 [[ 9.96368675e-01 2.15550825e-02 -8.23701567e-02 -1.67781974e+01] [-2.10275641e-02 9.99752489e-01 7.26648193e-03 -1.32505913e+00] [ 8.25063988e-02 -5.50805122e-03 9.96575314e-01 1.57389878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.709072329 meters Centerline goodness [0,1] 0.9972658623383387 Centerline is valid? [True, True] Translation: X:-16.75, Y:-1.33, Z:15.74 [[ 9.96393355e-01 2.18921699e-02 -8.19817910e-02 -1.67499989e+01] [-2.13712357e-02 9.99745492e-01 7.22649362e-03 -1.32866144e+00] [ 8.21191296e-02 -5.44837805e-03 9.96607628e-01 1.57414941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739072329 meters Centerline goodness [0,1] 0.9977866024347373 Centerline is valid? [True, True] Translation: X:-16.72, Y:-1.33, Z:15.74 [[ 9.96418181e-01 2.17468885e-02 -8.17183012e-02 -1.67219985e+01] [-2.12292993e-02 9.99748725e-01 7.19746155e-03 -1.33001950e+00] [ 8.18542898e-02 -5.43685928e-03 9.96629478e-01 1.57442068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.769072329 meters Centerline goodness [0,1] 0.9984151107251411 Centerline is valid? [True, True] Translation: X:-16.69, Y:-1.33, Z:15.75 [[ 9.96384136e-01 2.17920794e-02 -8.21203959e-02 -1.66929404e+01] [-2.12702322e-02 9.99747662e-01 7.22425272e-03 -1.33271041e+00] [ 8.22571053e-02 -5.45141091e-03 9.96596233e-01 1.57463556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799072329 meters Centerline goodness [0,1] 0.9996091714434602 Centerline is valid? [True, True] Translation: X:-16.66, Y:-1.33, Z:15.75 [[ 9.96391600e-01 2.17062924e-02 -8.20525267e-02 -1.66647586e+01] [-2.11855104e-02 9.99749547e-01 7.21234877e-03 -1.33059974e+00] [ 8.21885298e-02 -5.44799907e-03 9.96601909e-01 1.57480067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.829072329 meters Centerline goodness [0,1] 0.9994134132829303 Centerline is valid? [True, True] Translation: X:-16.64, Y:-1.34, Z:15.75 [[ 9.96367299e-01 2.18831914e-02 -8.23002460e-02 -1.66368519e+01] [-2.13605988e-02 9.99745729e-01 7.22506915e-03 -1.33509511e+00] [ 8.24374270e-02 -5.44084010e-03 9.96581390e-01 1.57498542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859072329 meters Centerline goodness [0,1] 0.998201243958997 Centerline is valid? [True, True] Translation: X:-16.61, Y:-1.34, Z:15.75 [[ 9.96358124e-01 2.19695832e-02 -8.23882660e-02 -1.66096108e+01] [-2.14467867e-02 9.99743883e-01 7.22525520e-03 -1.34055936e+00] [ 8.25259008e-02 -5.43197815e-03 9.96574116e-01 1.57516730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88907232900002 meters Centerline goodness [0,1] 0.9972670484122853 Centerline is valid? [True, True] Translation: X:-16.58, Y:-1.35, Z:15.75 [[ 9.96348220e-01 2.20322783e-02 -8.24912323e-02 -1.65818384e+01] [-2.15090008e-02 9.99742535e-01 7.22684157e-03 -1.34562529e+00] [ 8.26292175e-02 -5.42614675e-03 9.96565587e-01 1.57538396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91907232900002 meters Centerline goodness [0,1] 0.999350297780184 Centerline is valid? [True, True] Translation: X:-16.55, Y:-1.34, Z:15.76 [[ 9.96360916e-01 2.21832944e-02 -8.22971877e-02 -1.65525969e+01] [-2.16635855e-02 9.99739371e-01 7.20271236e-03 -1.34289545e+00] [ 8.24355185e-02 -5.39364892e-03 9.96581805e-01 1.57571169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94907232900002 meters Centerline goodness [0,1] 0.9974430648551431 Centerline is valid? [True, True] Translation: X:-16.53, Y:-1.35, Z:15.76 [[ 9.96384795e-01 2.23618989e-02 -8.19590548e-02 -1.65256339e+01] [-2.18475589e-02 9.99735623e-01 7.16713201e-03 -1.35051265e+00] [ 8.20976574e-02 -5.35061608e-03 9.96609926e-01 1.57593169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97907232900002 meters Centerline goodness [0,1] 0.9991544348806453 Centerline is valid? [True, True] Translation: X:-16.50, Y:-1.35, Z:15.76 [[ 9.96290682e-01 2.26077022e-02 -8.30287166e-02 -1.64966952e+01] [-2.20812787e-02 9.99729868e-01 7.25318817e-03 -1.35116105e+00] [ 8.31702658e-02 -5.39290356e-03 9.96520759e-01 1.57616901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.009072329 meters Centerline goodness [0,1] 0.997943544895662 Centerline is valid? [True, True] Translation: X:-16.47, Y:-1.36, Z:15.76 [[ 9.96303962e-01 2.26841709e-02 -8.28483145e-02 -1.64696247e+01] [-2.21607964e-02 9.99728265e-01 7.23149960e-03 -1.35556624e+00] [ 8.29898423e-02 -5.36878707e-03 9.96535931e-01 1.57632646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039072329 meters Centerline goodness [0,1] 0.9991336928508002 Centerline is valid? [True, True] Translation: X:-16.44, Y:-1.36, Z:15.77 [[ 9.96249724e-01 2.30430811e-02 -8.33996611e-02 -1.64403518e+01] [-2.25145578e-02 9.99720065e-01 7.27231472e-03 -1.35544634e+00] [ 8.35438912e-02 -5.36733504e-03 9.96489644e-01 1.57654828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.069072329 meters Centerline goodness [0,1] 0.9976123290644671 Centerline is valid? [True, True] Translation: X:-16.41, Y:-1.36, Z:15.77 [[ 9.96265851e-01 2.31649796e-02 -8.31729434e-02 -1.64135820e+01] [-2.26402561e-02 9.99717413e-01 7.24658037e-03 -1.36231880e+00] [ 8.33173067e-02 -5.33646382e-03 9.96508780e-01 1.57679067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099072329 meters Centerline goodness [0,1] 0.9997398937899642 Centerline is valid? [True, True] Translation: X:-16.39, Y:-1.36, Z:15.77 [[ 9.96246206e-01 2.31262853e-02 -8.34186584e-02 -1.63853025e+01] [-2.25989382e-02 9.99718247e-01 7.26052083e-03 -1.35955635e+00] [ 8.35630638e-02 -5.34809322e-03 9.96488140e-01 1.57704706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.129072329 meters Centerline goodness [0,1] 0.9990674069575779 Centerline is valid? [True, True] Translation: X:-16.36, Y:-1.36, Z:15.77 [[ 9.96253975e-01 2.34607631e-02 -8.32322590e-02 -1.63579586e+01] [-2.29376789e-02 9.99710714e-01 7.23544462e-03 -1.36395781e+00] [ 8.33779301e-02 -5.29918563e-03 9.96503908e-01 1.57727332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159072329 meters Centerline goodness [0,1] 0.9969672681584819 Centerline is valid? [True, True] Translation: X:-16.33, Y:-1.37, Z:15.77 [[ 9.96243918e-01 2.38120688e-02 -8.32528711e-02 -1.63303615e+01] [-2.32905620e-02 9.99702595e-01 7.22985579e-03 -1.37171013e+00] [ 8.34002692e-02 -5.26369370e-03 9.96502227e-01 1.57745476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.189072329 meters Centerline goodness [0,1] 0.9991557527870981 Centerline is valid? [True, True] Translation: X:-16.30, Y:-1.37, Z:15.78 [[ 9.96207959e-01 2.40232938e-02 -8.36216688e-02 -1.63011469e+01] [-2.34984908e-02 9.99697550e-01 7.25463180e-03 -1.37090142e+00] [ 8.37706575e-02 -5.26213893e-03 9.96471167e-01 1.57767259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219072329 meters Centerline goodness [0,1] 0.9996754932502596 Centerline is valid? [True, True] Translation: X:-16.27, Y:-1.37, Z:15.78 [[ 9.96180203e-01 2.41359443e-02 -8.39193601e-02 -1.62719856e+01] [-2.36082793e-02 9.99694818e-01 7.27457925e-03 -1.37156612e+00] [ 8.40693283e-02 -5.26560015e-03 9.96445995e-01 1.57793021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.249072329 meters Centerline goodness [0,1] 0.9996968253280784 Centerline is valid? [True, True] Translation: X:-16.24, Y:-1.37, Z:15.78 [[ 9.96169323e-01 2.44702250e-02 -8.39516970e-02 -1.62428350e+01] [-2.39439051e-02 9.99686865e-01 7.27059529e-03 -1.37458544e+00] [ 8.41033219e-02 -5.23261253e-03 9.96443300e-01 1.57819343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279072329 meters Centerline goodness [0,1] 0.9995889492244121 Centerline is valid? [True, True] Translation: X:-16.21, Y:-1.38, Z:15.78 [[ 9.96228212e-01 2.41313926e-02 -8.33488130e-02 -1.62141268e+01] [-2.36129822e-02 9.99695246e-01 7.20009544e-03 -1.37788048e+00] [ 8.34971605e-02 -5.20482417e-03 9.96494422e-01 1.57846803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.309072329 meters Centerline goodness [0,1] 0.9994587104317325 Centerline is valid? [True, True] Translation: X:-16.19, Y:-1.38, Z:15.79 [[ 9.96210974e-01 2.40523856e-02 -8.35773721e-02 -1.61867885e+01] [-2.35313510e-02 9.99697073e-01 7.21378708e-03 -1.38020089e+00] [ 8.37255630e-02 -5.21976537e-03 9.96475180e-01 1.57876114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339072329 meters Centerline goodness [0,1] 0.9995456512332324 Centerline is valid? [True, True] Translation: X:-16.16, Y:-1.38, Z:15.79 [[ 9.96266418e-01 2.38929716e-02 -8.29599332e-02 -1.61589533e+01] [-2.33798118e-02 9.99701074e-01 7.15174266e-03 -1.38308115e+00] [ 8.31060107e-02 -5.18545342e-03 9.96527221e-01 1.57902353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.369072329 meters Centerline goodness [0,1] 0.9996750151659589 Centerline is valid? [True, True] Translation: X:-16.13, Y:-1.38, Z:15.79 [[ 9.96317256e-01 2.37370523e-02 -8.23922240e-02 -1.61306153e+01] [-2.32310983e-02 9.99704951e-01 7.09417181e-03 -1.38414236e+00] [ 8.25363089e-02 -5.15398394e-03 9.96574731e-01 1.57928374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399072329 meters Centerline goodness [0,1] 0.9996970287173494 Centerline is valid? [True, True] Translation: X:-16.10, Y:-1.39, Z:15.80 [[ 9.96295687e-01 2.34544323e-02 -8.27332637e-02 -1.61021594e+01] [-2.29438005e-02 9.99711420e-01 7.11750459e-03 -1.38742920e+00] [ 8.28763256e-02 -5.19292364e-03 9.96546310e-01 1.57952134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.429072329 meters Centerline goodness [0,1] 0.9998053085858913 Centerline is valid? [True, True] Translation: X:-16.07, Y:-1.39, Z:15.80 [[ 9.96317240e-01 2.34379766e-02 -8.24779882e-02 -1.60733992e+01] [-2.29309368e-02 9.99711913e-01 7.08960998e-03 -1.38944957e+00] [ 8.26203935e-02 -5.17220311e-03 9.96567669e-01 1.57975033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459072329 meters Centerline goodness [0,1] 0.9993291350169881 Centerline is valid? [True, True] Translation: X:-16.05, Y:-1.39, Z:15.80 [[ 9.96269308e-01 2.33294041e-02 -8.30855275e-02 -1.60464121e+01] [-2.28149799e-02 9.99714238e-01 7.13569817e-03 -1.39492408e+00] [ 8.32282564e-02 -5.21348244e-03 9.96516872e-01 1.57987767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.489072329 meters Centerline goodness [0,1] 0.9995021752775914 Centerline is valid? [True, True] Translation: X:-16.02, Y:-1.40, Z:15.80 [[ 9.96269470e-01 2.33580049e-02 -8.30755480e-02 -1.60186160e+01] [-2.28444405e-02 9.99713626e-01 7.12721405e-03 -1.39896910e+00] [ 8.32182348e-02 -5.20281135e-03 9.96517765e-01 1.58005749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519072329 meters Centerline goodness [0,1] 0.9991565379125394 Centerline is valid? [True, True] Translation: X:-15.99, Y:-1.40, Z:15.80 [[ 9.96239821e-01 2.31389742e-02 -8.34913533e-02 -1.59908888e+01] [-2.26203942e-02 9.99718544e-01 7.15192706e-03 -1.40395123e+00] [ 8.36333424e-02 -5.23642721e-03 9.96482837e-01 1.58023871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.549072329 meters Centerline goodness [0,1] 0.9996536271729483 Centerline is valid? [True, True] Translation: X:-15.96, Y:-1.40, Z:15.80 [[ 9.96207402e-01 2.25109271e-02 -8.40480212e-02 -1.59620517e+01] [-2.19837823e-02 9.99732456e-01 7.19229025e-03 -1.40259377e+00] [ 8.41874398e-02 -5.31731938e-03 9.96435749e-01 1.58044347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579072329 meters Centerline goodness [0,1] 0.9991558441558441 Centerline is valid? [True, True] Translation: X:-15.94, Y:-1.41, Z:15.81 [[ 9.96203049e-01 2.19919795e-02 -8.42367960e-02 -1.59352011e+01] [-2.14611575e-02 9.99743742e-01 7.20200001e-03 -1.41078421e+00] [ 8.43735959e-02 -5.36683523e-03 9.96419738e-01 1.58061810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.609072329 meters Centerline goodness [0,1] 0.996692678498087 Centerline is valid? [True, True] Translation: X:-15.91, Y:-1.42, Z:15.81 [[ 9.96205041e-01 2.16067501e-02 -8.43128943e-02 -1.59077816e+01] [-2.10745325e-02 9.99752000e-01 7.19742996e-03 -1.41792972e+00] [ 8.44474977e-02 -5.39326118e-03 9.96413334e-01 1.58087485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63907232900002 meters Centerline goodness [0,1] 0.9993295412764669 Centerline is valid? [True, True] Translation: X:-15.88, Y:-1.42, Z:15.81 [[ 9.96203355e-01 2.09514996e-02 -8.44979922e-02 -1.58783497e+01] [-2.04152903e-02 9.99765624e-01 7.20500438e-03 -1.41579323e+00] [ 8.46291436e-02 -5.45259849e-03 9.96397600e-01 1.58117464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66907232900002 meters Centerline goodness [0,1] 0.9983548003030631 Centerline is valid? [True, True] Translation: X:-15.85, Y:-1.42, Z:15.81 [[ 9.96248774e-01 2.13105748e-02 -8.38703775e-02 -1.58511081e+01] [-2.07852689e-02 9.99758527e-01 7.13160266e-03 -1.42191053e+00] [ 8.40021036e-02 -5.36158206e-03 9.96451153e-01 1.58141073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69907232900002 meters Centerline goodness [0,1] 0.9996536496666378 Centerline is valid? [True, True] Translation: X:-15.82, Y:-1.42, Z:15.82 [[ 9.96252638e-01 2.05930605e-02 -8.40036127e-02 -1.58219454e+01] [-2.00642404e-02 9.99773236e-01 7.13467260e-03 -1.42000660e+00] [ 8.41314884e-02 -5.42246772e-03 9.96439908e-01 1.58175045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72907232900002 meters Centerline goodness [0,1] 0.9994150906609476 Centerline is valid? [True, True] Translation: X:-15.79, Y:-1.42, Z:15.82 [[ 9.96282454e-01 2.04243277e-02 -8.36906154e-02 -1.57939299e+01] [-1.99005800e-02 9.99776841e-01 7.08766591e-03 -1.42462041e+00] [ 8.38166999e-02 -5.39582540e-03 9.96466580e-01 1.58189985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759072329 meters Centerline goodness [0,1] 0.9991345550531167 Centerline is valid? [True, True] Translation: X:-15.77, Y:-1.43, Z:15.82 [[ 9.96267150e-01 2.01197247e-02 -8.39461927e-02 -1.57666479e+01] [-1.95923469e-02 9.99782831e-01 7.10149738e-03 -1.42884742e+00] [ 8.40708424e-02 -5.43028562e-03 9.96444984e-01 1.58205679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.789072329 meters Centerline goodness [0,1] 0.9993290478973227 Centerline is valid? [True, True] Translation: X:-15.74, Y:-1.43, Z:15.82 [[ 9.96213337e-01 1.95702346e-02 -8.47112374e-02 -1.57381207e+01] [-1.90322166e-02 9.99793275e-01 7.15419764e-03 -1.43271235e+00] [ 8.48337348e-02 -5.51486448e-03 9.96379859e-01 1.58222341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819072329 meters Centerline goodness [0,1] 0.9990472065829363 Centerline is valid? [True, True] Translation: X:-15.71, Y:-1.44, Z:15.82 [[ 9.96212294e-01 1.94343157e-02 -8.47547817e-02 -1.57094784e+01] [-1.88969544e-02 9.99795957e-01 7.13790997e-03 -1.43649784e+00] [ 8.48762084e-02 -5.50926642e-03 9.96376273e-01 1.58248279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.849072329 meters Centerline goodness [0,1] 0.9991983360055466 Centerline is valid? [True, True] Translation: X:-15.68, Y:-1.44, Z:15.83 [[ 9.96190509e-01 1.93186280e-02 -8.50368225e-02 -1.56817738e+01] [-1.87777852e-02 9.99798077e-01 7.15543776e-03 -1.43868585e+00] [ 8.51578849e-02 -5.53137599e-03 9.96352116e-01 1.58270885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879072329 meters Centerline goodness [0,1] 0.9991983360055466 Centerline is valid? [True, True] Translation: X:-15.65, Y:-1.44, Z:15.83 [[ 9.96192480e-01 1.92133829e-02 -8.50375761e-02 -1.56543592e+01] [-1.86729212e-02 9.99800105e-01 7.14647093e-03 -1.44084144e+00] [ 8.51578854e-02 -5.53136064e-03 9.96352116e-01 1.58292674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.909072329 meters Centerline goodness [0,1] 0.995695528974065 Centerline is valid? [True, True] Translation: X:-15.63, Y:-1.45, Z:15.83 [[ 9.96273170e-01 1.89032826e-02 -8.41572111e-02 -1.56273557e+01] [-1.83736298e-02 9.99806238e-01 7.06374945e-03 -1.44851471e+00] [ 8.42744327e-02 -5.49115062e-03 9.96427452e-01 1.58329850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939072329 meters Centerline goodness [0,1] 0.9978792469162518 Centerline is valid? [True, True] Translation: X:-15.60, Y:-1.45, Z:15.84 [[ 9.96275362e-01 1.90450354e-02 -8.40992899e-02 -1.55991034e+01] [-1.85172305e-02 9.99803674e-01 7.05161545e-03 -1.45031711e+00] [ 8.42170773e-02 -5.46806479e-03 9.96432428e-01 1.58369164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.969072329 meters Centerline goodness [0,1] 0.9978792469162518 Centerline is valid? [True, True] Translation: X:-15.57, Y:-1.45, Z:15.84 [[ 9.96277292e-01 1.89415731e-02 -8.40997917e-02 -1.55716884e+01] [-1.84139052e-02 9.99805625e-01 7.04562570e-03 -1.45246335e+00] [ 8.42169000e-02 -5.47079130e-03 9.96432428e-01 1.58390961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999072329 meters Centerline goodness [0,1] 0.997920997920998 Centerline is valid? [True, True] Translation: X:-15.54, Y:-1.46, Z:15.84 [[ 9.96287665e-01 1.95025714e-02 -8.38483045e-02 -1.55426535e+01] [-1.89807609e-02 9.99795232e-01 7.01600242e-03 -1.45518358e+00] [ 8.39679651e-02 -5.39845204e-03 9.96453831e-01 1.58411773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.029072329 meters Centerline goodness [0,1] 0.9996530638796132 Centerline is valid? [True, True] Translation: X:-15.51, Y:-1.45, Z:15.84 [[ 9.96284349e-01 1.96746800e-02 -8.38474986e-02 -1.55137598e+01] [-1.91540550e-02 9.99791975e-01 7.00917718e-03 -1.45118199e+00] [ 8.39679596e-02 -5.37711393e-03 9.96453947e-01 1.58437083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059072329 meters Centerline goodness [0,1] 0.998787353832828 Centerline is valid? [True, True] Translation: X:-15.49, Y:-1.46, Z:15.84 [[ 9.96234038e-01 2.01728989e-02 -8.43255283e-02 -1.54863023e+01] [-1.96498333e-02 9.99782219e-01 7.02839209e-03 -1.45918273e+00] [ 8.44489469e-02 -5.34494086e-03 9.96413472e-01 1.58447237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.089072329 meters Centerline goodness [0,1] 0.9972278171225608 Centerline is valid? [True, True] Translation: X:-15.46, Y:-1.46, Z:15.85 [[ 9.96208044e-01 2.04685940e-02 -8.45610358e-02 -1.54591141e+01] [-1.99443004e-02 9.99776304e-01 7.04039182e-03 -1.46478417e+00] [ 8.46862268e-02 -5.32718427e-03 9.96393428e-01 1.58465937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119072329 meters Centerline goodness [0,1] 0.9969908860649882 Centerline is valid? [True, True] Translation: X:-15.43, Y:-1.47, Z:15.85 [[ 9.96222599e-01 2.04442912e-02 -8.43952858e-02 -1.54300981e+01] [-1.99225750e-02 9.99776884e-01 7.01947099e-03 -1.46791944e+00] [ 8.45199640e-02 -5.31158422e-03 9.96407629e-01 1.58490835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.149072329 meters Centerline goodness [0,1] 0.9986815086998811 Centerline is valid? [True, True] Translation: X:-15.40, Y:-1.47, Z:15.85 [[ 9.96175604e-01 2.07195609e-02 -8.48814834e-02 -1.54018348e+01] [-2.01932823e-02 9.99771209e-01 7.05413256e-03 -1.46900532e+00] [ 8.50082218e-02 -5.31311900e-03 9.96366084e-01 1.58518664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179072329 meters Centerline goodness [0,1] 0.9997832871012483 Centerline is valid? [True, True] Translation: X:-15.37, Y:-1.47, Z:15.85 [[ 9.96163079e-01 2.10209552e-02 -8.49543332e-02 -1.53732120e+01] [-2.04953610e-02 9.99765061e-01 7.05431475e-03 -1.46617506e+00] [ 8.50826625e-02 -5.28607818e-03 9.96359874e-01 1.58544846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.209072329 meters Centerline goodness [0,1] 0.9994150906609476 Centerline is valid? [True, True] Translation: X:-15.35, Y:-1.47, Z:15.86 [[ 9.96149632e-01 2.13218958e-02 -8.50369789e-02 -1.53452667e+01] [-2.07968896e-02 9.99758829e-01 7.05504414e-03 -1.47136122e+00] [ 8.51668974e-02 -5.25937496e-03 9.96352818e-01 1.58560537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239072329 meters Centerline goodness [0,1] 0.999913406793237 Centerline is valid? [True, True] Translation: X:-15.32, Y:-1.47, Z:15.86 [[ 9.96156678e-01 2.13234804e-02 -8.49540055e-02 -1.53163937e+01] [-2.08000237e-02 9.99758855e-01 7.04211377e-03 -1.46794917e+00] [ 8.50836816e-02 -5.24800333e-03 9.96359988e-01 1.58588471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.269072329 meters Centerline goodness [0,1] 0.9977688725224737 Centerline is valid? [True, True] Translation: X:-15.29, Y:-1.48, Z:15.86 [[ 9.96140180e-01 2.17370690e-02 -8.50425905e-02 -1.52899049e+01] [-2.12145612e-02 9.99750138e-01 7.04306976e-03 -1.48174976e+00] [ 8.51744372e-02 -5.21174353e-03 9.96352424e-01 1.58598485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299072329 meters Centerline goodness [0,1] 0.9999783385681793 Centerline is valid? [True, True] Translation: X:-15.26, Y:-1.47, Z:15.86 [[ 9.96187266e-01 2.18397419e-02 -8.44627508e-02 -1.52606641e+01] [-2.13253672e-02 9.99748170e-01 6.98749158e-03 -1.47494099e+00] [ 8.45940856e-02 -5.15965096e-03 9.96402137e-01 1.58637273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.329072329 meters Centerline goodness [0,1] 0.9967989618254569 Centerline is valid? [True, True] Translation: X:-15.23, Y:-1.49, Z:15.87 [[ 9.96146605e-01 2.17430150e-02 -8.49657766e-02 -1.52336694e+01] [-2.12226651e-02 9.99750108e-01 7.02277876e-03 -1.48894348e+00] [ 8.50972407e-02 -5.19251700e-03 9.96359121e-01 1.58650053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359072329 meters Centerline goodness [0,1] 0.9998053043741617 Centerline is valid? [True, True] Translation: X:-15.20, Y:-1.48, Z:15.87 [[ 9.96165877e-01 2.15028847e-02 -8.48007731e-02 -1.52043753e+01] [-2.09843377e-02 9.99755288e-01 7.00160481e-03 -1.48220196e+00] [ 8.49305760e-02 -5.19527174e-03 9.96373327e-01 1.58684627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38907232900002 meters Centerline goodness [0,1] 0.9996969172151022 Centerline is valid? [True, True] Translation: X:-15.18, Y:-1.49, Z:15.87 [[ 9.96138801e-01 2.14016608e-02 -8.51437515e-02 -1.51776193e+01] [-2.08791250e-02 9.99757341e-01 7.02295743e-03 -1.48748340e+00] [ 8.52733936e-02 -5.21811336e-03 9.96343926e-01 1.58696447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41907232900002 meters Centerline goodness [0,1] 0.9997401191120736 Centerline is valid? [True, True] Translation: X:-15.15, Y:-1.49, Z:15.87 [[ 9.96121430e-01 2.11115612e-02 -8.54189540e-02 -1.51493700e+01] [-2.05859438e-02 9.99763373e-01 7.02965566e-03 -1.49108983e+00] [ 8.55471486e-02 -5.24396087e-03 9.96320323e-01 1.58717431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44907232900002 meters Centerline goodness [0,1] 0.9998050977759491 Centerline is valid? [True, True] Translation: X:-15.12, Y:-1.49, Z:15.87 [[ 9.96090173e-01 2.10039487e-02 -8.58090930e-02 -1.51207653e+01] [-2.04736319e-02 9.99765497e-01 7.05565867e-03 -1.49413167e+00] [ 8.59371672e-02 -5.27124849e-03 9.96286614e-01 1.58737839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47907232900002 meters Centerline goodness [0,1] 0.9998485209149337 Centerline is valid? [True, True] Translation: X:-15.09, Y:-1.50, Z:15.88 [[ 9.96065009e-01 2.13022593e-02 -8.60273837e-02 -1.50917461e+01] [-2.07708660e-02 9.99759282e-01 7.06750067e-03 -1.49545488e+00] [ 8.61572291e-02 -5.25282686e-03 9.96267705e-01 1.58763982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.509072329 meters Centerline goodness [0,1] 0.9996970614965162 Centerline is valid? [True, True] Translation: X:-15.07, Y:-1.50, Z:15.88 [[ 9.96076331e-01 2.12160297e-02 -8.59175385e-02 -1.50652010e+01] [-2.06862847e-02 9.99761149e-01 7.05145516e-03 -1.50017816e+00] [ 8.60466209e-02 -5.24647292e-03 9.96277298e-01 1.58784018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539072329 meters Centerline goodness [0,1] 0.9999783605989786 Centerline is valid? [True, True] Translation: X:-15.04, Y:-1.50, Z:15.88 [[ 9.96048707e-01 2.17350142e-02 -8.61078505e-02 -1.50360549e+01] [-2.12062175e-02 9.99750258e-01 7.05116302e-03 -1.49532994e+00] [ 8.62396028e-02 -5.19728000e-03 9.96260869e-01 1.58816649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.569072329 meters Centerline goodness [0,1] 0.9998700989413064 Centerline is valid? [True, True] Translation: X:-15.01, Y:-1.50, Z:15.88 [[ 9.96060195e-01 2.19612865e-02 -8.59173480e-02 -1.50090011e+01] [-2.14362368e-02 9.99745508e-01 7.02902647e-03 -1.50296570e+00] [ 8.60498491e-02 -5.15958885e-03 9.96277472e-01 1.58835882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599072329 meters Centerline goodness [0,1] 0.9998700933163012 Centerline is valid? [True, True] Translation: X:-14.98, Y:-1.51, Z:15.89 [[ 9.96060349e-01 2.24588277e-02 -8.57868442e-02 -1.49808907e+01] [-2.19378822e-02 9.99734755e-01 7.01058558e-03 -1.50649823e+00] [ 8.59215393e-02 -5.10098463e-03 9.96288848e-01 1.58864002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.629072329 meters Centerline goodness [0,1] 0.9999783287101248 Centerline is valid? [True, True] Translation: X:-14.95, Y:-1.51, Z:15.89 [[ 9.96054081e-01 2.26879767e-02 -8.57993234e-02 -1.49517895e+01] [-2.21682506e-02 9.99729709e-01 7.00550874e-03 -1.50542186e+00] [ 8.59350735e-02 -5.07584467e-03 9.96287809e-01 1.58889797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659072329 meters Centerline goodness [0,1] 0.9999351028619637 Centerline is valid? [True, True] Translation: X:-14.92, Y:-1.51, Z:15.89 [[ 9.96034433e-01 2.30620910e-02 -8.59275720e-02 -1.49246590e+01] [-2.25427434e-02 9.99721307e-01 7.00956721e-03 -1.51008777e+00] [ 8.60652798e-02 -5.04472710e-03 9.96276728e-01 1.58905771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.689072329 meters Centerline goodness [0,1] 0.9997619459833795 Centerline is valid? [True, True] Translation: X:-14.90, Y:-1.52, Z:15.89 [[ 9.96030260e-01 2.36946627e-02 -8.58037569e-02 -1.48970093e+01] [-2.31798192e-02 9.99706863e-01 6.99171620e-03 -1.51588361e+00] [ 8.59442710e-02 -4.97504533e-03 9.96287524e-01 1.58921472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719072329 meters Centerline goodness [0,1] 0.9998701411133235 Centerline is valid? [True, True] Translation: X:-14.87, Y:-1.52, Z:15.90 [[ 9.96047722e-01 2.38355971e-02 -8.55616745e-02 -1.48680387e+01] [-2.33248221e-02 9.99703680e-01 6.96454596e-03 -1.51542722e+00] [ 8.57023250e-02 -4.94130930e-03 9.96308534e-01 1.58953623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.749072329 meters Centerline goodness [0,1] 0.9999566902704693 Centerline is valid? [True, True] Translation: X:-14.84, Y:-1.52, Z:15.90 [[ 9.96040033e-01 2.46423413e-02 -8.54225195e-02 -1.48390540e+01] [-2.41366984e-02 9.99684528e-01 6.94722471e-03 -1.51507166e+00] [ 8.55667669e-02 -4.85789634e-03 9.96320596e-01 1.58981647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.81, Y:-1.52, Z:15.90 [[ 9.96076557e-01 2.50552142e-02 -8.48747851e-02 -1.48114837e+01] [-2.45580746e-02 9.99674617e-01 6.89650369e-03 -1.51831700e+00] [ 8.50199617e-02 -4.78508434e-03 9.96367758e-01 1.59012767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.809072329 meters Centerline goodness [0,1] 0.9999566902704693 Centerline is valid? [True, True] Translation: X:-14.78, Y:-1.52, Z:15.90 [[ 9.96084832e-01 2.57426656e-02 -8.45714030e-02 -1.47840843e+01] [-2.52521930e-02 9.99657545e-01 6.86429962e-03 -1.52259038e+00] [ 8.47191465e-02 -4.70181134e-03 9.96393777e-01 1.59041287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839072329 meters Centerline goodness [0,1] 0.9999566470856003 Centerline is valid? [True, True] Translation: X:-14.75, Y:-1.52, Z:15.91 [[ 9.96018203e-01 2.61474384e-02 -8.52294053e-02 -1.47543079e+01] [-2.56514909e-02 9.99647070e-01 6.90909907e-03 -1.51689551e+00] [ 8.53799806e-02 -4.69532712e-03 9.96337399e-01 1.59067790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.869072329 meters Centerline goodness [0,1] 0.9999566386263117 Centerline is valid? [True, True] Translation: X:-14.73, Y:-1.53, Z:15.91 [[ 9.95950704e-01 2.71599242e-02 -8.57002533e-02 -1.47268153e+01] [-2.66639065e-02 9.99620452e-01 6.92739214e-03 -1.52713295e+00] [ 8.58558733e-02 -4.61423754e-03 9.96296882e-01 1.59067421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.70, Y:-1.52, Z:15.91 [[ 9.95922048e-01 2.79419379e-02 -8.57818314e-02 -1.46971052e+01] [-2.74485702e-02 9.99599225e-01 6.92574646e-03 -1.52223453e+00] [ 8.59409709e-02 -4.54291497e-03 9.96289873e-01 1.59093199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.929072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.67, Y:-1.52, Z:15.91 [[ 9.95864807e-01 2.82268672e-02 -8.63512010e-02 -1.46685817e+01] [-2.77289347e-02 9.99591244e-01 6.96063375e-03 -1.52488481e+00] [ 8.65123814e-02 -4.53742337e-03 9.96240443e-01 1.59109888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959072329 meters Centerline goodness [0,1] 0.9999783648125311 Centerline is valid? [True, True] Translation: X:-14.64, Y:-1.53, Z:15.91 [[ 9.95849222e-01 2.94872880e-02 -8.61093942e-02 -1.46415001e+01] [-2.89973850e-02 9.99555431e-01 6.93484857e-03 -1.53204205e+00] [ 8.62756025e-02 -4.40911630e-03 9.96261552e-01 1.59128398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.989072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.61, Y:-1.53, Z:15.92 [[ 9.95849768e-01 2.98434968e-02 -8.59802641e-02 -1.46120627e+01] [-2.93570410e-02 9.99545057e-01 6.91690457e-03 -1.52894841e+00] [ 8.61475726e-02 -4.36407167e-03 9.96272829e-01 1.59158554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.58, Y:-1.53, Z:15.92 [[ 9.95765738e-01 3.13747216e-02 -8.64073028e-02 -1.45830710e+01] [-3.08896810e-02 9.99498671e-01 6.94509044e-03 -1.52855432e+00] [ 8.65818846e-02 -4.24658909e-03 9.96235687e-01 1.59175424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.049072329 meters Centerline goodness [0,1] 0.9999783193131558 Centerline is valid? [True, True] Translation: X:-14.56, Y:-1.53, Z:15.92 [[ 9.95716619e-01 3.19746255e-02 -8.67527364e-02 -1.45552255e+01] [-3.14885123e-02 9.99479836e-01 6.96644815e-03 -1.53156715e+00] [ 8.69303604e-02 -4.20489359e-03 9.96205517e-01 1.59192315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.53, Y:-1.53, Z:15.92 [[ 9.95710172e-01 3.29762764e-02 -8.64512506e-02 -1.45262439e+01] [-3.24979676e-02 9.99447744e-01 6.93463897e-03 -1.52861319e+00] [ 8.66321860e-02 -4.09540063e-03 9.96231947e-01 1.59220398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.109072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.50, Y:-1.53, Z:15.92 [[ 9.95675174e-01 3.33952661e-02 -8.66931633e-02 -1.44981670e+01] [-3.29164060e-02 9.99433960e-01 6.94766218e-03 -1.53203864e+00] [ 8.68761105e-02 -4.06398739e-03 9.96210834e-01 1.59240642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.47, Y:-1.53, Z:15.93 [[ 9.95618697e-01 3.52183926e-02 -8.66202924e-02 -1.44692181e+01] [-3.47477586e-02 9.99372049e-01 6.93554594e-03 -1.53157036e+00] [ 8.68101579e-02 -3.89529820e-03 9.96217257e-01 1.59258955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.44, Y:-1.53, Z:15.93 [[ 9.95602341e-01 3.56745189e-02 -8.66216375e-02 -1.44405328e+01] [-3.52061331e-02 9.99356048e-01 6.92942033e-03 -1.53286419e+00] [ 8.68130611e-02 -3.84933420e-03 9.96217183e-01 1.59283688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.41, Y:-1.53, Z:15.93 [[ 9.95571071e-01 3.64100661e-02 -8.66749676e-02 -1.44112663e+01] [-3.59444126e-02 9.99329779e-01 6.92755933e-03 -1.53270414e+00] [ 8.68691092e-02 -3.78139687e-03 9.96212557e-01 1.59316075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.38, Y:-1.53, Z:15.93 [[ 9.95645409e-01 3.67890515e-02 -8.56550358e-02 -1.43826525e+01] [-3.63361401e-02 9.99316208e-01 6.84121257e-03 -1.53384445e+00] [ 8.58481473e-02 -3.69904851e-03 9.96301366e-01 1.59342382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.35, Y:-1.54, Z:15.94 [[ 9.95595139e-01 3.73792689e-02 -8.59831980e-02 -1.43549827e+01] [-3.69256539e-02 9.99294465e-01 6.86058492e-03 -1.53862471e+00] [ 8.61789775e-02 -3.65537918e-03 9.96272966e-01 1.59366574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.289072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.33, Y:-1.54, Z:15.94 [[ 9.95583754e-01 3.78705977e-02 -8.58999844e-02 -1.43265395e+01] [-3.74206333e-02 9.99276173e-01 6.84297400e-03 -1.53784779e+00] [ 8.60969551e-02 -3.59832193e-03 9.96280265e-01 1.59392707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.30, Y:-1.54, Z:15.94 [[ 9.95536774e-01 3.90657559e-02 -8.59092441e-02 -1.42978747e+01] [-3.86206708e-02 9.99230551e-01 6.83743341e-03 -1.53799811e+00] [ 8.61102508e-02 -3.48904376e-03 9.96279505e-01 1.59405624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.349072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.27, Y:-1.54, Z:15.94 [[ 9.95485708e-01 3.94904406e-02 -8.63059142e-02 -1.42697933e+01] [-3.90433639e-02 9.99213951e-01 6.86266300e-03 -1.54242832e+00] [ 8.65090831e-02 -3.46200972e-03 9.96245047e-01 1.59420062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.24, Y:-1.54, Z:15.94 [[ 9.95469763e-01 4.00569638e-02 -8.62287102e-02 -1.42406425e+01] [-3.96133473e-02 9.99191601e-01 6.85029775e-03 -1.54361885e+00] [ 8.64334052e-02 -3.40345643e-03 9.96251817e-01 1.59435304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.409072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.21, Y:-1.54, Z:15.95 [[ 9.95467972e-01 4.10180928e-02 -8.57964587e-02 -1.42116511e+01] [-4.05830044e-02 9.99152964e-01 6.80993010e-03 -1.54096322e+00] [ 8.60031163e-02 -3.29718925e-03 9.96289412e-01 1.59474219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.18, Y:-1.54, Z:15.95 [[ 9.95443894e-01 4.13816429e-02 -8.59011846e-02 -1.41843701e+01] [-4.09474017e-02 9.99138084e-01 6.81171522e-03 -1.54427736e+00] [ 8.61090250e-02 -3.26325001e-03 9.96280376e-01 1.59490140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.469072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.16, Y:-1.55, Z:15.95 [[ 9.95446188e-01 4.12241003e-02 -8.59503364e-02 -1.41563770e+01] [-4.07894735e-02 9.99144572e-01 6.80753702e-03 -1.54693128e+00] [ 8.61574467e-02 -3.27066781e-03 9.96276165e-01 1.59510520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.13, Y:-1.55, Z:15.95 [[ 9.95437493e-01 4.15300913e-02 -8.59037172e-02 -1.41287503e+01] [-4.10978618e-02 9.99132022e-01 6.79471854e-03 -1.55189370e+00] [ 8.61113400e-02 -3.23325849e-03 9.96280273e-01 1.59526541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.529072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.10, Y:-1.55, Z:15.95 [[ 9.95397065e-01 4.18157449e-02 -8.62329829e-02 -1.40996888e+01] [-4.13819130e-02 9.99120172e-01 6.81316399e-03 -1.55124335e+00] [ 8.64420102e-02 -3.21331764e-03 9.96251702e-01 1.59545893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.07, Y:-1.55, Z:15.96 [[ 9.95354394e-01 4.22376907e-02 -8.65194032e-02 -1.40709655e+01] [-4.18030888e-02 9.99102526e-01 6.82962866e-03 -1.55162105e+00] [ 8.67302221e-02 -3.18112261e-03 9.96226756e-01 1.59567583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.589072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-14.04, Y:-1.56, Z:15.96 [[ 9.95270963e-01 4.29998019e-02 -8.71018181e-02 -1.40432870e+01] [-4.25627842e-02 9.99070180e-01 6.86916302e-03 -1.55722128e+00] [ 8.73162017e-02 -3.12938261e-03 9.96175731e-01 1.59570800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619072329 meters Centerline goodness [0,1] 0.9999783366911462 Centerline is valid? [True, True] Translation: X:-14.01, Y:-1.56, Z:15.96 [[ 9.95255329e-01 4.32522391e-02 -8.71554562e-02 -1.40145364e+01] [-4.28163137e-02 9.99059370e-01 6.86578200e-03 -1.55633330e+00] [ 8.73704356e-02 -3.10153077e-03 9.96171063e-01 1.59598154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.649072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.99, Y:-1.56, Z:15.96 [[ 9.95309966e-01 4.31668215e-02 -8.65719188e-02 -1.39855914e+01] [-4.27369375e-02 9.99063125e-01 6.81375379e-03 -1.55733495e+00] [ 8.67849398e-02 -3.08197837e-03 9.96222302e-01 1.59621928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.96, Y:-1.56, Z:15.97 [[ 9.95353106e-01 4.34787840e-02 -8.59173397e-02 -1.39580573e+01] [-4.30570884e-02 9.99049770e-01 6.75605649e-03 -1.56031766e+00] [ 8.61294436e-02 -3.02531132e-03 9.96279362e-01 1.59652221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.709072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.93, Y:-1.56, Z:15.97 [[ 9.95338403e-01 4.34352113e-02 -8.61094941e-02 -1.39300904e+01] [-4.30121266e-02 9.99051657e-01 6.76346365e-03 -1.56076422e+00] [ 8.63216052e-02 -3.02818265e-03 9.96262722e-01 1.59675393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.90, Y:-1.56, Z:15.97 [[ 9.95411168e-01 4.38202432e-02 -8.50669850e-02 -1.39011888e+01] [-4.34095145e-02 9.99035078e-01 6.67291230e-03 -1.56206103e+00] [ 8.52773106e-02 -2.94957491e-03 9.96352889e-01 1.59710560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.769072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.87, Y:-1.56, Z:15.97 [[ 9.95404593e-01 4.39415763e-02 -8.50813375e-02 -1.38721333e+01] [-4.35316627e-02 9.99029795e-01 6.66805466e-03 -1.56295031e+00] [ 8.52917960e-02 -2.93368015e-03 9.96351696e-01 1.59740347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.84, Y:-1.57, Z:15.98 [[ 9.95417592e-01 4.37585459e-02 -8.50235686e-02 -1.38449707e+01] [-4.33490985e-02 9.99037808e-01 6.65681935e-03 -1.56618453e+00] [ 8.52330524e-02 -2.94062003e-03 9.96356703e-01 1.59762388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.829072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.82, Y:-1.57, Z:15.98 [[ 9.95422055e-01 4.36547290e-02 -8.50246896e-02 -1.38175872e+01] [-4.32461281e-02 9.99042366e-01 6.64247158e-03 -1.56817275e+00] [ 8.52332424e-02 -2.93507409e-03 9.96356703e-01 1.59784127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.79, Y:-1.57, Z:15.98 [[ 9.95390443e-01 4.36825542e-02 -8.53797470e-02 -1.37893565e+01] [-4.32713927e-02 9.99041147e-01 6.66127811e-03 -1.56926537e+00] [ 8.55888620e-02 -2.93607201e-03 9.96326215e-01 1.59802178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.76, Y:-1.57, Z:15.98 [[ 9.95328723e-01 4.35281962e-02 -8.61744097e-02 -1.37602606e+01] [-4.31095193e-02 9.99047790e-01 6.71435294e-03 -1.56975902e+00] [ 8.63846173e-02 -2.96805096e-03 9.96257441e-01 1.59817150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.73, Y:-1.57, Z:15.98 [[ 9.95346136e-01 4.38047239e-02 -8.58324902e-02 -1.37315887e+01] [-4.33909331e-02 9.99035827e-01 6.68151471e-03 -1.57061210e+00] [ 8.60424147e-02 -2.92606801e-03 9.96287178e-01 1.59843124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.70, Y:-1.58, Z:15.99 [[ 9.95393851e-01 4.35342346e-02 -8.54157634e-02 -1.37046845e+01] [-4.31240390e-02 9.99047644e-01 6.64246568e-03 -1.57593678e+00] [ 8.56235918e-02 -2.92839678e-03 9.96323253e-01 1.59862047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.68, Y:-1.58, Z:15.99 [[ 9.95379032e-01 4.33375067e-02 -8.56880525e-02 -1.36780940e+01] [-4.29249270e-02 9.99056153e-01 6.65239042e-03 -1.57821697e+00] [ 8.58954741e-02 -2.94349654e-03 9.96299806e-01 1.59880530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.009072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.65, Y:-1.58, Z:15.99 [[ 9.95409361e-01 4.34909294e-02 -8.52569231e-02 -1.36489330e+01] [-4.30842462e-02 9.99049608e-01 6.60514114e-03 -1.57890710e+00] [ 8.54631593e-02 -2.90158906e-03 9.96337106e-01 1.59909642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.62, Y:-1.58, Z:15.99 [[ 9.95482388e-01 4.30565401e-02 -8.46223912e-02 -1.36205054e+01] [-4.26548435e-02 9.99068396e-01 6.55007469e-03 -1.57930260e+00] [ 8.48255803e-02 -2.91092914e-03 9.96391563e-01 1.59944533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.069072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.59, Y:-1.58, Z:16.00 [[ 9.95490040e-01 4.27802836e-02 -8.46724742e-02 -1.35929870e+01] [-4.23776634e-02 9.99080209e-01 6.54749696e-03 -1.58417412e+00] [ 8.48746969e-02 -2.92974639e-03 9.96387325e-01 1.59957831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.56, Y:-1.58, Z:16.00 [[ 9.95469168e-01 4.25320620e-02 -8.50421056e-02 -1.35637585e+01] [-4.21259285e-02 9.99090738e-01 6.56529234e-03 -1.58255856e+00] [ 8.52440155e-02 -2.95306844e-03 9.96355728e-01 1.59988533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.129072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.54, Y:-1.59, Z:16.00 [[ 9.95433616e-01 4.19787303e-02 -8.57304092e-02 -1.35359710e+01] [-4.15644890e-02 9.99113945e-01 6.61195108e-03 -1.58628127e+00] [ 8.59320086e-02 -3.01841772e-03 9.96296431e-01 1.60003193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.51, Y:-1.59, Z:16.00 [[ 9.95430996e-01 4.10455673e-02 -8.62113350e-02 -1.35074944e+01] [-4.06238388e-02 9.99152440e-01 6.64124223e-03 -1.58795284e+00] [ 8.64108593e-02 -3.10866298e-03 9.96254736e-01 1.60022983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.189072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.48, Y:-1.59, Z:16.00 [[ 9.95418431e-01 4.08889811e-02 -8.64305437e-02 -1.34804579e+01] [-4.04650760e-02 9.99158813e-01 6.65162220e-03 -1.59427644e+00] [ 8.66298175e-02 -3.12372881e-03 9.96235673e-01 1.60036748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.45, Y:-1.59, Z:16.01 [[ 9.95503742e-01 4.03242740e-02 -8.57102829e-02 -1.34514096e+01] [-3.99059990e-02 9.99181716e-01 6.58854345e-03 -1.59298705e+00] [ 8.59058258e-02 -3.13856519e-03 9.96298318e-01 1.60078330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.249072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.42, Y:-1.60, Z:16.01 [[ 9.95569958e-01 4.00581834e-02 -8.50635096e-02 -1.34239332e+01] [-3.96457895e-02 9.99192443e-01 6.53249755e-03 -1.59512501e+00] [ 8.52564959e-02 -3.13114832e-03 9.96354117e-01 1.60103314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279072329 meters Centerline goodness [0,1] 0.9999783113193225 Centerline is valid? [True, True] Translation: X:-13.40, Y:-1.60, Z:16.01 [[ 9.95553116e-01 3.98733001e-02 -8.53470170e-02 -1.33967656e+01] [-3.94582472e-02 9.99199783e-01 6.54518339e-03 -1.59883448e+00] [ 8.55396990e-02 -3.14843403e-03 9.96329788e-01 1.60128539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.309072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.37, Y:-1.60, Z:16.02 [[ 9.95622297e-01 3.87825277e-02 -8.50420855e-02 -1.33681710e+01] [-3.83671113e-02 9.99242477e-01 6.51439282e-03 -1.60267270e+00] [ 8.52303087e-02 -3.22305559e-03 9.96356064e-01 1.60153325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.34, Y:-1.60, Z:16.02 [[ 9.95650572e-01 3.82365755e-02 -8.49582449e-02 -1.33397417e+01] [-3.78205180e-02 9.99263396e-01 6.50189862e-03 -1.60105191e+00] [ 8.51442746e-02 -3.26045425e-03 9.96363298e-01 1.60184755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.369072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.31, Y:-1.60, Z:16.02 [[ 9.95666521e-01 3.73187675e-02 -8.51791568e-02 -1.33111981e+01] [-3.68978565e-02 9.99297831e-01 6.51101764e-03 -1.60286636e+00] [ 8.53623298e-02 -3.33987398e-03 9.96344377e-01 1.60206872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.28, Y:-1.61, Z:16.02 [[ 9.95704162e-01 3.68064356e-02 -8.49617982e-02 -1.32825676e+01] [-3.63863552e-02 9.99316735e-01 6.48811272e-03 -1.60505460e+00] [ 8.51425511e-02 -3.36879067e-03 9.96363085e-01 1.60225266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.429072329 meters Centerline goodness [0,1] 0.9999783056730664 Centerline is valid? [True, True] Translation: X:-13.26, Y:-1.61, Z:16.02 [[ 9.95676563e-01 3.62027069e-02 -8.55426508e-02 -1.32553453e+01] [-3.57751834e-02 9.99338555e-01 6.52597479e-03 -1.61168337e+00] [ 8.57223270e-02 -3.43745613e-03 9.96313137e-01 1.60240503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.23, Y:-1.61, Z:16.03 [[ 9.95714397e-01 3.58013807e-02 -8.52707554e-02 -1.32269819e+01] [-3.53757692e-02 9.99352959e-01 6.49757416e-03 -1.61251943e+00] [ 8.54482038e-02 -3.45320957e-03 9.96336630e-01 1.60262650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.489072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.20, Y:-1.62, Z:16.03 [[ 9.95749586e-01 3.45239081e-02 -8.53865406e-02 -1.31995616e+01] [-3.40929874e-02 9.99397526e-01 6.50020774e-03 -1.61717009e+00] [ 8.55595101e-02 -3.56149691e-03 9.96326696e-01 1.60291899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.17, Y:-1.62, Z:16.03 [[ 9.95804205e-01 3.37116655e-02 -8.50735462e-02 -1.31708276e+01] [-3.32815850e-02 9.99425079e-01 6.46901101e-03 -1.61773020e+00] [ 8.52427167e-02 -3.61048592e-03 9.96353674e-01 1.60325967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.549072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.14, Y:-1.62, Z:16.03 [[ 9.95846693e-01 3.29253943e-02 -8.48839360e-02 -1.31434351e+01] [-3.24949170e-02 9.99451099e-01 6.44840259e-03 -1.62434037e+00] [ 8.50496593e-02 -3.66332393e-03 9.96369979e-01 1.60347249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579072329 meters Centerline goodness [0,1] 0.9999783479484681 Centerline is valid? [True, True] Translation: X:-13.11, Y:-1.62, Z:16.04 [[ 9.95861438e-01 3.24672738e-02 -8.48874103e-02 -1.31148989e+01] [-3.20357387e-02 9.99465968e-01 6.44121972e-03 -1.62338943e+00] [ 8.50512066e-02 -3.69513144e-03 9.96369730e-01 1.60374685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.609072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.09, Y:-1.63, Z:16.04 [[ 9.95870960e-01 3.10169659e-02 -8.53169343e-02 -1.30858860e+01] [-3.05762569e-02 9.99511511e-01 6.46774507e-03 -1.62512620e+00] [ 8.54758678e-02 -3.83236699e-03 9.96332871e-01 1.60390270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.06, Y:-1.63, Z:16.04 [[ 9.95867115e-01 3.06788789e-02 -8.54838932e-02 -1.30581779e+01] [-3.02357340e-02 9.99521829e-01 6.47415424e-03 -1.62961258e+00] [ 8.56416371e-02 -3.86272905e-03 9.96318518e-01 1.60405047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66907232900002 meters Centerline goodness [0,1] 0.9999783277707945 Centerline is valid? [True, True] Translation: X:-13.03, Y:-1.63, Z:16.04 [[ 9.95871648e-01 2.92746115e-02 -8.59223889e-02 -1.30292396e+01] [-2.88223386e-02 9.99563417e-01 6.49982874e-03 -1.63159708e+00] [ 8.60751566e-02 -3.99651097e-03 9.96280631e-01 1.60421768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69907232900002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-13.00, Y:-1.63, Z:16.04 [[ 9.95951899e-01 2.84921766e-02 -8.52526277e-02 -1.30001561e+01] [-2.80446098e-02 9.99585907e-01 6.44315406e-03 -1.63299274e+00] [ 8.54009047e-02 -4.02619484e-03 9.96338534e-01 1.60443488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.729072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-12.97, Y:-1.64, Z:16.05 [[ 9.95962893e-01 2.79857443e-02 -8.52919343e-02 -1.29723796e+01] [-2.75364489e-02 9.99600056e-01 6.43988476e-03 -1.63652865e+00] [ 8.54380473e-02 -4.06524927e-03 9.96335192e-01 1.60468319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759072329 meters Centerline goodness [0,1] 0.9999783301189676 Centerline is valid? [True, True] Translation: X:-12.94, Y:-1.64, Z:16.05 [[ 9.96085491e-01 2.64453564e-02 -8.43465329e-02 -1.29441472e+01] [-2.60011178e-02 9.99641674e-01 6.36118711e-03 -1.63909344e+00] [ 8.44845332e-02 -4.14318205e-03 9.96416177e-01 1.60501123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.789072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-12.92, Y:-1.64, Z:16.05 [[ 9.96123027e-01 2.56262512e-02 -8.41558696e-02 -1.29152401e+01] [-2.51816233e-02 9.99662783e-01 6.34079189e-03 -1.64035634e+00] [ 8.42899815e-02 -4.19702741e-03 9.96432428e-01 1.60529168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-12.89, Y:-1.64, Z:16.06 [[ 9.96105483e-01 2.44307967e-02 -8.47171935e-02 -1.28878952e+01] [-2.39764522e-02 9.99692187e-01 6.37652185e-03 -1.64354247e+00] [ 8.48469000e-02 -4.32047064e-03 9.96384633e-01 1.60550580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.849072329 meters Centerline goodness [0,1] 0.9999568155809384 Centerline is valid? [True, True] Translation: X:-12.86, Y:-1.65, Z:16.06 [[ 9.96158153e-01 2.22880133e-02 -8.46887109e-02 -1.28593397e+01] [-2.18272100e-02 9.99741507e-01 6.36328893e-03 -1.64973323e+00] [ 8.48086446e-02 -4.49032387e-03 9.96387139e-01 1.60559351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879072329 meters Centerline goodness [0,1] 0.9999783947283137 Centerline is valid? [True, True] Translation: X:-12.83, Y:-1.65, Z:16.06 [[ 9.96122285e-01 2.16004752e-02 -8.52866566e-02 -1.28303398e+01] [-2.11311691e-02 9.99756216e-01 6.40171628e-03 -1.65059585e+00] [ 8.54041452e-02 -4.57468549e-03 9.96335889e-01 1.60583394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.909072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-12.80, Y:-1.65, Z:16.06 [[ 9.96123479e-01 2.05368502e-02 -8.55350991e-02 -1.28016392e+01] [-2.00615342e-02 9.99778180e-01 6.41291658e-03 -1.65176050e+00] [ 8.56478269e-02 -4.67209146e-03 9.96314519e-01 1.60606235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939072329 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-12.77, Y:-1.66, Z:16.06 [[ 9.96139892e-01 1.93631924e-02 -8.56176465e-02 -1.27739469e+01] [-1.88844441e-02 9.99801201e-01 6.39815394e-03 -1.65559391e+00] [ 8.57245145e-02 -4.75661472e-03 9.96307524e-01 1.60624721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.969072329 meters Centerline goodness [0,1] 0.9999355254674404 Centerline is valid? [True, True] Translation: X:-12.75, Y:-1.66, Z:16.06 [[ 9.96215235e-01 1.72199485e-02 -8.51978776e-02 -1.27455396e+01] [-1.67387381e-02 9.99839674e-01 6.35933496e-03 -1.66265064e+00] [ 8.52937255e-02 -4.90916142e-03 9.96343756e-01 1.60637589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999072329 meters Centerline goodness [0,1] 0.9998917584915463 Centerline is valid? [True, True] Translation: X:-12.72, Y:-1.66, Z:16.07 [[ 9.96214063e-01 1.62601670e-02 -8.53999290e-02 -1.27162761e+01] [-1.57736624e-02 9.99855306e-01 6.36850512e-03 -1.66181600e+00] [ 8.54911251e-02 -4.99732471e-03 9.96326399e-01 1.60663544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.029072329 meters Centerline goodness [0,1] 0.9998915213052156 Centerline is valid? [True, True] Translation: X:-12.69, Y:-1.67, Z:16.07 [[ 9.96279657e-01 1.42149798e-02 -8.49987057e-02 -1.26879968e+01] [-1.37273798e-02 9.99885813e-01 6.31830058e-03 -1.66748358e+00] [ 8.50788144e-02 -5.12798481e-03 9.96361028e-01 1.60683142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059072329 meters Centerline goodness [0,1] 0.9995880758807588 Centerline is valid? [True, True] Translation: X:-12.66, Y:-1.67, Z:16.07 [[ 9.96330338e-01 1.26171540e-02 -8.46561600e-02 -1.26601251e+01] [-1.21281471e-02 9.99906679e-01 6.28820962e-03 -1.67209713e+00] [ 8.47275991e-02 -5.23841166e-03 9.96390382e-01 1.60701717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.089072329 meters Centerline goodness [0,1] 0.9989608815188449 Centerline is valid? [True, True] Translation: X:-12.63, Y:-1.68, Z:16.07 [[ 9.96336360e-01 1.19359140e-02 -8.46840654e-02 -1.26329820e+01] [-1.14446563e-02 9.99914761e-01 6.28417397e-03 -1.67799393e+00] [ 8.47518544e-02 -5.29197100e-03 9.96388036e-01 1.60725945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119072329 meters Centerline goodness [0,1] 0.9959498386433042 Centerline is valid? [True, True] Translation: X:-12.60, Y:-1.68, Z:16.08 [[ 9.96371072e-01 9.77757407e-03 -8.45522692e-02 -1.26046918e+01] [-9.28073582e-03 9.99937293e-01 6.26717958e-03 -1.68415127e+00] [ 8.46082450e-02 -5.45972916e-03 9.96399336e-01 1.60755425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.149072329 meters Centerline goodness [0,1] 0.997940200776219 Centerline is valid? [True, True] Translation: X:-12.58, Y:-1.68, Z:16.08 [[ 9.96406032e-01 8.38738984e-03 -8.42892141e-02 -1.25751690e+01] [-7.88906445e-03 9.99949390e-01 6.24343172e-03 -1.68337230e+00] [ 8.43373143e-02 -5.55602998e-03 9.96421772e-01 1.60781861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179072329 meters Centerline goodness [0,1] 0.9945439192846472 Centerline is valid? [True, True] Translation: X:-12.55, Y:-1.69, Z:16.08 [[ 9.96421065e-01 7.42984509e-03 -8.42012925e-02 -1.25475379e+01] [-6.92943716e-03 9.99956561e-01 6.23369512e-03 -1.68863576e+00] [ 8.42439503e-02 -5.62791757e-03 9.96429267e-01 1.60808250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.209072329 meters Centerline goodness [0,1] 0.9957522430757227 Centerline is valid? [True, True] Translation: X:-12.52, Y:-1.69, Z:16.08 [[ 9.96414281e-01 4.95609726e-03 -8.44631149e-02 -1.25177983e+01] [-4.44432119e-03 9.99970617e-01 6.24611731e-03 -1.68969296e+00] [ 8.44915894e-02 -5.84833927e-03 9.96407029e-01 1.60834907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239072329 meters Centerline goodness [0,1] 0.9952142748868533 Centerline is valid? [True, True] Translation: X:-12.49, Y:-1.69, Z:16.09 [[ 9.96461924e-01 3.59982616e-03 -8.39682947e-02 -1.24880812e+01] [-3.08940001e-03 9.99975958e-01 6.20794000e-03 -1.69294782e+00] [ 8.39886234e-02 -5.92656419e-03 9.96449089e-01 1.60860567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.269072329 meters Centerline goodness [0,1] 0.980197590779097 Centerline is valid? [True, True] Translation: X:-12.46, Y:-1.70, Z:16.09 [[ 9.96473227e-01 2.45379987e-03 -8.38754246e-02 -1.24607304e+01] [-1.94074861e-03 9.99978910e-01 6.19781165e-03 -1.69926873e+00] [ 8.38888638e-02 -6.01317226e-03 9.96456974e-01 1.60884431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299072329 meters Centerline goodness [0,1] 0.9867319949702987 Centerline is valid? [True, True] Translation: X:-12.43, Y:-1.70, Z:16.09 [[ 9.96527941e-01 -3.15583142e-04 -8.32584125e-02 -1.24302401e+01] [ 8.30105251e-04 9.99980773e-01 6.14527695e-03 -1.69989793e+00] [ 8.32548723e-02 -6.19305343e-03 9.96509043e-01 1.60917739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.329072329 meters Centerline goodness [0,1] 0.9390175164758932 Centerline is valid? [True, False] Translation: X:-12.43, Y:-1.70, Z:16.09 [[ 9.96542416e-01 -3.57160765e-04 -8.30848125e-02 -1.24304335e+01] [ 8.77128335e-04 9.99980259e-01 6.22185764e-03 -1.70043281e+00] [ 8.30809501e-02 -6.27322109e-03 9.96523057e-01 1.60914835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359072329 meters Centerline goodness [0,1] 0.8968929306051748 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.70, Z:16.09 [[ 9.96526837e-01 -3.96478957e-04 -8.32712795e-02 -1.24299899e+01] [ 9.28777344e-04 9.99979384e-01 6.35370045e-03 -1.70115610e+00] [ 8.32670437e-02 -6.40897349e-03 9.96506661e-01 1.60914621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38907232900002 meters Centerline goodness [0,1] 0.937163258682246 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.70, Z:16.09 [[ 9.96518199e-01 -3.79167834e-04 -8.33746700e-02 -1.24296668e+01] [ 9.30397305e-04 9.99977967e-01 6.57272007e-03 -1.70220788e+00] [ 8.33703408e-02 -6.62740673e-03 9.96496595e-01 1.60913450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41907232900002 meters Centerline goodness [0,1] 0.9099865748560045 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.70, Z:16.09 [[ 9.96511431e-01 -4.73159547e-04 -8.34550361e-02 -1.24294974e+01] [ 1.05167597e-03 9.99975723e-01 6.88824901e-03 -1.70401062e+00] [ 8.34497508e-02 -6.95198653e-03 9.96487736e-01 1.60914210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44907232900002 meters Centerline goodness [0,1] 0.8795290247175447 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.70, Z:16.09 [[ 9.96506057e-01 -4.99326760e-04 -8.35190330e-02 -1.24292994e+01] [ 1.09133744e-03 9.99974603e-01 7.04282933e-03 -1.70496861e+00] [ 8.35133952e-02 -7.10936953e-03 9.96481294e-01 1.60913571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479072329 meters Centerline goodness [0,1] 0.8583125744611719 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.71, Z:16.09 [[ 9.96512932e-01 -5.26651377e-04 -8.34367993e-02 -1.24292960e+01] [ 1.14497188e-03 9.99972237e-01 7.36296858e-03 -1.70657179e+00] [ 8.34306052e-02 -7.43282619e-03 9.96485869e-01 1.60911238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.509072329 meters Centerline goodness [0,1] 0.839642402124857 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.71, Z:16.09 [[ 9.96509458e-01 -6.50509917e-04 -8.34773981e-02 -1.24290766e+01] [ 1.26956714e-03 9.99972087e-01 7.36299783e-03 -1.70702703e+00] [ 8.34702782e-02 -7.44327714e-03 9.96482469e-01 1.60909369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539072329 meters Centerline goodness [0,1] 0.8264337750491796 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.71, Z:16.09 [[ 9.96512022e-01 -6.80076221e-04 -8.34465532e-02 -1.24292041e+01] [ 1.31186887e-03 9.99970889e-01 7.51662772e-03 -1.70779320e+00] [ 8.34390122e-02 -7.59988082e-03 9.96483905e-01 1.60910015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.569072329 meters Centerline goodness [0,1] 0.8093178180559761 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.71, Z:16.09 [[ 9.96513428e-01 -6.81427626e-04 -8.34297568e-02 -1.24293682e+01] [ 1.34709654e-03 9.99967707e-01 7.92276276e-03 -1.70983572e+00] [ 8.34216638e-02 -8.00752741e-03 9.96482165e-01 1.60911053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599072329 meters Centerline goodness [0,1] 0.7770682713537382 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.71, Z:16.09 [[ 9.96515124e-01 -7.04703858e-04 -8.34092990e-02 -1.24292815e+01] [ 1.38478402e-03 9.99966268e-01 8.09595739e-03 -1.71068474e+00] [ 8.34007802e-02 -8.18324785e-03 9.96482486e-01 1.60909337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.629072329 meters Centerline goodness [0,1] 0.7586550112515147 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.71, Z:16.09 [[ 9.96497301e-01 -6.86858891e-04 -8.36221101e-02 -1.24288580e+01] [ 1.38742352e-03 9.99964426e-01 8.31992085e-03 -1.71199817e+00] [ 8.36134208e-02 -8.40679796e-03 9.96462805e-01 1.60909961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659072329 meters Centerline goodness [0,1] 0.7745614793052795 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.71, Z:16.09 [[ 9.96462891e-01 -2.10288695e-03 -8.40076528e-02 -1.24258500e+01] [ 2.72564695e-03 9.99969646e-01 7.29913173e-03 -1.71278940e+00] [ 8.39897536e-02 -7.50228911e-03 9.96438376e-01 1.60888504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.689072329 meters Centerline goodness [0,1] 0.7745614793052795 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.71, Z:16.09 [[ 9.96462891e-01 -2.10288695e-03 -8.40076528e-02 -1.24258500e+01] [ 2.72564695e-03 9.99969646e-01 7.29913173e-03 -1.71278940e+00] [ 8.39897536e-02 -7.50228911e-03 9.96438376e-01 1.60888504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719072329 meters Centerline goodness [0,1] 0.7502378275534031 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.71, Z:16.09 [[ 9.96462588e-01 -2.08613152e-03 -8.40116609e-02 -1.24258139e+01] [ 2.72520862e-03 9.99968213e-01 7.49304577e-03 -1.71372749e+00] [ 8.39933590e-02 -7.69548908e-03 9.96436599e-01 1.60887835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.749072329 meters Centerline goodness [0,1] 0.7408367351346681 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.71, Z:16.09 [[ 9.96464354e-01 -2.14885571e-03 -8.39891288e-02 -1.24257677e+01] [ 2.79565664e-03 9.99967332e-01 7.58415623e-03 -1.71446269e+00] [ 8.39700878e-02 -7.79214611e-03 9.96437809e-01 1.60886464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779072329 meters Centerline goodness [0,1] 0.7237322953832847 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96478439e-01 -2.18676075e-03 -8.38208729e-02 -1.24266209e+01] [ 2.86485758e-03 9.99964132e-01 7.97040726e-03 -1.71633725e+00] [ 8.38004370e-02 -8.18247385e-03 9.96448962e-01 1.60892987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.809072329 meters Centerline goodness [0,1] 0.7181975362005619 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96477270e-01 -2.27874472e-03 -8.38323158e-02 -1.24266412e+01] [ 2.95982979e-03 9.99963611e-01 8.00098750e-03 -1.71692745e+00] [ 8.38110330e-02 -8.22093156e-03 9.96447754e-01 1.60893982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839072329 meters Centerline goodness [0,1] 0.7578496669838249 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96472198e-01 -2.27085010e-03 -8.38927940e-02 -1.24264764e+01] [ 2.96403396e-03 9.99962484e-01 8.13910829e-03 -1.71764470e+00] [ 8.38711640e-02 -8.35905623e-03 9.96441546e-01 1.60893405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.869072329 meters Centerline goodness [0,1] 0.7412749210742551 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96461396e-01 -2.33105640e-03 -8.40193592e-02 -1.24256139e+01] [ 3.04034766e-03 9.99960807e-01 8.31503642e-03 -1.71870271e+00] [ 8.39966835e-02 -8.54106086e-03 9.96429429e-01 1.60886432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899072329 meters Centerline goodness [0,1] 0.7398525182189737 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96451647e-01 -2.35685593e-03 -8.41341851e-02 -1.24250367e+01] [ 3.07478553e-03 9.99959953e-01 8.40459266e-03 -1.71928666e+00] [ 8.41110074e-02 -8.63346477e-03 9.96418989e-01 1.60882352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.929072329 meters Centerline goodness [0,1] 0.7294306196261885 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.72, Z:16.09 [[ 9.96449540e-01 -2.38233438e-03 -8.41584131e-02 -1.24248882e+01] [ 3.10232202e-03 9.99959693e-01 8.42540835e-03 -1.71954327e+00] [ 8.41349488e-02 -8.65658078e-03 9.96416767e-01 1.60881262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959072329 meters Centerline goodness [0,1] 0.7185300677797267 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96447107e-01 -2.37969635e-03 -8.41872921e-02 -1.24251448e+01] [ 3.12918924e-03 9.99956630e-01 8.77185150e-03 -1.72127569e+00] [ 8.41627666e-02 -9.00412401e-03 9.96411338e-01 1.60884983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.989072329 meters Centerline goodness [0,1] 0.6816627715744827 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96451788e-01 -2.56366515e-03 -8.41264686e-02 -1.24252258e+01] [ 3.31266321e-03 9.99956101e-01 8.76485817e-03 -1.72188448e+00] [ 8.41003054e-02 -9.01244125e-03 9.96416537e-01 1.60884769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019072329 meters Centerline goodness [0,1] 0.7417152517393095 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96459053e-01 -2.50996377e-03 -8.40419924e-02 -1.24256582e+01] [ 3.27330702e-03 9.99954623e-01 8.94631974e-03 -1.72265179e+00] [ 8.40157239e-02 -9.18973653e-03 9.96422053e-01 1.60887591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.049072329 meters Centerline goodness [0,1] 0.6984109779097747 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96465024e-01 -2.65641511e-03 -8.39666534e-02 -1.24258062e+01] [ 3.42345938e-03 9.99953707e-01 8.99244362e-03 -1.72338254e+00] [ 8.39388787e-02 -9.24811197e-03 9.96427989e-01 1.60887556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079072329 meters Centerline goodness [0,1] 0.7001516136019059 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96444109e-01 -2.74259374e-03 -8.42117300e-02 -1.24250501e+01] [ 3.51473255e-03 9.99953123e-01 9.02213229e-03 -1.72398788e+00] [ 8.41830383e-02 -9.28603228e-03 9.96407038e-01 1.60885321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.109072329 meters Centerline goodness [0,1] 0.6639545227711601 Centerline is valid? [False, False] Translation: X:-12.43, Y:-1.72, Z:16.09 [[ 9.96451921e-01 -2.71611659e-03 -8.41201025e-02 -1.24250782e+01] [ 3.49801784e-03 9.99952028e-01 9.14906519e-03 -1.72454070e+00] [ 8.40912171e-02 -9.41085720e-03 9.96413620e-01 1.60882511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13907232900002 meters Centerline goodness [0,1] 0.6852908629331482 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96444123e-01 -2.73000449e-03 -8.42119722e-02 -1.24247137e+01] [ 3.52229927e-03 9.99950911e-01 9.26120016e-03 -1.72523818e+00] [ 8.41825552e-02 -9.52488824e-03 9.96404824e-01 1.60880582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16907232900002 meters Centerline goodness [0,1] 0.7134253341710175 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96440464e-01 -2.75884212e-03 -8.42543207e-02 -1.24244764e+01] [ 3.57712437e-03 9.99947879e-01 9.56263295e-03 -1.72697836e+00] [ 8.42235475e-02 -9.82998260e-03 9.96398397e-01 1.60878712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19907232900002 meters Centerline goodness [0,1] 0.7093071108319435 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96432386e-01 -2.79520189e-03 -8.43485992e-02 -1.24243762e+01] [ 3.61899033e-03 9.99947224e-01 9.61515434e-03 -1.72750124e+00] [ 8.43172713e-02 -9.88610795e-03 9.96389915e-01 1.60880299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.229072329 meters Centerline goodness [0,1] 0.7279424510313746 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96431734e-01 -2.93408572e-03 -8.43515838e-02 -1.24244583e+01] [ 3.76001457e-03 9.99946520e-01 9.63430667e-03 -1.72812327e+00] [ 8.43188048e-02 -9.91709209e-03 9.96389477e-01 1.60881755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259072329 meters Centerline goodness [0,1] 0.7275332117738995 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96428615e-01 -2.93346463e-03 -8.43884483e-02 -1.24245552e+01] [ 3.76526273e-03 9.99945872e-01 9.69930953e-03 -1.72837714e+00] [ 8.43554279e-02 -9.98241424e-03 9.96385725e-01 1.60883865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.289072329 meters Centerline goodness [0,1] 0.6936461218836565 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96428817e-01 -3.06393444e-03 -8.43814291e-02 -1.24245340e+01] [ 3.89121027e-03 9.99945951e-01 9.64128263e-03 -1.72848854e+00] [ 8.43473281e-02 -9.93519773e-03 9.96386883e-01 1.60882961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319072329 meters Centerline goodness [0,1] 0.6948391435451331 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96425826e-01 -2.97306864e-03 -8.44199882e-02 -1.24243915e+01] [ 3.81985720e-03 9.99943985e-01 9.87091180e-03 -1.72942818e+00] [ 8.43859125e-02 -1.01581037e-02 9.96381368e-01 1.60881563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.349072329 meters Centerline goodness [0,1] 0.72150801049277 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96418748e-01 -3.06455517e-03 -8.45002177e-02 -1.24238664e+01] [ 3.91014074e-03 9.99943909e-01 9.84322042e-03 -1.72971519e+00] [ 8.44653130e-02 -1.01383771e-02 9.96374841e-01 1.60877387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379072329 meters Centerline goodness [0,1] 0.7065422588694803 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96413429e-01 -3.11106161e-03 -8.45612163e-02 -1.24236052e+01] [ 3.95994170e-03 9.99943422e-01 9.87277070e-03 -1.73016135e+00] [ 8.45257172e-02 -1.01722188e-02 9.96369374e-01 1.60876069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.409072329 meters Centerline goodness [0,1] 0.7192133197299586 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96412928e-01 -3.10238801e-03 -8.45674394e-02 -1.24234073e+01] [ 3.96253851e-03 9.99942095e-01 1.00052247e-02 -1.73087882e+00] [ 8.45315024e-02 -1.03044370e-02 9.96367524e-01 1.60873147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439072329 meters Centerline goodness [0,1] 0.7018686112377108 Centerline is valid? [False, False] Translation: X:-12.42, Y:-1.73, Z:16.09 [[ 9.96407189e-01 -3.12968872e-03 -8.46340252e-02 -1.24232754e+01] [ 3.99229623e-03 9.99941780e-01 1.00248825e-02 -1.73115588e+00] [ 8.45977230e-02 -1.03267491e-02 9.96361673e-01 1.60873227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.469072329 meters Centerline goodness [0,1] 0.6741771878709399 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.73, Z:16.09 [[ 9.96529244e-01 -1.66313344e-03 -8.32267951e-02 -1.24068530e+01] [ 1.75322286e-03 9.99997954e-01 1.00938414e-03 -1.73254719e+00] [ 8.32249461e-02 -1.15179593e-03 9.96530121e-01 1.60852511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499072329 meters Centerline goodness [0,1] 0.7275663956639566 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.73, Z:16.09 [[ 9.96526889e-01 -1.63904745e-03 -8.32554703e-02 -1.24072339e+01] [ 1.73859739e-03 9.99997858e-01 1.12323082e-03 -1.73297571e+00] [ 8.32534509e-02 -1.26407745e-03 9.96527604e-01 1.60857812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.529072329 meters Centerline goodness [0,1] 0.7148030881332408 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96542635e-01 2.61329491e-03 -8.30418462e-02 -1.24080653e+01] [-2.13856667e-03 9.99980863e-01 5.80516997e-03 -1.73583389e+00] [ 8.30554277e-02 -5.60750885e-03 9.96529152e-01 1.60863179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559072329 meters Centerline goodness [0,1] 0.696032469505578 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96549478e-01 2.69879265e-03 -8.29569445e-02 -1.24084558e+01] [-2.21284719e-03 9.99979855e-01 5.94918932e-03 -1.73624407e+00] [ 8.29713289e-02 -5.74509047e-03 9.96535374e-01 1.60865387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.589072329 meters Centerline goodness [0,1] 0.7107171461350303 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96541936e-01 2.80276807e-03 -8.30440479e-02 -1.24084111e+01] [-2.30106060e-03 9.99978524e-01 6.13655645e-03 -1.73689181e+00] [ 8.30594638e-02 -5.92424646e-03 9.96526983e-01 1.60867273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619072329 meters Centerline goodness [0,1] 0.7090593844820112 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96537820e-01 2.88868554e-03 -8.30904803e-02 -1.24083854e+01] [-2.36946704e-03 9.99977052e-01 6.34676481e-03 -1.73755685e+00] [ 8.31069073e-02 -6.12791102e-03 9.96521796e-01 1.60867883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.649072329 meters Centerline goodness [0,1] 0.7183834529410489 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96537703e-01 2.94112215e-03 -8.30900474e-02 -1.24080638e+01] [-2.41272336e-03 9.99976229e-01 6.45904612e-03 -1.73788641e+00] [ 8.31070691e-02 -6.23620969e-03 9.96521111e-01 1.60863606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679072329 meters Centerline goodness [0,1] 0.7113062330623307 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96526798e-01 2.99850017e-03 -8.32186831e-02 -1.24073951e+01] [-2.46560437e-03 9.99975799e-01 6.50559170e-03 -1.73797132e+00] [ 8.32361761e-02 -6.27781212e-03 9.96510074e-01 1.60858096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.709072329 meters Centerline goodness [0,1] 0.7017779996960685 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96514149e-01 3.15722769e-03 -8.33641578e-02 -1.24073077e+01] [-2.60685130e-03 9.99974089e-01 6.71009815e-03 -1.73856969e+00] [ 8.33831830e-02 -6.46938979e-03 9.96496559e-01 1.60860729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739072329 meters Centerline goodness [0,1] 0.7157460661964189 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96512054e-01 3.18975199e-03 -8.33879580e-02 -1.24073081e+01] [-2.63198788e-03 9.99973431e-01 6.79785915e-03 -1.73888224e+00] [ 8.34074259e-02 -6.55467249e-03 9.96493973e-01 1.60861053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.769072329 meters Centerline goodness [0,1] 0.7175863713208201 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96514267e-01 3.30732474e-03 -8.33569222e-02 -1.24073871e+01] [-2.73947786e-03 9.99972265e-01 6.92569037e-03 -1.73923174e+00] [ 8.33775158e-02 -6.67319482e-03 9.96495689e-01 1.60860958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799072329 meters Centerline goodness [0,1] 0.7009564708178802 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96502265e-01 3.41636216e-03 -8.34958937e-02 -1.24072519e+01] [-2.83893438e-03 9.99971236e-01 7.03339200e-03 -1.73939970e+00] [ 8.35175206e-02 -6.77175169e-03 9.96483300e-01 1.60862935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.829072329 meters Centerline goodness [0,1] 0.7042222992890584 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96492338e-01 3.41123603e-03 -8.36144996e-02 -1.24069553e+01] [-2.82911912e-03 9.99970939e-01 7.07941057e-03 -1.73959772e+00] [ 8.36362192e-02 -6.81802301e-03 9.96473029e-01 1.60862521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859072329 meters Centerline goodness [0,1] 0.7063430083734652 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96496038e-01 3.46261417e-03 -8.35682788e-02 -1.24068417e+01] [-2.87627451e-03 9.99970404e-01 7.13566847e-03 -1.73969428e+00] [ 8.35905136e-02 -6.87030005e-03 9.96476505e-01 1.60859226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88907232900002 meters Centerline goodness [0,1] 0.69124633908233 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96502051e-01 3.52718085e-03 -8.34938347e-02 -1.24070079e+01] [-2.93126576e-03 9.99969359e-01 7.25874469e-03 -1.74003673e+00] [ 8.35168792e-02 -6.98861136e-03 9.96481856e-01 1.60858940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91907232900002 meters Centerline goodness [0,1] 0.6824011979946611 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96485731e-01 3.56998835e-03 -8.36865730e-02 -1.24068414e+01] [-2.96606366e-03 9.99968665e-01 7.33972424e-03 -1.74033806e+00] [ 8.37101534e-02 -7.06571077e-03 9.96465095e-01 1.60862452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94907232900002 meters Centerline goodness [0,1] 0.7056587379168024 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96489342e-01 3.68860111e-03 -8.36384160e-02 -1.24070950e+01] [-3.07489475e-03 9.99967407e-01 7.46524226e-03 -1.74061967e+00] [ 8.36632263e-02 -7.18185503e-03 9.96468206e-01 1.60863819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979072329 meters Centerline goodness [0,1] 0.68310791741745 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96480963e-01 3.73960784e-03 -8.37359243e-02 -1.24069863e+01] [-3.12162043e-03 9.99966928e-01 7.50990495e-03 -1.74068775e+00] [ 8.37612390e-02 -7.22208554e-03 9.96459681e-01 1.60865426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.009072329 meters Centerline goodness [0,1] 0.6931165311653116 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96469169e-01 3.83492327e-03 -8.38718623e-02 -1.24066379e+01] [-3.20632723e-03 9.99965765e-01 7.62813338e-03 -1.74099303e+00] [ 8.38982442e-02 -7.33227910e-03 9.96447350e-01 1.60864286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039072329 meters Centerline goodness [0,1] 0.7053381401207488 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96468210e-01 3.91046981e-03 -8.38797593e-02 -1.24065050e+01] [-3.28091116e-03 9.99965417e-01 7.64202130e-03 -1.74085582e+00] [ 8.39067424e-02 -7.33982925e-03 9.96446579e-01 1.60862378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.069072329 meters Centerline goodness [0,1] 0.7033153129681495 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96466107e-01 3.98366670e-03 -8.39013000e-02 -1.24062373e+01] [-3.34939402e-03 9.99964752e-01 7.69914957e-03 -1.74091858e+00] [ 8.39290134e-02 -7.39092309e-03 9.96444326e-01 1.60859065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099072329 meters Centerline goodness [0,1] 0.699270643396718 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96451037e-01 4.02808715e-03 -8.40779774e-02 -1.24058723e+01] [-3.38191092e-03 9.99963654e-01 7.82645025e-03 -1.74149087e+00] [ 8.41064471e-02 -7.51433024e-03 9.96428442e-01 1.60859465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.129072329 meters Centerline goodness [0,1] 0.6916185848770118 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96444729e-01 4.15561441e-03 -8.41464925e-02 -1.24057779e+01] [-3.49694369e-03 9.99962096e-01 7.97354440e-03 -1.74192035e+00] [ 8.41764380e-02 -7.65094074e-03 9.96421492e-01 1.60859995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159072329 meters Centerline goodness [0,1] 0.6833818355557486 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96448526e-01 4.30701022e-03 -8.40939047e-02 -1.24060860e+01] [-3.63763286e-03 9.99960485e-01 8.11148129e-03 -1.74227513e+00] [ 8.41255180e-02 -7.77677083e-03 9.96424819e-01 1.60861830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.189072329 meters Centerline goodness [0,1] 0.7238893472879663 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96440415e-01 4.32423061e-03 -8.41890791e-02 -1.24058156e+01] [-3.65443728e-03 9.99960449e-01 8.10830332e-03 -1.74228784e+00] [ 8.42208116e-02 -7.77177741e-03 9.96416808e-01 1.60861232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219072329 meters Centerline goodness [0,1] 0.6808769528279339 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96439157e-01 4.37765637e-03 -8.42012003e-02 -1.24057715e+01] [-3.70549021e-03 9.99960025e-01 8.13748292e-03 -1.74229890e+00] [ 8.42334574e-02 -7.79649990e-03 9.96415545e-01 1.60860512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.249072329 meters Centerline goodness [0,1] 0.7209620352080575 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96421926e-01 4.48842275e-03 -8.43990515e-02 -1.24054001e+01] [-3.80190335e-03 9.99958384e-01 8.29317494e-03 -1.74280690e+00] [ 8.44327624e-02 -7.94262431e-03 9.96397523e-01 1.60861303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279072329 meters Centerline goodness [0,1] 0.725953916650379 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96420542e-01 4.59251697e-03 -8.44097920e-02 -1.24054324e+01] [-3.89695266e-03 9.99957099e-01 8.40324617e-03 -1.74313810e+00] [ 8.44447628e-02 -8.04422613e-03 9.96395691e-01 1.60861766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.309072329 meters Centerline goodness [0,1] 0.6934309741628457 Centerline is valid? [False, False] Translation: X:-12.41, Y:-1.74, Z:16.09 [[ 9.96429440e-01 4.64177459e-03 -8.43019896e-02 -1.24055062e+01] [-3.93866160e-03 9.99956077e-01 8.50480919e-03 -1.74359440e+00] [ 8.43377641e-02 -8.14240525e-03 9.96403956e-01 1.60859438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339072329 meters Centerline goodness [0,1] 0.7104583812395601 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.74, Z:16.09 [[ 9.96410894e-01 4.69177575e-03 -8.45181483e-02 -1.24048418e+01] [-3.97979691e-03 9.99955181e-01 8.59049203e-03 -1.74394831e+00] [ 8.45546650e-02 -8.22329477e-03 9.96384909e-01 1.60857453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.369072329 meters Centerline goodness [0,1] 0.730877940600948 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.74, Z:16.09 [[ 9.96408632e-01 4.76262152e-03 -8.45408525e-02 -1.24048357e+01] [-4.05185483e-03 9.99955008e-01 8.57696710e-03 -1.74369665e+00] [ 8.45778977e-02 -8.20361680e-03 9.96383099e-01 1.60857498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399072329 meters Centerline goodness [0,1] 0.710212950890917 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.74, Z:16.09 [[ 9.96405171e-01 4.75748743e-03 -8.45819195e-02 -1.24045776e+01] [-4.05046610e-03 9.99955427e-01 8.52865501e-03 -1.74359345e+00] [ 8.46187243e-02 -8.15539976e-03 9.96380028e-01 1.60855609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.429072329 meters Centerline goodness [0,1] 0.7111053191720422 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.74, Z:16.09 [[ 9.96400519e-01 4.73255100e-03 -8.46381100e-02 -1.24044534e+01] [-4.02927021e-03 9.99955942e-01 8.47816149e-03 -1.74348876e+00] [ 8.46745043e-02 -8.10661469e-03 9.96375688e-01 1.60855927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459072329 meters Centerline goodness [0,1] 0.7094925995051868 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.74, Z:16.09 [[ 9.96393875e-01 4.91461966e-03 -8.47059181e-02 -1.24047593e+01] [-4.19645979e-03 9.99953746e-01 8.65424196e-03 -1.74393168e+00] [ 8.47445324e-02 -8.26756870e-03 9.96368412e-01 1.60861595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.489072329 meters Centerline goodness [0,1] 0.7078473534458418 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.74, Z:16.09 [[ 9.96389843e-01 4.98326706e-03 -8.47493197e-02 -1.24046721e+01] [-4.26073081e-03 9.99953039e-01 8.70430750e-03 -1.74412151e+00] [ 8.47887157e-02 -8.31178955e-03 9.96364285e-01 1.60861785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519072329 meters Centerline goodness [0,1] 0.722392471365543 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.74, Z:16.09 [[ 9.96390329e-01 4.97164902e-03 -8.47442959e-02 -1.24045101e+01] [-4.24858896e-03 9.99953038e-01 8.71046935e-03 -1.74427272e+00] [ 8.47836215e-02 -8.31898374e-03 9.96364658e-01 1.60859275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.549072329 meters Centerline goodness [0,1] 0.7176776994031471 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.74, Z:16.09 [[ 9.96369321e-01 5.15587177e-03 -8.49799585e-02 -1.24037445e+01] [-4.41883989e-03 9.99950996e-01 8.85882532e-03 -1.74463444e+00] [ 8.50214691e-02 -8.45114894e-03 9.96343278e-01 1.60855694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579072329 meters Centerline goodness [0,1] 0.7183120015645712 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.74, Z:16.09 [[ 9.96364192e-01 5.22334595e-03 -8.50359521e-02 -1.24033779e+01] [-4.47810868e-03 9.99949901e-01 8.95217977e-03 -1.74494300e+00] [ 8.50784522e-02 -8.53883113e-03 9.96337666e-01 1.60852139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.609072329 meters Centerline goodness [0,1] 0.7180255274811149 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.08 [[ 9.96363406e-01 5.18071034e-03 -8.50477703e-02 -1.24031065e+01] [-4.43757497e-03 9.99950329e-01 8.92458073e-03 -1.74506245e+00] [ 8.50897816e-02 -8.51471980e-03 9.96336905e-01 1.60849021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63907232900002 meters Centerline goodness [0,1] 0.7180255274811149 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.08 [[ 9.96363406e-01 5.18071034e-03 -8.50477703e-02 -1.24031065e+01] [-4.43757497e-03 9.99950329e-01 8.92458073e-03 -1.74506245e+00] [ 8.50897816e-02 -8.51471980e-03 9.96336905e-01 1.60849021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66907232900002 meters Centerline goodness [0,1] 0.7161546472272846 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96343647e-01 5.31913957e-03 -8.52704216e-02 -1.24029539e+01] [-4.55354463e-03 9.99947583e-01 9.17041905e-03 -1.74612141e+00] [ 8.53147308e-02 -8.74860609e-03 9.96315642e-01 1.60853763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69907232900002 meters Centerline goodness [0,1] 0.7142329582482513 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96345471e-01 5.48377841e-03 -8.52386699e-02 -1.24032962e+01] [-4.70297495e-03 9.99945151e-01 9.35830929e-03 -1.74664737e+00] [ 8.52853135e-02 -8.92323374e-03 9.96316612e-01 1.60856821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.729072329 meters Centerline goodness [0,1] 0.6864112255093618 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96339156e-01 5.50191852e-03 -8.53112850e-02 -1.24033200e+01] [-4.71760913e-03 9.99944762e-01 9.39237881e-03 -1.74686169e+00] [ 8.53582487e-02 -8.95552948e-03 9.96310076e-01 1.60859582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759072329 meters Centerline goodness [0,1] 0.6930409293236348 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96338116e-01 5.59539464e-03 -8.53173508e-02 -1.24032745e+01] [-4.79550963e-03 9.99942636e-01 9.57747323e-03 -1.74766545e+00] [ 8.53660464e-02 -9.13326145e-03 9.96307795e-01 1.60858855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.789072329 meters Centerline goodness [0,1] 0.7178985790640073 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96337567e-01 5.62199597e-03 -8.53220142e-02 -1.24030935e+01] [-4.81857080e-03 9.99942122e-01 9.61941049e-03 -1.74788630e+00] [ 8.53711562e-02 -9.17304988e-03 9.96306991e-01 1.60856327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819072329 meters Centerline goodness [0,1] 0.7125973152906989 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96322219e-01 5.55629533e-03 -8.55053446e-02 -1.24024134e+01] [-4.75247709e-03 9.99942611e-01 9.60148107e-03 -1.74814039e+00] [ 8.55537862e-02 -9.15980673e-03 9.96291447e-01 1.60852945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.849072329 meters Centerline goodness [0,1] 0.7151608628592532 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96313567e-01 5.80148672e-03 -8.55898333e-02 -1.24023402e+01] [-4.96878932e-03 9.99938264e-01 9.93875467e-03 -1.74911366e+00] [ 8.56422089e-02 -9.47683826e-03 9.96280885e-01 1.60853555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879072329 meters Centerline goodness [0,1] 0.7268263004649951 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96302301e-01 5.79611911e-03 -8.57212318e-02 -1.24018988e+01] [-4.96035352e-03 9.99938099e-01 9.95959444e-03 -1.74946158e+00] [ 8.57736525e-02 -9.49755925e-03 9.96269380e-01 1.60851852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.909072329 meters Centerline goodness [0,1] 0.7270220987279121 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96294482e-01 5.79052784e-03 -8.58124406e-02 -1.24016686e+01] [-4.94495103e-03 9.99937139e-01 1.00630679e-02 -1.75016211e+00] [ 8.58653168e-02 -9.60144070e-03 9.96260488e-01 1.60851656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939072329 meters Centerline goodness [0,1] 0.7250010864369214 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96292234e-01 5.80803900e-03 -8.58373532e-02 -1.24016949e+01] [-4.95206267e-03 9.99935904e-01 1.01816414e-02 -1.75081132e+00] [ 8.58909867e-02 -9.71881827e-03 9.96257137e-01 1.60852865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.969072329 meters Centerline goodness [0,1] 0.7205087578408178 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96285921e-01 5.83331168e-03 -8.59088797e-02 -1.24016373e+01] [-4.96859487e-03 9.99934857e-01 1.02758943e-02 -1.75130717e+00] [ 8.59632259e-02 -9.81088237e-03 9.96250004e-01 1.60854133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999072329 meters Centerline goodness [0,1] 0.733657224656227 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96276398e-01 5.86713807e-03 -8.60169536e-02 -1.24014579e+01] [-4.98952662e-03 9.99933322e-01 1.04142174e-02 -1.75199997e+00] [ 8.60723198e-02 -9.94625509e-03 9.96239242e-01 1.60854823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.029072329 meters Centerline goodness [0,1] 0.7173089002967488 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96262543e-01 5.83742838e-03 -8.61792840e-02 -1.24009711e+01] [-4.95725549e-03 9.99933383e-01 1.04237528e-02 -1.75224150e+00] [ 8.62343909e-02 -9.95758173e-03 9.96225113e-01 1.60853167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059072329 meters Centerline goodness [0,1] 0.7133103582807725 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96256614e-01 5.91232795e-03 -8.62427002e-02 -1.24007357e+01] [-5.01232492e-03 9.99930740e-01 1.06485141e-02 -1.75339959e+00] [ 8.62996846e-02 -1.01763762e-02 9.96217248e-01 1.60851634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.089072329 meters Centerline goodness [0,1] 0.7153894567788701 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.75, Z:16.09 [[ 9.96240507e-01 6.02176107e-03 -8.64210129e-02 -1.24004156e+01] [-5.10614599e-03 9.99928512e-01 1.08119667e-02 -1.75396537e+00] [ 8.64799419e-02 -1.03300409e-02 9.96200035e-01 1.60852482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119072329 meters Centerline goodness [0,1] 0.6981602271003532 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.09 [[ 9.96221447e-01 6.11198704e-03 -8.66341242e-02 -1.23998761e+01] [-5.16665384e-03 9.99924691e-01 1.11318189e-02 -1.75538652e+00] [ 8.66956374e-02 -1.06421482e-02 9.96178002e-01 1.60851629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.149072329 meters Centerline goodness [0,1] 0.7211649052754932 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.09 [[ 9.96217547e-01 6.17169157e-03 -8.66747276e-02 -1.23997951e+01] [-5.21499669e-03 9.99923007e-01 1.12598586e-02 -1.75600068e+00] [ 8.67375466e-02 -1.07652603e-02 9.96173031e-01 1.60851425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179072329 meters Centerline goodness [0,1] 0.6931810780887047 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.09 [[ 9.96209372e-01 6.27623385e-03 -8.67611464e-02 -1.23999850e+01] [-5.28922205e-03 9.99918712e-01 1.16014038e-02 -1.75752465e+00] [ 8.68269069e-02 -1.10985282e-02 9.96161589e-01 1.60856617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.209072329 meters Centerline goodness [0,1] 0.7100279820394352 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.09 [[ 9.96204737e-01 6.26309221e-03 -8.68152935e-02 -1.23998782e+01] [-5.26695342e-03 9.99917698e-01 1.16985470e-02 -1.75823900e+00] [ 8.68814175e-02 -1.11968958e-02 9.96155735e-01 1.60856803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239072329 meters Centerline goodness [0,1] 0.7139544459614676 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.09 [[ 9.96190502e-01 6.22177943e-03 -8.69814492e-02 -1.23994742e+01] [-5.22231583e-03 9.99917759e-01 1.17133748e-02 -1.75860919e+00] [ 8.70471738e-02 -1.12145081e-02 9.96141066e-01 1.60856388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.269072329 meters Centerline goodness [0,1] 0.7092207792207792 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.09 [[ 9.96181540e-01 6.24508678e-03 -8.70823665e-02 -1.23992144e+01] [-5.23285998e-03 9.99916127e-01 1.18472259e-02 -1.75930779e+00] [ 8.71490496e-02 -1.13462980e-02 9.96130666e-01 1.60856029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299072329 meters Centerline goodness [0,1] 0.6969276468420025 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.09 [[ 9.96176563e-01 6.37780276e-03 -8.71296620e-02 -1.23989882e+01] [-5.33759292e-03 9.99911740e-01 1.21664065e-02 -1.76074636e+00] [ 8.71995669e-02 -1.16548263e-02 9.96122683e-01 1.60854495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.329072329 meters Centerline goodness [0,1] 0.7186388479222694 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.09 [[ 9.96167658e-01 6.40399457e-03 -8.72295042e-02 -1.23984671e+01] [-5.35694884e-03 9.99910835e-01 1.22321500e-02 -1.76120582e+00] [ 8.73000610e-02 -1.17179883e-02 9.96113140e-01 1.60850429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359072329 meters Centerline goodness [0,1] 0.7065175055178085 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.08 [[ 9.96152687e-01 6.37537140e-03 -8.74023963e-02 -1.23978915e+01] [-5.31688016e-03 9.99909748e-01 1.23380089e-02 -1.76189567e+00] [ 8.74731674e-02 -1.18258327e-02 9.96096679e-01 1.60847924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38907232900002 meters Centerline goodness [0,1] 0.694194833596778 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.08 [[ 9.96135473e-01 6.37112381e-03 -8.75986765e-02 -1.23973800e+01] [-5.29459234e-03 9.99907652e-01 1.25162188e-02 -1.76287067e+00] [ 8.76703293e-02 -1.20040503e-02 9.96077214e-01 1.60847093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41907232900002 meters Centerline goodness [0,1] 0.6895348333116573 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.08 [[ 9.96133093e-01 6.38456870e-03 -8.76247633e-02 -1.23972890e+01] [-5.30131009e-03 9.99906694e-01 1.25896211e-02 -1.76332691e+00] [ 8.76969668e-02 -1.20764121e-02 9.96073994e-01 1.60846833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44907232900002 meters Centerline goodness [0,1] 0.6877928162415409 Centerline is valid? [False, False] Translation: X:-12.40, Y:-1.76, Z:16.09 [[ 9.96127805e-01 6.47020995e-03 -8.76785779e-02 -1.23974653e+01] [-5.36982369e-03 9.99903910e-01 1.27802887e-02 -1.76416310e+00] [ 8.77528440e-02 -1.22599825e-02 9.96066831e-01 1.60850920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479072329 meters Centerline goodness [0,1] 0.6871072589382449 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.77, Z:16.08 [[ 9.96297574e-01 6.48203470e-03 -8.57270541e-02 -1.23809571e+01] [-6.31046254e-03 9.99977507e-01 2.27221607e-03 -1.76588395e+00] [ 8.57398544e-02 -1.72282599e-03 9.96316069e-01 1.60827795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.509072329 meters Centerline goodness [0,1] 0.6810178668110449 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.77, Z:16.08 [[ 9.96288105e-01 6.60445026e-03 -8.58276951e-02 -1.23808385e+01] [-6.41239709e-03 9.99976282e-01 2.51315939e-03 -1.76663829e+00] [ 8.58422575e-02 -1.95346954e-03 9.96306826e-01 1.60829087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539072329 meters Centerline goodness [0,1] 0.6979586529710051 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.77, Z:16.08 [[ 9.96288068e-01 6.69594737e-03 -8.58210347e-02 -1.23810228e+01] [-6.48611819e-03 9.99975256e-01 2.72356920e-03 -1.76726531e+00] [ 8.58371480e-02 -2.15681412e-03 9.96306846e-01 1.60830637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.569072329 meters Centerline goodness [0,1] 0.6962855534871639 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.77, Z:16.08 [[ 9.96271450e-01 6.90604603e-03 -8.59971216e-02 -1.23809153e+01] [-6.65738119e-03 9.99972789e-01 3.17800527e-03 -1.76889777e+00] [ 8.60167291e-02 -2.59364030e-03 9.96290317e-01 1.60833556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599072329 meters Centerline goodness [0,1] 0.6849602736463813 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.77, Z:16.08 [[ 9.96264001e-01 7.07355349e-03 -8.60697746e-02 -1.23807723e+01] [-6.79976734e-03 9.99970848e-01 3.47373822e-03 -1.76977350e+00] [ 8.60918372e-02 -2.87550589e-03 9.96283056e-01 1.60833255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.629072329 meters Centerline goodness [0,1] 0.6832911228001819 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.77, Z:16.08 [[ 9.96261188e-01 7.26596806e-03 -8.60863052e-02 -1.23807719e+01] [-6.95969763e-03 9.99968341e-01 3.85730804e-03 -1.77104639e+00] [ 8.61116070e-02 -3.24375163e-03 9.96280216e-01 1.60833307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659072329 meters Centerline goodness [0,1] 0.6938324559693247 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.77, Z:16.08 [[ 9.96244621e-01 7.58838722e-03 -8.62500486e-02 -1.23807923e+01] [-7.22379032e-03 9.99963609e-01 4.53853442e-03 -1.77334098e+00] [ 8.62813500e-02 -3.89843824e-03 9.96263184e-01 1.60837697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.689072329 meters Centerline goodness [0,1] 0.6742716134897615 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.77, Z:16.08 [[ 9.96234811e-01 7.75122038e-03 -8.63488215e-02 -1.23806557e+01] [-7.36149510e-03 9.99961235e-01 4.83089647e-03 -1.77435997e+00] [ 8.63829195e-02 -4.17705081e-03 9.96253253e-01 1.60838637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719072329 meters Centerline goodness [0,1] 0.6853896103896104 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96233292e-01 7.82110583e-03 -8.63600486e-02 -1.23806706e+01] [-7.41106138e-03 9.99959697e-01 5.06767368e-03 -1.77524994e+00] [ 8.63962028e-02 -4.40856561e-03 9.96251103e-01 1.60838533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.749072329 meters Centerline goodness [0,1] 0.6896133697016928 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96228349e-01 7.92163341e-03 -8.64078994e-02 -1.23806196e+01] [-7.49721185e-03 9.99958191e-01 5.23525332e-03 -1.77567348e+00] [ 8.64457586e-02 -4.56768944e-03 9.96246088e-01 1.60839231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779072329 meters Centerline goodness [0,1] 0.6926054891104527 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96217489e-01 8.07283421e-03 -8.65190361e-02 -1.23805968e+01] [-7.62135566e-03 9.99955570e-01 5.54730784e-03 -1.77672607e+00] [ 8.65599745e-02 -4.86693275e-03 9.96234753e-01 1.60841654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.809072329 meters Centerline goodness [0,1] 0.6587611002815681 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96210099e-01 8.24952454e-03 -8.65874381e-02 -1.23807363e+01] [-7.77767336e-03 9.99953018e-01 5.78536816e-03 -1.77740721e+00] [ 8.66310966e-02 -5.08999337e-03 9.96227456e-01 1.60845005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839072329 meters Centerline goodness [0,1] 0.6828173777315296 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96200560e-01 8.49303815e-03 -8.66735963e-02 -1.23806693e+01] [-7.97992052e-03 9.99948535e-01 6.26488091e-03 -1.77909495e+00] [ 8.67223435e-02 -5.54942946e-03 9.96217064e-01 1.60845889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.869072329 meters Centerline goodness [0,1] 0.6795674691745942 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96193557e-01 8.60326267e-03 -8.67431890e-02 -1.23804013e+01] [-8.06911676e-03 9.99946276e-01 6.50654363e-03 -1.77992982e+00] [ 8.67945063e-02 -5.78183592e-03 9.96209458e-01 1.60844034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899072329 meters Centerline goodness [0,1] 0.6859190921690922 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96187895e-01 8.63755100e-03 -8.68047876e-02 -1.23801316e+01] [-8.09606765e-03 9.99945524e-01 6.58806835e-03 -1.78027617e+00] [ 8.68569636e-02 -5.86017650e-03 9.96203557e-01 1.60842730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.929072329 meters Centerline goodness [0,1] 0.6730098937022364 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96196868e-01 8.77388081e-03 -8.66880514e-02 -1.23802494e+01] [-8.20918369e-03 9.99942715e-01 6.86847959e-03 -1.78128320e+00] [ 8.67433487e-02 -6.13071972e-03 9.96211828e-01 1.60840447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959072329 meters Centerline goodness [0,1] 0.6758097714223812 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96190627e-01 8.87301928e-03 -8.67496614e-02 -1.23803859e+01] [-8.28732482e-03 9.99940387e-01 7.10936516e-03 -1.78211669e+00] [ 8.68075715e-02 -6.36336031e-03 9.96204775e-01 1.60843632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.989072329 meters Centerline goodness [0,1] 0.6731394391227081 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96194869e-01 9.07882483e-03 -8.66796318e-02 -1.23809396e+01] [-8.45790469e-03 9.99935895e-01 7.52796904e-03 -1.78362970e+00] [ 8.67424203e-02 -6.76619607e-03 9.96207795e-01 1.60847837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019072329 meters Centerline goodness [0,1] 0.674052755718088 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.78, Z:16.08 [[ 9.96186678e-01 9.15232588e-03 -8.67659878e-02 -1.23808505e+01] [-8.51370916e-03 9.99933900e-01 7.72742035e-03 -1.78443434e+00] [ 8.68309764e-02 -6.95925282e-03 9.96198750e-01 1.60849520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.049072329 meters Centerline goodness [0,1] 0.6662335693713592 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96185374e-01 9.20325690e-03 -8.67755777e-02 -1.23806985e+01] [-8.55079690e-03 9.99932332e-01 7.88764936e-03 -1.78510103e+00] [ 8.68422979e-02 -7.11556058e-03 9.96196659e-01 1.60847738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079072329 meters Centerline goodness [0,1] 0.6685972655829475 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96168859e-01 9.14833767e-03 -8.69707585e-02 -1.23801828e+01] [-8.49380399e-03 9.99932776e-01 7.89299375e-03 -1.78549013e+00] [ 8.70371198e-02 -7.12404200e-03 9.96179596e-01 1.60846786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.109072329 meters Centerline goodness [0,1] 0.6709448033646968 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96158041e-01 9.35299303e-03 -8.70728393e-02 -1.23799720e+01] [-8.66346632e-03 9.99928079e-01 8.29350136e-03 -1.78677041e+00] [ 8.71441460e-02 -7.50728545e-03 9.96167425e-01 1.60846556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13907232900002 meters Centerline goodness [0,1] 0.6659368767883465 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96151019e-01 9.43107170e-03 -8.71447182e-02 -1.23797391e+01] [-8.72606558e-03 9.99926076e-01 8.46747127e-03 -1.78749729e+00] [ 8.72181335e-02 -7.67444961e-03 9.96159676e-01 1.60845752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16907232900002 meters Centerline goodness [0,1] 0.6787287124416965 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96145759e-01 9.63710267e-03 -8.71823034e-02 -1.23796908e+01] [-8.89394766e-03 9.99920764e-01 8.90858349e-03 -1.78915406e+00] [ 8.72612484e-02 -8.09885281e-03 9.96152540e-01 1.60845742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19907232900002 meters Centerline goodness [0,1] 0.6580006927006667 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96131809e-01 9.55810979e-03 -8.73502231e-02 -1.23791961e+01] [-8.81350842e-03 9.99921499e-01 8.90602625e-03 -1.78957425e+00] [ 8.74284908e-02 -8.10171412e-03 9.96137853e-01 1.60844296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.229072329 meters Centerline goodness [0,1] 0.6704094682765049 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96133289e-01 9.70782407e-03 -8.73168287e-02 -1.23793855e+01] [-8.94256415e-03 9.99918141e-01 9.15108316e-03 -1.79045667e+00] [ 8.73985181e-02 -8.33486222e-03 9.96138559e-01 1.60845647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259072329 meters Centerline goodness [0,1] 0.6677781145801758 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96133799e-01 9.66308853e-03 -8.73159741e-02 -1.23791909e+01] [-8.88036246e-03 9.99916871e-01 9.34830141e-03 -1.79174724e+00] [ 8.73990490e-02 -8.53676150e-03 9.96136803e-01 1.60843615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.289072329 meters Centerline goodness [0,1] 0.6650849367308025 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96130107e-01 9.74666644e-03 -8.73487922e-02 -1.23792666e+01] [-8.94861219e-03 9.99914611e-01 9.52333902e-03 -1.79243483e+00] [ 8.74341543e-02 -8.70483425e-03 9.96132268e-01 1.60845185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319072329 meters Centerline goodness [0,1] 0.6627564074764734 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96130769e-01 9.75361644e-03 -8.73404737e-02 -1.23793098e+01] [-8.94826056e-03 9.99913807e-01 9.60766576e-03 -1.79296766e+00] [ 8.74266551e-02 -8.78894617e-03 9.96132187e-01 1.60845505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.349072329 meters Centerline goodness [0,1] 0.6628131439106388 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.79, Z:16.08 [[ 9.96125570e-01 9.79529977e-03 -8.73950884e-02 -1.23791661e+01] [-8.97633106e-03 9.99912090e-01 9.75896694e-03 -1.79365608e+00] [ 8.74829975e-02 -8.93666925e-03 9.96125926e-01 1.60845242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379072329 meters Centerline goodness [0,1] 0.6630597419494741 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.80, Z:16.08 [[ 9.96116403e-01 9.84841593e-03 -8.74935445e-02 -1.23790120e+01] [-8.99938637e-03 9.99908566e-01 1.00930768e-02 -1.79533914e+00] [ 8.75849455e-02 -9.26649119e-03 9.96113954e-01 1.60846369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.409072329 meters Centerline goodness [0,1] 0.6743747561874214 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.80, Z:16.08 [[ 9.96105890e-01 9.89618031e-03 -8.76077725e-02 -1.23787814e+01] [-9.02850246e-03 9.99906247e-01 1.02948404e-02 -1.79631751e+00] [ 8.77014385e-02 -9.46378412e-03 9.96101849e-01 1.60846575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439072329 meters Centerline goodness [0,1] 0.659953171746954 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.80, Z:16.08 [[ 9.96097433e-01 9.95774650e-03 -8.76969026e-02 -1.23786456e+01] [-9.07209766e-03 9.99903805e-01 1.04917665e-02 -1.79725804e+00] [ 8.77929410e-02 -9.65522686e-03 9.96091952e-01 1.60847355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.469072329 meters Centerline goodness [0,1] 0.661033495314127 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.80, Z:16.08 [[ 9.96101419e-01 1.00091182e-02 -8.76457704e-02 -1.23787763e+01] [-9.09620801e-03 9.99900206e-01 1.08091203e-02 -1.79875163e+00] [ 8.77452137e-02 -9.96973592e-03 9.96093059e-01 1.60847219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499072329 meters Centerline goodness [0,1] 0.661033495314127 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.80, Z:16.08 [[ 9.96101419e-01 1.00091182e-02 -8.76457704e-02 -1.23787763e+01] [-9.09620801e-03 9.99900206e-01 1.08091203e-02 -1.79875163e+00] [ 8.77452137e-02 -9.96973592e-03 9.96093059e-01 1.60847219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.529072329 meters Centerline goodness [0,1] 0.653894472361809 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.80, Z:16.08 [[ 9.96089906e-01 9.93423858e-03 -8.77850203e-02 -1.23783156e+01] [-9.01419058e-03 9.99900279e-01 1.08709171e-02 -1.79950112e+00] [ 8.78842606e-02 -1.00370999e-02 9.96080124e-01 1.60845367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559072329 meters Centerline goodness [0,1] 0.6528042649098474 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.80, Z:16.08 [[ 9.96079132e-01 1.00582118e-02 -8.78930899e-02 -1.23783058e+01] [-9.10515034e-03 9.99895401e-01 1.12376238e-02 -1.80109446e+00] [ 8.79969268e-02 -1.03932827e-02 9.96066524e-01 1.60847961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.589072329 meters Centerline goodness [0,1] 0.6680962592327853 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.80, Z:16.08 [[ 9.96065427e-01 1.00685206e-02 -8.80470897e-02 -1.23779857e+01] [-9.09857799e-03 9.99893501e-01 1.14105913e-02 -1.80200375e+00] [ 8.81526006e-02 -1.05645922e-02 9.96050957e-01 1.60848482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619072329 meters Centerline goodness [0,1] 0.6780426381833181 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.80, Z:16.09 [[ 9.96063760e-01 1.02022246e-02 -8.80505577e-02 -1.23781349e+01] [-9.21015743e-03 9.99889533e-01 1.16659511e-02 -1.80295498e+00] [ 8.81598497e-02 -1.08090717e-02 9.96047692e-01 1.60850115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.649072329 meters Centerline goodness [0,1] 0.6774074636251274 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.80, Z:16.09 [[ 9.96056188e-01 1.03179520e-02 -8.81227010e-02 -1.23781539e+01] [-9.28778674e-03 9.99883751e-01 1.20921751e-02 -1.80481241e+00] [ 8.82372233e-02 -1.12260210e-02 9.96036229e-01 1.60852293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679072329 meters Centerline goodness [0,1] 0.6559065189585276 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.81, Z:16.08 [[ 9.96058717e-01 1.02070690e-02 -8.81070259e-02 -1.23779308e+01] [-9.17407825e-03 9.99884449e-01 1.21212687e-02 -1.80547090e+00] [ 8.82205676e-02 -1.12651946e-02 9.96037262e-01 1.60849026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.709072329 meters Centerline goodness [0,1] 0.6691165311653117 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.81, Z:16.08 [[ 9.96049854e-01 1.02088079e-02 -8.82069654e-02 -1.23777679e+01] [-9.16185901e-03 9.99882796e-01 1.22659592e-02 -1.80632894e+00] [ 8.83218480e-02 -1.14093671e-02 9.96026645e-01 1.60849574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739072329 meters Centerline goodness [0,1] 0.6677504660337279 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.81, Z:16.09 [[ 9.96036586e-01 1.02586682e-02 -8.83508910e-02 -1.23776018e+01] [-9.17578055e-03 9.99877832e-01 1.26541089e-02 -1.80835277e+00] [ 8.84699116e-02 -1.17932671e-02 9.96009033e-01 1.60851610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.769072329 meters Centerline goodness [0,1] 0.6659008647781703 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.81, Z:16.09 [[ 9.96026640e-01 1.01969317e-02 -8.84700798e-02 -1.23772963e+01] [-9.10427116e-03 9.99877326e-01 1.27453733e-02 -1.80928969e+00] [ 8.85891905e-02 -1.18892758e-02 9.95997289e-01 1.60851206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799072329 meters Centerline goodness [0,1] 0.6637673633649228 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.81, Z:16.08 [[ 9.96010655e-01 1.02762570e-02 -8.86406973e-02 -1.23768348e+01] [-9.14680004e-03 9.99871846e-01 1.31387702e-02 -1.81118097e+00] [ 8.87643551e-02 -1.22755764e-02 9.95977008e-01 1.60849961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.829072329 meters Centerline goodness [0,1] 0.6641585532450073 Centerline is valid? [False, False] Translation: X:-12.38, Y:-1.81, Z:16.08 [[ 9.96018947e-01 1.03433428e-02 -8.85396620e-02 -1.23770648e+01] [-9.20050752e-03 9.99869142e-01 1.33060080e-02 -1.81192926e+00] [ 8.86657045e-02 -1.24384262e-02 9.95983774e-01 1.60849591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859072329 meters Centerline goodness [0,1] 0.6665513663092355 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.81, Z:16.08 [[ 9.96045520e-01 1.19899836e-02 -8.80315993e-02 -1.23612814e+01] [-1.16589914e-02 9.99922901e-01 4.27315934e-03 -1.81479919e+00] [ 8.80760473e-02 -3.22990156e-03 9.96108517e-01 1.60835022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88907232900002 meters Centerline goodness [0,1] 0.6513397502601457 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.82, Z:16.08 [[ 9.96058814e-01 1.22721334e-02 -8.78420996e-02 -1.23619037e+01] [-1.18877398e-02 9.99917343e-01 4.89777730e-03 -1.81690964e+00] [ 8.78949451e-02 -3.83423023e-03 9.96122371e-01 1.60836721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91907232900002 meters Centerline goodness [0,1] 0.6628943610161423 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.82, Z:16.08 [[ 9.96048570e-01 1.23636320e-02 -8.79453638e-02 -1.23617239e+01] [-1.19542295e-02 9.99915126e-01 5.18036935e-03 -1.81800112e+00] [ 8.80019478e-02 -4.10858042e-03 9.96111829e-01 1.60837105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94907232900002 meters Centerline goodness [0,1] 0.6641110290604231 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.82, Z:16.08 [[ 9.96050287e-01 1.25997620e-02 -8.78923891e-02 -1.23620902e+01] [-1.21542782e-02 9.99910442e-01 5.60186466e-03 -1.81930773e+00] [ 8.79550999e-02 -4.51147035e-03 9.96114224e-01 1.60839486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979072329 meters Centerline goodness [0,1] 0.6602241139680334 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.82, Z:16.08 [[ 9.96046851e-01 1.28153793e-02 -8.79001551e-02 -1.23621386e+01] [-1.23323245e-02 9.99905734e-01 6.03637502e-03 -1.82067909e+00] [ 8.79692275e-02 -4.92849909e-03 9.96111000e-01 1.60839210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.009072329 meters Centerline goodness [0,1] 0.654439151147683 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.82, Z:16.08 [[ 9.96029693e-01 1.28572966e-02 -8.80882500e-02 -1.23615715e+01] [-1.23636378e-02 9.99904670e-01 6.14747735e-03 -1.82136742e+00] [ 8.81588924e-02 -5.03397876e-03 9.96093705e-01 1.60836892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039072329 meters Centerline goodness [0,1] 0.6624080862416762 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.82, Z:16.08 [[ 9.96025863e-01 1.30955819e-02 -8.80964563e-02 -1.23616525e+01] [-1.25575125e-02 9.99898977e-01 6.65919738e-03 -1.82314242e+00] [ 8.81747626e-02 -5.52646047e-03 9.96089689e-01 1.60837121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069072329 meters Centerline goodness [0,1] 0.6507041645066529 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.82, Z:16.08 [[ 9.96013003e-01 1.30742600e-02 -8.82448944e-02 -1.23612837e+01] [-1.25199921e-02 9.99898284e-01 6.83161524e-03 -1.82429228e+00] [ 8.83252368e-02 -5.69955223e-03 9.96075383e-01 1.60836512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099072329 meters Centerline goodness [0,1] 0.6459493752553818 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.83, Z:16.08 [[ 9.95994022e-01 1.30992919e-02 -8.84551641e-02 -1.23609333e+01] [-1.25269013e-02 9.99896872e-01 7.02301708e-03 -1.82535436e+00] [ 8.85380385e-02 -5.88681392e-03 9.96055401e-01 1.60837981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129072329 meters Centerline goodness [0,1] 0.6618236147500163 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.83, Z:16.08 [[ 9.95989011e-01 1.33040788e-02 -8.84810236e-02 -1.23612027e+01] [-1.26968378e-02 9.99891844e-01 7.42225783e-03 -1.82657654e+00] [ 8.85702002e-02 -6.26905803e-03 9.96050209e-01 1.60841639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159072329 meters Centerline goodness [0,1] 0.65464752240095 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.83, Z:16.08 [[ 9.95979634e-01 1.33165578e-02 -8.85846345e-02 -1.23612253e+01] [-1.26719095e-02 9.99889007e-01 7.83562499e-03 -1.82860081e+00] [ 8.86791458e-02 -6.68158644e-03 9.96037833e-01 1.60844933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.189072329 meters Centerline goodness [0,1] 0.6594329640906048 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.83, Z:16.08 [[ 9.95989972e-01 1.33774461e-02 -8.84591403e-02 -1.23615943e+01] [-1.27219186e-02 9.99887308e-01 7.97017902e-03 -1.82913782e+00] [ 8.85557923e-02 -6.81284839e-03 9.96047919e-01 1.60845786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219072329 meters Centerline goodness [0,1] 0.6595227238182095 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.83, Z:16.08 [[ 9.95989606e-01 1.36102031e-02 -8.84277541e-02 -1.23618358e+01] [-1.29266133e-02 9.99882011e-01 8.29857980e-03 -1.83002829e+00] [ 8.85302660e-02 -7.12222784e-03 9.96048024e-01 1.60847210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.249072329 meters Centerline goodness [0,1] 0.6593010635988713 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.83, Z:16.08 [[ 9.95988145e-01 1.37790792e-02 -8.84180556e-02 -1.23617687e+01] [-1.30565661e-02 9.99876520e-01 8.74473774e-03 -1.83189104e+00] [ 8.85276322e-02 -7.55521893e-03 9.96045068e-01 1.60845547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279072329 meters Centerline goodness [0,1] 0.6435002813731008 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.83, Z:16.08 [[ 9.95969147e-01 1.37705492e-02 -8.86331171e-02 -1.23611484e+01] [-1.30331020e-02 9.99875513e-01 8.89359915e-03 -1.83279077e+00] [ 8.87445532e-02 -7.70258590e-03 9.96024635e-01 1.60843748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.309072329 meters Centerline goodness [0,1] 0.6591228715463338 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.83, Z:16.08 [[ 9.95965539e-01 1.39175384e-02 -8.86507080e-02 -1.23610057e+01] [-1.31487385e-02 9.99870763e-01 9.25034165e-03 -1.83435092e+00] [ 8.87679930e-02 -8.04737653e-03 9.96019821e-01 1.60841790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339072329 meters Centerline goodness [0,1] 0.6634156866975942 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.84, Z:16.08 [[ 9.95950844e-01 1.39089211e-02 -8.88169976e-02 -1.23603486e+01] [-1.31122524e-02 9.99868454e-01 9.54696326e-03 -1.83601686e+00] [ 8.89381020e-02 -8.34371522e-03 9.96002207e-01 1.60838003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.369072329 meters Centerline goodness [0,1] 0.6598308347935189 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.84, Z:16.08 [[ 9.95951118e-01 1.39897512e-02 -8.88012220e-02 -1.23604412e+01] [-1.31731025e-02 9.99865443e-01 9.77579532e-03 -1.83689618e+00] [ 8.89260341e-02 -8.56642669e-03 9.96001394e-01 1.60838558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399072329 meters Centerline goodness [0,1] 0.6605086320520299 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.84, Z:16.08 [[ 9.95947691e-01 1.40848297e-02 -8.88246259e-02 -1.23603980e+01] [-1.32532627e-02 9.99862717e-01 9.94476095e-03 -1.83765604e+00] [ 8.89525020e-02 -8.72724560e-03 9.95997634e-01 1.60838383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.429072329 meters Centerline goodness [0,1] 0.6556821882123087 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.84, Z:16.08 [[ 9.95958948e-01 1.43057123e-02 -8.86629581e-02 -1.23613642e+01] [-1.34360026e-02 9.99855665e-01 1.03982599e-02 -1.83899207e+00] [ 8.87989154e-02 -9.16496427e-03 9.96007408e-01 1.60846120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459072329 meters Centerline goodness [0,1] 0.6586795268268419 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.84, Z:16.09 [[ 9.95942841e-01 1.43513194e-02 -8.88363541e-02 -1.23613061e+01] [-1.34677953e-02 9.99853785e-01 1.05369776e-02 -1.83970152e+00] [ 8.89745844e-02 -9.29779753e-03 9.95990499e-01 1.60850340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.489072329 meters Centerline goodness [0,1] 0.6608635399073233 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.84, Z:16.09 [[ 9.95949217e-01 1.44571573e-02 -8.87476602e-02 -1.23617130e+01] [-1.35528971e-02 9.99850009e-01 1.07832874e-02 -1.84071589e+00] [ 8.88902445e-02 -9.53681871e-03 9.95995770e-01 1.60852767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519072329 meters Centerline goodness [0,1] 0.658004158004158 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.84, Z:16.09 [[ 9.95944158e-01 1.45368536e-02 -8.87914128e-02 -1.23617169e+01] [-1.36033628e-02 9.99845753e-01 1.11094260e-02 -1.84234237e+00] [ 8.89392131e-02 -9.85650612e-03 9.95988286e-01 1.60853918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.549072329 meters Centerline goodness [0,1] 0.6558327362730412 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.84, Z:16.09 [[ 9.95951228e-01 1.46882582e-02 -8.86871229e-02 -1.23618815e+01] [-1.37348866e-02 9.99841246e-01 1.13505678e-02 -1.84316404e+00] [ 8.88397635e-02 -1.00865043e-02 9.95994859e-01 1.60852683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579072329 meters Centerline goodness [0,1] 0.6611733541775231 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.84, Z:16.08 [[ 9.95938167e-01 1.46880714e-02 -8.88337055e-02 -1.23612775e+01] [-1.37189855e-02 9.99839645e-01 1.15097619e-02 -1.84411387e+00] [ 8.89885167e-02 -1.02443029e-02 9.95979969e-01 1.60848584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.609072329 meters Centerline goodness [0,1] 0.6611623976075933 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.85, Z:16.08 [[ 9.95917109e-01 1.48033992e-02 -8.90503887e-02 -1.23607113e+01] [-1.38012674e-02 9.99834433e-01 1.18587918e-02 -1.84575413e+00] [ 8.92111954e-02 -1.05813654e-02 9.95956524e-01 1.60846754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63907232900002 meters Centerline goodness [0,1] 0.6574208822954452 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.85, Z:16.08 [[ 9.95910625e-01 1.50034720e-02 -8.90894088e-02 -1.23606964e+01] [-1.39745058e-02 9.99828380e-01 1.21623697e-02 -1.84678278e+00] [ 8.92565971e-02 -1.08676528e-02 9.95949373e-01 1.60847250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66907232900002 meters Centerline goodness [0,1] 0.6634419772323941 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.85, Z:16.08 [[ 9.95904095e-01 1.50026322e-02 -8.91625217e-02 -1.23606247e+01] [-1.39578365e-02 9.99826561e-01 1.23298848e-02 -1.84777859e+00] [ 8.93320382e-02 -1.10348669e-02 9.95940771e-01 1.60847922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69907232900002 meters Centerline goodness [0,1] 0.6622967898769344 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.85, Z:16.09 [[ 9.95908336e-01 1.51799575e-02 -8.90850979e-02 -1.23611449e+01] [-1.41065772e-02 9.99820270e-01 1.26662199e-02 -1.84892947e+00] [ 8.92613593e-02 -1.13577082e-02 9.95943478e-01 1.60852139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.729072329 meters Centerline goodness [0,1] 0.6613165247904347 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.85, Z:16.09 [[ 9.95899302e-01 1.52867893e-02 -8.91677898e-02 -1.23614243e+01] [-1.41724658e-02 9.99813529e-01 1.31167308e-02 -1.85091533e+00] [ 8.93516753e-02 -1.17992156e-02 9.95930247e-01 1.60858058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759072329 meters Centerline goodness [0,1] 0.6545474184489091 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.85, Z:16.09 [[ 9.95888810e-01 1.52401394e-02 -8.92928664e-02 -1.23611703e+01] [-1.41148420e-02 9.99812980e-01 1.32202726e-02 -1.85171733e+00] [ 8.94776457e-02 -1.19055669e-02 9.95917671e-01 1.60858398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.789072329 meters Centerline goodness [0,1] 0.6602954895537283 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.85, Z:16.09 [[ 9.95878404e-01 1.54558745e-02 -8.93718154e-02 -1.23612973e+01] [-1.43015122e-02 9.99806016e-01 1.35424036e-02 -1.85278518e+00] [ 8.95637884e-02 -1.22084352e-02 9.95906262e-01 1.60861840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819072329 meters Centerline goodness [0,1] 0.6593416119454738 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.85, Z:16.09 [[ 9.95866103e-01 1.55234628e-02 -8.94970818e-02 -1.23609453e+01] [-1.43340992e-02 9.99800407e-01 1.39168884e-02 -1.85455512e+00] [ 8.96952571e-02 -1.25764974e-02 9.95889850e-01 1.60860575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.849072329 meters Centerline goodness [0,1] 0.653893562268884 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.09 [[ 9.95847657e-01 1.55544209e-02 -8.96967332e-02 -1.23603451e+01] [-1.43477742e-02 9.99797904e-01 1.40816723e-02 -1.85554195e+00] [ 8.98976381e-02 -1.27362519e-02 9.95869571e-01 1.60858440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879072329 meters Centerline goodness [0,1] 0.6555943676639691 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.09 [[ 9.95841528e-01 1.56887107e-02 -8.97413758e-02 -1.23601761e+01] [-1.44633572e-02 9.99793306e-01 1.42883501e-02 -1.85633385e+00] [ 8.99469926e-02 -1.29309708e-02 9.95862605e-01 1.60856664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.909072329 meters Centerline goodness [0,1] 0.6593872299941621 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.09 [[ 9.95827813e-01 1.56431944e-02 -8.99013791e-02 -1.23593609e+01] [-1.44090105e-02 9.99793051e-01 1.43608888e-02 -1.85716731e+00] [ 9.01074243e-02 -1.30055826e-02 9.95847130e-01 1.60850541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939072329 meters Centerline goodness [0,1] 0.6631861704432217 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.08 [[ 9.95823136e-01 1.58010386e-02 -8.99255716e-02 -1.23590193e+01] [-1.45372681e-02 9.99786395e-01 1.46912110e-02 -1.85858565e+00] [ 9.01384995e-02 -1.33225757e-02 9.95840128e-01 1.60846201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.969072329 meters Centerline goodness [0,1] 0.6518410894739125 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.08 [[ 9.95812069e-01 1.57056141e-02 -9.00647372e-02 -1.23587463e+01] [-1.44363456e-02 9.99787331e-01 1.47270378e-02 -1.85920936e+00] [ 9.02768804e-02 -1.33651563e-02 9.95827022e-01 1.60847187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999072329 meters Centerline goodness [0,1] 0.6535167402024397 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.08 [[ 9.95801107e-01 1.56566656e-02 -9.01943660e-02 -1.23585454e+01] [-1.43760025e-02 9.99786661e-01 1.48311498e-02 -1.86010387e+00] [ 9.04073304e-02 -1.34722410e-02 9.95813744e-01 1.60848301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.029072329 meters Centerline goodness [0,1] 0.6520179956966812 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.09 [[ 9.95792550e-01 1.60269352e-02 -9.02238078e-02 -1.23592619e+01] [-1.46973676e-02 9.99773673e-01 1.53815128e-02 -1.86169322e+00] [ 9.04499062e-02 -1.39907434e-02 9.95802728e-01 1.60857569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059072329 meters Centerline goodness [0,1] 0.657380529439799 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.09 [[ 9.95780388e-01 1.59361867e-02 -9.03739825e-02 -1.23587058e+01] [-1.46064336e-02 9.99775393e-01 1.53562697e-02 -1.86211642e+00] [ 9.05984042e-02 -1.39714306e-02 9.95789500e-01 1.60854891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.089072329 meters Centerline goodness [0,1] 0.6617736604036186 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.08 [[ 9.95754745e-01 1.60784817e-02 -9.06309611e-02 -1.23578101e+01] [-1.47270578e-02 9.99770468e-01 1.55603951e-02 -1.86308924e+00] [ 9.08603459e-02 -1.41596098e-02 9.95762975e-01 1.60849963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119072329 meters Centerline goodness [0,1] 0.6570499620678444 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.08 [[ 9.95740816e-01 1.60261475e-02 -9.07931207e-02 -1.23572541e+01] [-1.46690237e-02 9.99770780e-01 1.55951065e-02 -1.86364669e+00] [ 9.10222386e-02 -1.41968377e-02 9.95747660e-01 1.60847722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.149072329 meters Centerline goodness [0,1] 0.6573849354251539 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.08 [[ 9.95728954e-01 1.59985159e-02 -9.09279850e-02 -1.23569463e+01] [-1.46313067e-02 9.99769958e-01 1.56829586e-02 -1.86442375e+00] [ 9.11579719e-02 -1.42855808e-02 9.95733974e-01 1.60847623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179072329 meters Centerline goodness [0,1] 0.6604509973980919 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.87, Z:16.09 [[ 9.95720000e-01 1.60675383e-02 -9.10138209e-02 -1.23569864e+01] [-1.46848654e-02 9.99766677e-01 1.58412778e-02 -1.86524546e+00] [ 9.12471157e-02 -1.44369514e-02 9.95723625e-01 1.60850624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.209072329 meters Centerline goodness [0,1] 0.6689035116294222 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.09 [[ 9.95774621e-01 1.19183644e-02 -9.10541390e-02 -1.23572772e+01] [-1.09063853e-02 9.99873196e-01 1.16035513e-02 -1.86426831e+00] [ 9.11808883e-02 -1.05614503e-02 9.95778339e-01 1.60852079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239072329 meters Centerline goodness [0,1] 0.664996312204434 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.86, Z:16.09 [[ 9.95767343e-01 1.19421048e-02 -9.11305948e-02 -1.23570881e+01] [-1.09236465e-02 9.99872276e-01 1.16664336e-02 -1.86480318e+00] [ 9.12582770e-02 -1.06215752e-02 9.95770611e-01 1.60851277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.269072329 meters Centerline goodness [0,1] 0.6628156032972026 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.87, Z:16.08 [[ 9.95746422e-01 1.19241479e-02 -9.13612484e-02 -1.23564138e+01] [-1.09025410e-02 9.99872430e-01 1.16730079e-02 -1.86515222e+00] [ 9.14887841e-02 -1.06272861e-02 9.95749398e-01 1.60849194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299072329 meters Centerline goodness [0,1] 0.6611729544765452 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.87, Z:16.08 [[ 9.95729001e-01 1.21049053e-02 -9.15271987e-02 -1.23556691e+01] [-1.10593599e-02 9.99867771e-01 1.19219127e-02 -1.86625957e+00] [ 9.16594097e-02 -1.08587620e-02 9.95731209e-01 1.60843655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.329072329 meters Centerline goodness [0,1] 0.6631212573232159 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.08 [[ 9.95698067e-01 1.21202193e-02 -9.18610930e-02 -1.23547236e+01] [-1.10659382e-02 9.99867032e-01 1.19775894e-02 -1.86686096e+00] [ 9.19940495e-02 -1.09095335e-02 9.95699793e-01 1.60841298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359072329 meters Centerline goodness [0,1] 0.6580487170596394 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.08 [[ 9.95694364e-01 1.22374735e-02 -9.18856775e-02 -1.23546368e+01] [-1.11693364e-02 9.99864046e-01 1.21299036e-02 -1.86738046e+00] [ 9.20216247e-02 -1.10513746e-02 9.95695680e-01 1.60840182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38907232900002 meters Centerline goodness [0,1] 0.6687272254034358 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.08 [[ 9.95688649e-01 1.23040960e-02 -9.19386980e-02 -1.23546988e+01] [-1.12165818e-02 9.99860995e-01 1.23360737e-02 -1.86835365e+00] [ 9.20777023e-02 -1.12516506e-02 9.95688253e-01 1.60842656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41907232900002 meters Centerline goodness [0,1] 0.6597082222366738 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.87, Z:16.09 [[ 9.95678821e-01 1.23728948e-02 -9.20358405e-02 -1.23550619e+01] [-1.12719096e-02 9.99858677e-01 1.24727991e-02 -1.86898223e+00] [ 9.21771583e-02 -1.13814822e-02 9.95677575e-01 1.60850136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44907232900002 meters Centerline goodness [0,1] 0.6597082222366738 Centerline is valid? [False, False] Translation: X:-12.36, Y:-1.87, Z:16.09 [[ 9.95678821e-01 1.23728948e-02 -9.20358405e-02 -1.23550619e+01] [-1.12719096e-02 9.99858677e-01 1.24727991e-02 -1.86898223e+00] [ 9.21771583e-02 -1.13814822e-02 9.95677575e-01 1.60850136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479072329 meters Centerline goodness [0,1] 0.6630825926728809 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.09 [[ 9.95659193e-01 1.22886409e-02 -9.22592021e-02 -1.23547880e+01] [-1.11906223e-02 9.99860379e-01 1.24093771e-02 -1.86902956e+00] [ 9.23988152e-02 -1.13230725e-02 9.95657696e-01 1.60853585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.509072329 meters Centerline goodness [0,1] 0.6658651242390763 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.09 [[ 9.95645539e-01 1.22926467e-02 -9.24059082e-02 -1.23545796e+01] [-1.11914817e-02 9.99860170e-01 1.24253850e-02 -1.86933737e+00] [ 9.25457280e-02 -1.13371201e-02 9.95643891e-01 1.60854984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539072329 meters Centerline goodness [0,1] 0.6633868909889065 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.08 [[ 9.95623311e-01 1.23166465e-02 -9.26419071e-02 -1.23536626e+01] [-1.11983369e-02 9.99858142e-01 1.25814985e-02 -1.87031517e+00] [ 9.27837269e-02 -1.14889979e-02 9.95619999e-01 1.60849848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.569072329 meters Centerline goodness [0,1] 0.6619498558952912 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.08 [[ 9.95604882e-01 1.24507741e-02 -9.28218574e-02 -1.23531511e+01] [-1.13138846e-02 9.99854524e-01 1.27642784e-02 -1.87097556e+00] [ 9.29672792e-02 -1.16580021e-02 9.95600912e-01 1.60848102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599072329 meters Centerline goodness [0,1] 0.663897722110455 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.08 [[ 9.95594885e-01 1.23026446e-02 -9.29487483e-02 -1.23524239e+01] [-1.11699434e-02 9.99857002e-01 1.26967482e-02 -1.87134467e+00] [ 9.30916604e-02 -1.16025853e-02 9.95589937e-01 1.60842795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.629072329 meters Centerline goodness [0,1] 0.6619553689314084 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.08 [[ 9.95586046e-01 1.23481331e-02 -9.30373551e-02 -1.23521065e+01] [-1.12040599e-02 9.99855186e-01 1.28092542e-02 -1.87201646e+00] [ 9.31820523e-02 -1.17103187e-02 9.95580220e-01 1.60841086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659072329 meters Centerline goodness [0,1] 0.6641039006168012 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.08 [[ 9.95585147e-01 1.26148823e-02 -9.30111830e-02 -1.23523052e+01] [-1.14304332e-02 9.99846797e-01 1.32562561e-02 -1.87349163e+00] [ 9.31641595e-02 -1.21345735e-02 9.95576813e-01 1.60842234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.689072329 meters Centerline goodness [0,1] 0.6524403447230522 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.08 [[ 9.95573448e-01 1.25871080e-02 -9.31400807e-02 -1.23520413e+01] [-1.13964116e-02 9.99846540e-01 1.33048160e-02 -1.87393529e+00] [ 9.32932566e-02 -1.21844588e-02 9.95564115e-01 1.60842723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719072329 meters Centerline goodness [0,1] 0.6683104074746951 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.87, Z:16.08 [[ 9.95557175e-01 1.25419409e-02 -9.33199388e-02 -1.23516826e+01] [-1.13441521e-02 9.99846469e-01 1.33547372e-02 -1.87460983e+00] [ 9.34731056e-02 -1.22367688e-02 9.95546604e-01 1.60843032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.749072329 meters Centerline goodness [0,1] 0.6707512448581945 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95542377e-01 1.24991198e-02 -9.34834111e-02 -1.23513306e+01] [-1.12894790e-02 9.99845712e-01 1.34573247e-02 -1.87538880e+00] [ 9.36371924e-02 -1.23419580e-02 9.95529885e-01 1.60843728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779072329 meters Centerline goodness [0,1] 0.6753646431590126 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95539704e-01 1.25924162e-02 -9.34993563e-02 -1.23513073e+01] [-1.13580780e-02 9.99841337e-01 1.37220269e-02 -1.87666073e+00] [ 9.36573149e-02 -1.25988496e-02 9.95524774e-01 1.60843499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.809072329 meters Centerline goodness [0,1] 0.6549400712666018 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95528702e-01 1.24822451e-02 -9.36311792e-02 -1.23507757e+01] [-1.12446454e-02 9.99842458e-01 1.37337941e-02 -1.87726091e+00] [ 9.37878569e-02 -1.26195368e-02 9.95512223e-01 1.60840885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839072329 meters Centerline goodness [0,1] 0.668507330171723 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95525681e-01 1.25421610e-02 -9.36552852e-02 -1.23506993e+01] [-1.12896449e-02 9.99839771e-01 1.38915816e-02 -1.87797448e+00] [ 9.38145094e-02 -1.27720913e-02 9.95507766e-01 1.60840221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.869072329 meters Centerline goodness [0,1] 0.6549183161898176 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95503986e-01 1.25181916e-02 -9.38888130e-02 -1.23500555e+01] [-1.12488038e-02 9.99838197e-01 1.40372107e-02 -1.87916314e+00] [ 9.40493420e-02 -1.29179624e-02 9.95483725e-01 1.60839272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899072329 meters Centerline goodness [0,1] 0.6645090058884655 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95487018e-01 1.25953526e-02 -9.40582473e-02 -1.23498265e+01] [-1.13133057e-02 9.99835863e-01 1.41511918e-02 -1.87979732e+00] [ 9.42210481e-02 -1.30232180e-02 9.95466117e-01 1.60840942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.929072329 meters Centerline goodness [0,1] 0.6673015735590139 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95477727e-01 1.25411130e-02 -9.41637694e-02 -1.23495579e+01] [-1.12564535e-02 9.99836357e-01 1.41616252e-02 -1.88021964e+00] [ 9.43259627e-02 -1.30376324e-02 9.95455992e-01 1.60840564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959072329 meters Centerline goodness [0,1] 0.6518169640928142 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95460256e-01 1.24597178e-02 -9.43590680e-02 -1.23489524e+01] [-1.11708001e-02 9.99837119e-01 1.41756465e-02 -1.88074819e+00] [ 9.45203233e-02 -1.30572264e-02 9.95437300e-01 1.60838732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.989072329 meters Centerline goodness [0,1] 0.6661687341689939 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95451697e-01 1.23921640e-02 -9.44582137e-02 -1.23483185e+01] [-1.10924019e-02 9.99836609e-01 1.42728612e-02 -1.88173556e+00] [ 9.46196517e-02 -1.31601754e-02 9.95426507e-01 1.60833941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019072329 meters Centerline goodness [0,1] 0.6630276722734672 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95450611e-01 1.24134739e-02 -9.44668530e-02 -1.23480735e+01] [-1.11081784e-02 9.99835604e-01 1.43308489e-02 -1.88205186e+00] [ 9.46292187e-02 -1.32162976e-02 9.95424854e-01 1.60830943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.049072329 meters Centerline goodness [0,1] 0.6404535716604272 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95432506e-01 1.22979262e-02 -9.46725229e-02 -1.23474744e+01] [-1.09970446e-02 9.99837983e-01 1.42503649e-02 -1.88227332e+00] [ 9.48324343e-02 -1.31441585e-02 9.95406470e-01 1.60829579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079072329 meters Centerline goodness [0,1] 0.6705706615864219 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95426073e-01 1.22714555e-02 -9.47435775e-02 -1.23475584e+01] [-1.09582330e-02 9.99836716e-01 1.43686875e-02 -1.88301883e+00] [ 9.49044320e-02 -1.32647440e-02 9.95398009e-01 1.60833222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.109072329 meters Centerline goodness [0,1] 0.6503071465651498 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95403652e-01 1.22771398e-02 -9.49781086e-02 -1.23474542e+01] [-1.09542799e-02 9.99835776e-01 1.44369413e-02 -1.88358209e+00] [ 9.51397552e-02 -1.33301673e-02 9.95374670e-01 1.60838566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13907232900002 meters Centerline goodness [0,1] 0.6588408559300009 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.88, Z:16.08 [[ 9.95392179e-01 1.22692814e-02 -9.50992853e-02 -1.23474969e+01] [-1.09376193e-02 9.99834879e-01 1.45115157e-02 -1.88405247e+00] [ 9.52616282e-02 -1.34044895e-02 9.95362015e-01 1.60842893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16907232900002 meters Centerline goodness [0,1] 0.6681941982620725 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.89, Z:16.08 [[ 9.95371499e-01 1.22605081e-02 -9.53166255e-02 -1.23469568e+01] [-1.09111131e-02 9.99832924e-01 1.46653185e-02 -1.88501962e+00] [ 9.54805046e-02 -1.35574296e-02 9.95338972e-01 1.60842405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19907232900002 meters Centerline goodness [0,1] 0.6586144422396687 Centerline is valid? [False, False] Translation: X:-12.35, Y:-1.89, Z:16.08 [[ 9.95346019e-01 1.20917725e-02 -9.56038209e-02 -1.23458425e+01] [-1.07486994e-02 9.99836355e-01 1.45508680e-02 -1.88520659e+00] [ 9.57641217e-02 -1.34555318e-02 9.95313107e-01 1.60836973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.229072329 meters Centerline goodness [0,1] 0.6678749433620299 Centerline is valid? [False, False] Translation: X:-12.34, Y:-1.89, Z:16.08 [[ 9.95327047e-01 1.19597219e-02 -9.58177201e-02 -1.23448173e+01] [-1.06222314e-02 9.99839074e-01 1.44566483e-02 -1.88549746e+00] [ 9.59751980e-02 -1.33712951e-02 9.95293911e-01 1.60830814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259072329 meters Centerline goodness [0,1] 0.6583414213307452 Centerline is valid? [False, False] Translation: X:-12.34, Y:-1.89, Z:16.08 [[ 9.95317240e-01 1.18006499e-02 -9.59392328e-02 -1.23441054e+01] [-1.04747171e-02 9.99842704e-01 1.43124682e-02 -1.88541803e+00] [ 9.60930384e-02 -1.32405100e-02 9.95284289e-01 1.60825902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.289072329 meters Centerline goodness [0,1] 0.6646363931938875 Centerline is valid? [False, False] Translation: X:-12.34, Y:-1.89, Z:16.08 [[ 9.95313930e-01 1.20205200e-02 -9.59462760e-02 -1.23441905e+01] [-1.06760329e-02 9.99837670e-01 1.45140021e-02 -1.88584761e+00] [ 9.61051669e-02 -1.34216629e-02 9.95280692e-01 1.60826347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319072329 meters Centerline goodness [0,1] 0.6609572767722147 Centerline is valid? [False, False] Translation: X:-12.33, Y:-1.89, Z:16.08 [[ 9.95433996e-01 1.32910014e-02 -9.45225323e-02 -1.23275254e+01] [-1.28937777e-02 9.99905293e-01 4.81195369e-03 -1.88816382e+00] [ 9.45775361e-02 -3.57122978e-03 9.95511093e-01 1.60797730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.349072329 meters Centerline goodness [0,1] 0.6645933221027169 Centerline is valid? [False, False] Translation: X:-12.33, Y:-1.89, Z:16.08 [[ 9.95424178e-01 1.34249184e-02 -9.46069619e-02 -1.23275241e+01] [-1.30137383e-02 9.99903007e-01 4.96185942e-03 -1.88856732e+00] [ 9.46643982e-02 -3.70796459e-03 9.95502337e-01 1.60799355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379072329 meters Centerline goodness [0,1] 0.66864620899648 Centerline is valid? [False, False] Translation: X:-12.33, Y:-1.89, Z:16.08 [[ 9.95417853e-01 1.35312904e-02 -9.46583410e-02 -1.23270279e+01] [-1.31024673e-02 9.99900895e-01 5.15030718e-03 -1.88930652e+00] [ 9.47186502e-02 -3.88644990e-03 9.95496496e-01 1.60794151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.409072329 meters Centerline goodness [0,1] 0.6701594533029613 Centerline is valid? [False, False] Translation: X:-12.33, Y:-1.89, Z:16.08 [[ 9.95406945e-01 1.36290966e-02 -9.47589623e-02 -1.23269104e+01] [-1.31888892e-02 9.99899133e-01 5.27031868e-03 -1.88956585e+00] [ 9.48212340e-02 -3.99634636e-03 9.95486295e-01 1.60794842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439072329 meters Centerline goodness [0,1] 0.6646478629520678 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95291534e-01 1.69107811e-02 -9.54399649e-02 -1.23244305e+01] [-1.61298284e-02 9.99829864e-01 8.94826695e-03 -1.89190648e+00] [ 9.55750493e-02 -7.36670409e-03 9.95394968e-01 1.60789352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.469072329 meters Centerline goodness [0,1] 0.6652495737931332 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95271277e-01 1.67812439e-02 -9.56737977e-02 -1.23238423e+01] [-1.60090957e-02 9.99832833e-01 8.83257028e-03 -1.89193129e+00] [ 9.58060257e-02 -7.25915252e-03 9.95373553e-01 1.60789004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499072329 meters Centerline goodness [0,1] 0.6633069302656853 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95276244e-01 1.68972103e-02 -9.56016896e-02 -1.23246361e+01] [-1.61186287e-02 9.99830382e-01 8.91046940e-03 -1.89196787e+00] [ 9.57360360e-02 -7.32741037e-03 9.95379787e-01 1.60796441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.529072329 meters Centerline goodness [0,1] 0.6647287659390534 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95274333e-01 1.69536732e-02 -9.56115825e-02 -1.23248559e+01] [-1.61709142e-02 9.99829133e-01 8.95582377e-03 -1.89202596e+00] [ 9.57470797e-02 -7.36737483e-03 9.95378430e-01 1.60799233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559072329 meters Centerline goodness [0,1] 0.6635739869675916 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95259194e-01 1.68455456e-02 -9.57881221e-02 -1.23244967e+01] [-1.60687081e-02 9.99831496e-01 8.87560461e-03 -1.89217068e+00] [ 9.59214958e-02 -7.29433571e-03 9.95362175e-01 1.60799988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.589072329 meters Centerline goodness [0,1] 0.662396301417214 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95255315e-01 1.69152995e-02 -9.58161287e-02 -1.23244101e+01] [-1.61274631e-02 9.99829520e-01 8.99089117e-03 -1.89255968e+00] [ 9.59518776e-02 -7.40296114e-03 9.95358445e-01 1.60799518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619072329 meters Centerline goodness [0,1] 0.6622739743783621 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95248288e-01 1.68635205e-02 -9.58982136e-02 -1.23239604e+01] [-1.60749780e-02 9.99830379e-01 8.98938246e-03 -1.89278961e+00] [ 9.60335398e-02 -7.40510583e-03 9.95350553e-01 1.60796626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.649072329 meters Centerline goodness [0,1] 0.6586425222032544 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95239287e-01 1.68018032e-02 -9.60023987e-02 -1.23234536e+01] [-1.60124025e-02 9.99831402e-01 8.98725928e-03 -1.89312983e+00] [ 9.61372151e-02 -7.40724447e-03 9.95340529e-01 1.60793292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679072329 meters Centerline goodness [0,1] 0.6621612882364354 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95236325e-01 1.65426773e-02 -9.60780803e-02 -1.23226999e+01] [-1.57650999e-02 9.99836585e-01 8.84669870e-03 -1.89342798e+00] [ 9.62087278e-02 -7.28987537e-03 9.95334486e-01 1.60786354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.709072329 meters Centerline goodness [0,1] 0.6579248666047396 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95232849e-01 1.66144625e-02 -9.61016921e-02 -1.23228334e+01] [-1.58242296e-02 9.99834470e-01 8.97922985e-03 -1.89381162e+00] [ 9.62349694e-02 -7.41568927e-03 9.95331019e-01 1.60788254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739072329 meters Centerline goodness [0,1] 0.6562276345182069 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.89, Z:16.08 [[ 9.95235782e-01 1.67271426e-02 -9.60517629e-02 -1.23232737e+01] [-1.59264540e-02 9.99831785e-01 9.09667783e-03 -1.89391242e+00] [ 9.61877670e-02 -7.52357528e-03 9.95334772e-01 1.60791396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.769072329 meters Centerline goodness [0,1] 0.6675967986156175 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.90, Z:16.09 [[ 9.94827950e-01 1.87039700e-02 -9.98374233e-02 -1.23154177e+01] [-1.72176571e-02 9.99728049e-01 1.57283399e-02 -1.89736649e+00] [ 1.00104455e-01 -1.39280257e-02 9.94879444e-01 1.60859341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799072329 meters Centerline goodness [0,1] 0.6531239183108342 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.09 [[ 9.94808747e-01 1.85094046e-02 -1.00064771e-01 -1.23148243e+01] [-1.70316641e-02 9.99733213e-01 1.56020751e-02 -1.89752278e+00] [ 1.00326860e-01 -1.38168112e-02 9.94858591e-01 1.60858867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.829072329 meters Centerline goodness [0,1] 0.6568112559164884 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.09 [[ 9.94795198e-01 1.83824083e-02 -1.00222757e-01 -1.23143606e+01] [-1.69098717e-02 9.99736520e-01 1.55224802e-02 -1.89783366e+00] [ 1.00481690e-01 -1.37469348e-02 9.94843933e-01 1.60857587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859072329 meters Centerline goodness [0,1] 0.6624103019923255 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.09 [[ 9.94776592e-01 1.83393465e-02 -1.00415140e-01 -1.23136033e+01] [-1.68531851e-02 9.99735824e-01 1.56285960e-02 -1.89862444e+00] [ 1.00675231e-01 -1.38546465e-02 9.94822872e-01 1.60853760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88907232900002 meters Centerline goodness [0,1] 0.6563452105706692 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94756672e-01 1.80396177e-02 -1.00666462e-01 -1.23126473e+01] [-1.65731743e-02 9.99744287e-01 1.53847569e-02 -1.89857651e+00] [ 1.00918255e-01 -1.36357267e-02 9.94801273e-01 1.60849550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91907232900002 meters Centerline goodness [0,1] 0.6535007033870793 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94753551e-01 1.79030734e-02 -1.00721656e-01 -1.23120058e+01] [-1.64387416e-02 9.99747045e-01 1.53497094e-02 -1.89902069e+00] [ 1.00970985e-01 -1.36134406e-02 9.94796228e-01 1.60842996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94907232900002 meters Centerline goodness [0,1] 0.655616426537831 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94740367e-01 1.76973396e-02 -1.00888091e-01 -1.23115587e+01] [-1.62330280e-02 9.99750911e-01 1.53168043e-02 -1.89970528e+00] [ 1.01134028e-01 -1.35985244e-02 9.94779869e-01 1.60842447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979072329 meters Centerline goodness [0,1] 0.654506576815914 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94740172e-01 1.75573421e-02 -1.00914471e-01 -1.23114996e+01] [-1.60988636e-02 9.99754118e-01 1.52489397e-02 -1.89992367e+00] [ 1.01157388e-01 -1.35441246e-02 9.94778236e-01 1.60842840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.009072329 meters Centerline goodness [0,1] 0.6528029322984045 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94734050e-01 1.73565504e-02 -1.01009505e-01 -1.23111616e+01] [-1.59010968e-02 9.99758082e-01 1.51964827e-02 -1.90039206e+00] [ 1.01248828e-01 -1.35102968e-02 9.94769394e-01 1.60841756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039072329 meters Centerline goodness [0,1] 0.6466715435259693 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94726229e-01 1.71106543e-02 -1.01128406e-01 -1.23108497e+01] [-1.56576567e-02 9.99762717e-01 1.51442355e-02 -1.90097930e+00] [ 1.01363537e-01 -1.34809344e-02 9.94758110e-01 1.60841953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.069072329 meters Centerline goodness [0,1] 0.6508908926183183 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94718368e-01 1.70948622e-02 -1.01208367e-01 -1.23105293e+01] [-1.56420354e-02 9.99763160e-01 1.51310961e-02 -1.90118721e+00] [ 1.01443061e-01 -1.34680743e-02 9.94750178e-01 1.60840395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099072329 meters Centerline goodness [0,1] 0.6493657778928295 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94709751e-01 1.68426456e-02 -1.01335266e-01 -1.23096959e+01] [-1.54044883e-02 9.99769454e-01 1.49579507e-02 -1.90121742e+00] [ 1.01563835e-01 -1.33178015e-02 9.94739877e-01 1.60834101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.129072329 meters Centerline goodness [0,1] 0.648265018200616 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94687318e-01 1.65812469e-02 -1.01598233e-01 -1.23086882e+01] [-1.51565033e-02 9.99775901e-01 1.47792865e-02 -1.90149451e+00] [ 1.01820524e-01 -1.31608949e-02 9.94715724e-01 1.60830015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159072329 meters Centerline goodness [0,1] 0.6503051607755181 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94677680e-01 1.64086663e-02 -1.01720537e-01 -1.23080151e+01] [-1.49914529e-02 9.99779834e-01 1.46813033e-02 -1.90183147e+00] [ 1.01939042e-01 -1.30782261e-02 9.94704676e-01 1.60825471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.189072329 meters Centerline goodness [0,1] 0.6552757535250744 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94664810e-01 1.62238080e-02 -1.01875927e-01 -1.23075388e+01] [-1.47917169e-02 9.99781103e-01 1.47969834e-02 -1.90325935e+00] [ 1.02093690e-01 -1.32111188e-02 9.94687059e-01 1.60824513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219072329 meters Centerline goodness [0,1] 0.651792828685259 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94652022e-01 1.60103501e-02 -1.02034424e-01 -1.23072704e+01] [-1.45850963e-02 9.99785582e-01 1.46991731e-02 -1.90357542e+00] [ 1.02247885e-01 -1.31323803e-02 9.94672263e-01 1.60826082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.249072329 meters Centerline goodness [0,1] 0.6413784180108686 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94662031e-01 1.60049657e-02 -1.01937655e-01 -1.23076290e+01] [-1.45687611e-02 9.99784065e-01 1.48180396e-02 -1.90420055e+00] [ 1.02152805e-01 -1.32538360e-02 9.94680421e-01 1.60827386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279072329 meters Centerline goodness [0,1] 0.6487406545579902 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94660806e-01 1.56731214e-02 -1.02001146e-01 -1.23073311e+01] [-1.42448043e-02 9.99790235e-01 1.47163559e-02 -1.90483502e+00] [ 1.02210401e-01 -1.31847961e-02 9.94675422e-01 1.60826378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.309072329 meters Centerline goodness [0,1] 0.6487406545579902 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.90, Z:16.08 [[ 9.94660806e-01 1.56731214e-02 -1.02001146e-01 -1.23073311e+01] [-1.42448043e-02 9.99790235e-01 1.47163559e-02 -1.90483502e+00] [ 1.02210401e-01 -1.31847961e-02 9.94675422e-01 1.60826378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339072329 meters Centerline goodness [0,1] 0.6456507153215159 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.91, Z:16.08 [[ 9.94659337e-01 1.57736001e-02 -1.01999985e-01 -1.23074237e+01] [-1.43282036e-02 9.99786506e-01 1.48877580e-02 -1.90545860e+00] [ 1.02213042e-01 -1.33467710e-02 9.94672990e-01 1.60826652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.369072329 meters Centerline goodness [0,1] 0.6490350404312668 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.91, Z:16.08 [[ 9.94640338e-01 1.55055322e-02 -1.02226107e-01 -1.23064580e+01] [-1.40684717e-02 9.99792034e-01 1.47637250e-02 -1.90580242e+00] [ 1.02433767e-01 -1.32464313e-02 9.94651625e-01 1.60821621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399072329 meters Centerline goodness [0,1] 0.6452476572958501 Centerline is valid? [False, False] Translation: X:-12.31, Y:-1.91, Z:16.08 [[ 9.94622432e-01 1.54009332e-02 -1.02415966e-01 -1.23053199e+01] [-1.39501624e-02 9.99792165e-01 1.48667044e-02 -1.90706190e+00] [ 1.02623641e-01 -1.33580383e-02 9.94630560e-01 1.60813099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.429072329 meters Centerline goodness [0,1] 0.6419256262374107 Centerline is valid? [False, False] Translation: X:-12.30, Y:-1.91, Z:16.08 [[ 9.94598942e-01 1.51681354e-02 -1.02678492e-01 -1.23043403e+01] [-1.37238152e-02 9.99796904e-01 1.47583266e-02 -1.90757072e+00] [ 1.02881495e-01 -1.32694754e-02 9.94605107e-01 1.60808889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459072329 meters Centerline goodness [0,1] 0.6449906053603438 Centerline is valid? [False, False] Translation: X:-12.30, Y:-1.91, Z:16.08 [[ 9.94608278e-01 1.51931316e-02 -1.02584316e-01 -1.23049281e+01] [-1.37340452e-02 9.99794443e-01 1.49146919e-02 -1.90807974e+00] [ 1.02789830e-01 -1.34253784e-02 9.94612492e-01 1.60813057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.489072329 meters Centerline goodness [0,1] 0.6449906053603438 Centerline is valid? [False, False] Translation: X:-12.30, Y:-1.91, Z:16.08 [[ 9.94608278e-01 1.51931316e-02 -1.02584316e-01 -1.23049281e+01] [-1.37340452e-02 9.99794443e-01 1.49146919e-02 -1.90807974e+00] [ 1.02789830e-01 -1.34253784e-02 9.94612492e-01 1.60813057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519072329 meters Centerline goodness [0,1] 0.6470055620230242 Centerline is valid? [False, False] Translation: X:-12.30, Y:-1.91, Z:16.09 [[ 9.95109461e-01 1.46907566e-02 -9.76797927e-02 -1.22970362e+01] [-1.25183982e-02 9.99661316e-01 2.28154111e-02 -1.91093753e+00] [ 9.79818858e-02 -2.14810369e-02 9.94956338e-01 1.60852592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.549072329 meters Centerline goodness [0,1] 0.6458094764816456 Centerline is valid? [False, False] Translation: X:-12.30, Y:-1.91, Z:16.08 [[ 9.95153190e-01 1.02135905e-02 -9.78049660e-02 -1.22963272e+01] [-8.48310930e-03 9.99800325e-01 1.80927198e-02 -1.90846583e+00] [ 9.79702285e-02 -1.71753376e-02 9.95041126e-01 1.60844196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579072329 meters Centerline goodness [0,1] 0.6395893099803714 Centerline is valid? [False, False] Translation: X:-12.30, Y:-1.91, Z:16.08 [[ 9.95134352e-01 1.00461151e-02 -9.80137604e-02 -1.22957651e+01] [-8.31836042e-03 9.99803015e-01 1.80204289e-02 -1.90885825e+00] [ 9.81754885e-02 -1.71174340e-02 9.95021893e-01 1.60843481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.609072329 meters Centerline goodness [0,1] 0.64090184075527 Centerline is valid? [False, False] Translation: X:-12.29, Y:-1.91, Z:16.08 [[ 9.95113242e-01 9.70546265e-03 -9.82620967e-02 -1.22946775e+01] [-7.98602259e-03 9.99808305e-01 1.78767336e-02 -1.90937879e+00] [ 9.84167622e-02 -1.70046510e-02 9.94999991e-01 1.60837644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63907232900002 meters Centerline goodness [0,1] 0.6369633417852079 Centerline is valid? [False, False] Translation: X:-12.29, Y:-1.91, Z:16.08 [[ 9.95100664e-01 9.47075717e-03 -9.84122654e-02 -1.22939691e+01] [-7.75785885e-03 9.99811942e-01 1.77734516e-02 -1.90973631e+00] [ 9.85620863e-02 -1.69229050e-02 9.94987000e-01 1.60833502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66907232900002 meters Centerline goodness [0,1] 0.6443399497269654 Centerline is valid? [False, False] Translation: X:-12.29, Y:-1.91, Z:16.08 [[ 9.95106151e-01 9.50943958e-03 -9.83530343e-02 -1.22939394e+01] [-7.78730582e-03 9.99809835e-01 1.78788109e-02 -1.91003621e+00] [ 9.85043484e-02 -1.70254095e-02 9.94990969e-01 1.60831026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69907232900002 meters Centerline goodness [0,1] 0.6328911549928704 Centerline is valid? [False, False] Translation: X:-12.29, Y:-1.91, Z:16.08 [[ 9.95089645e-01 9.18398984e-03 -9.85507650e-02 -1.22929371e+01] [-7.46386086e-03 9.99813552e-01 1.78087593e-02 -1.91076907e+00] [ 9.86959459e-02 -1.69857427e-02 9.94972660e-01 1.60824842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.729072329 meters Centerline goodness [0,1] 0.6495538600801758 Centerline is valid? [False, False] Translation: X:-12.28, Y:-1.91, Z:16.08 [[ 9.95228300e-01 1.00986925e-02 -9.70497125e-02 -1.22757655e+01] [-9.36330708e-03 9.99923922e-01 8.02986400e-03 -1.91354199e+00] [ 9.71234203e-02 -7.08284164e-03 9.95247142e-01 1.60790227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759072329 meters Centerline goodness [0,1] 0.6393768501112768 Centerline is valid? [False, False] Translation: X:-12.28, Y:-1.91, Z:16.08 [[ 9.95234964e-01 1.01897244e-02 -9.69718265e-02 -1.22761999e+01] [-9.43472982e-03 9.99921532e-01 8.24107237e-03 -1.91416500e+00] [ 9.70481916e-02 -7.28690039e-03 9.95253008e-01 1.60792993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.789072329 meters Centerline goodness [0,1] 0.6457726262168404 Centerline is valid? [False, False] Translation: X:-12.28, Y:-1.91, Z:16.08 [[ 9.95255021e-01 1.02322402e-02 -9.67612799e-02 -1.22769966e+01] [-9.45602971e-03 9.99919358e-01 8.47708921e-03 -1.91490234e+00] [ 9.68402165e-02 -7.52188806e-03 9.95271518e-01 1.60796872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819072329 meters Centerline goodness [0,1] 0.6421870293067091 Centerline is valid? [False, False] Translation: X:-12.28, Y:-1.92, Z:16.08 [[ 9.95196388e-01 1.41383436e-02 -9.68723772e-02 -1.22769196e+01] [-1.29578101e-02 9.99834052e-01 1.28048019e-02 -1.91752044e+00] [ 9.70373401e-02 -1.14880387e-02 9.95214439e-01 1.60802348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.849072329 meters Centerline goodness [0,1] 0.6350531926371895 Centerline is valid? [False, False] Translation: X:-12.28, Y:-1.92, Z:16.08 [[ 9.95209787e-01 1.42199145e-02 -9.67226602e-02 -1.22774284e+01] [-1.30281127e-02 9.99831369e-01 1.29422748e-02 -1.91790866e+00] [ 9.68903877e-02 -1.16201648e-02 9.95227223e-01 1.60803948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879072329 meters Centerline goodness [0,1] 0.6475633612072487 Centerline is valid? [False, False] Translation: X:-12.28, Y:-1.92, Z:16.08 [[ 9.95182427e-01 1.38471687e-02 -9.70576797e-02 -1.22763223e+01] [-1.26665308e-02 9.99838231e-01 1.27699301e-02 -1.91831294e+00] [ 9.72188062e-02 -1.14790259e-02 9.95196833e-01 1.60800710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.909072329 meters Centerline goodness [0,1] 0.6292798620094868 Centerline is valid? [False, False] Translation: X:-12.28, Y:-1.92, Z:16.08 [[ 9.95173851e-01 1.39295415e-02 -9.71337930e-02 -1.22762262e+01] [-1.27353203e-02 9.99835638e-01 1.29037923e-02 -1.91858483e+00] [ 9.72975719e-02 -1.16044867e-02 9.95187680e-01 1.60801286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939072329 meters Centerline goodness [0,1] 0.6522291621796252 Centerline is valid? [False, False] Translation: X:-12.28, Y:-1.92, Z:16.08 [[ 9.95149087e-01 1.36856478e-02 -9.74217547e-02 -1.22751648e+01] [-1.25070710e-02 9.99841153e-01 1.26981254e-02 -1.91859945e+00] [ 9.75800616e-02 -1.14180670e-02 9.95162177e-01 1.60796807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.969072329 meters Centerline goodness [0,1] 0.6399956924402326 Centerline is valid? [False, False] Translation: X:-12.27, Y:-1.92, Z:16.08 [[ 9.95153290e-01 1.35819781e-02 -9.73933270e-02 -1.22749165e+01] [-1.24008392e-02 9.99842165e-01 1.27226215e-02 -1.91909163e+00] [ 9.75507532e-02 -1.14531997e-02 9.95164647e-01 1.60792647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999072329 meters Centerline goodness [0,1] 0.6369383075835173 Centerline is valid? [False, False] Translation: X:-12.27, Y:-1.92, Z:16.09 [[ 9.94756325e-01 1.48184602e-02 -1.01194206e-01 -1.22657751e+01] [-1.29777955e-02 9.99738590e-01 1.88236301e-02 -1.92219691e+00] [ 1.01446690e-01 -1.74116473e-02 9.94688596e-01 1.60850416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.029072329 meters Centerline goodness [0,1] 0.6373917539097842 Centerline is valid? [False, False] Translation: X:-12.27, Y:-1.92, Z:16.08 [[ 9.94765672e-01 1.48273828e-02 -1.01100971e-01 -1.22659281e+01] [-1.29827327e-02 9.99737476e-01 1.88792791e-02 -1.92242384e+00] [ 1.01354360e-01 -1.74678919e-02 9.94697022e-01 1.60849307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059072329 meters Centerline goodness [0,1] 0.6350786468433527 Centerline is valid? [False, False] Translation: X:-12.27, Y:-1.92, Z:16.08 [[ 9.94761488e-01 1.45900590e-02 -1.01176639e-01 -1.22655329e+01] [-1.27655965e-02 9.99744454e-01 1.86565481e-02 -1.92225696e+00] [ 1.01422984e-01 -1.72672354e-02 9.94693531e-01 1.60847029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.089072329 meters Centerline goodness [0,1] 0.6241516751050307 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94756190e-01 1.42895350e-02 -1.01271573e-01 -1.22649237e+01] [-1.24920837e-02 9.99753383e-01 1.83608617e-02 -1.92182831e+00] [ 1.01508966e-01 -1.69994879e-02 9.94689372e-01 1.60842641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119072329 meters Centerline goodness [0,1] 0.6442893565533037 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94756975e-01 1.42663561e-02 -1.01267128e-01 -1.22648365e+01] [-1.24728470e-02 9.99754339e-01 1.83218378e-02 -1.92169642e+00] [ 1.01503637e-01 -1.69626866e-02 9.94690544e-01 1.60841216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.149072329 meters Centerline goodness [0,1] 0.6449838187702266 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94728882e-01 1.40542872e-02 -1.01572283e-01 -1.22639782e+01] [-1.22718055e-02 9.99759915e-01 1.81525269e-02 -1.92159334e+00] [ 1.01803018e-01 -1.68103675e-02 9.94662534e-01 1.60840107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179072329 meters Centerline goodness [0,1] 0.638044628777569 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94726470e-01 1.39484688e-02 -1.01610481e-01 -1.22635506e+01] [-1.21725834e-02 9.99762505e-01 1.80765330e-02 -1.92159201e+00] [ 1.01838489e-01 -1.67443438e-02 9.94660017e-01 1.60835854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.209072329 meters Centerline goodness [0,1] 0.6433825908747708 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94703894e-01 1.37350148e-02 -1.01860260e-01 -1.22630226e+01] [-1.19677223e-02 9.99767419e-01 1.79410524e-02 -1.92169487e+00] [ 1.02082989e-01 -1.66269994e-02 9.94636922e-01 1.60836946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239072329 meters Centerline goodness [0,1] 0.6394847007034655 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94692222e-01 1.35209395e-02 -1.02002783e-01 -1.22626925e+01] [-1.17757453e-02 9.99774135e-01 1.76920996e-02 -1.92128629e+00] [ 1.02218958e-01 -1.63970351e-02 9.94626775e-01 1.60837479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.269072329 meters Centerline goodness [0,1] 0.6404128776451321 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94671313e-01 1.32530123e-02 -1.02241559e-01 -1.22620889e+01] [-1.15254327e-02 9.99780969e-01 1.74693369e-02 -1.92102945e+00] [ 1.02450687e-01 -1.61978701e-02 9.94606196e-01 1.60837598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299072329 meters Centerline goodness [0,1] 0.640230604797789 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94685069e-01 1.31046794e-02 -1.02126785e-01 -1.22621642e+01] [-1.13956083e-02 9.99785397e-01 1.73003165e-02 -1.92067469e+00] [ 1.02331583e-01 -1.60445697e-02 9.94620942e-01 1.60835652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.329072329 meters Centerline goodness [0,1] 0.6404838396688156 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94674133e-01 1.28309570e-02 -1.02267956e-01 -1.22615680e+01] [-1.11495840e-02 9.99793397e-01 1.69955805e-02 -1.92016929e+00] [ 1.02464897e-01 -1.57648191e-02 9.94611691e-01 1.60832836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359072329 meters Centerline goodness [0,1] 0.6437724795933751 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94658440e-01 1.26007185e-02 -1.02449058e-01 -1.22608434e+01] [-1.09406012e-02 9.99799848e-01 1.67501304e-02 -1.91973628e+00] [ 1.02639617e-01 -1.55398043e-02 9.94597217e-01 1.60829639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38907232900002 meters Centerline goodness [0,1] 0.6395321284708011 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94659201e-01 1.24154723e-02 -1.02464285e-01 -1.22603087e+01] [-1.07790816e-02 9.99805619e-01 1.65086421e-02 -1.91937763e+00] [ 1.02649330e-01 -1.53160019e-02 9.94599686e-01 1.60823459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41907232900002 meters Centerline goodness [0,1] 0.634739839502977 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94647151e-01 1.23646053e-02 -1.02587334e-01 -1.22595401e+01] [-1.07378471e-02 9.99807942e-01 1.63944376e-02 -1.91917442e+00] [ 1.02770342e-01 -1.52051135e-02 9.94588891e-01 1.60817389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44907232900002 meters Centerline goodness [0,1] 0.6345277435797749 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94639273e-01 1.23899969e-02 -1.02660628e-01 -1.22592918e+01] [-1.07692193e-02 9.99808708e-01 1.63269830e-02 -1.91896378e+00] [ 1.02843281e-01 -1.51338836e-02 9.94582438e-01 1.60816662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479072329 meters Centerline goodness [0,1] 0.6343232044198894 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94626635e-01 1.21412451e-02 -1.02812681e-01 -1.22588712e+01] [-1.05371461e-02 9.99814363e-01 1.61309383e-02 -1.91887119e+00] [ 1.02989445e-01 -1.49609086e-02 9.94569930e-01 1.60816289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.509072329 meters Centerline goodness [0,1] 0.6397970200820557 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94623209e-01 1.19489689e-02 -1.02868337e-01 -1.22589061e+01] [-1.03707316e-02 9.99820382e-01 1.58635046e-02 -1.91825156e+00] [ 1.03039413e-01 -1.47113899e-02 9.94568476e-01 1.60818756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539072329 meters Centerline goodness [0,1] 0.6402390352296508 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94616543e-01 1.18058189e-02 -1.02949284e-01 -1.22587993e+01] [-1.02452171e-02 9.99824656e-01 1.56745762e-02 -1.91784780e+00] [ 1.03116284e-01 -1.45354551e-02 9.94563096e-01 1.60820091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.569072329 meters Centerline goodness [0,1] 0.6409786591937918 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94603096e-01 1.15306633e-02 -1.03110254e-01 -1.22582667e+01] [-9.99919697e-03 9.99832071e-01 1.53572962e-02 -1.91721677e+00] [ 1.03270019e-01 -1.42433946e-02 9.94551371e-01 1.60818586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599072329 meters Centerline goodness [0,1] 0.642618282237708 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94613124e-01 1.13927947e-02 -1.03028819e-01 -1.22583392e+01] [-9.89421234e-03 9.99837868e-01 1.50446651e-02 -1.91619391e+00] [ 1.03183516e-01 -1.39442324e-02 9.94564588e-01 1.60817407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.629072329 meters Centerline goodness [0,1] 0.639010597655997 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94602302e-01 1.12552252e-02 -1.03148340e-01 -1.22577926e+01] [-9.77440729e-03 9.99841950e-01 1.48504409e-02 -1.91572255e+00] [ 1.03299182e-01 -1.37620688e-02 9.94555119e-01 1.60814153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659072329 meters Centerline goodness [0,1] 0.6407603412895562 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.92, Z:16.08 [[ 9.94600119e-01 1.11509073e-02 -1.03180716e-01 -1.22573662e+01] [-9.68281468e-03 9.99844795e-01 1.47183319e-02 -1.91539250e+00] [ 1.03328824e-01 -1.36397749e-02 9.94553724e-01 1.60810197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.689072329 meters Centerline goodness [0,1] 0.6477686555907514 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.91, Z:16.08 [[ 9.94575414e-01 1.08124448e-02 -1.03454514e-01 -1.22557654e+01] [-9.38651455e-03 9.99854261e-01 1.42601068e-02 -1.91456347e+00] [ 1.03593623e-01 -1.32116743e-02 9.94531957e-01 1.60798583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719072329 meters Centerline goodness [0,1] 0.6396816152203455 Centerline is valid? [False, False] Translation: X:-12.26, Y:-1.91, Z:16.08 [[ 9.94561816e-01 1.07448627e-02 -1.03592187e-01 -1.22552877e+01] [-9.32406091e-03 9.99855844e-01 1.41898617e-02 -1.91438657e+00] [ 1.03729721e-01 -1.31467947e-02 9.94518631e-01 1.60796267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.749072329 meters Centerline goodness [0,1] 0.6436633066253123 Centerline is valid? [False, False] Translation: X:-12.25, Y:-1.91, Z:16.08 [[ 9.94533262e-01 1.05495217e-02 -1.03885985e-01 -1.22542759e+01] [-9.14815004e-03 9.99860750e-01 1.39567739e-02 -1.91391904e+00] [ 1.04018757e-01 -1.29301113e-02 9.94491282e-01 1.60792917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779072329 meters Centerline goodness [0,1] 0.6457770379817982 Centerline is valid? [False, False] Translation: X:-12.25, Y:-1.91, Z:16.08 [[ 9.94543763e-01 1.05878810e-02 -1.03781500e-01 -1.22544857e+01] [-9.18756668e-03 9.99860320e-01 1.39616886e-02 -1.91378968e+00] [ 1.03914829e-01 -1.29320108e-02 9.94502122e-01 1.60791694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.809072329 meters Centerline goodness [0,1] 0.6418636845406762 Centerline is valid? [False, False] Translation: X:-12.25, Y:-1.91, Z:16.08 [[ 9.94535304e-01 1.05094430e-02 -1.03870503e-01 -1.22542794e+01] [-9.12511442e-03 9.99863224e-01 1.37936859e-02 -1.91328028e+00] [ 1.04001260e-01 -1.27704774e-02 9.94495175e-01 1.60791634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839072329 meters Centerline goodness [0,1] 0.6423370244301779 Centerline is valid? [False, False] Translation: X:-12.24, Y:-1.91, Z:16.08 [[ 9.94810452e-01 1.17310869e-02 -1.01067035e-01 -1.22361724e+01] [-1.13045668e-02 9.99924619e-01 4.79188226e-03 -1.91461440e+00] [ 1.01115630e-01 -3.62449552e-03 9.94868078e-01 1.60752414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.869072329 meters Centerline goodness [0,1] 0.637001183177369 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.92, Z:16.08 [[ 9.95273993e-01 1.21070779e-02 -9.63488323e-02 -1.22285210e+01] [-1.08534762e-02 9.99849633e-01 1.35245525e-02 -1.91672803e+00] [ 9.64980874e-02 -1.24149157e-02 9.95255741e-01 1.60792285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899072329 meters Centerline goodness [0,1] 0.6351476711323971 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.92, Z:16.08 [[ 9.95274706e-01 1.21743629e-02 -9.63329897e-02 -1.22287292e+01] [-1.09236159e-02 9.99849196e-01 1.35003424e-02 -1.91633487e+00] [ 9.64828204e-02 -1.23842447e-02 9.95257603e-01 1.60794074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.929072329 meters Centerline goodness [0,1] 0.6410698878343399 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.92, Z:16.08 [[ 9.95254497e-01 1.21100173e-02 -9.65496428e-02 -1.22282899e+01] [-1.08717414e-02 9.99851900e-01 1.33410575e-02 -1.91591232e+00] [ 9.66969042e-02 -1.22280847e-02 9.95238757e-01 1.60794731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959072329 meters Centerline goodness [0,1] 0.6467509530681255 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.92, Z:16.08 [[ 9.95229526e-01 1.19067255e-02 -9.68319236e-02 -1.22273060e+01] [-1.06826963e-02 9.99856476e-01 1.31494014e-02 -1.91586164e+00] [ 9.69745923e-02 -1.20522465e-02 9.95213882e-01 1.60790914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.989072329 meters Centerline goodness [0,1] 0.6431725653232234 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.92, Z:16.08 [[ 9.95217202e-01 1.18500827e-02 -9.69654419e-02 -1.22266546e+01] [-1.06342363e-02 9.99858345e-01 1.30461860e-02 -1.91564260e+00] [ 9.71063046e-02 -1.19526353e-02 9.95202241e-01 1.60786568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019072329 meters Centerline goodness [0,1] 0.6464305059040191 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.92, Z:16.08 [[ 9.95212066e-01 1.18421986e-02 -9.70191063e-02 -1.22263840e+01] [-1.06277039e-02 9.99858686e-01 1.30253317e-02 -1.91546466e+00] [ 9.71596447e-02 -1.19318770e-02 9.95197284e-01 1.60784438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.049072329 meters Centerline goodness [0,1] 0.6399766975208752 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.91, Z:16.08 [[ 9.95186626e-01 1.16146065e-02 -9.73071488e-02 -1.22250310e+01] [-1.04276522e-02 9.99865007e-01 1.26977168e-02 -1.91481059e+00] [ 9.74414920e-02 -1.16219128e-02 9.95173395e-01 1.60775490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079072329 meters Centerline goodness [0,1] 0.6453215805733792 Centerline is valid? [False, False] Translation: X:-12.23, Y:-1.91, Z:16.08 [[ 9.95185186e-01 1.16715230e-02 -9.73150581e-02 -1.22251232e+01] [-1.04940384e-02 9.99865513e-01 1.26027955e-02 -1.91412987e+00] [ 9.74490643e-02 -1.15208874e-02 9.95173829e-01 1.60776314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.109072329 meters Centerline goodness [0,1] 0.6449483290543894 Centerline is valid? [False, False] Translation: X:-12.22, Y:-1.91, Z:16.08 [[ 9.95177786e-01 1.14601679e-02 -9.74157988e-02 -1.22247172e+01] [-1.03118176e-02 9.99871383e-01 1.22834497e-02 -1.91328614e+00] [ 9.75440399e-02 -1.12196823e-02 9.95167965e-01 1.60774592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13907232900002 meters Centerline goodness [0,1] 0.6389354658411798 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.91, Z:16.07 [[ 9.95463778e-01 1.28625171e-02 -9.42678206e-02 -1.22068759e+01] [-1.26040998e-02 9.99915000e-01 3.33622855e-03 -1.91403325e+00] [ 9.43027200e-02 -2.13293366e-03 9.95541284e-01 1.60732481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16907232900002 meters Centerline goodness [0,1] 0.6506745980430191 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.92, Z:16.07 [[ 9.95424650e-01 1.72653390e-02 -9.39769843e-02 -1.22082124e+01] [-1.65882126e-02 9.99830547e-01 7.98171583e-03 -1.91613237e+00] [ 9.40988667e-02 -6.38628649e-03 9.95542374e-01 1.60743654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19907232900002 meters Centerline goodness [0,1] 0.6317629896597589 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.92, Z:16.08 [[ 9.95341860e-01 2.14086375e-02 -9.40013436e-02 -1.22085487e+01] [-2.03275372e-02 9.99715935e-01 1.24435174e-02 -1.91835853e+00] [ 9.42410398e-02 -1.04747380e-02 9.95494302e-01 1.60752572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.229072329 meters Centerline goodness [0,1] 0.6317629896597589 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.92, Z:16.08 [[ 9.95341860e-01 2.14086375e-02 -9.40013436e-02 -1.22085487e+01] [-2.03275372e-02 9.99715935e-01 1.24435174e-02 -1.91835853e+00] [ 9.42410398e-02 -1.04747380e-02 9.95494302e-01 1.60752572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259072329 meters Centerline goodness [0,1] 0.6480332158380728 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.92, Z:16.08 [[ 9.95325575e-01 2.15528749e-02 -9.41407141e-02 -1.22085349e+01] [-2.04605539e-02 9.99711852e-01 1.25530369e-02 -1.91830587e+00] [ 9.43841416e-02 -1.05681875e-02 9.95479757e-01 1.60756117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.289072329 meters Centerline goodness [0,1] 0.6418653788107456 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.92, Z:16.08 [[ 9.95305839e-01 2.12112148e-02 -9.44265401e-02 -1.22074307e+01] [-2.01450684e-02 9.99722265e-01 1.22298195e-02 -1.91788925e+00] [ 9.46597239e-02 -1.02701817e-02 9.95456709e-01 1.60750942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319072329 meters Centerline goodness [0,1] 0.6485983331529386 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.92, Z:16.07 [[ 9.95294518e-01 2.12207667e-02 -9.45436490e-02 -1.22068901e+01] [-2.01576810e-02 9.99722554e-01 1.21853727e-02 -1.91774986e+00] [ 9.47760012e-02 -1.02222540e-02 9.95446139e-01 1.60747083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.349072329 meters Centerline goodness [0,1] 0.6402391809343543 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.92, Z:16.07 [[ 9.95268306e-01 2.09787034e-02 -9.48730398e-02 -1.22056694e+01] [-1.99366703e-02 9.99730208e-01 1.19181111e-02 -1.91738981e+00] [ 9.50974703e-02 -9.97026577e-03 9.95418035e-01 1.60741629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379072329 meters Centerline goodness [0,1] 0.6487664846431116 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.92, Z:16.07 [[ 9.95269805e-01 2.10306825e-02 -9.48458044e-02 -1.22057825e+01] [-1.99812645e-02 9.99728329e-01 1.20007410e-02 -1.91755433e+00] [ 9.50724213e-02 -1.00488361e-02 9.95419638e-01 1.60742035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.409072329 meters Centerline goodness [0,1] 0.639114167693938 Centerline is valid? [False, False] Translation: X:-12.21, Y:-1.92, Z:16.07 [[ 9.95280817e-01 2.10660617e-02 -9.47223152e-02 -1.22060725e+01] [-2.00087138e-02 9.99726600e-01 1.20986609e-02 -1.91800689e+00] [ 9.49512892e-02 -1.01462934e-02 9.95430211e-01 1.60741603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439072329 meters Centerline goodness [0,1] 0.6383514473259442 Centerline is valid? [False, False] Translation: X:-12.20, Y:-1.92, Z:16.08 [[ 0.99572053 0.02027218 -0.09016465 -12.19656572] [ -0.01858085 0.99963605 0.01955829 -1.92094139] [ 0.09052832 -0.01779926 0.99573481 16.07698709] [ 0. 0. 0. 1. ]] SLAMing on 180.469072329 meters Centerline goodness [0,1] 0.6383514473259442 Centerline is valid? [False, False] Translation: X:-12.20, Y:-1.92, Z:16.08 [[ 0.99572053 0.02027218 -0.09016465 -12.19656572] [ -0.01858085 0.99963605 0.01955829 -1.92094139] [ 0.09052832 -0.01779926 0.99573481 16.07698709] [ 0. 0. 0. 1. ]] SLAMing on 180.499072329 meters Centerline goodness [0,1] 0.6492970825145226 Centerline is valid? [False, False] Translation: X:-12.20, Y:-1.92, Z:16.08 [[ 9.95769398e-01 1.60146559e-02 -9.04811362e-02 -1.21959575e+01] [-1.47210538e-02 9.99779925e-01 1.49462822e-02 -1.91828922e+00] [ 9.07005831e-02 -1.35510728e-02 9.95786007e-01 1.60766981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.529072329 meters Centerline goodness [0,1] 0.6310448536252894 Centerline is valid? [False, False] Translation: X:-12.20, Y:-1.92, Z:16.08 [[ 9.95777488e-01 1.60049198e-02 -9.03937836e-02 -1.21960593e+01] [-1.47222485e-02 9.99781508e-01 1.48388438e-02 -1.91782154e+00] [ 9.06115278e-02 -1.34453869e-02 9.95795548e-01 1.60766045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559072329 meters Centerline goodness [0,1] 0.6391420795714717 Centerline is valid? [False, False] Translation: X:-12.20, Y:-1.92, Z:16.08 [[ 9.95755450e-01 1.57607961e-02 -9.06790014e-02 -1.21954021e+01] [-1.44967438e-02 9.99788587e-01 1.45816827e-02 -1.91746589e+00] [ 9.08896496e-02 -1.32052397e-02 9.95773415e-01 1.60766453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.589072329 meters Centerline goodness [0,1] 0.6418307725600519 Centerline is valid? [False, False] Translation: X:-12.20, Y:-1.92, Z:16.08 [[ 9.95758754e-01 1.58060869e-02 -9.06348216e-02 -1.21957757e+01] [-1.45407196e-02 9.99787615e-01 1.46045535e-02 -1.91741682e+00] [ 9.08464129e-02 -1.32247165e-02 9.95777102e-01 1.60769882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619072329 meters Centerline goodness [0,1] 0.6331397984071141 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.92, Z:16.08 [[ 9.95729737e-01 1.56260453e-02 -9.09841558e-02 -1.21949842e+01] [-1.43657984e-02 9.99791814e-01 1.44897695e-02 -1.91749799e+00] [ 9.11916319e-02 -1.31208343e-02 9.95746921e-01 1.60770716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.649072329 meters Centerline goodness [0,1] 0.6468097059268383 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.92, Z:16.08 [[ 9.95725560e-01 1.55349268e-02 -9.10454594e-02 -1.21945724e+01] [-1.42748543e-02 9.99793331e-01 1.44749548e-02 -1.91792992e+00] [ 9.12515105e-02 -1.31134218e-02 9.95741533e-01 1.60767047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679072329 meters Centerline goodness [0,1] 0.6395702543524691 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.92, Z:16.08 [[ 9.95703362e-01 1.52637791e-02 -9.13336248e-02 -1.21935236e+01] [-1.40160605e-02 9.99799696e-01 1.42869957e-02 -1.91801967e+00] [ 9.15334039e-02 -1.29454721e-02 9.95717857e-01 1.60762775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.709072329 meters Centerline goodness [0,1] 0.6469645101182996 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.92, Z:16.08 [[ 9.95706393e-01 1.53132410e-02 -9.12922995e-02 -1.21932614e+01] [-1.40631902e-02 9.99798555e-01 1.43204603e-02 -1.91821731e+00] [ 9.14932018e-02 -1.29751129e-02 9.95721166e-01 1.60757815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739072329 meters Centerline goodness [0,1] 0.6413193545603589 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.92, Z:16.08 [[ 9.95700080e-01 1.49854890e-02 -9.14154533e-02 -1.21923471e+01] [-1.37615073e-02 9.99807223e-01 1.40049205e-02 -1.91788660e+00] [ 9.16077010e-02 -1.26866861e-02 9.95714355e-01 1.60750181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.769072329 meters Centerline goodness [0,1] 0.6384236878453038 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.92, Z:16.08 [[ 9.95681833e-01 1.49259455e-02 -9.16237082e-02 -1.21918940e+01] [-1.37030748e-02 9.99808636e-01 1.39613055e-02 -1.91807042e+00] [ 9.18145603e-02 -1.26454917e-02 9.95695826e-01 1.60750196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799072329 meters Centerline goodness [0,1] 0.6370232799205287 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.92, Z:16.08 [[ 9.95682703e-01 1.49085115e-02 -9.16170856e-02 -1.21920601e+01] [-1.36907707e-02 9.99809578e-01 1.39058009e-02 -1.91787995e+00] [ 9.18069545e-02 -1.25914570e-02 9.95697212e-01 1.60752553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.829072329 meters Centerline goodness [0,1] 0.6394154309047926 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.92, Z:16.07 [[ 9.95910593e-01 1.59293435e-02 -8.89288907e-02 -1.21740801e+01] [-1.55821246e-02 9.99868022e-01 4.59736120e-03 -1.91924305e+00] [ 8.89903870e-02 -3.19285965e-03 9.96027367e-01 1.60713365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859072329 meters Centerline goodness [0,1] 0.6333658114106311 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.92, Z:16.07 [[ 9.95899952e-01 1.61040168e-02 -8.90165537e-02 -1.21741721e+01] [-1.57504062e-02 9.99865033e-01 4.67345020e-03 -1.91898395e+00] [ 8.90798007e-02 -3.25224195e-03 9.96019183e-01 1.60716056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88907232900002 meters Centerline goodness [0,1] 0.6460580643766618 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.92, Z:16.07 [[ 9.95829509e-01 1.86059582e-02 -8.93163294e-02 -1.21715922e+01] [-1.80119801e-02 9.99810002e-01 7.45173682e-03 -1.92098102e+00] [ 8.94380061e-02 -5.81189547e-03 9.95975434e-01 1.60700878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91907232900002 meters Centerline goodness [0,1] 0.6375178131882369 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.92, Z:16.07 [[ 9.95806132e-01 1.86313432e-02 -8.95713145e-02 -1.21709572e+01] [-1.80349769e-02 9.99809505e-01 7.46280705e-03 -1.92093856e+00] [ 8.96932937e-02 -5.81609243e-03 9.95952452e-01 1.60700109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94907232900002 meters Centerline goodness [0,1] 0.621367835738549 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.92, Z:16.07 [[ 9.95786653e-01 1.87426573e-02 -8.97644351e-02 -1.21703527e+01] [-1.81394051e-02 9.99807100e-01 7.53153901e-03 -1.92097051e+00] [ 8.98882807e-02 -5.87153257e-03 9.95934547e-01 1.60697673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979072329 meters Centerline goodness [0,1] 0.6328015370998035 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.92, Z:16.07 [[ 9.95757555e-01 1.88032136e-02 -9.00740246e-02 -1.21694042e+01] [-1.81957793e-02 9.99805860e-01 7.56020787e-03 -1.92106788e+00] [ 9.01986938e-02 -5.88916703e-03 9.95906378e-01 1.60693794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.009072329 meters Centerline goodness [0,1] 0.6334378717421867 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.92, Z:16.07 [[ 9.95748022e-01 1.88179127e-02 -9.01762869e-02 -1.21691829e+01] [-1.82118713e-02 9.99805728e-01 7.53881199e-03 -1.92078571e+00] [ 9.03006329e-02 -5.86447820e-03 9.95897286e-01 1.60693855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039072329 meters Centerline goodness [0,1] 0.6369759509520314 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.92, Z:16.07 [[ 9.95736282e-01 1.88467234e-02 -9.02998266e-02 -1.21689007e+01] [-1.82429026e-02 9.99805397e-01 7.50760959e-03 -1.92038092e+00] [ 9.04237479e-02 -5.82826832e-03 9.95886327e-01 1.60693571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.069072329 meters Centerline goodness [0,1] 0.6306770236060324 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.92, Z:16.07 [[ 9.95737891e-01 1.89514642e-02 -9.02601501e-02 -1.21694407e+01] [-1.83534134e-02 9.99803796e-01 7.45131419e-03 -1.91963852e+00] [ 9.03836540e-02 -5.76297403e-03 9.95890347e-01 1.60699259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099072329 meters Centerline goodness [0,1] 0.6283855120553317 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95348794e-01 2.07131070e-02 -9.40837185e-02 -1.21608765e+01] [-1.94672788e-02 9.99710496e-01 1.41403641e-02 -1.92276718e+00] [ 9.43493717e-02 -1.22430404e-02 9.95463864e-01 1.60764013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.129072329 meters Centerline goodness [0,1] 0.6373531444367657 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95348269e-01 2.06613205e-02 -9.41006587e-02 -1.21609644e+01] [-1.94289562e-02 9.99713305e-01 1.39937287e-02 -1.92216260e+00] [ 9.43628093e-02 -1.21003561e-02 9.95464335e-01 1.60765849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159072329 meters Centerline goodness [0,1] 0.6432092359579712 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95337945e-01 2.06685034e-02 -9.42082214e-02 -1.21605171e+01] [-1.94537874e-02 9.99715594e-01 1.37942559e-02 -1.92134520e+00] [ 9.44665346e-02 -1.18972396e-02 9.95456945e-01 1.60763229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.189072329 meters Centerline goodness [0,1] 0.6385218559112766 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95316476e-01 2.07385916e-02 -9.44194008e-02 -1.21600562e+01] [-1.95317424e-02 9.99715532e-01 1.36881524e-02 -1.92071605e+00] [ 9.46764146e-02 -1.17798682e-02 9.95438402e-01 1.60763208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219072329 meters Centerline goodness [0,1] 0.6498908273342413 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95299377e-01 2.05012457e-02 -9.46511940e-02 -1.21593373e+01] [-1.93172393e-02 9.99723489e-01 1.34086061e-02 -1.92028907e+00] [ 9.48999150e-02 -1.15171775e-02 9.95420193e-01 1.60761204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.249072329 meters Centerline goodness [0,1] 0.6488566117667401 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95279439e-01 2.03648155e-02 -9.48900039e-02 -1.21587075e+01] [-1.91970378e-02 9.99728535e-01 1.32033944e-02 -1.91998102e+00] [ 9.51331293e-02 -1.13194600e-02 9.95400200e-01 1.60760063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279072329 meters Centerline goodness [0,1] 0.6463707323401586 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95271983e-01 2.04436825e-02 -9.49512278e-02 -1.21587377e+01] [-1.92789261e-02 9.99727424e-01 1.31681817e-02 -1.91975530e+00] [ 9.51945525e-02 -1.12753646e-02 9.95394828e-01 1.60761912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.309072329 meters Centerline goodness [0,1] 0.6503519220357337 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95262640e-01 2.04584510e-02 -9.50459372e-02 -1.21587454e+01] [-1.92990569e-02 9.99727910e-01 1.31016037e-02 -1.91935625e+00] [ 9.52881147e-02 -1.12052397e-02 9.95386667e-01 1.60764787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339072329 meters Centerline goodness [0,1] 0.6441030080069249 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95251598e-01 2.04060300e-02 -9.51727426e-02 -1.21584493e+01] [-1.92533858e-02 9.99729938e-01 1.30137694e-02 -1.91930424e+00] [ 9.54125995e-02 -1.11195772e-02 9.95375703e-01 1.60764919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.369072329 meters Centerline goodness [0,1] 0.648916850434557 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95247475e-01 2.02932839e-02 -9.52399366e-02 -1.21580809e+01] [-1.91565368e-02 9.99734111e-01 1.28348812e-02 -1.91893175e+00] [ 9.54750752e-02 -1.09494158e-02 9.95371599e-01 1.60762715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399072329 meters Centerline goodness [0,1] 0.6425223045516407 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95230153e-01 2.00762907e-02 -9.54666729e-02 -1.21570544e+01] [-1.89639467e-02 9.99741465e-01 1.25447830e-02 -1.91842482e+00] [ 9.56938442e-02 -1.06745214e-02 9.95353577e-01 1.60757279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.429072329 meters Centerline goodness [0,1] 0.6429930384399187 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95226896e-01 2.00573477e-02 -9.55045959e-02 -1.21567129e+01] [-1.89473366e-02 9.99742149e-01 1.25153861e-02 -1.91841333e+00] [ 9.57309954e-02 -1.06460912e-02 9.95350309e-01 1.60754037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459072329 meters Centerline goodness [0,1] 0.6429434613724644 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95204441e-01 1.99493025e-02 -9.57608784e-02 -1.21559978e+01] [-1.88454397e-02 9.99745289e-01 1.24179719e-02 -1.91858433e+00] [ 9.59842169e-02 -1.05537649e-02 9.95326905e-01 1.60752668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.489072329 meters Centerline goodness [0,1] 0.6437007448990608 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95196338e-01 2.00181922e-02 -9.58306907e-02 -1.21560044e+01] [-1.88877698e-02 9.99741091e-01 1.26887329e-02 -1.91983895e+00] [ 9.60598848e-02 -1.08177525e-02 9.95316771e-01 1.60754513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519072329 meters Centerline goodness [0,1] 0.6426968232044199 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95195360e-01 2.00520809e-02 -9.58337614e-02 -1.21560278e+01] [-1.89138857e-02 9.99739555e-01 1.27705223e-02 -1.92041767e+00] [ 9.60648775e-02 -1.08965757e-02 9.95315429e-01 1.60754698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.549072329 meters Centerline goodness [0,1] 0.6431796090290528 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95187263e-01 2.01020115e-02 -9.59073571e-02 -1.21561640e+01] [-1.89505718e-02 9.99737177e-01 1.29016239e-02 -1.92091033e+00] [ 9.61414991e-02 -1.10220325e-02 9.95306650e-01 1.60758116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579072329 meters Centerline goodness [0,1] 0.64 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95188989e-01 2.00380366e-02 -9.59028334e-02 -1.21561300e+01] [-1.88922839e-02 9.99739071e-01 1.28402379e-02 -1.92113424e+00] [ 9.61351027e-02 -1.09666398e-02 9.95307879e-01 1.60757880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.609072329 meters Centerline goodness [0,1] 0.6418814099801775 Centerline is valid? [False, False] Translation: X:-12.16, Y:-1.92, Z:16.08 [[ 9.95176907e-01 1.99384489e-02 -9.60488503e-02 -1.21558700e+01] [-1.87890634e-02 9.99740809e-01 1.28563646e-02 -1.92158689e+00] [ 9.62802912e-02 -1.09896893e-02 9.95293591e-01 1.60758856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63907232900002 meters Centerline goodness [0,1] 0.64081964060597 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.92, Z:16.07 [[ 9.95329214e-01 2.07624316e-02 -9.42797781e-02 -1.21374447e+01] [-2.05403193e-02 9.99783494e-01 3.32580848e-03 -1.92403846e+00] [ 9.43284178e-02 -1.37373760e-03 9.95540186e-01 1.60716808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66907232900002 meters Centerline goodness [0,1] 0.6382570034963526 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.93, Z:16.07 [[ 9.95321842e-01 2.09144191e-02 -9.43240023e-02 -1.21373577e+01] [-2.06583283e-02 9.99779782e-01 3.69076771e-03 -1.92537990e+00] [ 9.43804206e-02 -1.72492551e-03 9.95534711e-01 1.60716021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69907232900002 meters Centerline goodness [0,1] 0.6456764085567942 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.93, Z:16.07 [[ 9.95220661e-01 2.49458890e-02 -9.44115423e-02 -1.21370487e+01] [-2.42810024e-02 9.99671667e-01 8.18483770e-03 -1.92872701e+00] [ 9.45847219e-02 -5.85331270e-03 9.95499608e-01 1.60718514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.729072329 meters Centerline goodness [0,1] 0.6469461541772479 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.93, Z:16.07 [[ 9.95213356e-01 2.50357711e-02 -9.44647325e-02 -1.21369458e+01] [-2.43512592e-02 9.99668239e-01 8.39219911e-03 -1.92951813e+00] [ 9.46434979e-02 -6.05169346e-03 9.95492835e-01 1.60718386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759072329 meters Centerline goodness [0,1] 0.6458172126214428 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.93, Z:16.07 [[ 9.95208538e-01 2.50506477e-02 -9.45115396e-02 -1.21364748e+01] [-2.43450958e-02 9.99666527e-01 8.61108354e-03 -1.93063908e+00] [ 9.46957358e-02 -6.26893137e-03 9.95486523e-01 1.60713800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.789072329 meters Centerline goodness [0,1] 0.6462543948577468 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.93, Z:16.07 [[ 9.95198892e-01 2.51939118e-02 -9.45750057e-02 -1.21366539e+01] [-2.44682295e-02 9.99661655e-01 8.82508796e-03 -1.93117723e+00] [ 9.47653451e-02 -6.46863482e-03 9.95478622e-01 1.60717473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819072329 meters Centerline goodness [0,1] 0.6344703925338633 Centerline is valid? [False, False] Translation: X:-12.14, Y:-1.93, Z:16.07 [[ 9.95204298e-01 2.52896813e-02 -9.44925290e-02 -1.21369503e+01] [-2.45497170e-02 9.99658228e-01 8.98540999e-03 -1.93163164e+00] [ 9.46874723e-02 -6.62255379e-03 9.95485020e-01 1.60718355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.849072329 meters Centerline goodness [0,1] 0.6464515850951489 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94823387e-01 2.74916404e-02 -9.78296425e-02 -1.21303466e+01] [-2.60496264e-02 9.99532805e-01 1.59871669e-02 -1.93651046e+00] [ 9.82234503e-02 -1.33559818e-02 9.95074757e-01 1.60787385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879072329 meters Centerline goodness [0,1] 0.6446423565436784 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94828473e-01 2.73100935e-02 -9.78287692e-02 -1.21302675e+01] [-2.58786356e-02 9.99539088e-01 1.58716339e-02 -1.93665182e+00] [ 9.82171345e-02 -1.32578783e-02 9.95076692e-01 1.60786720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.909072329 meters Centerline goodness [0,1] 0.6448455053151347 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94832025e-01 2.71782519e-02 -9.78293685e-02 -1.21299908e+01] [-2.57498938e-02 9.99543012e-01 1.58338218e-02 -1.93717798e+00] [ 9.82149972e-02 -1.32328971e-02 9.95077236e-01 1.60783513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939072329 meters Centerline goodness [0,1] 0.6404645027355491 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94812096e-01 2.73167588e-02 -9.79933108e-02 -1.21294724e+01] [-2.58516384e-02 9.99534678e-01 1.61901374e-02 -1.93876511e+00] [ 9.83899744e-02 -1.35728568e-02 9.95055371e-01 1.60780663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.969072329 meters Centerline goodness [0,1] 0.6399550726828952 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94789987e-01 2.72131383e-02 -9.82462521e-02 -1.21285768e+01] [-2.57385786e-02 9.99536699e-01 1.62454055e-02 -1.93953231e+00] [ 9.86428230e-02 -1.36320478e-02 9.95029528e-01 1.60776616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999072329 meters Centerline goodness [0,1] 0.6375924289132731 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94770570e-01 2.71311048e-02 -9.84653050e-02 -1.21278836e+01] [-2.56493867e-02 9.99538377e-01 1.62831513e-02 -1.94015410e+00] [ 9.88616311e-02 -1.36724250e-02 9.95007258e-01 1.60775052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.029072329 meters Centerline goodness [0,1] 0.6290510507918698 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94770873e-01 2.70595654e-02 -9.84819298e-02 -1.21276898e+01] [-2.55603071e-02 9.99537863e-01 1.64538932e-02 -1.94146092e+00] [ 9.88816529e-02 -1.38506253e-02 9.95002803e-01 1.60772538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059072329 meters Centerline goodness [0,1] 0.6443151840159149 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94773824e-01 2.70578706e-02 -9.84525762e-02 -1.21277986e+01] [-2.55627053e-02 9.99538413e-01 1.64167451e-02 -1.94153599e+00] [ 9.88513339e-02 -1.38142341e-02 9.95006322e-01 1.60773150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.089072329 meters Centerline goodness [0,1] 0.6318590171704332 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94764039e-01 2.69565460e-02 -9.85791625e-02 -1.21273554e+01] [-2.54592880e-02 9.99541079e-01 1.64151409e-02 -1.94204392e+00] [ 9.89764180e-02 -1.38194366e-02 9.94993815e-01 1.60771101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119072329 meters Centerline goodness [0,1] 0.6441735002157962 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94774491e-01 2.68417200e-02 -9.85049945e-02 -1.21273711e+01] [-2.53492135e-02 9.99544580e-01 1.63722128e-02 -1.94244892e+00] [ 9.88995917e-02 -1.37896355e-02 9.95001868e-01 1.60769190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.149072329 meters Centerline goodness [0,1] 0.6441735002157962 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94774491e-01 2.68417200e-02 -9.85049945e-02 -1.21273711e+01] [-2.53492135e-02 9.99544580e-01 1.63722128e-02 -1.94244892e+00] [ 9.88995917e-02 -1.37896355e-02 9.95001868e-01 1.60769190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179072329 meters Centerline goodness [0,1] 0.6383348719379978 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94751545e-01 2.67453929e-02 -9.87625824e-02 -1.21267688e+01] [-2.52455754e-02 9.99546667e-01 1.64049300e-02 -1.94305338e+00] [ 9.91565663e-02 -1.38255112e-02 9.94975794e-01 1.60768810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.209072329 meters Centerline goodness [0,1] 0.6339752169595441 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94746580e-01 2.68409704e-02 -9.87866584e-02 -1.21268870e+01] [-2.53238147e-02 9.99541797e-01 1.65801109e-02 -1.94362683e+00] [ 9.91864204e-02 -1.39913535e-02 9.94970500e-01 1.60770712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239072329 meters Centerline goodness [0,1] 0.6470105231314419 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.94, Z:16.08 [[ 9.94726258e-01 2.69493540e-02 -9.89616325e-02 -1.21267044e+01] [-2.54000627e-02 9.99534803e-01 1.68823796e-02 -1.94498758e+00] [ 9.93705650e-02 -1.42797146e-02 9.94948029e-01 1.60772651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.269072329 meters Centerline goodness [0,1] 0.639250075597218 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.95, Z:16.08 [[ 9.94723107e-01 2.67896699e-02 -9.90366340e-02 -1.21262136e+01] [-2.52430502e-02 9.99539544e-01 1.68370940e-02 -1.94545592e+00] [ 9.94420922e-02 -1.42482598e-02 9.94941334e-01 1.60769347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299072329 meters Centerline goodness [0,1] 0.6349332759362893 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.95, Z:16.08 [[ 9.94709810e-01 2.66845571e-02 -9.91984299e-02 -1.21256452e+01] [-2.51300170e-02 9.99541536e-01 1.68878558e-02 -1.94625566e+00] [ 9.96035960e-02 -1.43056576e-02 9.94924355e-01 1.60767065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.329072329 meters Centerline goodness [0,1] 0.6357673053685482 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.95, Z:16.08 [[ 9.94714260e-01 2.67272151e-02 -9.91423083e-02 -1.21256774e+01] [-2.51671134e-02 9.99539490e-01 1.69536137e-02 -1.94663878e+00] [ 9.95497751e-02 -1.43688756e-02 9.94928830e-01 1.60765387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359072329 meters Centerline goodness [0,1] 0.6435292336311134 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.95, Z:16.08 [[ 9.94722658e-01 2.67381123e-02 -9.90550722e-02 -1.21256454e+01] [-2.51642148e-02 9.99536987e-01 1.71048044e-02 -1.94755180e+00] [ 9.94665585e-02 -1.45218934e-02 9.94934932e-01 1.60762131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38907232900002 meters Centerline goodness [0,1] 0.6436632787380505 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.95, Z:16.08 [[ 9.94715965e-01 2.66082473e-02 -9.91572004e-02 -1.21251623e+01] [-2.50402680e-02 9.99541472e-01 1.70244057e-02 -1.94782643e+00] [ 9.95647237e-02 -1.44515253e-02 9.94926138e-01 1.60758817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41907232900002 meters Centerline goodness [0,1] 0.6336280507576904 Centerline is valid? [False, False] Translation: X:-12.13, Y:-1.95, Z:16.08 [[ 9.94698096e-01 2.66916338e-02 -9.93139228e-02 -1.21250634e+01] [-2.51091467e-02 9.99537591e-01 1.71503739e-02 -1.94824746e+00] [ 9.97257707e-02 -1.45657564e-02 9.94908342e-01 1.60761869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44907232900002 meters Centerline goodness [0,1] 0.6321789446411608 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.95, Z:16.08 [[ 9.94681520e-01 2.66365116e-02 -9.94945720e-02 -1.21247747e+01] [-2.50482114e-02 9.99538626e-01 1.71791205e-02 -1.94886338e+00] [ 9.99062596e-02 -1.45955926e-02 9.94889797e-01 1.60763066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479072329 meters Centerline goodness [0,1] 0.6289471984846202 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.95, Z:16.08 [[ 9.94677525e-01 2.66429999e-02 -9.95327689e-02 -1.21247992e+01] [-2.50315030e-02 9.99535142e-01 1.74047331e-02 -1.95014655e+00] [ 9.99502146e-02 -1.48206421e-02 9.94882055e-01 1.60764625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.509072329 meters Centerline goodness [0,1] 0.6250268805642768 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.95, Z:16.08 [[ 9.94669752e-01 2.65489809e-02 -9.96355162e-02 -1.21246063e+01] [-2.49330844e-02 9.99537185e-01 1.74286113e-02 -1.95071919e+00] [ 1.00052115e-01 -1.48514917e-02 9.94871352e-01 1.60765006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539072329 meters Centerline goodness [0,1] 0.6385781540189177 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.95, Z:16.08 [[ 9.94668361e-01 2.66523784e-02 -9.96217936e-02 -1.21246098e+01] [-2.50131001e-02 9.99530980e-01 1.76682080e-02 -1.95180715e+00] [ 1.00045969e-01 -1.50821576e-02 9.94868500e-01 1.60764040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.569072329 meters Centerline goodness [0,1] 0.6386908619572262 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.95, Z:16.08 [[ 9.94656659e-01 2.65824030e-02 -9.97572428e-02 -1.21241345e+01] [-2.49420699e-02 9.99532992e-01 1.76547869e-02 -1.95212467e+00] [ 1.00179962e-01 -1.50722992e-02 9.94855166e-01 1.60762012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599072329 meters Centerline goodness [0,1] 0.6263439699468889 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.95, Z:16.08 [[ 9.94650665e-01 2.65077959e-02 -9.98368199e-02 -1.21237280e+01] [-2.48726958e-02 9.99535912e-01 1.75872033e-02 -1.95234025e+00] [ 1.00256685e-01 -1.50099126e-02 9.94848380e-01 1.60759530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.629072329 meters Centerline goodness [0,1] 0.6456332678737133 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.95, Z:16.08 [[ 9.94643151e-01 2.63980752e-02 -9.99407051e-02 -1.21232521e+01] [-2.47673486e-02 9.99539658e-01 1.75228843e-02 -1.95266191e+00] [ 1.00357269e-01 -1.49537506e-02 9.94839084e-01 1.60756407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659072329 meters Centerline goodness [0,1] 0.6488543036364812 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.95, Z:16.08 [[ 9.94611657e-01 2.64449536e-02 -1.00241292e-01 -1.21229074e+01] [-2.48002138e-02 9.99537156e-01 1.76188078e-02 -1.95329491e+00] [ 1.00660824e-01 -1.50378662e-02 9.94807148e-01 1.60760561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.689072329 meters Centerline goodness [0,1] 0.607114386055631 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.95, Z:16.08 [[ 9.94599194e-01 2.63483114e-02 -1.00390286e-01 -1.21223898e+01] [-2.47098683e-02 9.99540962e-01 1.75295993e-02 -1.95336694e+00] [ 1.00806078e-01 -1.49542946e-02 9.94793699e-01 1.60758859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719072329 meters Centerline goodness [0,1] 0.6366851400599487 Centerline is valid? [False, False] Translation: X:-12.12, Y:-1.95, Z:16.08 [[ 9.94601649e-01 2.63413962e-02 -1.00367782e-01 -1.21222870e+01] [-2.47012720e-02 9.99540831e-01 1.75492086e-02 -1.95372209e+00] [ 1.00783967e-01 -1.49752600e-02 9.94795624e-01 1.60757177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.749072329 meters Centerline goodness [0,1] 0.6359292983395822 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94642478e-01 2.78100889e-02 -9.95637449e-02 -1.21036615e+01] [-2.70991955e-02 9.99596732e-01 8.48564931e-03 -1.95722366e+00] [ 9.97595807e-02 -5.74208987e-03 9.94995002e-01 1.60722210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779072329 meters Centerline goodness [0,1] 0.6472287494341087 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94634762e-01 2.79895786e-02 -9.95905264e-02 -1.21036065e+01] [-2.72582305e-02 9.99590592e-01 8.69697016e-03 -1.95768590e+00] [ 9.97931778e-02 -5.93564733e-03 9.94990497e-01 1.60721608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.809072329 meters Centerline goodness [0,1] 0.6337190510052363 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94621619e-01 2.80939500e-02 -9.96923471e-02 -1.21035575e+01] [-2.73467991e-02 9.99586799e-01 8.85347772e-03 -1.95806440e+00] [ 9.98998833e-02 -6.07959376e-03 9.94978920e-01 1.60723476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839072329 meters Centerline goodness [0,1] 0.6445946527747879 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94618432e-01 2.82716473e-02 -9.96739080e-02 -1.21038967e+01] [-2.74986023e-02 9.99580226e-01 9.12137305e-03 -1.95888809e+00] [ 9.98899436e-02 -6.33139261e-03 9.94978348e-01 1.60727515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.869072329 meters Centerline goodness [0,1] 0.641106668386431 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94608895e-01 2.83918814e-02 -9.97348854e-02 -1.21039894e+01] [-2.75992902e-02 9.99575637e-01 9.31803723e-03 -1.95955407e+00] [ 9.99571182e-02 -6.51519067e-03 9.94970415e-01 1.60730020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899072329 meters Centerline goodness [0,1] 0.641890287342674 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94599943e-01 2.85454061e-02 -9.97803216e-02 -1.21040947e+01] [-2.77291049e-02 9.99569773e-01 9.55858720e-03 -1.96029564e+00] [ 1.00010247e-01 -6.74015129e-03 9.94963578e-01 1.60731867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.929072329 meters Centerline goodness [0,1] 0.6486643813466141 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94594747e-01 2.86111244e-02 -9.98132857e-02 -1.21038372e+01] [-2.77663275e-02 9.99565979e-01 9.84300844e-03 -1.96165100e+00] [ 1.00051584e-01 -7.01835611e-03 9.94957498e-01 1.60729447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959072329 meters Centerline goodness [0,1] 0.6486643813466141 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94594747e-01 2.86111244e-02 -9.98132857e-02 -1.21038372e+01] [-2.77663275e-02 9.99565979e-01 9.84300844e-03 -1.96165100e+00] [ 1.00051584e-01 -7.01835611e-03 9.94957498e-01 1.60729447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.989072329 meters Centerline goodness [0,1] 0.6396369202906362 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94573471e-01 2.88200386e-02 -9.99650757e-02 -1.21034632e+01] [-2.79380276e-02 9.99557491e-01 1.02122104e-02 -1.96297240e+00] [ 1.00215157e-01 -7.36396648e-03 9.94938538e-01 1.60728712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019072329 meters Centerline goodness [0,1] 0.6437173565847973 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94575247e-01 2.90134126e-02 -9.98914406e-02 -1.21037168e+01] [-2.81014509e-02 9.99549667e-01 1.05248194e-02 -1.96403549e+00] [ 1.00151817e-01 -7.66063039e-03 9.94942676e-01 1.60728389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.049072329 meters Centerline goodness [0,1] 0.6412600530412471 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.96, Z:16.07 [[ 9.94577346e-01 2.89208173e-02 -9.98973882e-02 -1.21035009e+01] [-2.80057884e-02 9.99552084e-01 1.05502305e-02 -1.96455978e+00] [ 1.00157764e-01 -7.69531514e-03 9.94941810e-01 1.60726109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079072329 meters Centerline goodness [0,1] 0.6439145446698317 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.97, Z:16.07 [[ 9.94574319e-01 2.91989307e-02 -9.98466193e-02 -1.21043844e+01] [-2.82330197e-02 9.99540030e-01 1.10736221e-02 -1.96627460e+00] [ 1.00124031e-01 -8.19456857e-03 9.94941218e-01 1.60735069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.109072329 meters Centerline goodness [0,1] 0.6406920803399996 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.97, Z:16.07 [[ 9.94568825e-01 2.93463968e-02 -9.98581050e-02 -1.21046741e+01] [-2.83530083e-02 9.99533499e-01 1.13529947e-02 -1.96730075e+00] [ 1.00144691e-01 -8.46005691e-03 9.94936917e-01 1.60738193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13907232900002 meters Centerline goodness [0,1] 0.6496025574563677 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.97, Z:16.07 [[ 9.94568835e-01 2.94622941e-02 -9.98238743e-02 -1.21049241e+01] [-2.84530602e-02 9.99528756e-01 1.15191208e-02 -1.96786496e+00] [ 1.00116213e-01 -8.61626388e-03 9.94938442e-01 1.60739824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16907232900002 meters Centerline goodness [0,1] 0.6461840628507295 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.97, Z:16.07 [[ 9.94568764e-01 2.94737923e-02 -9.98211822e-02 -1.21046304e+01] [-2.84491938e-02 9.99527085e-01 1.16726144e-02 -1.96876745e+00] [ 1.00118011e-01 -8.76938554e-03 9.94936923e-01 1.60735803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19907232900002 meters Centerline goodness [0,1] 0.653140201059345 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.97, Z:16.07 [[ 9.94566228e-01 2.95598579e-02 -9.98210044e-02 -1.21045762e+01] [-2.85196037e-02 9.99523199e-01 1.18324697e-02 -1.96933725e+00] [ 1.00123176e-01 -8.92131928e-03 9.94935053e-01 1.60734550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.229072329 meters Centerline goodness [0,1] 0.6494820837748416 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.97, Z:16.07 [[ 9.94560483e-01 2.96143407e-02 -9.98620866e-02 -1.21044241e+01] [-2.85617718e-02 9.99520551e-01 1.19538119e-02 -1.96988589e+00] [ 1.00168212e-01 -9.03655082e-03 9.94929480e-01 1.60733456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259072329 meters Centerline goodness [0,1] 0.6382542661747892 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.97, Z:16.07 [[ 9.94536037e-01 2.97189477e-02 -1.00074246e-01 -1.21042276e+01] [-2.86286474e-02 9.99514268e-01 1.23137653e-02 -1.97168323e+00] [ 1.00391588e-01 -9.38149303e-03 9.94903773e-01 1.60736739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.289072329 meters Centerline goodness [0,1] 0.6510808473843493 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.97, Z:16.07 [[ 9.94522822e-01 2.99028576e-02 -1.00150764e-01 -1.21042224e+01] [-2.87842226e-02 9.99506279e-01 1.25962857e-02 -1.97266542e+00] [ 1.00477983e-01 -9.64453166e-03 9.94892536e-01 1.60737862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319072329 meters Centerline goodness [0,1] 0.6455460949993517 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.97, Z:16.07 [[ 9.94523567e-01 2.98791228e-02 -1.00150450e-01 -1.21040801e+01] [-2.87474357e-02 9.99505715e-01 1.27243729e-02 -1.97355284e+00] [ 1.00481141e-01 -9.77562013e-03 9.94890938e-01 1.60735641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.349072329 meters Centerline goodness [0,1] 0.6286134671975074 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.97, Z:16.07 [[ 9.94520402e-01 3.01028609e-02 -1.00114872e-01 -1.21042766e+01] [-2.89341054e-02 9.99495397e-01 1.31060715e-02 -1.97494384e+00] [ 1.00458884e-01 -1.01375212e-02 9.94889563e-01 1.60736156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379072329 meters Centerline goodness [0,1] 0.6400423912103124 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.98, Z:16.07 [[ 9.94512042e-01 3.01173981e-02 -1.00193513e-01 -1.21039308e+01] [-2.89344477e-02 9.99493631e-01 1.32392896e-02 -1.97577986e+00] [ 1.00541511e-01 -1.02675889e-02 9.94879883e-01 1.60733829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.409072329 meters Centerline goodness [0,1] 0.641681427398799 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.98, Z:16.07 [[ 9.94515925e-01 3.00231626e-02 -1.00183253e-01 -1.21037982e+01] [-2.88318624e-02 9.99495546e-01 1.33183037e-02 -1.97665396e+00] [ 1.00532572e-01 -1.03567953e-02 9.94879861e-01 1.60731839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439072329 meters Centerline goodness [0,1] 0.6413064652280254 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.98, Z:16.07 [[ 9.94502574e-01 3.02749712e-02 -1.00239992e-01 -1.21041934e+01] [-2.90321793e-02 9.99482741e-01 1.38341406e-02 -1.97860089e+00] [ 1.00606970e-01 -1.08479030e-02 9.94867107e-01 1.60737257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.469072329 meters Centerline goodness [0,1] 0.6461857093545047 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.98, Z:16.07 [[ 9.94492226e-01 3.02478435e-02 -1.00350786e-01 -1.21038953e+01] [-2.89879949e-02 9.99481864e-01 1.39892818e-02 -1.97972296e+00] [ 1.00721936e-01 -1.10032639e-02 9.94853768e-01 1.60736652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499072329 meters Centerline goodness [0,1] 0.6477049144883353 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.98, Z:16.07 [[ 9.94497126e-01 3.03681104e-02 -1.00265869e-01 -1.21041947e+01] [-2.90848847e-02 9.99475570e-01 1.42356541e-02 -1.98070722e+00] [ 1.00645597e-01 -1.12410958e-02 9.94858835e-01 1.60737309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.529072329 meters Centerline goodness [0,1] 0.6469481740935331 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.98, Z:16.07 [[ 9.94485903e-01 3.04073665e-02 -1.00365236e-01 -1.21040025e+01] [-2.91014752e-02 9.99472008e-01 1.44502707e-02 -1.98185194e+00] [ 1.00751639e-01 -1.14498141e-02 9.94845721e-01 1.60737465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559072329 meters Centerline goodness [0,1] 0.650732675831409 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.98, Z:16.07 [[ 9.94474538e-01 3.04065483e-02 -1.00478036e-01 -1.21035306e+01] [-2.90681684e-02 9.99468483e-01 1.47577867e-02 -1.98370522e+00] [ 1.00873363e-01 -1.17555306e-02 9.94829821e-01 1.60735049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.589072329 meters Centerline goodness [0,1] 0.6413733534873678 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.98, Z:16.07 [[ 9.94476641e-01 3.04268239e-02 -1.00451081e-01 -1.21035337e+01] [-2.90738494e-02 9.99466120e-01 1.49059181e-02 -1.98465558e+00] [ 1.00850992e-01 -1.19030877e-02 9.94830334e-01 1.60734071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619072329 meters Centerline goodness [0,1] 0.6431052711070835 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94471004e-01 3.03841833e-02 -1.00519769e-01 -1.21032449e+01] [-2.90191303e-02 9.99466081e-01 1.50147283e-02 -1.98566825e+00] [ 1.00922310e-01 -1.20147157e-02 9.94821760e-01 1.60732650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.649072329 meters Centerline goodness [0,1] 0.6352976743181671 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94468015e-01 3.04560595e-02 -1.00527589e-01 -1.21033578e+01] [-2.90695027e-02 9.99461371e-01 1.52292947e-02 -1.98673816e+00] [ 1.00937266e-01 -1.22227595e-02 9.94817708e-01 1.60733849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679072329 meters Centerline goodness [0,1] 0.6334374663363137 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94440741e-01 3.05923322e-02 -1.00755749e-01 -1.21034101e+01] [-2.91664330e-02 9.99452905e-01 1.55952000e-02 -1.98846320e+00] [ 1.01177719e-01 -1.25698164e-02 9.94788957e-01 1.60740218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.709072329 meters Centerline goodness [0,1] 0.655395465559017 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94438000e-01 3.07333618e-02 -1.00739888e-01 -1.21035316e+01] [-2.92898952e-02 9.99446442e-01 1.57769124e-02 -1.98906032e+00] [ 1.01169000e-01 -1.27385004e-02 9.94787698e-01 1.60740632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739072329 meters Centerline goodness [0,1] 0.6467920616753406 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94418820e-01 3.07525261e-02 -1.00923201e-01 -1.21030123e+01] [-2.93075743e-02 9.99446044e-01 1.57692888e-02 -1.98937186e+00] [ 1.01352239e-01 -1.27234633e-02 9.94769238e-01 1.60739326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.769072329 meters Centerline goodness [0,1] 0.6325279091360584 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94399934e-01 3.08481668e-02 -1.01079976e-01 -1.21022907e+01] [-2.93952078e-02 9.99442467e-01 1.58327624e-02 -1.98979656e+00] [ 1.01512032e-01 -1.27728310e-02 9.94752312e-01 1.60734297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799072329 meters Centerline goodness [0,1] 0.6410921029894592 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94381044e-01 3.08640468e-02 -1.01260797e-01 -1.21015807e+01] [-2.94149217e-02 9.99442829e-01 1.57732287e-02 -1.98976946e+00] [ 1.01691203e-01 -1.27060212e-02 9.94734867e-01 1.60730472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.829072329 meters Centerline goodness [0,1] 0.6476607871499817 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94366371e-01 3.08772601e-02 -1.01400767e-01 -1.21013941e+01] [-2.94277983e-02 9.99442664e-01 1.57596256e-02 -1.98990529e+00] [ 1.01830867e-01 -1.26868404e-02 9.94720824e-01 1.60731992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859072329 meters Centerline goodness [0,1] 0.6442472129018292 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94341479e-01 3.12600073e-02 -1.01527511e-01 -1.21017777e+01] [-2.97776500e-02 9.99427138e-01 1.60837887e-02 -1.99045411e+00] [ 1.01972129e-01 -1.29695276e-02 9.94702707e-01 1.60739356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88907232900002 meters Centerline goodness [0,1] 0.6449557139771009 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94330893e-01 3.12395704e-02 -1.01637422e-01 -1.21016489e+01] [-2.97670503e-02 9.99429232e-01 1.59728783e-02 -1.99038936e+00] [ 1.02078396e-01 -1.28568801e-02 9.94693270e-01 1.60741152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91907232900002 meters Centerline goodness [0,1] 0.6542625314766588 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94320530e-01 3.11816113e-02 -1.01756526e-01 -1.21013304e+01] [-2.97196961e-02 9.99432571e-01 1.58517002e-02 -1.99032338e+00] [ 1.02193068e-01 -1.27374979e-02 9.94683031e-01 1.60740639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94907232900002 meters Centerline goodness [0,1] 0.6480436052170527 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94302608e-01 3.14710258e-02 -1.01842521e-01 -1.21010574e+01] [-3.00100100e-02 9.99423975e-01 1.58466862e-02 -1.98951098e+00] [ 1.02282568e-01 -1.27001064e-02 9.94674310e-01 1.60738983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979072329 meters Centerline goodness [0,1] 0.6416301130102207 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94280615e-01 3.14860037e-02 -1.02052393e-01 -1.21004725e+01] [-3.00315670e-02 9.99424738e-01 1.57574560e-02 -1.98944529e+00] [ 1.02489825e-01 -1.26025398e-02 9.94654217e-01 1.60737481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.009072329 meters Centerline goodness [0,1] 0.6540998853632687 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94270062e-01 3.15151234e-02 -1.02146174e-01 -1.20999930e+01] [-3.00680870e-02 9.99424928e-01 1.56755868e-02 -1.98924668e+00] [ 1.02581451e-01 -1.25144266e-02 9.94645884e-01 1.60734105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039072329 meters Centerline goodness [0,1] 0.6540998853632687 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94270062e-01 3.15151234e-02 -1.02146174e-01 -1.20999930e+01] [-3.00680870e-02 9.99424928e-01 1.56755868e-02 -1.98924668e+00] [ 1.02581451e-01 -1.25144266e-02 9.94645884e-01 1.60734105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.069072329 meters Centerline goodness [0,1] 0.6402296865555652 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94228948e-01 3.16798217e-02 -1.02494817e-01 -1.20995853e+01] [-3.02260266e-02 9.99419676e-01 1.57066137e-02 -1.98916756e+00] [ 1.02932920e-01 -1.25179589e-02 9.94609529e-01 1.60738650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099072329 meters Centerline goodness [0,1] 0.6529452439604131 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94214051e-01 3.18212608e-02 -1.02595457e-01 -1.20996494e+01] [-3.03679476e-02 9.99415528e-01 1.56968156e-02 -1.98895955e+00] [ 1.03034985e-01 -1.24903812e-02 9.94599307e-01 1.60742157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.129072329 meters Centerline goodness [0,1] 0.6433572478174432 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94207749e-01 3.17767436e-02 -1.02670301e-01 -1.20996239e+01] [-3.03403374e-02 9.99419091e-01 1.55223624e-02 -1.98843172e+00] [ 1.03103910e-01 -1.23174014e-02 9.94594322e-01 1.60744712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159072329 meters Centerline goodness [0,1] 0.6480506023055999 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.07 [[ 9.94179522e-01 3.17497064e-02 -1.02951607e-01 -1.20991911e+01] [-3.03262162e-02 9.99421981e-01 1.53630571e-02 -1.98796033e+00] [ 1.03379872e-01 -1.21515041e-02 9.94567717e-01 1.60747481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.189072329 meters Centerline goodness [0,1] 0.6657063015835193 Centerline is valid? [False, False] Translation: X:-12.10, Y:-1.99, Z:16.08 [[ 9.94172783e-01 3.21780842e-02 -1.02883661e-01 -1.20997014e+01] [-3.07479414e-02 9.99407650e-01 1.54568473e-02 -1.98717495e+00] [ 1.03320090e-01 -1.22033161e-02 9.94573295e-01 1.60750819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219072329 meters Centerline goodness [0,1] 0.6438916741654883 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94311584e-01 3.36395240e-02 -1.01058675e-01 -1.20814240e+01] [-3.31645498e-02 9.99429561e-01 6.37687682e-03 -1.98940011e+00] [ 1.01215542e-01 -2.98903704e-03 9.94860030e-01 1.60711858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.249072329 meters Centerline goodness [0,1] 0.6582556462204232 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94296035e-01 3.38040987e-02 -1.01156698e-01 -1.20812260e+01] [-3.33281720e-02 9.99424024e-01 6.39165873e-03 -1.98894976e+00] [ 1.01314498e-01 -2.98383311e-03 9.94849973e-01 1.60711282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279072329 meters Centerline goodness [0,1] 0.6447189115528542 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94235576e-01 3.41734097e-02 -1.01625769e-01 -1.20800669e+01] [-3.36951488e-02 9.99411540e-01 6.41947721e-03 -1.98817061e+00] [ 1.01785341e-01 -2.95817723e-03 9.94801987e-01 1.60709586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.309072329 meters Centerline goodness [0,1] 0.663417803768681 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94223994e-01 3.42765415e-02 -1.01704316e-01 -1.20797104e+01] [-3.38083831e-02 9.99408327e-01 6.32377590e-03 -1.98751542e+00] [ 1.01860898e-01 -2.84879126e-03 9.94794573e-01 1.60706921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339072329 meters Centerline goodness [0,1] 0.661942575242876 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94208250e-01 3.43724344e-02 -1.01825785e-01 -1.20793061e+01] [-3.39069386e-02 9.99405142e-01 6.29928424e-03 -1.98721032e+00] [ 1.01981735e-01 -2.81019971e-03 9.94782302e-01 1.60705355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.369072329 meters Centerline goodness [0,1] 0.6569355674555191 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94185314e-01 3.45485066e-02 -1.01990006e-01 -1.20792645e+01] [-3.40923127e-02 9.99399375e-01 6.21315053e-03 -1.98636357e+00] [ 1.02143403e-01 -2.69994784e-03 9.94766020e-01 1.60709516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399072329 meters Centerline goodness [0,1] 0.6592242643886443 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94165890e-01 3.47753250e-02 -1.02102202e-01 -1.20795017e+01] [-3.43044812e-02 9.99391164e-01 6.36428463e-03 -1.98648766e+00] [ 1.02261359e-01 -2.82459162e-03 9.94753556e-01 1.60715148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.429072329 meters Centerline goodness [0,1] 0.6593330745006687 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94166996e-01 3.48267450e-02 -1.02073900e-01 -1.20797709e+01] [-3.43587032e-02 9.99389453e-01 6.34043449e-03 -1.98623466e+00] [ 1.02232396e-01 -2.79632387e-03 9.94756612e-01 1.60717418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459072329 meters Centerline goodness [0,1] 0.6624916319346967 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94152931e-01 3.50314153e-02 -1.02140837e-01 -1.20800664e+01] [-3.45513460e-02 9.99382007e-01 6.46601598e-03 -1.98617229e+00] [ 1.02304229e-01 -2.89910532e-03 9.94748933e-01 1.60722401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.489072329 meters Centerline goodness [0,1] 0.6591453803467708 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94150747e-01 3.51140442e-02 -1.02133718e-01 -1.20800837e+01] [-3.46462479e-02 9.99379458e-01 6.35109807e-03 -1.98545780e+00] [ 1.02293353e-01 -2.77539877e-03 9.94750404e-01 1.60722153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519072329 meters Centerline goodness [0,1] 0.6568344393691287 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94134840e-01 3.49883048e-02 -1.02331511e-01 -1.20791874e+01] [-3.45379905e-02 9.99384342e-01 6.16959863e-03 -1.98513844e+00] [ 1.02484373e-01 -2.59908820e-03 9.94731219e-01 1.60716980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.549072329 meters Centerline goodness [0,1] 0.6644285159117406 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94116943e-01 3.52142454e-02 -1.02427830e-01 -1.20789994e+01] [-3.47429184e-02 9.99375902e-01 6.38248817e-03 -1.98553266e+00] [ 1.02588660e-01 -2.78629787e-03 9.94719962e-01 1.60716516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579072329 meters Centerline goodness [0,1] 0.6624107336074443 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94083955e-01 3.55206965e-02 -1.02641952e-01 -1.20783539e+01] [-3.50175048e-02 9.99364235e-01 6.70071042e-03 -1.98645880e+00] [ 1.02814710e-01 -3.06680368e-03 9.94695798e-01 1.60713345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.609072329 meters Centerline goodness [0,1] 0.6555080721747388 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94069770e-01 3.54834838e-02 -1.02792096e-01 -1.20778633e+01] [-3.49764971e-02 9.99365468e-01 6.73096484e-03 -1.98688767e+00] [ 1.02965709e-01 -3.09574121e-03 9.94680089e-01 1.60711580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63907232900002 meters Centerline goodness [0,1] 0.6497816405067669 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94063966e-01 3.56625348e-02 -1.02786261e-01 -1.20779252e+01] [-3.51350221e-02 9.99358487e-01 6.93864566e-03 -1.98743459e+00] [ 1.02967772e-01 -3.28606006e-03 9.94679265e-01 1.60711683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66907232900002 meters Centerline goodness [0,1] 0.672649424790243 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94056215e-01 3.57240986e-02 -1.02839832e-01 -1.20779621e+01] [-3.51877214e-02 9.99356025e-01 7.02568327e-03 -1.98770071e+00] [ 1.03024592e-01 -3.36522476e-03 9.94673117e-01 1.60713267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69907232900002 meters Centerline goodness [0,1] 0.6648696631159609 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94060751e-01 3.58096586e-02 -1.02766201e-01 -1.20782006e+01] [-3.52597837e-02 9.99352511e-01 7.16291097e-03 -1.98805754e+00] [ 1.02956163e-01 -3.49685463e-03 9.94679748e-01 1.60713482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.729072329 meters Centerline goodness [0,1] 0.6602489303772852 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94052809e-01 3.57786589e-02 -1.02853779e-01 -1.20779638e+01] [-3.52244662e-02 9.99353489e-01 7.20000716e-03 -1.98860211e+00] [ 1.03044890e-01 -3.53421788e-03 9.94670428e-01 1.60713022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759072329 meters Centerline goodness [0,1] 0.6567615427806333 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94053380e-01 3.58352373e-02 -1.02828564e-01 -1.20782308e+01] [-3.52634236e-02 9.99350847e-01 7.37391752e-03 -1.98931546e+00] [ 1.03026058e-01 -3.70398044e-03 9.94671761e-01 1.60715021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.789072329 meters Centerline goodness [0,1] 0.6530643007881476 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94017940e-01 3.59678946e-02 -1.03124416e-01 -1.20782744e+01] [-3.53517743e-02 9.99344518e-01 7.79660524e-03 -1.99124539e+00] [ 1.03337247e-01 -4.10433440e-03 9.94637908e-01 1.60723089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819072329 meters Centerline goodness [0,1] 0.6515981538196092 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94004714e-01 3.61000355e-02 -1.03205694e-01 -1.20782797e+01] [-3.54588683e-02 9.99338786e-01 8.04106264e-03 -1.99222425e+00] [ 1.03427735e-01 -4.33329708e-03 9.94627531e-01 1.60724650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.849072329 meters Centerline goodness [0,1] 0.6581233522064226 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94000922e-01 3.61700992e-02 -1.03217689e-01 -1.20781866e+01] [-3.55082369e-02 9.99335387e-01 8.24316031e-03 -1.99318415e+00] [ 1.03447246e-01 -4.52863078e-03 9.94624632e-01 1.60723262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879072329 meters Centerline goodness [0,1] 0.6533097283993263 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.93998029e-01 3.60182014e-02 -1.03298628e-01 -1.20772840e+01] [-3.53540814e-02 9.99340767e-01 8.25344670e-03 -1.99404569e+00] [ 1.03527805e-01 -4.55188163e-03 9.94616144e-01 1.60714684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.909072329 meters Centerline goodness [0,1] 0.6559578556469547 Centerline is valid? [False, False] Translation: X:-12.08, Y:-1.99, Z:16.07 [[ 9.94003163e-01 3.59760278e-02 -1.03263922e-01 -1.20771900e+01] [-3.53088439e-02 9.99342129e-01 8.28225028e-03 -1.99443149e+00] [ 1.03493950e-01 -4.58645326e-03 9.94619509e-01 1.60712634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939072329 meters Centerline goodness [0,1] 0.6666810820161309 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.94008389e-01 3.60596829e-02 -1.03184408e-01 -1.20775996e+01] [-3.53776087e-02 9.99338433e-01 8.43332061e-03 -1.99501418e+00] [ 1.03420247e-01 -4.73237384e-03 9.94626491e-01 1.60714449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.969072329 meters Centerline goodness [0,1] 0.6645899582495078 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.94009322e-01 3.63376797e-02 -1.03077838e-01 -1.20786766e+01] [-3.55972947e-02 9.99325564e-01 9.01386307e-03 -1.99699275e+00] [ 1.03335862e-01 -5.29057172e-03 9.94632449e-01 1.60724237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999072329 meters Centerline goodness [0,1] 0.6558073349000668 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.93988665e-01 3.62474708e-02 -1.03308538e-01 -1.20781393e+01] [-3.54956090e-02 9.99328331e-01 9.10758751e-03 -1.99797415e+00] [ 1.03569276e-01 -5.38583930e-03 9.94607660e-01 1.60724328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.029072329 meters Centerline goodness [0,1] 0.6589790101062452 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.93984684e-01 3.62852001e-02 -1.03333595e-01 -1.20781975e+01] [-3.55185227e-02 9.99326205e-01 9.25046438e-03 -1.99878396e+00] [ 1.03599624e-01 -5.52456328e-03 9.94603739e-01 1.60725083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059072329 meters Centerline goodness [0,1] 0.6593330595837565 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.93982500e-01 3.62471571e-02 -1.03367947e-01 -1.20778670e+01] [-3.54794185e-02 9.99327535e-01 9.25684394e-03 -1.99908834e+00] [ 1.03633970e-01 -5.53370623e-03 9.94600110e-01 1.60721653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.089072329 meters Centerline goodness [0,1] 0.6544598708785869 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.93964221e-01 3.60811892e-02 -1.03601524e-01 -1.20766268e+01] [-3.53114008e-02 9.99333499e-01 9.25538529e-03 -1.99997698e+00] [ 1.03866419e-01 -5.54120690e-03 9.94575820e-01 1.60712689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119072329 meters Centerline goodness [0,1] 0.6551196378529855 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.93966648e-01 3.59464184e-02 -1.03625080e-01 -1.20762041e+01] [-3.51816830e-02 9.99338597e-01 9.19877509e-03 -2.00023888e+00] [ 1.03887205e-01 -5.49757094e-03 9.94573891e-01 1.60708723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.149072329 meters Centerline goodness [0,1] 0.6562459434901129 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.93976913e-01 3.60382258e-02 -1.03494652e-01 -1.20766704e+01] [-3.52598988e-02 9.99334524e-01 9.34075181e-03 -2.00067598e+00] [ 1.03762403e-01 -5.63528070e-03 9.94586149e-01 1.60710061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179072329 meters Centerline goodness [0,1] 0.6619352605158386 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.93957406e-01 3.61528125e-02 -1.03641932e-01 -1.20769985e+01] [-3.53427436e-02 9.99328731e-01 9.64245309e-03 -2.00192661e+00] [ 1.03920962e-01 -5.92119742e-03 9.94567933e-01 1.60717481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.209072329 meters Centerline goodness [0,1] 0.662781645980193 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.93949603e-01 3.61119657e-02 -1.03730959e-01 -1.20767929e+01] [-3.52915869e-02 9.99329654e-01 9.73382907e-03 -2.00277786e+00] [ 1.04012931e-01 -6.01410539e-03 9.94557761e-01 1.60717218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239072329 meters Centerline goodness [0,1] 0.6530321046373365 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.93941401e-01 3.61131177e-02 -1.03809120e-01 -1.20766275e+01] [-3.52796381e-02 9.99328893e-01 9.85451933e-03 -2.00353828e+00] [ 1.04095330e-01 -6.13246658e-03 9.94548418e-01 1.60717482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.269072329 meters Centerline goodness [0,1] 0.6573854063161533 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.00, Z:16.07 [[ 9.93946495e-01 3.60535887e-02 -1.03781035e-01 -1.20765048e+01] [-3.52185258e-02 9.99330913e-01 9.86823328e-03 -2.00409147e+00] [ 1.04067382e-01 -6.15348082e-03 9.94551213e-01 1.60714767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299072329 meters Centerline goodness [0,1] 0.6554903061444795 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.01, Z:16.07 [[ 9.93942096e-01 3.59063310e-02 -1.03874180e-01 -1.20757600e+01] [-3.50654497e-02 9.99335876e-01 9.91062644e-03 -2.00505911e+00] [ 1.04161049e-01 -6.20819399e-03 9.94541067e-01 1.60708155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.329072329 meters Centerline goodness [0,1] 0.6536336958398067 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.01, Z:16.07 [[ 9.93946255e-01 3.58514884e-02 -1.03853323e-01 -1.20755342e+01] [-3.50076289e-02 9.99337637e-01 9.93747708e-03 -2.00563325e+00] [ 1.04140808e-01 -6.24165953e-03 9.94542977e-01 1.60704879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359072329 meters Centerline goodness [0,1] 0.6620595678411525 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.01, Z:16.07 [[ 9.93947351e-01 3.58506452e-02 -1.03843125e-01 -1.20754845e+01] [-3.49994801e-02 9.99337220e-01 1.00078230e-02 -2.00605539e+00] [ 1.04133087e-01 -6.31279375e-03 9.94543337e-01 1.60703755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38907232900002 meters Centerline goodness [0,1] 0.6614782627494218 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.01, Z:16.07 [[ 9.93942880e-01 3.59343211e-02 -1.03856996e-01 -1.20759581e+01] [-3.50491334e-02 9.99332138e-01 1.03361871e-02 -2.00751676e+00] [ 1.04159057e-01 -6.63348184e-03 9.94538530e-01 1.60709240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41907232900002 meters Centerline goodness [0,1] 0.661587411527889 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.01, Z:16.07 [[ 9.93944906e-01 3.59226782e-02 -1.03841639e-01 -1.20760938e+01] [-3.50342830e-02 9.99332337e-01 1.03671986e-02 -2.00798310e+00] [ 1.04144725e-01 -6.66640693e-03 9.94539811e-01 1.60710290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44907232900002 meters Centerline goodness [0,1] 0.6674803421757539 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.01, Z:16.07 [[ 9.93944079e-01 3.58912199e-02 -1.03860431e-01 -1.20760554e+01] [-3.49934031e-02 9.99332862e-01 1.04543154e-02 -2.00868025e+00] [ 1.04166360e-01 -6.75657496e-03 9.94536937e-01 1.60710527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479072329 meters Centerline goodness [0,1] 0.6662908436503978 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.01, Z:16.07 [[ 9.93934103e-01 3.59274744e-02 -1.03943329e-01 -1.20759456e+01] [-3.50096309e-02 9.99330314e-01 1.06418396e-02 -2.00968069e+00] [ 1.04256054e-01 -6.93826975e-03 9.94526287e-01 1.60710664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.509072329 meters Centerline goodness [0,1] 0.6624927009667164 Centerline is valid? [False, False] Translation: X:-12.08, Y:-2.01, Z:16.07 [[ 9.93929299e-01 3.58192502e-02 -1.04026585e-01 -1.20754076e+01] [-3.49065847e-02 9.99334562e-01 1.05813094e-02 -2.00995170e+00] [ 1.04336376e-01 -6.88586061e-03 9.94518228e-01 1.60706440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539072329 meters Centerline goodness [0,1] 0.6618524604341434 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.01, Z:16.07 [[ 9.93932465e-01 3.56962187e-02 -1.04038626e-01 -1.20748142e+01] [-3.47836938e-02 9.99338937e-01 1.05727919e-02 -2.01055065e+00] [ 1.04347258e-01 -6.88979343e-03 9.94517059e-01 1.60699460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.569072329 meters Centerline goodness [0,1] 0.6607698961937716 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.01, Z:16.07 [[ 9.93918757e-01 3.57516643e-02 -1.04150478e-01 -1.20744756e+01] [-3.48130462e-02 9.99335305e-01 1.08166639e-02 -2.01184712e+00] [ 1.04467964e-01 -7.12508969e-03 9.94502729e-01 1.60697900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599072329 meters Centerline goodness [0,1] 0.6588232756761421 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.01, Z:16.07 [[ 9.93908897e-01 3.56507543e-02 -1.04279092e-01 -1.20739986e+01] [-3.47030956e-02 9.99338348e-01 1.08885726e-02 -2.01289041e+00] [ 1.04598281e-01 -7.20344185e-03 9.94488466e-01 1.60695957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.629072329 meters Centerline goodness [0,1] 0.6629551154544668 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.01, Z:16.07 [[ 9.93912287e-01 3.56570962e-02 -1.04244600e-01 -1.20741826e+01] [-3.46902826e-02 9.99336761e-01 1.10734648e-02 -2.01366470e+00] [ 1.04570309e-01 -7.38977803e-03 9.94490041e-01 1.60696989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659072329 meters Centerline goodness [0,1] 0.6643326417704012 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.01, Z:16.07 [[ 9.93907879e-01 3.56438123e-02 -1.04291166e-01 -1.20742991e+01] [-3.46688074e-02 9.99336685e-01 1.11473339e-02 -2.01450907e+00] [ 1.04619321e-01 -7.46377269e-03 9.94484334e-01 1.60699653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.689072329 meters Centerline goodness [0,1] 0.6565479665304534 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.02, Z:16.07 [[ 9.93922602e-01 3.56765767e-02 -1.04139538e-01 -1.20748333e+01] [-3.46839521e-02 9.99334132e-01 1.13276562e-02 -2.01529451e+00] [ 1.04474327e-01 -7.64684273e-03 9.94498185e-01 1.60701320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719072329 meters Centerline goodness [0,1] 0.6542074237222258 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.02, Z:16.07 [[ 9.93912740e-01 3.55336745e-02 -1.04282416e-01 -1.20746100e+01] [-3.45151843e-02 9.99337365e-01 1.15556134e-02 -2.01714341e+00] [ 1.04623929e-01 -7.88594454e-03 9.94480591e-01 1.60702671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.749072329 meters Centerline goodness [0,1] 0.664442759666414 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.02, Z:16.07 [[ 9.93913955e-01 3.56343829e-02 -1.04236469e-01 -1.20749412e+01] [-3.45872656e-02 9.99331585e-01 1.18365330e-02 -2.01825818e+00] [ 1.04588583e-01 -8.15924085e-03 9.94482104e-01 1.60704931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779072329 meters Centerline goodness [0,1] 0.6632525173948745 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.02, Z:16.07 [[ 9.93903251e-01 3.44772411e-02 -1.04726536e-01 -1.20724615e+01] [-3.34888062e-02 9.99376531e-01 1.11825736e-02 -2.02016195e+00] [ 1.05046786e-01 -7.60722956e-03 9.94438185e-01 1.60691708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.809072329 meters Centerline goodness [0,1] 0.6517106001121705 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.02, Z:16.07 [[ 9.93898304e-01 3.44050043e-02 -1.04797221e-01 -1.20721228e+01] [-3.34014193e-02 9.99377942e-01 1.13169837e-02 -2.02129238e+00] [ 1.05121391e-01 -7.74755504e-03 9.94429217e-01 1.60689914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839072329 meters Centerline goodness [0,1] 0.6604936936157324 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.02, Z:16.07 [[ 9.93901388e-01 3.45031720e-02 -1.04735675e-01 -1.20722578e+01] [-3.34692513e-02 9.99372268e-01 1.16137874e-02 -2.02257358e+00] [ 1.05070642e-01 -8.03753475e-03 9.94432279e-01 1.60688834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.869072329 meters Centerline goodness [0,1] 0.6577075269747227 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.03, Z:16.07 [[ 9.93874568e-01 3.43100259e-02 -1.05053158e-01 -1.20711298e+01] [-3.32386582e-02 9.99376207e-01 1.19326877e-02 -2.02547560e+00] [ 1.05397038e-01 -8.36776881e-03 9.94395015e-01 1.60683240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899072329 meters Centerline goodness [0,1] 0.6531900633472423 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.03, Z:16.07 [[ 9.93875593e-01 3.42319467e-02 -1.05068925e-01 -1.20708937e+01] [-3.31433926e-02 9.99377486e-01 1.20894726e-02 -2.02678522e+00] [ 1.05417364e-01 -8.53309112e-03 9.94391455e-01 1.60680649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.929072329 meters Centerline goodness [0,1] 0.6560886565423084 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.03, Z:16.07 [[ 9.93882954e-01 3.41899267e-02 -1.05012969e-01 -1.20708959e+01] [-3.30568214e-02 9.99375149e-01 1.25122807e-02 -2.02948131e+00] [ 1.05375146e-01 -8.96434755e-03 9.94392136e-01 1.60678555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959072329 meters Centerline goodness [0,1] 0.6560886565423084 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.03, Z:16.07 [[ 9.93882954e-01 3.41899267e-02 -1.05012969e-01 -1.20708959e+01] [-3.30568214e-02 9.99375149e-01 1.25122807e-02 -2.02948131e+00] [ 1.05375146e-01 -8.96434755e-03 9.94392136e-01 1.60678555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.989072329 meters Centerline goodness [0,1] 0.6553634416048126 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.03, Z:16.07 [[ 9.93886052e-01 3.42386876e-02 -1.04967749e-01 -1.20710607e+01] [-3.30752197e-02 9.99370829e-01 1.28053248e-02 -2.03088746e+00] [ 1.05340144e-01 -9.25520237e-03 9.94393179e-01 1.60678763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019072329 meters Centerline goodness [0,1] 0.6532256322757608 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.03, Z:16.07 [[ 9.93882410e-01 3.40617749e-02 -1.05059749e-01 -1.20706813e+01] [-3.28879762e-02 9.99375979e-01 1.28854165e-02 -2.03215406e+00] [ 1.05433089e-01 -9.35138630e-03 9.94382429e-01 1.60676906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.049072329 meters Centerline goodness [0,1] 0.655670547649849 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.03, Z:16.07 [[ 9.93870038e-01 3.39858356e-02 -1.05201288e-01 -1.20703323e+01] [-3.27922203e-02 9.99376918e-01 1.30554910e-02 -2.03351879e+00] [ 1.05579441e-01 -9.52567749e-03 9.94365246e-01 1.60676861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079072329 meters Centerline goodness [0,1] 0.6510814661313301 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.03, Z:16.07 [[ 9.93878656e-01 3.40310140e-02 -1.05105224e-01 -1.20704850e+01] [-3.28135629e-02 9.99373110e-01 1.32912574e-02 -2.03481506e+00] [ 1.05491650e-01 -9.76102020e-03 9.94372282e-01 1.60675429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.109072329 meters Centerline goodness [0,1] 0.655431520307473 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.04, Z:16.07 [[ 9.93881446e-01 3.40728237e-02 -1.05065286e-01 -1.20704362e+01] [-3.28103738e-02 9.99367401e-01 1.37214447e-02 -2.03709212e+00] [ 1.05466350e-01 -1.01902580e-02 9.94370659e-01 1.60672845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13907232900002 meters Centerline goodness [0,1] 0.6585497601659392 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.04, Z:16.07 [[ 9.93888637e-01 3.39732259e-02 -1.05029503e-01 -1.20704303e+01] [-3.26944281e-02 9.99369095e-01 1.38739251e-02 -2.03832880e+00] [ 1.05434581e-01 -1.03552570e-02 9.94372323e-01 1.60671762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16907232900002 meters Centerline goodness [0,1] 0.654556849862765 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.04, Z:16.07 [[ 9.93881653e-01 3.39727230e-02 -1.05095738e-01 -1.20705188e+01] [-3.26687227e-02 9.99366703e-01 1.41048928e-02 -2.03967107e+00] [ 1.05508363e-01 -1.05852506e-02 9.94362076e-01 1.60674099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19907232900002 meters Centerline goodness [0,1] 0.6602831514103533 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.04, Z:16.07 [[ 9.93862896e-01 3.40674497e-02 -1.05242351e-01 -1.20705243e+01] [-3.26854553e-02 9.99355673e-01 1.48289912e-02 -2.04352582e+00] [ 1.05679727e-01 -1.12980900e-02 9.94336034e-01 1.60677037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.229072329 meters Centerline goodness [0,1] 0.6581813467023943 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.05, Z:16.07 [[ 9.93860703e-01 3.40368073e-02 -1.05272973e-01 -1.20704139e+01] [-3.26271198e-02 9.99353754e-01 1.50845835e-02 -2.04517110e+00] [ 1.05718372e-01 -1.15572209e-02 9.94328948e-01 1.60676423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259072329 meters Centerline goodness [0,1] 0.6546672428694901 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.05, Z:16.07 [[ 9.93852934e-01 3.40232297e-02 -1.05350681e-01 -1.20703971e+01] [-3.25839538e-02 9.99351069e-01 1.53534159e-02 -2.04682493e+00] [ 1.05804689e-01 -1.18262957e-02 9.94316603e-01 1.60677663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.289072329 meters Centerline goodness [0,1] 0.6503908780719561 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.05, Z:16.07 [[ 9.93846121e-01 3.26231960e-02 -1.05856581e-01 -1.20673413e+01] [-3.12548413e-02 9.99405391e-01 1.45602208e-02 -2.04972844e+00] [ 1.06268638e-01 -1.11620884e-02 9.94274803e-01 1.60658117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319072329 meters Centerline goodness [0,1] 0.6532006920415225 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.05, Z:16.07 [[ 9.93857466e-01 3.27005659e-02 -1.05726111e-01 -1.20677118e+01] [-3.12986604e-02 9.99399125e-01 1.48923441e-02 -2.05125369e+00] [ 1.06149571e-01 -1.14917817e-02 9.94283766e-01 1.60658272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.349072329 meters Centerline goodness [0,1] 0.6476474529382523 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.05, Z:16.07 [[ 9.93845407e-01 3.26884074e-02 -1.05843166e-01 -1.20676041e+01] [-3.12582495e-02 9.99396619e-01 1.51433121e-02 -2.05285049e+00] [ 1.06274313e-01 -1.17416390e-02 9.94267521e-01 1.60659968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379072329 meters Centerline goodness [0,1] 0.6481777700920842 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.05, Z:16.07 [[ 9.93849509e-01 3.27243091e-02 -1.05793541e-01 -1.20679210e+01] [-3.12589830e-02 9.99391440e-01 1.54798626e-02 -2.05474119e+00] [ 1.06235727e-01 -1.20776553e-02 9.94267620e-01 1.60661976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.409072329 meters Centerline goodness [0,1] 0.6576811844433893 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.06, Z:16.07 [[ 9.93824229e-01 3.16685272e-02 -1.06350863e-01 -1.20656598e+01] [-3.02285597e-02 9.99428571e-01 1.51249911e-02 -2.05826716e+00] [ 1.06769078e-01 -1.18167492e-02 9.94213623e-01 1.60652645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439072329 meters Centerline goodness [0,1] 0.6518898336254084 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.06, Z:16.07 [[ 9.93812850e-01 3.18247896e-02 -1.06410538e-01 -1.20656868e+01] [-3.03462634e-02 9.99419485e-01 1.54853875e-02 -2.05974445e+00] [ 1.06841584e-01 -1.21604148e-02 9.94201690e-01 1.60653767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.469072329 meters Centerline goodness [0,1] 0.6578668569328231 Centerline is valid? [False, False] Translation: X:-12.07, Y:-2.06, Z:16.07 [[ 9.93802216e-01 3.18054178e-02 -1.06515588e-01 -1.20653716e+01] [-3.03065372e-02 9.99417945e-01 1.56615712e-02 -2.06102639e+00] [ 1.06951713e-01 -1.23363855e-02 9.94187681e-01 1.60652199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499072329 meters Centerline goodness [0,1] 0.6533362171515086 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.06, Z:16.06 [[ 9.93779345e-01 3.16959950e-02 -1.06761312e-01 -1.20641079e+01] [-3.01757750e-02 9.99419323e-01 1.58252828e-02 -2.06285617e+00] [ 1.07200916e-01 -1.25052338e-02 9.94158731e-01 1.60643132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.529072329 meters Centerline goodness [0,1] 0.6464347450302507 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.06, Z:16.06 [[ 9.93778323e-01 3.17627432e-02 -1.06750984e-01 -1.20641138e+01] [-3.02237136e-02 9.99415021e-01 1.60044538e-02 -2.06389517e+00] [ 1.07196882e-01 -1.26784680e-02 9.94156972e-01 1.60642737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559072329 meters Centerline goodness [0,1] 0.6550717744725009 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.06, Z:16.06 [[ 9.93770191e-01 3.17472492e-02 -1.06831267e-01 -1.20640452e+01] [-3.01965030e-02 9.99414266e-01 1.61026754e-02 -2.06464251e+00] [ 1.07279908e-01 -1.27764282e-02 9.94146762e-01 1.60644128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.589072329 meters Centerline goodness [0,1] 0.6393899462098465 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.07 [[ 9.93759815e-01 3.19090642e-02 -1.06879567e-01 -1.20645372e+01] [-3.03137709e-02 9.99403938e-01 1.65180026e-02 -2.06666655e+00] [ 1.07342934e-01 -1.31750045e-02 9.94134756e-01 1.60650286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619072329 meters Centerline goodness [0,1] 0.6432936705033796 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.07 [[ 9.93745765e-01 3.18620287e-02 -1.07024140e-01 -1.20641660e+01] [-3.02587584e-02 9.99404720e-01 1.65714848e-02 -2.06739610e+00] [ 1.07488432e-01 -1.32294252e-02 9.94118313e-01 1.60650131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.649072329 meters Centerline goodness [0,1] 0.6527954736864836 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93746021e-01 3.18915914e-02 -1.07012956e-01 -1.20640810e+01] [-3.02870444e-02 9.99403618e-01 1.65862351e-02 -2.06779864e+00] [ 1.07478096e-01 -1.32413990e-02 9.94119271e-01 1.60648233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679072329 meters Centerline goodness [0,1] 0.6525957226629873 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93738638e-01 3.17152683e-02 -1.07133850e-01 -1.20631615e+01] [-3.01260261e-02 9.99411220e-01 1.64205703e-02 -2.06795843e+00] [ 1.07591554e-01 -1.30902380e-02 9.94109000e-01 1.60641124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.709072329 meters Centerline goodness [0,1] 0.6490838063583191 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93718989e-01 3.18745894e-02 -1.07268731e-01 -1.20628225e+01] [-3.02695222e-02 9.99404608e-01 1.65585304e-02 -2.06852585e+00] [ 1.07732660e-01 -1.32075528e-02 9.94092166e-01 1.60640180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739072329 meters Centerline goodness [0,1] 0.6366125520125908 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93710959e-01 3.18138735e-02 -1.07361111e-01 -1.20624578e+01] [-3.02142143e-02 9.99407348e-01 1.64940822e-02 -2.06877962e+00] [ 1.07822223e-01 -1.31465186e-02 9.94083265e-01 1.60638356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.769072329 meters Centerline goodness [0,1] 0.6494907647160366 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93699431e-01 3.18908104e-02 -1.07444947e-01 -1.20625550e+01] [-3.02810333e-02 9.99403886e-01 1.65810895e-02 -2.06929302e+00] [ 1.07909682e-01 -1.32230752e-02 9.94072759e-01 1.60641421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799072329 meters Centerline goodness [0,1] 0.648133764832794 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.07 [[ 9.93652644e-01 3.20528642e-02 -1.07828739e-01 -1.20624398e+01] [-3.04212749e-02 9.99396931e-01 1.67427895e-02 -2.07003946e+00] [ 1.08300365e-01 -1.33562293e-02 9.94028492e-01 1.60650194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.829072329 meters Centerline goodness [0,1] 0.6475094958563536 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.07 [[ 9.93652861e-01 3.20731280e-02 -1.07820712e-01 -1.20624572e+01] [-3.04430344e-02 9.99396463e-01 1.67311317e-02 -2.07015642e+00] [ 1.08292258e-01 -1.33425473e-02 9.94029559e-01 1.60650099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859072329 meters Centerline goodness [0,1] 0.6532249369245036 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.07 [[ 9.93634812e-01 3.20061015e-02 -1.08006809e-01 -1.20620888e+01] [-3.03891492e-02 9.99400553e-01 1.65841302e-02 -2.06990584e+00] [ 1.08472858e-01 -1.31963341e-02 9.94011819e-01 1.60651065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88907232900002 meters Centerline goodness [0,1] 0.656748645088852 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93628252e-01 3.19841949e-02 -1.08073628e-01 -1.20615481e+01] [-3.03803709e-02 9.99402962e-01 1.64545631e-02 -2.06940798e+00] [ 1.08535390e-01 -1.30664019e-02 9.94006709e-01 1.60646389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91907232900002 meters Centerline goodness [0,1] 0.6562972564268741 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93590245e-01 3.20633244e-02 -1.08399120e-01 -1.20608923e+01] [-3.04698045e-02 9.99402357e-01 1.63254233e-02 -2.06886670e+00] [ 1.08857783e-01 -1.29178814e-02 9.93973396e-01 1.60647496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94907232900002 meters Centerline goodness [0,1] 0.6467158958414303 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93584981e-01 3.19896661e-02 -1.08469107e-01 -1.20605177e+01] [-3.04109801e-02 9.99406550e-01 1.61777743e-02 -2.06864493e+00] [ 1.08922257e-01 -1.27753417e-02 9.93968175e-01 1.60645115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979072329 meters Centerline goodness [0,1] 0.6543420144877544 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93553985e-01 3.19948582e-02 -1.08751131e-01 -1.20600746e+01] [-3.04235610e-02 9.99407783e-01 1.60776264e-02 -2.06853508e+00] [ 1.09201128e-01 -1.26653931e-02 9.93938983e-01 1.60647801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.009072329 meters Centerline goodness [0,1] 0.6546908338541779 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93522983e-01 3.19270645e-02 -1.09053864e-01 -1.20591185e+01] [-3.03915086e-02 9.99414536e-01 1.57143453e-02 -2.06737236e+00] [ 1.09491730e-01 -1.22982518e-02 9.93911623e-01 1.60645003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039072329 meters Centerline goodness [0,1] 0.655639130153667 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93492896e-01 3.17949970e-02 -1.09366097e-01 -1.20581724e+01] [-3.02935951e-02 9.99422973e-01 1.53628866e-02 -2.06646994e+00] [ 1.09791453e-01 -1.19498264e-02 9.93882809e-01 1.60642664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.069072329 meters Centerline goodness [0,1] 0.6545042615168842 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.07, Z:16.06 [[ 9.93484418e-01 3.18301278e-02 -1.09432875e-01 -1.20577544e+01] [-3.03462617e-02 9.99423884e-01 1.51988317e-02 -2.06564465e+00] [ 1.09853610e-01 -1.17789238e-02 9.93877981e-01 1.60639385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099072329 meters Centerline goodness [0,1] 0.6520652431535627 Centerline is valid? [False, False] Translation: X:-12.06, Y:-2.06, Z:16.06 [[ 9.93458735e-01 3.15992819e-02 -1.09732530e-01 -1.20567255e+01] [-3.01648590e-02 9.99436720e-01 1.47079449e-02 -2.06420349e+00] [ 1.10135481e-01 -1.13016700e-02 9.93852327e-01 1.60636052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.129072329 meters Centerline goodness [0,1] 0.6491895610301388 Centerline is valid? [False, False] Translation: X:-12.04, Y:-2.07, Z:16.06 [[ 9.93483087e-01 3.66945522e-02 -1.07911378e-01 -1.20397516e+01] [-3.59747729e-02 9.99315608e-01 8.60993802e-03 -2.06746859e+00] [ 1.08153462e-01 -4.67174050e-03 9.94123234e-01 1.60601677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159072329 meters Centerline goodness [0,1] 0.6531708369283866 Centerline is valid? [False, False] Translation: X:-12.04, Y:-2.07, Z:16.06 [[ 9.93454291e-01 3.68790262e-02 -1.08113404e-01 -1.20395152e+01] [-3.61592573e-02 9.99308940e-01 8.61106217e-03 -2.06685376e+00] [ 1.08356259e-01 -4.64539627e-03 9.94101273e-01 1.60603921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.189072329 meters Centerline goodness [0,1] 0.6489793276077855 Centerline is valid? [False, False] Translation: X:-12.04, Y:-2.07, Z:16.06 [[ 9.93419675e-01 3.71620333e-02 -1.08334358e-01 -1.20394019e+01] [-3.64508528e-02 9.99298971e-01 8.53826338e-03 -2.06553249e+00] [ 1.08575712e-01 -4.53319910e-03 9.94077847e-01 1.60607584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219072329 meters Centerline goodness [0,1] 0.6484492947418368 Centerline is valid? [False, False] Translation: X:-12.04, Y:-2.06, Z:16.06 [[ 9.93413956e-01 3.72242281e-02 -1.08365439e-01 -1.20394282e+01] [-3.65245241e-02 9.99297156e-01 8.43528424e-03 -2.06478714e+00] [ 1.08603272e-01 -4.42173298e-03 9.94075338e-01 1.60608645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.249072329 meters Centerline goodness [0,1] 0.6542935451151348 Centerline is valid? [False, False] Translation: X:-12.04, Y:-2.06, Z:16.06 [[ 9.93398898e-01 3.74059585e-02 -1.08440872e-01 -1.20394509e+01] [-3.67095343e-02 9.99290572e-01 8.41205675e-03 -2.06409118e+00] [ 1.08678602e-01 -4.37571399e-03 9.94067309e-01 1.60610726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279072329 meters Centerline goodness [0,1] 0.6554840653310667 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.07, Z:16.07 [[ 9.93925793e-01 3.93405032e-02 -1.02780558e-01 -1.20327651e+01] [-3.77310771e-02 9.99133681e-01 1.75571241e-02 -2.06537883e+00] [ 1.03382223e-01 -1.35724573e-02 9.94549096e-01 1.60651616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.309072329 meters Centerline goodness [0,1] 0.6452028608861874 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.06, Z:16.06 [[ 9.93913644e-01 3.91597831e-02 -1.02966888e-01 -1.20320841e+01] [-3.75872834e-02 9.99145849e-01 1.71688290e-02 -2.06421058e+00] [ 1.03551266e-01 -1.31940878e-02 9.94536601e-01 1.60649128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339072329 meters Centerline goodness [0,1] 0.6511396995337593 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.06, Z:16.06 [[ 9.93901941e-01 3.92436063e-02 -1.03047904e-01 -1.20319041e+01] [-3.76918155e-02 9.99145410e-01 1.69639598e-02 -2.06291870e+00] [ 1.03625568e-01 -1.29764500e-02 9.94531726e-01 1.60648980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.369072329 meters Centerline goodness [0,1] 0.6517093556795416 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.06, Z:16.06 [[ 9.93876667e-01 3.90946295e-02 -1.03347867e-01 -1.20309450e+01] [-3.75783948e-02 9.99156153e-01 1.65784733e-02 -2.06180092e+00] [ 1.03908787e-01 -1.25933108e-02 9.94507100e-01 1.60646523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399072329 meters Centerline goodness [0,1] 0.6525962138995973 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.06, Z:16.06 [[ 9.93831194e-01 3.91023693e-02 -1.03781319e-01 -1.20298460e+01] [-3.76281958e-02 9.99161694e-01 1.61253951e-02 -2.05989937e+00] [ 1.04324860e-01 -1.21208169e-02 9.94469411e-01 1.60645818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.429072329 meters Centerline goodness [0,1] 0.651264129778238 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.06, Z:16.06 [[ 9.93816941e-01 3.90394938e-02 -1.03941356e-01 -1.20292477e+01] [-3.75907415e-02 9.99167327e-01 1.58615493e-02 -2.05913337e+00] [ 1.04474033e-01 -1.18562438e-02 9.94456940e-01 1.60643454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459072329 meters Centerline goodness [0,1] 0.6485531447286204 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.06, Z:16.06 [[ 9.93793589e-01 3.88336743e-02 -1.04241294e-01 -1.20282446e+01] [-3.74259508e-02 9.99180311e-01 1.54274060e-02 -2.05787758e+00] [ 1.04754952e-01 -1.14303276e-02 9.94432375e-01 1.60639998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.489072329 meters Centerline goodness [0,1] 0.6555004314063848 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.06, Z:16.06 [[ 9.93776499e-01 3.87875611e-02 -1.04421238e-01 -1.20275147e+01] [-3.74468014e-02 9.99189454e-01 1.47706626e-02 -2.05513053e+00] [ 1.04909517e-01 -1.07684961e-02 9.94423467e-01 1.60636973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519072329 meters Centerline goodness [0,1] 0.666399896175809 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.05, Z:16.06 [[ 9.93774173e-01 3.87054865e-02 -1.04473818e-01 -1.20270351e+01] [-3.74085526e-02 9.99197077e-01 1.43457530e-02 -2.05339918e+00] [ 1.04945192e-01 -1.03482245e-02 9.94424165e-01 1.60632712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.549072329 meters Centerline goodness [0,1] 0.6573071208630306 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.05, Z:16.06 [[ 9.93754713e-01 3.85028916e-02 -1.04733463e-01 -1.20261748e+01] [-3.72549552e-02 9.99209861e-01 1.38464024e-02 -2.05171747e+00] [ 1.05183835e-01 -9.85808720e-03 9.94403931e-01 1.60630845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579072329 meters Centerline goodness [0,1] 0.6648021857453262 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.05, Z:16.06 [[ 9.93735493e-01 3.83326647e-02 -1.04977979e-01 -1.20253967e+01] [-3.71312008e-02 9.99220872e-01 1.33762006e-02 -2.04998097e+00] [ 1.05408934e-01 -9.39444682e-03 9.94384584e-01 1.60628959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.609072329 meters Centerline goodness [0,1] 0.6593546438893922 Centerline is valid? [False, False] Translation: X:-12.03, Y:-2.05, Z:16.06 [[ 9.93720589e-01 3.83946140e-02 -1.05096359e-01 -1.20252354e+01] [-3.72378267e-02 9.99222547e-01 1.29478211e-02 -2.04765966e+00] [ 1.05511778e-01 -8.95295636e-03 9.94377750e-01 1.60630558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63907232900002 meters Centerline goodness [0,1] 0.6561151389608149 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.05, Z:16.06 [[ 9.93713248e-01 3.83064049e-02 -1.05197911e-01 -1.20248743e+01] [-3.71800900e-02 9.99228542e-01 1.26476378e-02 -2.04661779e+00] [ 1.05601241e-01 -8.65685742e-03 9.94370875e-01 1.60629175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66907232900002 meters Centerline goodness [0,1] 0.6533886821672079 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.05, Z:16.06 [[ 9.93694684e-01 3.81098185e-02 -1.05444378e-01 -1.20240199e+01] [-3.70190721e-02 9.99239070e-01 1.22829155e-02 -2.04559327e+00] [ 1.05832242e-01 -8.30201485e-03 9.94349342e-01 1.60626750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69907232900002 meters Centerline goodness [0,1] 0.6657265877287406 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.04, Z:16.06 [[ 9.93683162e-01 3.79408967e-02 -1.05613739e-01 -1.20233303e+01] [-3.69165380e-02 9.99250584e-01 1.16378890e-02 -2.04307909e+00] [ 1.05976143e-01 -7.66548070e-03 9.94339126e-01 1.60623800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.729072329 meters Centerline goodness [0,1] 0.6624010667584308 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.04, Z:16.06 [[ 9.93677791e-01 3.77760417e-02 -1.05723309e-01 -1.20227073e+01] [-3.67913209e-02 9.99259647e-01 1.12497008e-02 -2.04179500e+00] [ 1.06070006e-01 -7.28887769e-03 9.94331950e-01 1.60619529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759072329 meters Centerline goodness [0,1] 0.6528669280144747 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.04, Z:16.06 [[ 9.93675369e-01 3.78805254e-02 -1.05708693e-01 -1.20228178e+01] [-3.69319823e-02 9.99258149e-01 1.09170069e-02 -2.03989529e+00] [ 1.06043814e-01 -6.94392931e-03 9.94337212e-01 1.60620857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.789072329 meters Centerline goodness [0,1] 0.6693675250511799 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.04, Z:16.06 [[ 9.93666087e-01 3.77862931e-02 -1.05829596e-01 -1.20222817e+01] [-3.68657522e-02 9.99263563e-01 1.06418069e-02 -2.03898003e+00] [ 1.06153774e-01 -6.67291493e-03 9.94327335e-01 1.60618365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819072329 meters Centerline goodness [0,1] 0.6650693949793866 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.04, Z:16.06 [[ 9.93670456e-01 3.77437054e-02 -1.05803771e-01 -1.20220907e+01] [-3.68482855e-02 9.99266693e-01 1.04058199e-02 -2.03799897e+00] [ 1.06118938e-01 -6.44126827e-03 9.94332581e-01 1.60616224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.849072329 meters Centerline goodness [0,1] 0.6650693949793866 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.04, Z:16.06 [[ 9.93670456e-01 3.77437054e-02 -1.05803771e-01 -1.20220907e+01] [-3.68482855e-02 9.99266693e-01 1.04058199e-02 -2.03799897e+00] [ 1.06118938e-01 -6.44126827e-03 9.94332581e-01 1.60616224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879072329 meters Centerline goodness [0,1] 0.6625603032391454 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.04, Z:16.06 [[ 9.93646861e-01 3.75498156e-02 -1.06093954e-01 -1.20210607e+01] [-3.66886664e-02 9.99276131e-01 1.00576534e-02 -2.03712968e+00] [ 1.06394819e-01 -6.10130999e-03 9.94305243e-01 1.60611966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.909072329 meters Centerline goodness [0,1] 0.6653505933117584 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.04, Z:16.06 [[ 9.93660261e-01 3.75498742e-02 -1.05968354e-01 -1.20210829e+01] [-3.67273214e-02 9.99278210e-01 9.70375800e-03 -2.03530058e+00] [ 1.06256242e-01 -5.75030492e-03 9.94322154e-01 1.60609335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939072329 meters Centerline goodness [0,1] 0.6704942801640406 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93647704e-01 3.75257748e-02 -1.06094563e-01 -1.20209359e+01] [-3.67262232e-02 9.99280392e-01 9.48063267e-03 -2.03428777e+00] [ 1.06373985e-01 -5.52395627e-03 9.94310847e-01 1.60611651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.969072329 meters Centerline goodness [0,1] 0.672398150948287 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93638192e-01 3.74793082e-02 -1.06200024e-01 -1.20207943e+01] [-3.67015524e-02 9.99283283e-01 9.26913049e-03 -2.03351970e+00] [ 1.06471309e-01 -5.31245632e-03 9.94301583e-01 1.60612886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999072329 meters Centerline goodness [0,1] 0.680425724833229 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93651280e-01 3.73177692e-02 -1.06134433e-01 -1.20204866e+01] [-3.65919602e-02 9.99291733e-01 8.77839657e-03 -2.03168175e+00] [ 1.06386852e-01 -4.83899803e-03 9.94313040e-01 1.60608145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.029072329 meters Centerline goodness [0,1] 0.6647107045778142 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93634768e-01 3.71798335e-02 -1.06337240e-01 -1.20197524e+01] [-3.64774794e-02 9.99297959e-01 8.54300880e-03 -2.03106031e+00] [ 1.06580215e-01 -4.60971607e-03 9.94293422e-01 1.60605305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059072329 meters Centerline goodness [0,1] 0.6854007819081149 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93638232e-01 3.70185158e-02 -1.06361149e-01 -1.20192330e+01] [-3.63421574e-02 9.99305013e-01 8.29091588e-03 -2.03028123e+00] [ 1.06594147e-01 -4.37277738e-03 9.94292998e-01 1.60599965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.089072329 meters Centerline goodness [0,1] 0.6712107507429901 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93622877e-01 3.68528422e-02 -1.06561941e-01 -1.20183461e+01] [-3.61958776e-02 9.99311942e-01 8.09325821e-03 -2.03006425e+00] [ 1.06786880e-01 -4.18454354e-03 9.94273127e-01 1.60594723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119072329 meters Centerline goodness [0,1] 0.680566330488751 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93627226e-01 3.68722459e-02 -1.06514664e-01 -1.20185305e+01] [-3.62265293e-02 9.99311651e-01 7.99137953e-03 -2.02951044e+00] [ 1.06736005e-01 -4.08179567e-03 9.94279017e-01 1.60595861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.149072329 meters Centerline goodness [0,1] 0.6566424109730182 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93621411e-01 3.66588516e-02 -1.06642485e-01 -1.20181974e+01] [-3.60317829e-02 9.99320192e-01 7.80157765e-03 -2.02933230e+00] [ 1.06855986e-01 -3.90929572e-03 9.94266823e-01 1.60596162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179072329 meters Centerline goodness [0,1] 0.6744065713731324 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93630124e-01 3.67101141e-02 -1.06543625e-01 -1.20189314e+01] [-3.60908963e-02 9.99318578e-01 7.73483367e-03 -2.02858809e+00] [ 1.06754971e-01 -3.84030880e-03 9.94277943e-01 1.60601942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.209072329 meters Centerline goodness [0,1] 0.682900036616624 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93637248e-01 3.65484426e-02 -1.06532769e-01 -1.20186753e+01] [-3.59532313e-02 9.99325308e-01 7.50298555e-03 -2.02793995e+00] [ 1.06735115e-01 -3.62504861e-03 9.94280883e-01 1.60599024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239072329 meters Centerline goodness [0,1] 0.6639812162074834 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93644997e-01 3.65781221e-02 -1.06450271e-01 -1.20186754e+01] [-3.59929982e-02 9.99324545e-01 7.41334454e-03 -2.02735223e+00] [ 1.06649535e-01 -3.53476829e-03 9.94290391e-01 1.60597020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.269072329 meters Centerline goodness [0,1] 0.6754811318721579 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93644543e-01 3.65149458e-02 -1.06476196e-01 -1.20183043e+01] [-3.59426564e-02 9.99327268e-01 7.28948524e-03 -2.02692065e+00] [ 1.06670742e-01 -3.41611989e-03 9.94288531e-01 1.60593620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299072329 meters Centerline goodness [0,1] 0.6637242448382027 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93634571e-01 3.63292114e-02 -1.06632673e-01 -1.20174655e+01] [-3.57768037e-02 9.99334658e-01 7.08948856e-03 -2.02659045e+00] [ 1.06819282e-01 -3.22938470e-03 9.94273208e-01 1.60588182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.329072329 meters Centerline goodness [0,1] 0.6753678215472235 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93627114e-01 3.64342074e-02 -1.06666338e-01 -1.20176214e+01] [-3.58699217e-02 9.99330497e-01 7.20459497e-03 -2.02671342e+00] [ 1.06857418e-01 -3.33256771e-03 9.94268770e-01 1.60590618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359072329 meters Centerline goodness [0,1] 0.6797080796303494 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93632715e-01 3.64574808e-02 -1.06606187e-01 -1.20176442e+01] [-3.58864438e-02 9.99329426e-01 7.27057915e-03 -2.02688739e+00] [ 1.06799767e-01 -3.39856836e-03 9.94274740e-01 1.60588974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38907232900002 meters Centerline goodness [0,1] 0.6739490733765255 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93628471e-01 3.62397910e-02 -1.06719911e-01 -1.20170503e+01] [-3.56952776e-02 9.99338144e-01 7.00863961e-03 -2.02645874e+00] [ 1.06903269e-01 -3.15458702e-03 9.94264421e-01 1.60585559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41907232900002 meters Centerline goodness [0,1] 0.663160837957586 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93646494e-01 3.61468733e-02 -1.06583527e-01 -1.20169460e+01] [-3.56214852e-02 9.99342017e-01 6.82962345e-03 -2.02582590e+00] [ 1.06760267e-01 -2.98956785e-03 9.94280296e-01 1.60580525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44907232900002 meters Centerline goodness [0,1] 0.6636960499408029 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.03, Z:16.06 [[ 9.93657288e-01 3.60364496e-02 -1.06520270e-01 -1.20169033e+01] [-3.55281595e-02 9.99346442e-01 6.66617765e-03 -2.02526744e+00] [ 1.06690878e-01 -2.83942685e-03 9.94288185e-01 1.60578645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479072329 meters Centerline goodness [0,1] 0.6676646706586826 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.02, Z:16.06 [[ 9.93645014e-01 3.60886119e-02 -1.06617067e-01 -1.20167470e+01] [-3.55825747e-02 9.99344645e-01 6.64540032e-03 -2.02486368e+00] [ 1.06787018e-01 -2.80945914e-03 9.94277949e-01 1.60579315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.509072329 meters Centerline goodness [0,1] 0.6847687830117495 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.02, Z:16.06 [[ 9.93660910e-01 3.61314835e-02 -1.06454273e-01 -1.20172430e+01] [-3.56274976e-02 9.99343127e-01 6.63287676e-03 -2.02444737e+00] [ 1.06624002e-01 -2.79813100e-03 9.94295476e-01 1.60580768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539072329 meters Centerline goodness [0,1] 0.6782803191603759 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.02, Z:16.06 [[ 9.93651515e-01 3.60461579e-02 -1.06570823e-01 -1.20168971e+01] [-3.55494450e-02 9.99346404e-01 6.55750175e-03 -2.02442449e+00] [ 1.06737541e-01 -2.72733795e-03 9.94283490e-01 1.60579663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.569072329 meters Centerline goodness [0,1] 0.6742700533028334 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.02, Z:16.06 [[ 9.93653266e-01 3.59896245e-02 -1.06573610e-01 -1.20167894e+01] [-3.54976358e-02 9.99348554e-01 6.51040577e-03 -2.02422904e+00] [ 1.06738490e-01 -2.68597477e-03 9.94283501e-01 1.60578220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599072329 meters Centerline goodness [0,1] 0.673674018289403 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.02, Z:16.06 [[ 9.93651085e-01 3.58246174e-02 -1.06649510e-01 -1.20162750e+01] [-3.53501279e-02 9.99354899e-01 6.33677526e-03 -2.02391635e+00] [ 1.06807723e-01 -2.52646980e-03 9.94276484e-01 1.60574582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.629072329 meters Centerline goodness [0,1] 0.682244606804721 Centerline is valid? [False, False] Translation: X:-12.02, Y:-2.02, Z:16.06 [[ 9.93663901e-01 3.58479345e-02 -1.06522194e-01 -1.20167307e+01] [-3.53689668e-02 9.99353939e-01 6.38279271e-03 -2.02394339e+00] [ 1.06682184e-01 -2.57477075e-03 9.94289838e-01 1.60576351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659072329 meters Centerline goodness [0,1] 0.6642820424948594 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93290444e-01 3.87592732e-02 -1.08957848e-01 -1.20122751e+01] [-3.77209397e-02 9.99221266e-01 1.15754961e-02 -2.02675240e+00] [ 1.09321657e-01 -7.38783729e-03 9.93978971e-01 1.60615194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.689072329 meters Centerline goodness [0,1] 0.6750861326442722 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93305072e-01 3.87366749e-02 -1.08832457e-01 -1.20126963e+01] [-3.77032921e-02 9.99222369e-01 1.15377412e-02 -2.02652933e+00] [ 1.09194759e-01 -7.35715495e-03 9.93993147e-01 1.60616748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719072329 meters Centerline goodness [0,1] 0.654818070186777 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93302389e-01 3.86337306e-02 -1.08893517e-01 -1.20124881e+01] [-3.76164157e-02 9.99227431e-01 1.13818328e-02 -2.02605878e+00] [ 1.09249112e-01 -7.20941794e-03 9.93988257e-01 1.60616102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.749072329 meters Centerline goodness [0,1] 0.6718235610543303 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93302153e-01 3.84659032e-02 -1.08955067e-01 -1.20120936e+01] [-3.74666791e-02 9.99235065e-01 1.12041256e-02 -2.02572366e+00] [ 1.09302700e-01 -7.04689760e-03 9.93983532e-01 1.60613553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779072329 meters Centerline goodness [0,1] 0.6750016153001228 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93299733e-01 3.82685554e-02 -1.09046586e-01 -1.20112849e+01] [-3.73053395e-02 9.99244898e-01 1.08602657e-02 -2.02474068e+00] [ 1.09379851e-01 -6.71947911e-03 9.93977312e-01 1.60606711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.809072329 meters Centerline goodness [0,1] 0.6636561550233872 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93305367e-01 3.81865889e-02 -1.09024002e-01 -1.20109566e+01] [-3.72382646e-02 9.99248895e-01 1.07218470e-02 -2.02442053e+00] [ 1.09351544e-01 -6.59020352e-03 9.93981292e-01 1.60602486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839072329 meters Centerline goodness [0,1] 0.6671477500376968 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93308116e-01 3.79433611e-02 -1.09083862e-01 -1.20102661e+01] [-3.70259579e-02 9.99259935e-01 1.04240546e-02 -2.02396368e+00] [ 1.09398656e-01 -6.31536356e-03 9.93977892e-01 1.60595847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.869072329 meters Centerline goodness [0,1] 0.6688982649502734 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93292644e-01 3.78152988e-02 -1.09269059e-01 -1.20096962e+01] [-3.69068494e-02 9.99265368e-01 1.03251234e-02 -2.02407426e+00] [ 1.09579234e-01 -6.22309244e-03 9.93958583e-01 1.60593983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899072329 meters Centerline goodness [0,1] 0.6624305346142247 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93292451e-01 3.77160523e-02 -1.09305103e-01 -1.20095070e+01] [-3.68119536e-02 9.99269352e-01 1.02781985e-02 -2.02423618e+00] [ 1.09612893e-01 -6.18552265e-03 9.93955106e-01 1.60592481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.929072329 meters Centerline goodness [0,1] 0.6713471669712934 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93296351e-01 3.74782231e-02 -1.09351461e-01 -1.20091522e+01] [-3.65947772e-02 9.99279395e-01 1.00753791e-02 -2.02416591e+00] [ 1.09650269e-01 -6.00614493e-03 9.93952084e-01 1.60589712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959072329 meters Centerline goodness [0,1] 0.6704869204869205 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93292726e-01 3.74581984e-02 -1.09391245e-01 -1.20090516e+01] [-3.65723303e-02 9.99280028e-01 1.00940421e-02 -2.02419719e+00] [ 1.09690591e-01 -6.02564588e-03 9.93947517e-01 1.60589293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.989072329 meters Centerline goodness [0,1] 0.6726696286071691 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93306433e-01 3.71792249e-02 -1.09361943e-01 -1.20091973e+01] [-3.63200994e-02 9.99291781e-01 9.83802409e-03 -2.02383935e+00] [ 1.09650261e-01 -5.80013596e-03 9.93953308e-01 1.60590860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019072329 meters Centerline goodness [0,1] 0.6592822235139615 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93298656e-01 3.69958589e-02 -1.09494686e-01 -1.20087866e+01] [-3.61495078e-02 9.99299265e-01 9.70528500e-03 -2.02381260e+00] [ 1.09777014e-01 -5.68206756e-03 9.93939999e-01 1.60589946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.049072329 meters Centerline goodness [0,1] 0.6748476824043574 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93311906e-01 3.68760247e-02 -1.09414877e-01 -1.20089642e+01] [-3.60463079e-02 9.99304468e-01 9.55216927e-03 -2.02343379e+00] [ 1.09691021e-01 -5.54428114e-03 9.93950271e-01 1.60590430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079072329 meters Centerline goodness [0,1] 0.6662412942855906 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93322364e-01 3.69004815e-02 -1.09311641e-01 -1.20092650e+01] [-3.60616822e-02 9.99303059e-01 9.64113745e-03 -2.02358326e+00] [ 1.09591220e-01 -5.63479579e-03 9.93960771e-01 1.60590562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.109072329 meters Centerline goodness [0,1] 0.6701953343969643 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93323251e-01 3.67310312e-02 -1.09360645e-01 -1.20089112e+01] [-3.59074113e-02 9.99310044e-01 9.49173140e-03 -2.02350971e+00] [ 1.09633832e-01 -5.50149984e-03 9.93956818e-01 1.60588315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13907232900002 meters Centerline goodness [0,1] 0.6733882297002313 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93323304e-01 3.67614891e-02 -1.09349927e-01 -1.20087181e+01] [-3.59355513e-02 9.99308812e-01 9.51495338e-03 -2.02350167e+00] [ 1.09624129e-01 -5.52187503e-03 9.93957775e-01 1.60585101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16907232900002 meters Centerline goodness [0,1] 0.6689800844900422 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93321628e-01 3.64229408e-02 -1.09478363e-01 -1.20077887e+01] [-3.56334677e-02 9.99322949e-01 9.15967707e-03 -2.02278275e+00] [ 1.09737862e-01 -5.19741165e-03 9.93946975e-01 1.60577919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19907232900002 meters Centerline goodness [0,1] 0.6704879736978716 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93311874e-01 3.64714147e-02 -1.09550704e-01 -1.20075137e+01] [-3.56794209e-02 9.99321107e-01 9.18170358e-03 -2.02274805e+00] [ 1.09811201e-01 -5.21158951e-03 9.93938801e-01 1.60576425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.229072329 meters Centerline goodness [0,1] 0.6715029039013753 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93307281e-01 3.62479956e-02 -1.09666440e-01 -1.20070600e+01] [-3.54757164e-02 9.99330141e-01 8.98567583e-03 -2.02260529e+00] [ 1.09918691e-01 -5.03504172e-03 9.93927829e-01 1.60574475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259072329 meters Centerline goodness [0,1] 0.667660337416024 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93314371e-01 3.62760106e-02 -1.09592932e-01 -1.20073087e+01] [-3.54988576e-02 9.99328877e-01 9.03470199e-03 -2.02267116e+00] [ 1.09847125e-01 -5.08387544e-03 9.93935493e-01 1.60575161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.289072329 meters Centerline goodness [0,1] 0.669755358302663 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93320364e-01 3.62293116e-02 -1.09554059e-01 -1.20078466e+01] [-3.54434512e-02 9.99330135e-01 9.11277120e-03 -2.02296457e+00] [ 1.09810822e-01 -5.16892728e-03 9.93939065e-01 1.60580608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319072329 meters Centerline goodness [0,1] 0.6683983617158871 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93323063e-01 3.60679288e-02 -1.09582832e-01 -1.20075636e+01] [-3.52871774e-02 9.99336179e-01 9.05633651e-03 -2.02337604e+00] [ 1.09836732e-01 -5.12899908e-03 9.93936409e-01 1.60578131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.349072329 meters Centerline goodness [0,1] 0.667745275692467 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93334235e-01 3.58797394e-02 -1.09543331e-01 -1.20072456e+01] [-3.51008368e-02 9.99342969e-01 9.03115138e-03 -2.02385069e+00] [ 1.09795393e-01 -5.12588926e-03 9.93940993e-01 1.60573111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379072329 meters Centerline goodness [0,1] 0.6578867826762813 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93344714e-01 3.58173621e-02 -1.09468699e-01 -1.20071082e+01] [-3.50434058e-02 9.99345388e-01 8.98643853e-03 -2.02377014e+00] [ 1.09718910e-01 -5.09047517e-03 9.93949620e-01 1.60569125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.409072329 meters Centerline goodness [0,1] 0.6660473958220821 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93346179e-01 3.58231301e-02 -1.09453518e-01 -1.20069134e+01] [-3.50408369e-02 9.99344786e-01 9.06299671e-03 -2.02417627e+00] [ 1.09706468e-01 -5.16735027e-03 9.93950597e-01 1.60566034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439072329 meters Centerline goodness [0,1] 0.6610820847186839 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.02, Z:16.06 [[ 9.93343476e-01 3.56796818e-02 -1.09524874e-01 -1.20064565e+01] [-3.49032616e-02 9.99350183e-01 8.99858928e-03 -2.02443199e+00] [ 1.09774770e-01 -5.11591462e-03 9.93943322e-01 1.60562460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.469072329 meters Centerline goodness [0,1] 0.6654642849428689 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93347871e-01 3.57001629e-02 -1.09478334e-01 -1.20070196e+01] [-3.48959438e-02 9.99348109e-01 9.25369281e-03 -2.02553462e+00] [ 1.09737324e-01 -5.37178627e-03 9.93946107e-01 1.60567235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499072329 meters Centerline goodness [0,1] 0.6663572985689927 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93347625e-01 3.57043547e-02 -1.09479203e-01 -1.20071306e+01] [-3.48928563e-02 9.99347602e-01 9.31980971e-03 -2.02595018e+00] [ 1.09740537e-01 -5.43776873e-03 9.93945394e-01 1.60568800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.529072329 meters Centerline goodness [0,1] 0.6646076758601326 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93362861e-01 3.56292179e-02 -1.09365375e-01 -1.20074715e+01] [-3.48063068e-02 9.99349635e-01 9.42485976e-03 -2.02652228e+00] [ 1.09630048e-01 -5.55570085e-03 9.93956934e-01 1.60569997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559072329 meters Centerline goodness [0,1] 0.6551821031016967 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93376478e-01 3.55594743e-02 -1.09264340e-01 -1.20073991e+01] [-3.47408300e-02 9.99352265e-01 9.38748907e-03 -2.02656694e+00] [ 1.09527380e-01 -5.52937695e-03 9.93968399e-01 1.60565874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.589072329 meters Centerline goodness [0,1] 0.6572925877202441 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93380411e-01 3.54050551e-02 -1.09278731e-01 -1.20071206e+01] [-3.45901929e-02 9.99357898e-01 9.34400857e-03 -2.02701387e+00] [ 1.09539388e-01 -5.50218268e-03 9.93967227e-01 1.60563070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619072329 meters Centerline goodness [0,1] 0.6635177396743233 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93392252e-01 3.52628844e-02 -1.09217040e-01 -1.20068517e+01] [-3.44528279e-02 9.99363093e-01 9.29573744e-03 -2.02727370e+00] [ 1.09475274e-01 -5.47147766e-03 9.93974460e-01 1.60558188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.649072329 meters Centerline goodness [0,1] 0.6595887300797889 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93402124e-01 3.52905248e-02 -1.09118283e-01 -1.20072003e+01] [-3.44502698e-02 9.99360529e-01 9.57663866e-03 -2.02848549e+00] [ 1.09386469e-01 -5.75429890e-03 9.93982640e-01 1.60559104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679072329 meters Centerline goodness [0,1] 0.660063939171383 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93389086e-01 3.52462532e-02 -1.09251208e-01 -1.20070433e+01] [-3.43943234e-02 9.99361526e-01 9.67315546e-03 -2.02909662e+00] [ 1.09522396e-01 -5.85158568e-03 9.93967104e-01 1.60560271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.709072329 meters Centerline goodness [0,1] 0.6607955284024438 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93394560e-01 3.52989452e-02 -1.09184397e-01 -1.20072593e+01] [-3.44291320e-02 9.99358679e-01 9.84201813e-03 -2.02964822e+00] [ 1.09461787e-01 -6.01788327e-03 9.93972787e-01 1.60560504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739072329 meters Centerline goodness [0,1] 0.6635216723290991 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93409792e-01 3.52430314e-02 -1.09063805e-01 -1.20073453e+01] [-3.43738139e-02 9.99360601e-01 9.84023759e-03 -2.02986590e+00] [ 1.09340870e-01 -6.02644944e-03 9.93986044e-01 1.60558630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.769072329 meters Centerline goodness [0,1] 0.6635216723290991 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93409792e-01 3.52430314e-02 -1.09063805e-01 -1.20073453e+01] [-3.43738139e-02 9.99360601e-01 9.84023759e-03 -2.02986590e+00] [ 1.09340870e-01 -6.02644944e-03 9.93986044e-01 1.60558630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799072329 meters Centerline goodness [0,1] 0.6701064382139148 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93414453e-01 3.50266268e-02 -1.09091066e-01 -1.20070919e+01] [-3.41615648e-02 9.99368380e-01 9.78917049e-03 -2.03028646e+00] [ 1.09365044e-01 -5.99798191e-03 9.93983557e-01 1.60557143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.829072329 meters Centerline goodness [0,1] 0.6591981642637572 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93413921e-01 3.51363877e-02 -1.09060607e-01 -1.20072429e+01] [-3.42514119e-02 9.99363439e-01 9.97786387e-03 -2.03091756e+00] [ 1.09341770e-01 -6.17666908e-03 9.93985023e-01 1.60557593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859072329 meters Centerline goodness [0,1] 0.6636817857374602 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93412324e-01 3.50374661e-02 -1.09106972e-01 -1.20069210e+01] [-3.41469668e-02 9.99366591e-01 1.00200335e-02 -2.03148695e+00] [ 1.09388939e-01 -6.22835261e-03 9.93979511e-01 1.60555024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88907232900002 meters Centerline goodness [0,1] 0.648791132813344 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.06 [[ 9.93408622e-01 3.49051578e-02 -1.09183052e-01 -1.20064514e+01] [-3.40049922e-02 9.99370665e-01 1.00962400e-02 -2.03236187e+00] [ 1.09466750e-01 -6.31692305e-03 9.93970385e-01 1.60551095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91907232900002 meters Centerline goodness [0,1] 0.6587660301464069 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.05 [[ 9.93412494e-01 3.49573674e-02 -1.09131114e-01 -1.20063825e+01] [-3.40444371e-02 9.99368084e-01 1.02180583e-02 -2.03282123e+00] [ 1.09419349e-01 -6.43543945e-03 9.93974844e-01 1.60548359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94907232900002 meters Centerline goodness [0,1] 0.6500236021113162 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.05 [[ 9.93419391e-01 3.47380955e-02 -1.09138345e-01 -1.20059260e+01] [-3.38390302e-02 9.99376465e-01 1.00797412e-02 -2.03300258e+00] [ 1.09420445e-01 -6.32027459e-03 9.93975463e-01 1.60543209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979072329 meters Centerline goodness [0,1] 0.6572632944228275 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.05 [[ 9.93402264e-01 3.48713594e-02 -1.09251681e-01 -1.20060113e+01] [-3.39501117e-02 9.99370640e-01 1.02817177e-02 -2.03353750e+00] [ 1.09541459e-01 -6.50477484e-03 9.93960943e-01 1.60546559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.009072329 meters Centerline goodness [0,1] 0.6549634183297979 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.03, Z:16.05 [[ 9.93403707e-01 3.49601362e-02 -1.09210183e-01 -1.20063783e+01] [-3.40053693e-02 9.99365507e-01 1.05932829e-02 -2.03462209e+00] [ 1.09511232e-01 -6.80967393e-03 9.93962232e-01 1.60549216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039072329 meters Centerline goodness [0,1] 0.6421732160651619 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.04, Z:16.06 [[ 9.93402349e-01 3.50130533e-02 -1.09205581e-01 -1.20065776e+01] [-3.40397248e-02 9.99362504e-01 1.07649265e-02 -2.03546967e+00] [ 1.09512876e-01 -6.97657532e-03 9.93960893e-01 1.60551362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.069072329 meters Centerline goodness [0,1] 0.6578702602150073 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.04, Z:16.05 [[ 9.93402781e-01 3.48362399e-02 -1.09258187e-01 -1.20060529e+01] [-3.38643912e-02 9.99368745e-01 1.07384987e-02 -2.03618404e+00] [ 1.09563307e-01 -6.96769245e-03 9.93955398e-01 1.60546363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099072329 meters Centerline goodness [0,1] 0.6438445064572652 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.04, Z:16.05 [[ 9.93418156e-01 3.47246049e-02 -1.09153876e-01 -1.20059536e+01] [-3.37553022e-02 9.99372677e-01 1.07159844e-02 -2.03641186e+00] [ 1.09457509e-01 -6.96093136e-03 9.93967102e-01 1.60542265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.129072329 meters Centerline goodness [0,1] 0.6542747711682859 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.04, Z:16.05 [[ 9.93420564e-01 3.46785425e-02 -1.09146607e-01 -1.20058322e+01] [-3.37122274e-02 9.99374443e-01 1.06868112e-02 -2.03641829e+00] [ 1.09448933e-01 -6.93692282e-03 9.93968214e-01 1.60540422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159072329 meters Centerline goodness [0,1] 0.6624250687095588 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.04, Z:16.05 [[ 9.93419175e-01 3.47552789e-02 -1.09134836e-01 -1.20061006e+01] [-3.37668363e-02 9.99370377e-01 1.08927039e-02 -2.03719954e+00] [ 1.09444701e-01 -7.13588279e-03 9.93967271e-01 1.60543010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.189072329 meters Centerline goodness [0,1] 0.6590742101396032 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.04, Z:16.05 [[ 9.93416029e-01 3.47013493e-02 -1.09180631e-01 -1.20059081e+01] [-3.37128527e-02 9.99372259e-01 1.08872566e-02 -2.03750730e+00] [ 1.09489897e-01 -7.13478472e-03 9.93962302e-01 1.60541521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219072329 meters Centerline goodness [0,1] 0.6507926195426195 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.04, Z:16.05 [[ 9.93413205e-01 3.47583968e-02 -1.09188173e-01 -1.20061324e+01] [-3.37579127e-02 9.99369517e-01 1.09986815e-02 -2.03797191e+00] [ 1.09501629e-01 -7.24027065e-03 9.93960247e-01 1.60544121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.249072329 meters Centerline goodness [0,1] 0.6575220855707604 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.04, Z:16.05 [[ 9.93406420e-01 3.47474047e-02 -1.09253389e-01 -1.20058878e+01] [-3.37431457e-02 9.99369693e-01 1.10279926e-02 -2.03830245e+00] [ 1.09567720e-01 -7.26872561e-03 9.93952756e-01 1.60542843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279072329 meters Centerline goodness [0,1] 0.6561370082490744 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.04, Z:16.05 [[ 9.93393846e-01 3.47589991e-02 -1.09363970e-01 -1.20058368e+01] [-3.37443954e-02 9.99368687e-01 1.11150010e-02 -2.03870421e+00] [ 1.09681274e-01 -7.35115254e-03 9.93939625e-01 1.60545089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.309072329 meters Centerline goodness [0,1] 0.6568280887423825 Centerline is valid? [False, False] Translation: X:-12.01, Y:-2.04, Z:16.05 [[ 9.93402588e-01 3.47620395e-02 -1.09283574e-01 -1.20056790e+01] [-3.37487868e-02 9.99368613e-01 1.11083390e-02 -2.03873791e+00] [ 1.09600723e-01 -7.34686460e-03 9.93948543e-01 1.60540771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339072329 meters Centerline goodness [0,1] 0.658443611790951 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93380329e-01 3.46951592e-02 -1.09506931e-01 -1.20049479e+01] [-3.36807614e-02 9.99371000e-01 1.11000290e-02 -2.03906759e+00] [ 1.09823168e-01 -7.33827362e-03 9.93924052e-01 1.60537873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.369072329 meters Centerline goodness [0,1] 0.6608265753068217 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93367597e-01 3.46913963e-02 -1.09623555e-01 -1.20045523e+01] [-3.36778069e-02 9.99371270e-01 1.10846857e-02 -2.03918489e+00] [ 1.09939175e-01 -7.31928666e-03 9.93911367e-01 1.60535925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399072329 meters Centerline goodness [0,1] 0.65050496312796 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93357607e-01 3.44897497e-02 -1.09777602e-01 -1.20038839e+01] [-3.34928319e-02 9.99379377e-01 1.09128385e-02 -2.03911747e+00] [ 1.10085852e-01 -7.16358838e-03 9.93896266e-01 1.60532522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.429072329 meters Centerline goodness [0,1] 0.657213316892725 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93347888e-01 3.44903482e-02 -1.09865320e-01 -1.20036525e+01] [-3.34899206e-02 9.99379191e-01 1.09387966e-02 -2.03939425e+00] [ 1.10174398e-01 -7.18664965e-03 9.93886288e-01 1.60531949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459072329 meters Centerline goodness [0,1] 0.6544372294372294 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93355395e-01 3.45646553e-02 -1.09774062e-01 -1.20037387e+01] [-3.35483603e-02 9.99375541e-01 1.10921141e-02 -2.04000254e+00] [ 1.10088908e-01 -7.33567159e-03 9.93894673e-01 1.60530342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.489072329 meters Centerline goodness [0,1] 0.655025884383089 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93342855e-01 3.43376407e-02 -1.09958620e-01 -1.20031075e+01] [-3.33410219e-02 9.99384703e-01 1.08899779e-02 -2.03997190e+00] [ 1.10264899e-01 -7.15134899e-03 9.93876507e-01 1.60528198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519072329 meters Centerline goodness [0,1] 0.6487743666298869 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93340260e-01 3.44578406e-02 -1.09944461e-01 -1.20032453e+01] [-3.34475243e-02 9.99379708e-01 1.10209669e-02 -2.04021419e+00] [ 1.10256022e-01 -7.27020005e-03 9.93876629e-01 1.60528473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.549072329 meters Centerline goodness [0,1] 0.6479223956867246 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93330882e-01 3.44737732e-02 -1.10024170e-01 -1.20030868e+01] [-3.34642860e-02 9.99379278e-01 1.10090888e-02 -2.04017108e+00] [ 1.10335401e-01 -7.25378756e-03 9.93867940e-01 1.60529025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579072329 meters Centerline goodness [0,1] 0.654948198881616 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93325091e-01 3.44835016e-02 -1.10073396e-01 -1.20029365e+01] [-3.34752247e-02 9.99379062e-01 1.09954714e-02 -2.04026001e+00] [ 1.10384210e-01 -7.23734600e-03 9.93862640e-01 1.60528487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.609072329 meters Centerline goodness [0,1] 0.6610672150665656 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93327513e-01 3.42992835e-02 -1.10109089e-01 -1.20025616e+01] [-3.33130011e-02 9.99386776e-01 1.07850307e-02 -2.03996753e+00] [ 1.10411486e-01 -7.04500351e-03 9.93860992e-01 1.60525573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63907232900002 meters Centerline goodness [0,1] 0.6549170744381414 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93310517e-01 3.44661040e-02 -1.10210278e-01 -1.20025363e+01] [-3.34641552e-02 9.99380166e-01 1.09285950e-02 -2.04018578e+00] [ 1.10518632e-01 -7.16739446e-03 9.93848208e-01 1.60527412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66907232900002 meters Centerline goodness [0,1] 0.6500032447165199 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93307964e-01 3.44064461e-02 -1.10251919e-01 -1.20021822e+01] [-3.34052934e-02 9.99382279e-01 1.09154432e-02 -2.04048926e+00] [ 1.10559375e-01 -7.15939892e-03 9.93843734e-01 1.60525139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69907232900002 meters Centerline goodness [0,1] 0.6562804917712873 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93297519e-01 3.45417246e-02 -1.10303711e-01 -1.20021233e+01] [-3.35202295e-02 9.99376372e-01 1.11022802e-02 -2.04107260e+00] [ 1.10618414e-01 -7.33046164e-03 9.93835917e-01 1.60525118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.729072329 meters Centerline goodness [0,1] 0.649078001904597 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93280880e-01 3.44663022e-02 -1.10477001e-01 -1.20016201e+01] [-3.34292025e-02 9.99378033e-01 1.12265690e-02 -2.04211607e+00] [ 1.10795226e-01 -7.45797831e-03 9.93815273e-01 1.60523706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759072329 meters Centerline goodness [0,1] 0.6565239033046941 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93277980e-01 3.44805537e-02 -1.10498624e-01 -1.20014794e+01] [-3.34295535e-02 9.99376621e-01 1.13505479e-02 -2.04287701e+00] [ 1.10821115e-01 -7.58032964e-03 9.93811461e-01 1.60522361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.789072329 meters Centerline goodness [0,1] 0.6629164863695369 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93276025e-01 3.45677900e-02 -1.10488937e-01 -1.20015021e+01] [-3.35001725e-02 9.99372489e-01 1.15050439e-02 -2.04353451e+00] [ 1.10817308e-01 -7.72628583e-03 9.93810761e-01 1.60522242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819072329 meters Centerline goodness [0,1] 0.6481353292376915 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93280085e-01 3.44904009e-02 -1.10476624e-01 -1.20012503e+01] [-3.34208219e-02 9.99374983e-01 1.15192425e-02 -2.04398108e+00] [ 1.10804877e-01 -7.74961464e-03 9.93811965e-01 1.60518841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849072329 meters Centerline goodness [0,1] 0.6518092603000303 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93284278e-01 3.44009540e-02 -1.10466820e-01 -1.20009266e+01] [-3.33364514e-02 9.99378373e-01 1.14694744e-02 -2.04422661e+00] [ 1.10792712e-01 -7.70987684e-03 9.93813631e-01 1.60515044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879072329 meters Centerline goodness [0,1] 0.6536170028381394 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.04, Z:16.05 [[ 9.93273132e-01 3.45173195e-02 -1.10530721e-01 -1.20009988e+01] [-3.34347907e-02 9.99373198e-01 1.16330070e-02 -2.04462212e+00] [ 1.10862980e-01 -7.85918179e-03 9.93804625e-01 1.60517190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.909072329 meters Centerline goodness [0,1] 0.6467085318319619 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.05, Z:16.05 [[ 9.93270639e-01 3.44997464e-02 -1.10558608e-01 -1.20007104e+01] [-3.34141923e-02 9.99373605e-01 1.16571638e-02 -2.04513006e+00] [ 1.10891524e-01 -7.88449196e-03 9.93801240e-01 1.60514547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939072329 meters Centerline goodness [0,1] 0.652513748755034 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.05, Z:16.05 [[ 9.93249552e-01 3.44760796e-02 -1.10755255e-01 -1.20004116e+01] [-3.33694920e-02 9.99373068e-01 1.18299797e-02 -2.04633193e+00] [ 1.11093670e-01 -8.05427547e-03 9.93777302e-01 1.60516337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.969072329 meters Centerline goodness [0,1] 0.6543396879665895 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.05, Z:16.05 [[ 9.93260958e-01 3.43485061e-02 -1.10692590e-01 -1.20001500e+01] [-3.32464197e-02 9.99377675e-01 1.17872340e-02 -2.04662477e+00] [ 1.11028577e-01 -8.02766699e-03 9.93784791e-01 1.60511579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999072329 meters Centerline goodness [0,1] 0.6592650137027687 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.05, Z:16.05 [[ 9.93234625e-01 3.42586372e-02 -1.10956411e-01 -1.19992947e+01] [-3.31504785e-02 9.99380506e-01 1.18173526e-02 -2.04738552e+00] [ 1.11292521e-01 -8.05914568e-03 9.93755013e-01 1.60508711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.029072329 meters Centerline goodness [0,1] 0.6530386979482297 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.05, Z:16.05 [[ 9.93243169e-01 3.42520992e-02 -1.10881921e-01 -1.19988872e+01] [-3.31138847e-02 9.99378446e-01 1.20909697e-02 -2.04894575e+00] [ 1.11227143e-01 -8.33754191e-03 9.93760035e-01 1.60501364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059072329 meters Centerline goodness [0,1] 0.6535867168244909 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.05, Z:16.05 [[ 9.93236867e-01 3.41723732e-02 -1.10962948e-01 -1.19984646e+01] [-3.30249926e-02 9.99380522e-01 1.21622937e-02 -2.04973998e+00] [ 1.11309824e-01 -8.41548794e-03 9.93750121e-01 1.60498685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.089072329 meters Centerline goodness [0,1] 0.650011870588997 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.05, Z:16.05 [[ 9.93222408e-01 3.40289620e-02 -1.11136302e-01 -1.19977800e+01] [-3.28774072e-02 9.99385192e-01 1.21784073e-02 -2.05056534e+00] [ 1.11482393e-01 -8.44199362e-03 9.93730551e-01 1.60495433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119072329 meters Centerline goodness [0,1] 0.6529747492217226 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.05, Z:16.05 [[ 9.93228952e-01 3.41152246e-02 -1.11051340e-01 -1.19979358e+01] [-3.29435891e-02 9.99380675e-01 1.23687806e-02 -2.05143200e+00] [ 1.11404527e-01 -8.62660128e-03 9.93737698e-01 1.60494601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.149072329 meters Centerline goodness [0,1] 0.6525379834254144 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.05, Z:16.05 [[ 9.93222544e-01 3.40516731e-02 -1.11128135e-01 -1.19977801e+01] [-3.28384961e-02 9.99379603e-01 1.27295656e-02 -2.05377091e+00] [ 1.11492655e-01 -8.99401066e-03 9.93724557e-01 1.60494892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179072329 meters Centerline goodness [0,1] 0.6410422468320273 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.05, Z:16.05 [[ 9.93221895e-01 3.40882045e-02 -1.11122732e-01 -1.19979485e+01] [-3.28567849e-02 9.99376886e-01 1.28946210e-02 -2.05457700e+00] [ 1.11493045e-01 -9.15608423e-03 9.93723033e-01 1.60496695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.209072329 meters Centerline goodness [0,1] 0.6487730061349692 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.06, Z:16.05 [[ 9.93225838e-01 3.40520114e-02 -1.11098583e-01 -1.19979318e+01] [-3.28070799e-02 9.99376958e-01 1.30150724e-02 -2.05563839e+00] [ 1.11472554e-01 -9.28208612e-03 9.93724163e-01 1.60495660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239072329 meters Centerline goodness [0,1] 0.6477294811167973 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.06, Z:16.05 [[ 9.93222004e-01 3.41091941e-02 -1.11115313e-01 -1.19981111e+01] [-3.28164158e-02 9.99370983e-01 1.34432645e-02 -2.05785573e+00] [ 1.11503958e-01 -9.70573984e-03 9.93716592e-01 1.60497602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.269072329 meters Centerline goodness [0,1] 0.6449007795124269 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.06, Z:16.05 [[ 9.93216364e-01 3.40075023e-02 -1.11196875e-01 -1.19977066e+01] [-3.27095776e-02 9.99374040e-01 1.34763435e-02 -2.05861424e+00] [ 1.11585567e-01 -9.74772212e-03 9.93707021e-01 1.60495382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299072329 meters Centerline goodness [0,1] 0.6570411136290062 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.06, Z:16.05 [[ 9.93216812e-01 3.38857545e-02 -1.11230036e-01 -1.19974510e+01] [-3.25822524e-02 9.99377659e-01 1.35163597e-02 -2.05961495e+00] [ 1.11618825e-01 -9.80055057e-03 9.93702766e-01 1.60493654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.329072329 meters Centerline goodness [0,1] 0.6464834049536807 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.06, Z:16.05 [[ 9.93221358e-01 3.39160495e-02 -1.11180195e-01 -1.19975925e+01] [-3.25969610e-02 9.99375209e-01 1.36612570e-02 -2.06061168e+00] [ 1.11574067e-01 -9.94451579e-03 9.93706362e-01 1.60493505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359072329 meters Centerline goodness [0,1] 0.6510723773731615 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.06, Z:16.05 [[ 9.93226303e-01 3.39917501e-02 -1.11112877e-01 -1.19980351e+01] [-3.26254440e-02 9.99368295e-01 1.40922297e-02 -2.06258023e+00] [ 1.11521706e-01 -1.03716663e-02 9.93707873e-01 1.60496508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38907232900002 meters Centerline goodness [0,1] 0.6515980358373535 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.06, Z:16.05 [[ 9.93203204e-01 3.39341813e-02 -1.11336732e-01 -1.19974987e+01] [-3.25513142e-02 9.99368968e-01 1.42154182e-02 -2.06395291e+00] [ 1.11748863e-01 -1.04946420e-02 9.93681063e-01 1.60496229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41907232900002 meters Centerline goodness [0,1] 0.6404047392545187 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.07, Z:16.05 [[ 9.93203840e-01 3.40269707e-02 -1.11302726e-01 -1.19974823e+01] [-3.25853209e-02 9.99360163e-01 1.47465671e-02 -2.06639806e+00] [ 1.11733291e-01 -1.10195121e-02 9.93677132e-01 1.60494248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44907232900002 meters Centerline goodness [0,1] 0.6504982383330091 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.07, Z:16.05 [[ 9.93206719e-01 3.39238627e-02 -1.11308510e-01 -1.19970458e+01] [-3.24709979e-02 9.99362501e-01 1.48400419e-02 -2.06767248e+00] [ 1.11740983e-01 -1.11249310e-02 9.93675092e-01 1.60488808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479072329 meters Centerline goodness [0,1] 0.653793818441003 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.07, Z:16.05 [[ 9.93213889e-01 3.37423538e-02 -1.11299705e-01 -1.19965540e+01] [-3.22826331e-02 9.99367832e-01 1.48918946e-02 -2.06869113e+00] [ 1.11731832e-01 -1.11977890e-02 9.93675303e-01 1.60482692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.509072329 meters Centerline goodness [0,1] 0.6536534807393333 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.07, Z:16.05 [[ 9.93202991e-01 3.35067725e-02 -1.11468002e-01 -1.19960702e+01] [-3.20132765e-02 9.99372437e-01 1.51618656e-02 -2.07126565e+00] [ 1.11906074e-01 -1.14903543e-02 9.93652355e-01 1.60481801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539072329 meters Centerline goodness [0,1] 0.6528454933770549 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.07, Z:16.05 [[ 9.93214160e-01 3.34392907e-02 -1.11388716e-01 -1.19963945e+01] [-3.19193360e-02 9.99371778e-01 1.54014425e-02 -2.07294324e+00] [ 1.11833753e-01 -1.17414769e-02 9.93657561e-01 1.60483538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.569072329 meters Centerline goodness [0,1] 0.6535971688748867 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.07, Z:16.05 [[ 9.93210623e-01 3.35038176e-02 -1.11400865e-01 -1.19968580e+01] [-3.19487869e-02 9.99365951e-01 1.57153178e-02 -2.07466975e+00] [ 1.11856754e-01 -1.20494981e-02 9.93651285e-01 1.60488568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599072329 meters Centerline goodness [0,1] 0.6401879229343563 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.08, Z:16.05 [[ 9.93202341e-01 3.34185522e-02 -1.11500267e-01 -1.19969007e+01] [-3.18388919e-02 9.99366243e-01 1.59184461e-02 -2.07617791e+00] [ 1.11961575e-01 -1.22601930e-02 9.93636902e-01 1.60491792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.629072329 meters Centerline goodness [0,1] 0.6424517103701306 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.08, Z:16.05 [[ 9.93203547e-01 3.34629939e-02 -1.11476195e-01 -1.19971108e+01] [-3.18228614e-02 9.99357976e-01 1.64602946e-02 -2.07907990e+00] [ 1.11955435e-01 -1.28009315e-02 9.93630775e-01 1.60493411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659072329 meters Centerline goodness [0,1] 0.6424517103701306 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.08, Z:16.05 [[ 9.93203547e-01 3.34629939e-02 -1.11476195e-01 -1.19971108e+01] [-3.18228614e-02 9.99357976e-01 1.64602946e-02 -2.07907990e+00] [ 1.11955435e-01 -1.28009315e-02 9.93630775e-01 1.60493411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.689072329 meters Centerline goodness [0,1] 0.6489655172413793 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.08, Z:16.05 [[ 9.93199397e-01 3.33939301e-02 -1.11533863e-01 -1.19966364e+01] [-3.17389191e-02 9.99358636e-01 1.65818442e-02 -2.08034958e+00] [ 1.12016062e-01 -1.29291134e-02 9.93622282e-01 1.60489222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719072329 meters Centerline goodness [0,1] 0.6468938135209201 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.08, Z:16.05 [[ 9.93200249e-01 3.34825902e-02 -1.11499695e-01 -1.19965260e+01] [-3.18052948e-02 9.99353077e-01 1.67884116e-02 -2.08153103e+00] [ 1.11989682e-01 -1.31279740e-02 9.93622648e-01 1.60486208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.749072329 meters Centerline goodness [0,1] 0.6485716136555031 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.08, Z:16.05 [[ 9.93189838e-01 3.33646597e-02 -1.11627704e-01 -1.19954583e+01] [-3.16531418e-02 9.99353136e-01 1.70701218e-02 -2.08408915e+00] [ 1.12125035e-01 -1.34205040e-02 9.93603476e-01 1.60476701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779072329 meters Centerline goodness [0,1] 0.6443538119591723 Centerline is valid? [False, False] Translation: X:-12.00, Y:-2.09, Z:16.05 [[ 9.93174037e-01 3.32690579e-02 -1.11796698e-01 -1.19950138e+01] [-3.15421174e-02 9.99354746e-01 1.71809976e-02 -2.08544247e+00] [ 1.12296156e-01 -1.35374162e-02 9.93582564e-01 1.60476339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.809072329 meters Centerline goodness [0,1] 0.6461080941298164 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.09, Z:16.05 [[ 9.93168846e-01 3.31307830e-02 -1.11883841e-01 -1.19946242e+01] [-3.13919245e-02 9.99357972e-01 1.72681838e-02 -2.08661000e+00] [ 1.12384117e-01 -1.36379731e-02 9.93571243e-01 1.60474651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839072329 meters Centerline goodness [0,1] 0.6461860294593371 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.09, Z:16.05 [[ 9.93162808e-01 3.31931660e-02 -1.11918946e-01 -1.19946828e+01] [-3.14175381e-02 9.99351515e-01 1.75922879e-02 -2.08864910e+00] [ 1.12430312e-01 -1.39557883e-02 9.93561604e-01 1.60475784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.869072329 meters Centerline goodness [0,1] 0.64012347011462 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.09, Z:16.05 [[ 9.93153715e-01 3.32075792e-02 -1.11995338e-01 -1.19945304e+01] [-3.14212055e-02 9.99349879e-01 1.76784432e-02 -2.08931441e+00] [ 1.12509586e-01 -1.40383830e-02 9.93551467e-01 1.60475712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899072329 meters Centerline goodness [0,1] 0.6421293497970815 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.09, Z:16.05 [[ 9.93149441e-01 3.31281927e-02 -1.12056729e-01 -1.19944297e+01] [-3.13340434e-02 9.99351614e-01 1.77349914e-02 -2.09022251e+00] [ 1.12571602e-01 -1.41023064e-02 9.93543537e-01 1.60476445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.929072329 meters Centerline goodness [0,1] 0.6531175240845708 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.09, Z:16.05 [[ 9.93146073e-01 3.30854015e-02 -1.12099214e-01 -1.19944959e+01] [-3.12692621e-02 9.99350319e-01 1.79212827e-02 -2.09164712e+00] [ 1.12619319e-01 -1.42931918e-02 9.93535401e-01 1.60478510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959072329 meters Centerline goodness [0,1] 0.6515180941283096 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.09, Z:16.05 [[ 9.93156903e-01 3.31487056e-02 -1.11984509e-01 -1.19948373e+01] [-3.13152178e-02 9.99345793e-01 1.80926343e-02 -2.09245578e+00] [ 1.12510995e-01 -1.44620054e-02 9.93545231e-01 1.60479035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.989072329 meters Centerline goodness [0,1] 0.6421186678465822 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.09, Z:16.05 [[ 9.93144185e-01 3.31464042e-02 -1.12097919e-01 -1.19945937e+01] [-3.12894767e-02 9.99343105e-01 1.82846263e-02 -2.09402418e+00] [ 1.12630352e-01 -1.46517851e-02 9.93528927e-01 1.60478865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019072329 meters Centerline goodness [0,1] 0.6514015257936936 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.09, Z:16.05 [[ 9.93137401e-01 3.31155933e-02 -1.12167111e-01 -1.19941508e+01] [-3.12504847e-02 9.99343200e-01 1.83459998e-02 -2.09491773e+00] [ 1.12700978e-01 -1.47148220e-02 9.93519987e-01 1.60475227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.049072329 meters Centerline goodness [0,1] 0.6509258859584754 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.93123984e-01 3.30447810e-02 -1.12306704e-01 -1.19934224e+01] [-3.11769003e-02 9.99345458e-01 1.83481869e-02 -2.09564468e+00] [ 1.12839506e-01 -1.47206496e-02 9.93504176e-01 1.60470596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079072329 meters Centerline goodness [0,1] 0.6490330656997323 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.93111305e-01 3.30551009e-02 -1.12415733e-01 -1.19929929e+01] [-3.11805870e-02 9.99344523e-01 1.83928048e-02 -2.09632897e+00] [ 1.12950023e-01 -1.47609139e-02 9.93491020e-01 1.60468321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.109072329 meters Centerline goodness [0,1] 0.6379328945948861 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.93088353e-01 3.30789762e-02 -1.12611301e-01 -1.19921567e+01] [-3.11925994e-02 9.99342676e-01 1.84726167e-02 -2.09709355e+00] [ 1.13148334e-01 -1.48323013e-02 9.93467391e-01 1.60463769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13907232900002 meters Centerline goodness [0,1] 0.6490149112017436 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.93075165e-01 3.30610568e-02 -1.12732793e-01 -1.19917995e+01] [-3.11716400e-02 9.99343151e-01 1.84822809e-02 -2.09765564e+00] [ 1.13269788e-01 -1.48402281e-02 9.93453433e-01 1.60463339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16907232900002 meters Centerline goodness [0,1] 0.6502059388005952 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.93062371e-01 3.30011629e-02 -1.12862976e-01 -1.19914623e+01] [-3.11154097e-02 9.99345874e-01 1.84297234e-02 -2.09794684e+00] [ 1.13397352e-01 -1.47900871e-02 9.93439628e-01 1.60463170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19907232900002 meters Centerline goodness [0,1] 0.6468480138169257 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.93050415e-01 3.29733518e-02 -1.12976239e-01 -1.19913138e+01] [-3.10826197e-02 9.99346393e-01 1.84569058e-02 -2.09860056e+00] [ 1.13510983e-01 -1.48170405e-02 9.93426249e-01 1.60465068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.229072329 meters Centerline goodness [0,1] 0.6502158894645942 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.93045511e-01 3.29228450e-02 -1.13034060e-01 -1.19910709e+01] [-3.10329129e-02 9.99348259e-01 1.84395125e-02 -2.09909818e+00] [ 1.13567472e-01 -1.48034990e-02 9.93419995e-01 1.60463600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259072329 meters Centerline goodness [0,1] 0.6521139210486601 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.93013508e-01 3.28791452e-02 -1.13327556e-01 -1.19900907e+01] [-3.09821059e-02 9.99349444e-01 1.84606982e-02 -2.09975973e+00] [ 1.13860802e-01 -1.48205963e-02 9.93386162e-01 1.60460244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.289072329 meters Centerline goodness [0,1] 0.6518892993713137 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.93008285e-01 3.29714536e-02 -1.13346504e-01 -1.19897943e+01] [-3.10630465e-02 9.99345046e-01 1.85625153e-02 -2.10023118e+00] [ 1.13884300e-01 -1.49118438e-02 9.93382103e-01 1.60456358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319072329 meters Centerline goodness [0,1] 0.6502502372939857 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.92992533e-01 3.28500416e-02 -1.13519624e-01 -1.19889083e+01] [-3.09433969e-02 9.99349590e-01 1.85176231e-02 -2.10079478e+00] [ 1.14054095e-01 -1.48751787e-02 9.93363173e-01 1.60450797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.349072329 meters Centerline goodness [0,1] 0.6475161987041036 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.92962753e-01 3.31182934e-02 -1.13702021e-01 -1.19888156e+01] [-3.11642211e-02 9.99335171e-01 1.89210757e-02 -2.10241622e+00] [ 1.14253063e-01 -1.52444885e-02 9.93334709e-01 1.60453805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379072329 meters Centerline goodness [0,1] 0.6534856599861782 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.92960646e-01 3.29991321e-02 -1.13755053e-01 -1.19885659e+01] [-3.10442077e-02 9.99339027e-01 1.89147114e-02 -2.10304890e+00] [ 1.14304033e-01 -1.52501285e-02 9.93328758e-01 1.60452331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.409072329 meters Centerline goodness [0,1] 0.646219285745131 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.92951472e-01 3.29493365e-02 -1.13849530e-01 -1.19884861e+01] [-3.09903684e-02 9.99340326e-01 1.89343667e-02 -2.10378215e+00] [ 1.14398301e-01 -1.52726684e-02 9.93317560e-01 1.60454235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439072329 meters Centerline goodness [0,1] 0.6523390298636285 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.92951644e-01 3.28134121e-02 -1.13887283e-01 -1.19884888e+01] [-3.08600475e-02 9.99345518e-01 1.88730590e-02 -2.10412263e+00] [ 1.14432036e-01 -1.52254680e-02 9.93314399e-01 1.60455955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.469072329 meters Centerline goodness [0,1] 0.6557858376511226 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.10, Z:16.05 [[ 9.92951564e-01 3.28123876e-02 -1.13888272e-01 -1.19889358e+01] [-3.08470951e-02 9.99343961e-01 1.89764053e-02 -2.10499068e+00] [ 1.14436218e-01 -1.53295290e-02 9.93312316e-01 1.60461884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499072329 meters Centerline goodness [0,1] 0.6614833052567923 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.11, Z:16.05 [[ 9.92939449e-01 3.27126959e-02 -1.14022497e-01 -1.19882996e+01] [-3.07564546e-02 9.99348689e-01 1.88742814e-02 -2.10521736e+00] [ 1.14565661e-01 -1.52340908e-02 9.93298863e-01 1.60458685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.529072329 meters Centerline goodness [0,1] 0.654310605080433 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.11, Z:16.05 [[ 9.92917865e-01 3.26663914e-02 -1.14223554e-01 -1.19875692e+01] [-3.07082091e-02 9.99350411e-01 1.88616284e-02 -2.10570105e+00] [ 1.14765497e-01 -1.52204471e-02 9.93276003e-01 1.60455392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559072329 meters Centerline goodness [0,1] 0.6582111785151443 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.11, Z:16.04 [[ 9.92876470e-01 3.27737843e-02 -1.14552150e-01 -1.19860647e+01] [-3.08017394e-02 9.99345983e-01 1.89435765e-02 -2.10633618e+00] [ 1.15098084e-01 -1.52802259e-02 9.93236601e-01 1.60446203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.589072329 meters Centerline goodness [0,1] 0.6542462316991415 Centerline is valid? [False, False] Translation: X:-11.99, Y:-2.11, Z:16.04 [[ 9.92863639e-01 3.27842162e-02 -1.14660326e-01 -1.19854038e+01] [-3.08170543e-02 9.99346570e-01 1.88876261e-02 -2.10646362e+00] [ 1.15204620e-01 -1.52193437e-02 9.93225185e-01 1.60441540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619072329 meters Centerline goodness [0,1] 0.6568597758837018 Centerline is valid? [False, False] Translation: X:-11.98, Y:-2.11, Z:16.04 [[ 9.92847159e-01 3.26401589e-02 -1.14843980e-01 -1.19847536e+01] [-3.06887928e-02 9.99353687e-01 1.87191561e-02 -2.10649408e+00] [ 1.15380751e-01 -1.50608379e-02 9.93207155e-01 1.60439064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.649072329 meters Centerline goodness [0,1] 0.6545544832350972 Centerline is valid? [False, False] Translation: X:-11.98, Y:-2.11, Z:16.04 [[ 9.92828153e-01 3.25524403e-02 -1.15033025e-01 -1.19843911e+01] [-3.06133145e-02 9.99358520e-01 1.85842118e-02 -2.10639381e+00] [ 1.15564196e-01 -1.49293865e-02 9.93187812e-01 1.60439985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679072329 meters Centerline goodness [0,1] 0.6585465932404708 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.93073091e-01 3.49656152e-02 -1.12175045e-01 -1.19671939e+01] [-3.40115964e-02 9.99367245e-01 1.04077453e-02 -2.11001200e+00] [ 1.12467979e-01 -6.52039939e-03 9.93633956e-01 1.60402624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.709072329 meters Centerline goodness [0,1] 0.6539938721788288 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.93066830e-01 3.52038307e-02 -1.12155965e-01 -1.19676562e+01] [-3.42311265e-02 9.99357863e-01 1.05872992e-02 -2.11012099e+00] [ 1.12456659e-01 -6.67467067e-03 9.93634213e-01 1.60407481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739072329 meters Centerline goodness [0,1] 0.6567470165519325 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.93040621e-01 3.54782350e-02 -1.12301471e-01 -1.19674054e+01] [-3.44915348e-02 9.99347522e-01 1.07175014e-02 -2.11000503e+00] [ 1.12608434e-01 -6.76946422e-03 9.93616382e-01 1.60408084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.769072329 meters Centerline goodness [0,1] 0.6400086271972393 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.93027999e-01 3.56082575e-02 -1.12371903e-01 -1.19669526e+01] [-3.46215522e-02 9.99342993e-01 1.07205790e-02 -2.10978177e+00] [ 1.12679815e-01 -6.75534538e-03 9.93608386e-01 1.60404673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799072329 meters Centerline goodness [0,1] 0.6606029218186918 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.93002095e-01 3.56811107e-02 -1.12577515e-01 -1.19661379e+01] [-3.46916081e-02 9.99340388e-01 1.07369173e-02 -2.10989528e+00] [ 1.12886363e-01 -6.75628629e-03 9.93584934e-01 1.60400104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.829072329 meters Centerline goodness [0,1] 0.656523992571157 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.92974969e-01 3.61518289e-02 -1.12666568e-01 -1.19661203e+01] [-3.51244011e-02 9.99321397e-01 1.10915337e-02 -2.11018602e+00] [ 1.12991091e-01 -7.05626959e-03 9.93570945e-01 1.60401291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859072329 meters Centerline goodness [0,1] 0.6532310352280095 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.92961090e-01 3.63163730e-02 -1.12735956e-01 -1.19661231e+01] [-3.52805016e-02 9.99315017e-01 1.11706295e-02 -2.11003145e+00] [ 1.13064410e-01 -7.11461940e-03 9.93562188e-01 1.60402797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88907232900002 meters Centerline goodness [0,1] 0.6652249134948096 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.92959739e-01 3.65320597e-02 -1.12678150e-01 -1.19663640e+01] [-3.54887514e-02 9.99306732e-01 1.12517991e-02 -2.10988163e+00] [ 1.13011085e-01 -7.17377664e-03 9.93567829e-01 1.60403656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91907232900002 meters Centerline goodness [0,1] 0.6601572625939687 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.92938423e-01 3.65453255e-02 -1.12861536e-01 -1.19658223e+01] [-3.55345872e-02 9.99308402e-01 1.09549618e-02 -2.10860862e+00] [ 1.13183834e-01 -6.86711442e-03 9.93550332e-01 1.60402743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94907232900002 meters Centerline goodness [0,1] 0.6503661144350605 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.92925865e-01 3.66517492e-02 -1.12937487e-01 -1.19656305e+01] [-3.56470319e-02 9.99304960e-01 1.09035082e-02 -2.10801473e+00] [ 1.13258623e-01 -6.80048908e-03 9.93542268e-01 1.60402316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979072329 meters Centerline goodness [0,1] 0.6591977571705845 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.92903069e-01 3.66481575e-02 -1.13138885e-01 -1.19651094e+01] [-3.56550038e-02 9.99305908e-01 1.07899033e-02 -2.10762408e+00] [ 1.13455786e-01 -6.67936072e-03 9.93520594e-01 1.60401804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.009072329 meters Centerline goodness [0,1] 0.6556923741628862 Centerline is valid? [False, False] Translation: X:-11.97, Y:-2.11, Z:16.04 [[ 9.92894354e-01 3.69066106e-02 -1.13131361e-01 -1.19654156e+01] [-3.58985977e-02 9.99295609e-01 1.09350660e-02 -2.10752345e+00] [ 1.13455248e-01 -6.79610807e-03 9.93519864e-01 1.60404925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039072329 meters Centerline goodness [0,1] 0.6549439676496527 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.11, Z:16.04 [[ 9.92850102e-01 3.70302662e-02 -1.13478783e-01 -1.19647458e+01] [-3.60286695e-02 9.99291690e-01 1.08651950e-02 -2.10691229e+00] [ 1.13800746e-01 -6.69902042e-03 9.93481008e-01 1.60405688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.069072329 meters Centerline goodness [0,1] 0.6552007437355415 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.11, Z:16.04 [[ 9.92832308e-01 3.71582276e-02 -1.13592581e-01 -1.19645015e+01] [-3.61549822e-02 9.99286966e-01 1.08800952e-02 -2.10656512e+00] [ 1.13915870e-01 -6.69517230e-03 9.93467840e-01 1.60405559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099072329 meters Centerline goodness [0,1] 0.6602329954395141 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.11, Z:16.04 [[ 9.92821099e-01 3.72270303e-02 -1.13668000e-01 -1.19641886e+01] [-3.62362848e-02 9.99285207e-01 1.07706003e-02 -2.10594013e+00] [ 1.13987709e-01 -6.57437321e-03 9.93460407e-01 1.60403673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.129072329 meters Centerline goodness [0,1] 0.6608733153638814 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.11, Z:16.04 [[ 9.92656706e-01 4.16673528e-02 -1.13562741e-01 -1.19646523e+01] [-4.02042496e-02 9.99076703e-01 1.51446100e-02 -2.10758921e+00] [ 1.14088924e-01 -1.04676939e-02 9.93415394e-01 1.60412288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159072329 meters Centerline goodness [0,1] 0.6632712519153161 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.11, Z:16.04 [[ 9.92658135e-01 4.15976353e-02 -1.13575810e-01 -1.19643412e+01] [-4.01572574e-02 9.99081650e-01 1.49416134e-02 -2.10703585e+00] [ 1.14093043e-01 -1.02710210e-02 9.93416974e-01 1.60409306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.189072329 meters Centerline goodness [0,1] 0.6618246082889718 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.11, Z:16.04 [[ 9.92641064e-01 4.14359849e-02 -1.13783908e-01 -1.19636812e+01] [-4.00250057e-02 9.99091156e-01 1.46581517e-02 -2.10650479e+00] [ 1.14287871e-01 -9.99608177e-03 9.93397383e-01 1.60407399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219072329 meters Centerline goodness [0,1] 0.6625115917962432 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.11, Z:16.04 [[ 9.92629301e-01 4.14303619e-02 -1.13888528e-01 -1.19634283e+01] [-4.00541598e-02 9.99094510e-01 1.43466120e-02 -2.10529632e+00] [ 1.14379788e-01 -9.67915816e-03 9.93389943e-01 1.60407449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.249072329 meters Centerline goodness [0,1] 0.664500388634597 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92623311e-01 4.13853104e-02 -1.13957087e-01 -1.19631647e+01] [-4.00350496e-02 9.99098602e-01 1.41130516e-02 -2.10460465e+00] [ 1.14438439e-01 -9.44666644e-03 9.93385426e-01 1.60406180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279072329 meters Centerline goodness [0,1] 0.6636532320704238 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92611490e-01 4.11994300e-02 -1.14127288e-01 -1.19622615e+01] [-3.98848917e-02 9.99109274e-01 1.37787450e-02 -2.10389533e+00] [ 1.14593308e-01 -9.12498603e-03 9.93370580e-01 1.60400493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.309072329 meters Centerline goodness [0,1] 0.6635382652509569 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92571949e-01 4.13777820e-02 -1.14406314e-01 -1.19616796e+01] [-4.00711390e-02 9.99102928e-01 1.36983230e-02 -2.10311086e+00] [ 1.14870489e-01 -9.01217985e-03 9.93339595e-01 1.60400773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339072329 meters Centerline goodness [0,1] 0.6640645272900267 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92547689e-01 4.13011786e-02 -1.14644223e-01 -1.19608745e+01] [-4.00145387e-02 9.99107860e-01 1.35025931e-02 -2.10285781e+00] [ 1.15099618e-01 -8.81453186e-03 9.93314845e-01 1.60397569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.369072329 meters Centerline goodness [0,1] 0.6732533979742014 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92541840e-01 4.12864187e-02 -1.14700160e-01 -1.19606799e+01] [-4.00382758e-02 9.99111410e-01 1.31653523e-02 -2.10158125e+00] [ 1.15141789e-01 -8.47476641e-03 9.93312915e-01 1.60396339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399072329 meters Centerline goodness [0,1] 0.6652321532838823 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92523823e-01 4.11827243e-02 -1.14893184e-01 -1.19601604e+01] [-3.99624982e-02 9.99117844e-01 1.29047101e-02 -2.10091981e+00] [ 1.15323281e-01 -8.21681352e-03 9.93294027e-01 1.60395824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.429072329 meters Centerline goodness [0,1] 0.6618589743589743 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92534082e-01 4.12107314e-02 -1.14794480e-01 -1.19604217e+01] [-4.00060293e-02 9.99117711e-01 1.27795700e-02 -2.10008691e+00] [ 1.15219853e-01 -8.09168744e-03 9.93307057e-01 1.60396176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459072329 meters Centerline goodness [0,1] 0.6618854229672513 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92513284e-01 4.10865137e-02 -1.15018608e-01 -1.19598758e+01] [-3.99057885e-02 9.99124625e-01 1.25503389e-02 -2.09974798e+00] [ 1.15433573e-01 -7.86646982e-03 9.93284052e-01 1.60395778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.489072329 meters Centerline goodness [0,1] 0.657868611878453 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92502332e-01 4.10211912e-02 -1.15136366e-01 -1.19594948e+01] [-3.98530878e-02 9.99128233e-01 1.24300229e-02 -2.09958304e+00] [ 1.15545888e-01 -7.74828701e-03 9.93271922e-01 1.60394286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519072329 meters Centerline goodness [0,1] 0.658812828897503 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92485810e-01 4.12131251e-02 -1.15210221e-01 -1.19593520e+01] [-4.00318081e-02 9.99119594e-01 1.25495747e-02 -2.09971123e+00] [ 1.15625997e-01 -7.84320130e-03 9.93261855e-01 1.60394333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.549072329 meters Centerline goodness [0,1] 0.6610664876918747 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92480804e-01 4.10391674e-02 -1.15315398e-01 -1.19586309e+01] [-3.98813069e-02 9.99128333e-01 1.23310795e-02 -2.09955264e+00] [ 1.15720939e-01 -7.63943086e-03 9.93252387e-01 1.60388696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579072329 meters Centerline goodness [0,1] 0.6610664876918747 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92480804e-01 4.10391674e-02 -1.15315398e-01 -1.19586309e+01] [-3.98813069e-02 9.99128333e-01 1.23310795e-02 -2.09955264e+00] [ 1.15720939e-01 -7.63943086e-03 9.93252387e-01 1.60388696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.609072329 meters Centerline goodness [0,1] 0.6660631533570428 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92474080e-01 4.07511811e-02 -1.15475287e-01 -1.19576204e+01] [-3.96225412e-02 9.99142017e-01 1.20534202e-02 -2.09931989e+00] [ 1.15867402e-01 -7.38728276e-03 9.93237219e-01 1.60381071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63907232900002 meters Centerline goodness [0,1] 0.6600324499729584 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92471740e-01 4.09651517e-02 -1.15419673e-01 -1.19579976e+01] [-3.98346405e-02 9.99133197e-01 1.20853571e-02 -2.09881430e+00] [ 1.15814705e-01 -7.39667421e-03 9.93243295e-01 1.60383831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66907232900002 meters Centerline goodness [0,1] 0.6548731931100147 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92459394e-01 4.09616205e-02 -1.15527037e-01 -1.19578789e+01] [-3.98388156e-02 9.99133912e-01 1.20122302e-02 -2.09873757e+00] [ 1.15919021e-01 -7.31919036e-03 9.93231700e-01 1.60385308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69907232900002 meters Centerline goodness [0,1] 0.6722120064899946 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92444041e-01 4.09569168e-02 -1.15660524e-01 -1.19578338e+01] [-3.98387516e-02 9.99134496e-01 1.19637783e-02 -2.09890974e+00] [ 1.16050419e-01 -7.26560964e-03 9.93216749e-01 1.60388540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.729072329 meters Centerline goodness [0,1] 0.6688202610156351 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92422380e-01 4.08327804e-02 -1.15890054e-01 -1.19573480e+01] [-3.97259926e-02 9.99140401e-01 1.18449890e-02 -2.09897970e+00] [ 1.16274099e-01 -7.15138474e-03 9.93191417e-01 1.60389049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759072329 meters Centerline goodness [0,1] 0.6661472198774971 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92412966e-01 4.09757979e-02 -1.15920185e-01 -1.19572074e+01] [-3.98636430e-02 9.99134298e-01 1.18972287e-02 -2.09879872e+00] [ 1.16307331e-01 -7.18596319e-03 9.93187277e-01 1.60387556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.789072329 meters Centerline goodness [0,1] 0.6687229437229437 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92390005e-01 4.08398778e-02 -1.16164466e-01 -1.19562482e+01] [-3.97441433e-02 9.99140986e-01 1.17342702e-02 -2.09870568e+00] [ 1.16543905e-01 -7.02811530e-03 9.93160674e-01 1.60382680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819072329 meters Centerline goodness [0,1] 0.6526552986804758 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92400989e-01 4.08014559e-02 -1.16084101e-01 -1.19562238e+01] [-3.97131893e-02 9.99142932e-01 1.16732429e-02 -2.09870933e+00] [ 1.16460894e-01 -6.97446796e-03 9.93170789e-01 1.60379864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.849072329 meters Centerline goodness [0,1] 0.669151748948897 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92403671e-01 4.08106076e-02 -1.16057953e-01 -1.19561843e+01] [-3.97201440e-02 9.99142411e-01 1.16940908e-02 -2.09909963e+00] [ 1.16435666e-01 -6.99542003e-03 9.93173600e-01 1.60378694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879072329 meters Centerline goodness [0,1] 0.6741955043527221 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92387345e-01 4.06987254e-02 -1.16236706e-01 -1.19559879e+01] [-3.96121004e-02 9.99147284e-01 1.16441166e-02 -2.09956195e+00] [ 1.16611490e-01 -6.95109387e-03 9.93153283e-01 1.60381413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.909072329 meters Centerline goodness [0,1] 0.6760029460185426 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92378802e-01 4.06768220e-02 -1.16317279e-01 -1.19558156e+01] [-3.95914952e-02 9.99148301e-01 1.16269660e-02 -2.09982149e+00] [ 1.16691160e-01 -6.93317956e-03 9.93144050e-01 1.60381829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939072329 meters Centerline goodness [0,1] 0.673650491320722 Centerline is valid? [False, False] Translation: X:-11.96, Y:-2.10, Z:16.04 [[ 9.92374708e-01 4.05482733e-02 -1.16397066e-01 -1.19551749e+01] [-3.94811426e-02 9.99154597e-01 1.14599649e-02 -2.09966766e+00] [ 1.16763345e-01 -6.77709017e-03 9.93136643e-01 1.60376530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.969072329 meters Centerline goodness [0,1] 0.6701726231783484 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92357939e-01 4.05826814e-02 -1.16527969e-01 -1.19548108e+01] [-3.95236566e-02 9.99153768e-01 1.13854606e-02 -2.09927741e+00] [ 1.16891412e-01 -6.69284082e-03 9.93122149e-01 1.60374992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999072329 meters Centerline goodness [0,1] 0.6715197404002163 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92340323e-01 4.04258175e-02 -1.16732329e-01 -1.19543452e+01] [-3.93767702e-02 9.99160764e-01 1.12799417e-02 -2.09945630e+00] [ 1.17090364e-01 -6.59699884e-03 9.93099354e-01 1.60374977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.029072329 meters Centerline goodness [0,1] 0.6663996882847 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92338203e-01 4.03782607e-02 -1.16766803e-01 -1.19544135e+01] [-3.93335098e-02 9.99162932e-01 1.12387840e-02 -2.09967091e+00] [ 1.17122864e-01 -6.55982658e-03 9.93095768e-01 1.60377368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059072329 meters Centerline goodness [0,1] 0.6754859260222323 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92327208e-01 4.04804572e-02 -1.16824850e-01 -1.19546779e+01] [-3.94203864e-02 9.99158009e-01 1.13713062e-02 -2.10006964e+00] [ 1.17186800e-01 -6.67877578e-03 9.93087432e-01 1.60381819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.089072329 meters Centerline goodness [0,1] 0.6751159062351055 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92337835e-01 4.03284868e-02 -1.16787129e-01 -1.19547331e+01] [-3.92749681e-02 9.99164442e-01 1.13090643e-02 -2.10057014e+00] [ 1.17145624e-01 -6.63560161e-03 9.93092580e-01 1.60382027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119072329 meters Centerline goodness [0,1] 0.6766201449745753 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92319197e-01 4.00890120e-02 -1.17027696e-01 -1.19538176e+01] [-3.90539277e-02 9.99175168e-01 1.11254265e-02 -2.10077148e+00] [ 1.17377175e-01 -6.46958311e-03 9.93066334e-01 1.60378007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.149072329 meters Centerline goodness [0,1] 0.6731165088513792 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92317988e-01 4.00386591e-02 -1.17055187e-01 -1.19533993e+01] [-3.90047614e-02 9.99177250e-01 1.11109207e-02 -2.10085480e+00] [ 1.17403746e-01 -6.45985686e-03 9.93063256e-01 1.60373775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179072329 meters Centerline goodness [0,1] 0.676605504587156 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92288347e-01 3.90436736e-02 -1.17641101e-01 -1.19501686e+01] [-3.80909271e-02 9.99220809e-01 1.03371016e-02 -2.10143137e+00] [ 1.17953035e-01 -5.77632682e-03 9.93002374e-01 1.60353610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.209072329 meters Centerline goodness [0,1] 0.6651586648772674 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.03 [[ 9.92285668e-01 3.90433446e-02 -1.17663803e-01 -1.19497679e+01] [-3.80828433e-02 9.99220452e-01 1.04012351e-02 -2.10186518e+00] [ 1.17978178e-01 -5.84002432e-03 9.92999015e-01 1.60348744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239072329 meters Centerline goodness [0,1] 0.6682332048338893 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92273347e-01 3.90233352e-02 -1.17774291e-01 -1.19496350e+01] [-3.80519566e-02 9.99220742e-01 1.04860213e-02 -2.10260570e+00] [ 1.18091714e-01 -5.92345721e-03 9.92985025e-01 1.60350840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.269072329 meters Centerline goodness [0,1] 0.6753286125728144 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92268254e-01 3.91022283e-02 -1.17791036e-01 -1.19499255e+01] [-3.81205490e-02 9.99217175e-01 1.05764206e-02 -2.10280484e+00] [ 1.18112388e-01 -6.00438749e-03 9.92982080e-01 1.60354110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299072329 meters Centerline goodness [0,1] 0.6677064379169916 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92264263e-01 3.90892555e-02 -1.17828958e-01 -1.19500331e+01] [-3.81038512e-02 9.99217509e-01 1.06050215e-02 -2.10310216e+00] [ 1.18151300e-01 -6.03324675e-03 9.92977276e-01 1.60356760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.329072329 meters Centerline goodness [0,1] 0.6774795090853897 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92259438e-01 3.90537698e-02 -1.17881338e-01 -1.19498890e+01] [-3.80650248e-02 9.99218741e-01 1.06283036e-02 -2.10328112e+00] [ 1.18204317e-01 -6.05887856e-03 9.92970810e-01 1.60357323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359072329 meters Centerline goodness [0,1] 0.6718258871474714 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.10, Z:16.04 [[ 9.92259024e-01 3.91768232e-02 -1.17843992e-01 -1.19502423e+01] [-3.81533506e-02 9.99212126e-01 1.09292834e-02 -2.10460341e+00] [ 1.18179320e-01 -6.34853690e-03 9.92971976e-01 1.60360089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38907232900002 meters Centerline goodness [0,1] 0.6803900325027086 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.04 [[ 9.92244997e-01 3.89028716e-02 -1.18052667e-01 -1.19493049e+01] [-3.78888675e-02 9.99223353e-01 1.08224451e-02 -2.10529272e+00] [ 1.18382006e-01 -6.26563520e-03 9.92948358e-01 1.60354923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41907232900002 meters Centerline goodness [0,1] 0.6743857973782447 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.04 [[ 9.92250699e-01 3.88970143e-02 -1.18006661e-01 -1.19490333e+01] [-3.78734867e-02 9.99223044e-01 1.09044637e-02 -2.10585861e+00] [ 1.18339126e-01 -6.35063803e-03 9.92952930e-01 1.60350314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44907232900002 meters Centerline goodness [0,1] 0.6722228243199306 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92250039e-01 3.88122986e-02 -1.18040103e-01 -1.19483914e+01] [-3.77673277e-02 9.99225158e-01 1.10775305e-02 -2.10728850e+00] [ 1.18378585e-01 -6.53362081e-03 9.92947039e-01 1.60343435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479072329 meters Centerline goodness [0,1] 0.6722962000649562 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92229531e-01 3.86859111e-02 -1.18253788e-01 -1.19478131e+01] [-3.76442244e-02 9.99230322e-01 1.10307186e-02 -2.10778324e+00] [ 1.18589504e-01 -6.49343265e-03 9.92922134e-01 1.60341736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.509072329 meters Centerline goodness [0,1] 0.6729113814263101 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92231024e-01 3.87133158e-02 -1.18232291e-01 -1.19479289e+01] [-3.76625125e-02 9.99228756e-01 1.11098672e-02 -2.10809887e+00] [ 1.18571205e-01 -6.57062979e-03 9.92923812e-01 1.60342055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539072329 meters Centerline goodness [0,1] 0.6716582393361856 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92216576e-01 3.85504117e-02 -1.18406635e-01 -1.19478271e+01] [-3.74948379e-02 9.99234833e-01 1.11304109e-02 -2.10869862e+00] [ 1.18745116e-01 -6.60414062e-03 9.92902806e-01 1.60346430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.569072329 meters Centerline goodness [0,1] 0.673738556987288 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92214347e-01 3.87247504e-02 -1.18368421e-01 -1.19481555e+01] [-3.76462871e-02 9.99226846e-01 1.13343075e-02 -2.10907089e+00] [ 1.18715822e-01 -6.78993096e-03 9.92905056e-01 1.60348955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599072329 meters Centerline goodness [0,1] 0.6729190582425437 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92220353e-01 3.85525134e-02 -1.18374301e-01 -1.19478370e+01] [-3.74831435e-02 9.99233958e-01 1.12477349e-02 -2.10929717e+00] [ 1.18717249e-01 -6.72319061e-03 9.92905340e-01 1.60345818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.629072329 meters Centerline goodness [0,1] 0.6723521380117465 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92213603e-01 3.84292755e-02 -1.18470909e-01 -1.19472021e+01] [-3.73615219e-02 9.99238808e-01 1.12214319e-02 -2.11001580e+00] [ 1.18811961e-01 -6.70780391e-03 9.92894115e-01 1.60341066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659072329 meters Centerline goodness [0,1] 0.6691716296697348 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92203187e-01 3.84258022e-02 -1.18559244e-01 -1.19468314e+01] [-3.73487038e-02 9.99238467e-01 1.12942421e-02 -2.11055918e+00] [ 1.18902948e-01 -6.77814890e-03 9.92882745e-01 1.60339013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.689072329 meters Centerline goodness [0,1] 0.6555406632366294 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92194471e-01 3.82298565e-02 -1.18695448e-01 -1.19462315e+01] [-3.71571231e-02 9.99246239e-01 1.12384112e-02 -2.11108936e+00] [ 1.19035623e-01 -6.74030812e-03 9.92867105e-01 1.60336243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719072329 meters Centerline goodness [0,1] 0.6617452574525745 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92182565e-01 3.84243850e-02 -1.18732151e-01 -1.19464404e+01] [-3.73051228e-02 9.99236176e-01 1.16357963e-02 -2.11245546e+00] [ 1.19088559e-01 -7.11551673e-03 9.92858139e-01 1.60339104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.749072329 meters Centerline goodness [0,1] 0.6711509715994021 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92176223e-01 3.83283287e-02 -1.18816168e-01 -1.19460515e+01] [-3.72213016e-02 9.99240608e-01 1.15231120e-02 -2.11259640e+00] [ 1.19167602e-01 -7.01046527e-03 9.92849402e-01 1.60336617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779072329 meters Centerline goodness [0,1] 0.6789863868897945 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92186025e-01 3.82680177e-02 -1.18753738e-01 -1.19458793e+01] [-3.71737860e-02 9.99243600e-01 1.14165739e-02 -2.11236064e+00] [ 1.19100802e-01 -6.91283908e-03 9.92858102e-01 1.60333002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.809072329 meters Centerline goodness [0,1] 0.6734026424084903 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92183949e-01 3.82341954e-02 -1.18781972e-01 -1.19459863e+01] [-3.71435038e-02 9.99245104e-01 1.13834132e-02 -2.11235330e+00] [ 1.19127540e-01 -6.88246124e-03 9.92855106e-01 1.60334770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839072329 meters Centerline goodness [0,1] 0.6777510770496418 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92179827e-01 3.82242043e-02 -1.18819619e-01 -1.19459282e+01] [-3.71295104e-02 9.99245275e-01 1.14139765e-02 -2.11268504e+00] [ 1.19166233e-01 -6.91300297e-03 9.92850250e-01 1.60335268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.869072329 meters Centerline goodness [0,1] 0.6705342453892111 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92162421e-01 3.82253484e-02 -1.18964500e-01 -1.19457178e+01] [-3.71248857e-02 9.99244994e-01 1.14535982e-02 -2.11311578e+00] [ 1.19312499e-01 -6.94728625e-03 9.92832445e-01 1.60336194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899072329 meters Centerline goodness [0,1] 0.6613464824066264 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92143194e-01 3.80853187e-02 -1.19169591e-01 -1.19451298e+01] [-3.69933319e-02 9.99250909e-01 1.13628557e-02 -2.11323327e+00] [ 1.19513080e-01 -6.86509973e-03 9.92808891e-01 1.60334969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.929072329 meters Centerline goodness [0,1] 0.6700952628952108 Centerline is valid? [False, False] Translation: X:-11.95, Y:-2.11, Z:16.03 [[ 9.92136268e-01 3.82371026e-02 -1.19178648e-01 -1.19452087e+01] [-3.71307392e-02 9.99244350e-01 1.14907812e-02 -2.11340990e+00] [ 1.19527965e-01 -6.97522946e-03 9.92806331e-01 1.60335592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959072329 meters Centerline goodness [0,1] 0.6681772080878703 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92117466e-01 3.79872367e-02 -1.19414841e-01 -1.19442586e+01] [-3.69105484e-02 9.99255629e-01 1.12160294e-02 -2.11316137e+00] [ 1.19752018e-01 -6.71995142e-03 9.92781092e-01 1.60331352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.989072329 meters Centerline goodness [0,1] 0.6663994453351823 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92109181e-01 3.81147164e-02 -1.19443048e-01 -1.19443270e+01] [-3.70282108e-02 9.99250291e-01 1.13034083e-02 -2.11308021e+00] [ 1.19784326e-01 -6.79145283e-03 9.92776708e-01 1.60332002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019072329 meters Centerline goodness [0,1] 0.6659619450317125 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92085409e-01 3.79306766e-02 -1.19698807e-01 -1.19436654e+01] [-3.68694132e-02 9.99258786e-01 1.10690747e-02 -2.11265449e+00] [ 1.20029942e-01 -6.56824272e-03 9.92748544e-01 1.60332269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.049072329 meters Centerline goodness [0,1] 0.669368295589988 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92088416e-01 3.79791900e-02 -1.19658500e-01 -1.19437266e+01] [-3.69153078e-02 9.99256795e-01 1.10958637e-02 -2.11244795e+00] [ 1.19990981e-01 -6.59084750e-03 9.92753104e-01 1.60331615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079072329 meters Centerline goodness [0,1] 0.6664066224591514 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92069631e-01 3.79346806e-02 -1.19828244e-01 -1.19432671e+01] [-3.68800430e-02 9.99259075e-01 1.10074486e-02 -2.11217478e+00] [ 1.20157024e-01 -6.50088466e-03 9.92733614e-01 1.60330972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.109072329 meters Centerline goodness [0,1] 0.6627581872168882 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92076068e-01 3.79378300e-02 -1.19773937e-01 -1.19431704e+01] [-3.68916513e-02 9.99259380e-01 1.09406786e-02 -2.11177759e+00] [ 1.20100296e-01 -6.43532713e-03 9.92740906e-01 1.60328819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13907232900002 meters Centerline goodness [0,1] 0.6609008540339012 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92073177e-01 3.78991085e-02 -1.19810138e-01 -1.19427799e+01] [-3.68618522e-02 9.99261330e-01 1.08626761e-02 -2.11160096e+00] [ 1.20133324e-01 -6.36014600e-03 9.92737394e-01 1.60326016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16907232900002 meters Centerline goodness [0,1] 0.6584556671075742 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92081062e-01 3.78943676e-02 -1.19746326e-01 -1.19427269e+01] [-3.68640738e-02 9.99261839e-01 1.08082315e-02 -2.11129897e+00] [ 1.20067505e-01 -6.30830444e-03 9.92745687e-01 1.60323024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19907232900002 meters Centerline goodness [0,1] 0.6537228743448694 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92088282e-01 3.77581647e-02 -1.19729532e-01 -1.19422575e+01] [-3.67379901e-02 9.99267462e-01 1.07172882e-02 -2.11127834e+00] [ 1.20046491e-01 -6.23387364e-03 9.92748699e-01 1.60318249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.229072329 meters Centerline goodness [0,1] 0.66673133717045 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92069995e-01 3.75374748e-02 -1.19950251e-01 -1.19415756e+01] [-3.65341020e-02 9.99276676e-01 1.05538479e-02 -2.11136863e+00] [ 1.20259653e-01 -6.08788111e-03 9.92723805e-01 1.60316608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259072329 meters Centerline goodness [0,1] 0.6583838821490469 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92081132e-01 3.76682399e-02 -1.19817070e-01 -1.19422289e+01] [-3.66516792e-02 9.99271057e-01 1.06774644e-02 -2.11133580e+00] [ 1.20131932e-01 -6.20141410e-03 9.92738566e-01 1.60320150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.289072329 meters Centerline goodness [0,1] 0.6684061234653444 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92074222e-01 3.77331615e-02 -1.19853851e-01 -1.19423224e+01] [-3.67127353e-02 9.99268453e-01 1.07113754e-02 -2.11145466e+00] [ 1.20170346e-01 -6.22631675e-03 9.92733761e-01 1.60322115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319072329 meters Centerline goodness [0,1] 0.66520996040932 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92072271e-01 3.77384920e-02 -1.19868323e-01 -1.19424659e+01] [-3.67152411e-02 9.99268115e-01 1.07342713e-02 -2.11136640e+00] [ 1.20185689e-01 -6.24817850e-03 9.92731767e-01 1.60324336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.349072329 meters Centerline goodness [0,1] 0.666248485897214 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92059147e-01 3.75409698e-02 -1.20038849e-01 -1.19418171e+01] [-3.65330128e-02 9.99276362e-01 1.05873578e-02 -2.11167603e+00] [ 1.20349444e-01 -6.11790432e-03 9.92712739e-01 1.60322575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379072329 meters Centerline goodness [0,1] 0.6643791132663665 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92070404e-01 3.75423169e-02 -1.19945355e-01 -1.19418397e+01] [-3.65309024e-02 9.99276084e-01 1.06207724e-02 -2.11160331e+00] [ 1.20257253e-01 -6.15484197e-03 9.92723683e-01 1.60319921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.409072329 meters Centerline goodness [0,1] 0.6639406330455853 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92062696e-01 3.73344111e-02 -1.20073929e-01 -1.19408936e+01] [-3.63342696e-02 9.99284438e-01 1.05087133e-02 -2.11197359e+00] [ 1.20380345e-01 -6.06250396e-03 9.92709332e-01 1.60312815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439072329 meters Centerline goodness [0,1] 0.661792422174563 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92066747e-01 3.73544386e-02 -1.20034228e-01 -1.19406475e+01] [-3.63481109e-02 9.99283363e-01 1.05629607e-02 -2.11207712e+00] [ 1.20342780e-01 -6.11614458e-03 9.92713558e-01 1.60308846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.469072329 meters Centerline goodness [0,1] 0.661792422174563 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92066747e-01 3.73544386e-02 -1.20034228e-01 -1.19406475e+01] [-3.63481109e-02 9.99283363e-01 1.05629607e-02 -2.11207712e+00] [ 1.20342780e-01 -6.11614458e-03 9.92713558e-01 1.60308846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499072329 meters Centerline goodness [0,1] 0.6636652886301162 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92085637e-01 3.73335430e-02 -1.19884512e-01 -1.19407623e+01] [-3.63173775e-02 9.99283549e-01 1.06506402e-02 -2.11263803e+00] [ 1.20196247e-01 -6.21245612e-03 9.92730713e-01 1.60306046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.529072329 meters Centerline goodness [0,1] 0.6588677939713705 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92101674e-01 3.72941162e-02 -1.19764008e-01 -1.19409147e+01] [-3.62742180e-02 9.99284746e-01 1.06854231e-02 -2.11305519e+00] [ 1.20076849e-01 -6.25668042e-03 9.92744884e-01 1.60304857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559072329 meters Centerline goodness [0,1] 0.661766293202081 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92118622e-01 3.72382094e-02 -1.19640942e-01 -1.19411900e+01] [-3.62257322e-02 9.99287126e-01 1.06271291e-02 -2.11286672e+00] [ 1.19951388e-01 -6.20929198e-03 9.92760348e-01 1.60305168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.589072329 meters Centerline goodness [0,1] 0.6606131361611969 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92125807e-01 3.73824940e-02 -1.19536323e-01 -1.19416417e+01] [-3.63474064e-02 9.99280546e-01 1.08285003e-02 -2.11330440e+00] [ 1.19855119e-01 -6.39839924e-03 9.92770775e-01 1.60307269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619072329 meters Centerline goodness [0,1] 0.6595487161753264 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92138661e-01 3.73419829e-02 -1.19442257e-01 -1.19419113e+01] [-3.63037140e-02 9.99281819e-01 1.08575169e-02 -2.11359334e+00] [ 1.19761917e-01 -6.43596478e-03 9.92781779e-01 1.60308278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.649072329 meters Centerline goodness [0,1] 0.6545407469739142 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92122293e-01 3.71636060e-02 -1.19633702e-01 -1.19414000e+01] [-3.61381069e-02 9.99289191e-01 1.07308248e-02 -2.11360170e+00] [ 1.19947462e-01 -6.32295502e-03 9.92760105e-01 1.60307866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679072329 meters Centerline goodness [0,1] 0.6563237044249702 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92127346e-01 3.72601590e-02 -1.19561739e-01 -1.19418278e+01] [-3.62110613e-02 9.99284327e-01 1.09358465e-02 -2.11430571e+00] [ 1.19883644e-01 -6.52029494e-03 9.92766537e-01 1.60309935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.709072329 meters Centerline goodness [0,1] 0.655981843726359 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92130542e-01 3.71812266e-02 -1.19559796e-01 -1.19415772e+01] [-3.61284938e-02 9.99287036e-01 1.09613399e-02 -2.11470855e+00] [ 1.19882110e-01 -6.55556476e-03 9.92766490e-01 1.60307452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739072329 meters Centerline goodness [0,1] 0.6633038819640966 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92129457e-01 3.72046158e-02 -1.19561516e-01 -1.19416696e+01] [-3.61270001e-02 9.99284794e-01 1.11686926e-02 -2.11568554e+00] [ 1.19891532e-01 -6.76139000e-03 9.92763972e-01 1.60307921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.769072329 meters Centerline goodness [0,1] 0.6506973530808757 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92143982e-01 3.71339565e-02 -1.19462918e-01 -1.19415596e+01] [-3.60565781e-02 9.99287344e-01 1.11681164e-02 -2.11598099e+00] [ 1.19792499e-01 -6.77295539e-03 9.92775848e-01 1.60303649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799072329 meters Centerline goodness [0,1] 0.6620044100479917 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92141347e-01 3.72779680e-02 -1.19439949e-01 -1.19414761e+01] [-3.61817649e-02 9.99280951e-01 1.13340500e-02 -2.11651557e+00] [ 1.19776576e-01 -6.92343148e-03 9.92776731e-01 1.60301201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.829072329 meters Centerline goodness [0,1] 0.6496342512908778 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92138649e-01 3.63430927e-02 -1.19750075e-01 -1.19389776e+01] [-3.53343000e-02 9.99319994e-01 1.05374006e-02 -2.11626505e+00] [ 1.20051606e-01 -6.22327738e-03 9.92748147e-01 1.60283309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859072329 meters Centerline goodness [0,1] 0.6607515882416282 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92140211e-01 3.64495353e-02 -1.19704772e-01 -1.19391964e+01] [-3.54276982e-02 9.99315450e-01 1.06540437e-02 -2.11653189e+00] [ 1.20011163e-01 -6.32944069e-03 9.92752365e-01 1.60284070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88907232900002 meters Centerline goodness [0,1] 0.6476077330165244 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92132592e-01 3.64977524e-02 -1.19753219e-01 -1.19392950e+01] [-3.54713480e-02 9.99313495e-01 1.06921222e-02 -2.11640001e+00] [ 1.20061247e-01 -6.36019479e-03 9.92746113e-01 1.60286296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91907232900002 meters Centerline goodness [0,1] 0.6469673405909797 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92143443e-01 3.65719109e-02 -1.19640643e-01 -1.19401205e+01] [-3.55194563e-02 9.99309342e-01 1.09181673e-02 -2.11712337e+00] [ 1.19957311e-01 -6.58281756e-03 9.92757226e-01 1.60292218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94907232900002 meters Centerline goodness [0,1] 0.6485716136555031 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92136366e-01 3.66773687e-02 -1.19667046e-01 -1.19403851e+01] [-3.56065659e-02 9.99304519e-01 1.10748234e-02 -2.11736743e+00] [ 1.19990015e-01 -6.72680245e-03 9.92752309e-01 1.60296155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979072329 meters Centerline goodness [0,1] 0.6552961521833117 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92146274e-01 3.66398573e-02 -1.19596370e-01 -1.19404862e+01] [-3.55665287e-02 9.99305693e-01 1.10974864e-02 -2.11755649e+00] [ 1.19919943e-01 -6.75670206e-03 9.92760572e-01 1.60295227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.009072329 meters Centerline goodness [0,1] 0.6562580979528375 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92153230e-01 3.66087621e-02 -1.19548179e-01 -1.19404751e+01] [-3.55390949e-02 9.99306995e-01 1.10680423e-02 -2.11745368e+00] [ 1.19870519e-01 -6.73255979e-03 9.92766705e-01 1.60294139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039072329 meters Centerline goodness [0,1] 0.6521588946459413 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92167080e-01 3.65463545e-02 -1.19452292e-01 -1.19404692e+01] [-3.54825687e-02 9.99309524e-01 1.10209989e-02 -2.11736890e+00] [ 1.19772591e-01 -6.69619815e-03 9.92778771e-01 1.60291575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.069072329 meters Centerline goodness [0,1] 0.6434495270182714 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92170407e-01 3.66275350e-02 -1.19399781e-01 -1.19406281e+01] [-3.55568420e-02 9.99306164e-01 1.10860760e-02 -2.11749343e+00] [ 1.19722993e-01 -6.75379739e-03 9.92784363e-01 1.60291704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099072329 meters Centerline goodness [0,1] 0.6533161068044788 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92022420e-01 4.06619880e-02 -1.19323601e-01 -1.19408985e+01] [-3.91068027e-02 9.99117173e-01 1.53470515e-02 -2.11982577e+00] [ 1.19842301e-01 -1.05582546e-02 9.92736796e-01 1.60299581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.129072329 meters Centerline goodness [0,1] 0.6501316755169884 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92032392e-01 4.07227234e-02 -1.19219938e-01 -1.19412897e+01] [-3.91655921e-02 9.99114426e-01 1.53759884e-02 -2.11958623e+00] [ 1.19740512e-01 -1.05841590e-02 9.92748803e-01 1.60301456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159072329 meters Centerline goodness [0,1] 0.6689754876575177 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92022672e-01 4.06153537e-02 -1.19337382e-01 -1.19407295e+01] [-3.90765244e-02 9.99120490e-01 1.52075894e-02 -2.11938688e+00] [ 1.19850085e-01 -1.04229834e-02 9.92737286e-01 1.60298404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.189072329 meters Centerline goodness [0,1] 0.6506112575057238 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92015562e-01 4.05276781e-02 -1.19426258e-01 -1.19402312e+01] [-3.90082651e-02 9.99125786e-01 1.50338983e-02 -2.11906086e+00] [ 1.19931143e-01 -1.02552499e-02 9.92729243e-01 1.60295164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219072329 meters Centerline goodness [0,1] 0.6616111494649637 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92022913e-01 3.97278535e-02 -1.19633766e-01 -1.19379235e+01] [-3.83194508e-02 9.99166747e-01 1.40510240e-02 -2.11741240e+00] [ 1.20092298e-01 -9.35463758e-03 9.92718656e-01 1.60275593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.249072329 meters Centerline goodness [0,1] 0.6595652737565361 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92021481e-01 3.97118858e-02 -1.19650942e-01 -1.19375547e+01] [-3.83190254e-02 9.99168594e-01 1.39202648e-02 -2.11683384e+00] [ 1.20104263e-01 -9.22429423e-03 9.92718429e-01 1.60271577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279072329 meters Centerline goodness [0,1] 0.6469433538979248 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92017332e-01 3.96084523e-02 -1.19719603e-01 -1.19369814e+01] [-3.82385077e-02 9.99174455e-01 1.37194859e-02 -2.11641905e+00] [ 1.20164177e-01 -9.03206882e-03 9.92712946e-01 1.60266852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.309072329 meters Centerline goodness [0,1] 0.6696677245935618 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92018740e-01 3.96773023e-02 -1.19685131e-01 -1.19374959e+01] [-3.83184382e-02 9.99172555e-01 1.36346314e-02 -2.11582743e+00] [ 1.20127084e-01 -8.93966260e-03 9.92718271e-01 1.60271531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339072329 meters Centerline goodness [0,1] 0.6568157269388637 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92016149e-01 3.96467823e-02 -1.19716718e-01 -1.19375608e+01] [-3.82971721e-02 9.99174467e-01 1.35539916e-02 -2.11550978e+00] [ 1.20155260e-01 -8.86096681e-03 9.92715567e-01 1.60272974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.369072329 meters Centerline goodness [0,1] 0.6680103470575556 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92025141e-01 3.93285932e-02 -1.19747159e-01 -1.19374167e+01] [-3.80227744e-02 9.99190068e-01 1.31710150e-02 -2.11463848e+00] [ 1.20168169e-01 -8.51285883e-03 9.92717050e-01 1.60273372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399072329 meters Centerline goodness [0,1] 0.6678380476026216 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92021433e-01 3.92968075e-02 -1.19788306e-01 -1.19371995e+01] [-3.80017431e-02 9.99192099e-01 1.30773701e-02 -2.11414159e+00] [ 1.20205428e-01 -8.42086697e-03 9.92713324e-01 1.60271787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.429072329 meters Centerline goodness [0,1] 0.6622576475657045 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92023865e-01 3.91292995e-02 -1.19822994e-01 -1.19367097e+01] [-3.78671240e-02 9.99200886e-01 1.27933708e-02 -2.11343490e+00] [ 1.20227837e-01 -8.15397693e-03 9.92712839e-01 1.60267442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459072329 meters Centerline goodness [0,1] 0.6558706199460916 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92027558e-01 3.91394226e-02 -1.19789107e-01 -1.19363898e+01] [-3.78806840e-02 9.99200698e-01 1.27679044e-02 -2.11341081e+00] [ 1.20193088e-01 -8.12841967e-03 9.92717256e-01 1.60262699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.489072329 meters Centerline goodness [0,1] 0.6684787298300112 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92017789e-01 3.90849614e-02 -1.19887744e-01 -1.19359275e+01] [-3.78423800e-02 9.99203970e-01 1.26245970e-02 -2.11289060e+00] [ 1.20285742e-01 -7.98698718e-03 9.92707182e-01 1.60260049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519072329 meters Centerline goodness [0,1] 0.6631065656892572 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92022882e-01 3.89941735e-02 -1.19875166e-01 -1.19356067e+01] [-3.77673620e-02 9.99208502e-01 1.24898464e-02 -2.11265325e+00] [ 1.20267317e-01 -7.86284462e-03 9.92710405e-01 1.60256382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.549072329 meters Centerline goodness [0,1] 0.6702203576757564 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92028867e-01 3.91081576e-02 -1.19788475e-01 -1.19358655e+01] [-3.78730943e-02 9.99203488e-01 1.25705302e-02 -2.11263237e+00] [ 1.20184673e-01 -7.93356865e-03 9.92719851e-01 1.60256470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579072329 meters Centerline goodness [0,1] 0.6642195495865092 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92019108e-01 3.89212617e-02 -1.19930080e-01 -1.19352850e+01] [-3.77103603e-02 9.99212386e-01 1.23506028e-02 -2.11226090e+00] [ 1.20316322e-01 -7.72942741e-03 9.92705514e-01 1.60253870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.609072329 meters Centerline goodness [0,1] 0.6590389509554415 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92029989e-01 3.88183367e-02 -1.19873427e-01 -1.19354307e+01] [-3.76374025e-02 9.99218193e-01 1.21007327e-02 -2.11129501e+00] [ 1.20249439e-01 -7.49256535e-03 9.92715434e-01 1.60254335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63907232900002 meters Centerline goodness [0,1] 0.6598267017286719 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92021227e-01 3.87926230e-02 -1.19954229e-01 -1.19354776e+01] [-3.76191251e-02 9.99219702e-01 1.20327774e-02 -2.11086684e+00] [ 1.20327412e-01 -7.42419743e-03 9.92706500e-01 1.60257071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66907232900002 meters Centerline goodness [0,1] 0.6576275570692591 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92023346e-01 3.87369564e-02 -1.19954696e-01 -1.19356663e+01] [-3.75791785e-02 9.99222799e-01 1.18997228e-02 -2.11031004e+00] [ 1.20322426e-01 -7.29700394e-03 9.92708048e-01 1.60259825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69907232900002 meters Centerline goodness [0,1] 0.6569612068965518 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92025155e-01 3.87352538e-02 -1.19940283e-01 -1.19357077e+01] [-3.75781781e-02 9.99222896e-01 1.18947066e-02 -2.11021859e+00] [ 1.20307822e-01 -7.29271085e-03 9.92709849e-01 1.60259261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.729072329 meters Centerline goodness [0,1] 0.6604388254838083 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92010074e-01 3.87154511e-02 -1.20071343e-01 -1.19351704e+01] [-3.75614204e-02 9.99223934e-01 1.18604320e-02 -2.11025592e+00] [ 1.20437342e-01 -7.25561782e-03 9.92694416e-01 1.60256354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759072329 meters Centerline goodness [0,1] 0.6602418989716059 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.11, Z:16.02 [[ 9.92014378e-01 3.85914591e-02 -1.20075698e-01 -1.19341696e+01] [-3.74465488e-02 9.99229225e-01 1.17775627e-02 -2.11059028e+00] [ 1.20437660e-01 -7.18709103e-03 9.92694875e-01 1.60244402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.789072329 meters Centerline goodness [0,1] 0.6634362184329807 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.11, Z:16.02 [[ 9.92009604e-01 3.86518212e-02 -1.20095724e-01 -1.19340741e+01] [-3.74930887e-02 9.99226102e-01 1.18938841e-02 -2.11096599e+00] [ 1.20462503e-01 -7.29608758e-03 9.92691066e-01 1.60243548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819072329 meters Centerline goodness [0,1] 0.665100945896447 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.11, Z:16.02 [[ 9.92003053e-01 3.85776643e-02 -1.20173653e-01 -1.19336956e+01] [-3.74269894e-02 9.99229477e-01 1.18183273e-02 -2.11095735e+00] [ 1.20536980e-01 -7.22607866e-03 9.92682537e-01 1.60241366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.849072329 meters Centerline goodness [0,1] 0.6705248410389051 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.11, Z:16.02 [[ 9.92019859e-01 3.86308480e-02 -1.20017736e-01 -1.19343782e+01] [-3.74655426e-02 9.99226447e-01 1.19515890e-02 -2.11115784e+00] [ 1.20386596e-01 -7.35968404e-03 9.92699805e-01 1.60244940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879072329 meters Centerline goodness [0,1] 0.6557011852236352 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.11, Z:16.02 [[ 9.92035061e-01 3.86605119e-02 -1.19882450e-01 -1.19348656e+01] [-3.74889963e-02 9.99224831e-01 1.20129744e-02 -2.11120540e+00] [ 1.20253949e-01 -7.42301903e-03 9.92715411e-01 1.60246710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.909072329 meters Centerline goodness [0,1] 0.6625982891212305 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.11, Z:16.02 [[ 9.92027603e-01 3.86357503e-02 -1.19952131e-01 -1.19349069e+01] [-3.74647804e-02 9.99225864e-01 1.20026602e-02 -2.11135357e+00] [ 1.20323004e-01 -7.41298999e-03 9.92707118e-01 1.60249426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939072329 meters Centerline goodness [0,1] 0.6631790136773525 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92026017e-01 3.85675153e-02 -1.19987197e-01 -1.19351220e+01] [-3.73838341e-02 9.99227706e-01 1.21012393e-02 -2.11211612e+00] [ 1.20361246e-01 -7.51916273e-03 9.92701684e-01 1.60253013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.969072329 meters Centerline goodness [0,1] 0.6682651804808503 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92019720e-01 3.86731835e-02 -1.20005249e-01 -1.19352994e+01] [-3.74640497e-02 9.99222074e-01 1.23163156e-02 -2.11275478e+00] [ 1.20388205e-01 -7.72214534e-03 9.92696856e-01 1.60255361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999072329 meters Centerline goodness [0,1] 0.6683882958032589 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92016261e-01 3.86012645e-02 -1.20056990e-01 -1.19350637e+01] [-3.73856470e-02 9.99224445e-01 1.23621063e-02 -2.11328836e+00] [ 1.20441072e-01 -7.77500223e-03 9.92690031e-01 1.60253707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.029072329 meters Centerline goodness [0,1] 0.6680488068243171 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.11, Z:16.03 [[ 9.92018978e-01 3.85499360e-02 -1.20051031e-01 -1.19350096e+01] [-3.73049229e-02 9.99224469e-01 1.26017068e-02 -2.11463945e+00] [ 1.20443723e-01 -8.02263781e-03 9.92687739e-01 1.60252477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059072329 meters Centerline goodness [0,1] 0.6640259039395575 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.12, Z:16.03 [[ 9.92014967e-01 3.85340498e-02 -1.20089267e-01 -1.19349838e+01] [-3.72735291e-02 9.99224066e-01 1.27259592e-02 -2.11541211e+00] [ 1.20486468e-01 -8.14819117e-03 9.92681529e-01 1.60253023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.089072329 meters Centerline goodness [0,1] 0.6641279182984616 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92032832e-01 3.85894833e-02 -1.19923773e-01 -1.19357203e+01] [-3.72891235e-02 9.99219053e-01 1.30692364e-02 -2.11686999e+00] [ 1.20334454e-01 -8.49325920e-03 9.92697075e-01 1.60256823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119072329 meters Centerline goodness [0,1] 0.6621285791464073 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92037772e-01 3.85080378e-02 -1.19909088e-01 -1.19355537e+01] [-3.72002446e-02 9.99221612e-01 1.31267439e-02 -2.11763066e+00] [ 1.20321237e-01 -8.56157841e-03 9.92698091e-01 1.60254538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.149072329 meters Centerline goodness [0,1] 0.661635600916836 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92040988e-01 3.85297726e-02 -1.19875500e-01 -1.19355046e+01] [-3.72011149e-02 9.99219254e-01 1.33026339e-02 -2.11841634e+00] [ 1.20294455e-01 -8.73725579e-03 9.92699806e-01 1.60252602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179072329 meters Centerline goodness [0,1] 0.6607142857142857 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92038782e-01 3.86416108e-02 -1.19857750e-01 -1.19357412e+01] [-3.72882100e-02 9.99213160e-01 1.35148170e-02 -2.11917477e+00] [ 1.20285675e-01 -8.93794164e-03 9.92699083e-01 1.60254885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.209072329 meters Centerline goodness [0,1] 0.6585386924688452 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92048330e-01 3.85642812e-02 -1.19803620e-01 -1.19358090e+01] [-3.71816766e-02 9.99213847e-01 1.37553747e-02 -2.12075128e+00] [ 1.20239902e-01 -9.19149707e-03 9.92702313e-01 1.60253973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239072329 meters Centerline goodness [0,1] 0.668318974847396 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92058627e-01 3.86053789e-02 -1.19705074e-01 -1.19360816e+01] [-3.71938176e-02 9.99209932e-01 1.40046726e-02 -2.12190641e+00] [ 1.20151154e-01 -9.44116760e-03 9.92710715e-01 1.60254120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.269072329 meters Centerline goodness [0,1] 0.6621796810855192 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.12, Z:16.03 [[ 9.92051016e-01 3.85713677e-02 -1.19779092e-01 -1.19359148e+01] [-3.71410681e-02 9.99209826e-01 1.41515122e-02 -2.12296753e+00] [ 1.20230289e-01 -9.59029862e-03 9.92699705e-01 1.60253653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299072329 meters Centerline goodness [0,1] 0.6624386870934982 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.13, Z:16.03 [[ 9.92063920e-01 3.85789862e-02 -1.19669716e-01 -1.19362571e+01] [-3.70944416e-02 9.99204973e-01 1.46090246e-02 -2.12533837e+00] [ 1.20138176e-01 -1.00540049e-02 9.92706269e-01 1.60254521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.329072329 meters Centerline goodness [0,1] 0.6612805537529742 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.13, Z:16.03 [[ 9.92052224e-01 3.86945488e-02 -1.19729348e-01 -1.19364137e+01] [-3.71730769e-02 9.99197518e-01 1.49158375e-02 -2.12654420e+00] [ 1.20210429e-01 -1.03465815e-02 9.92694515e-01 1.60257109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359072329 meters Centerline goodness [0,1] 0.6569644323436622 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.13, Z:16.03 [[ 9.92080148e-01 3.84490877e-02 -1.19576953e-01 -1.19365238e+01] [-3.68956125e-02 9.99203837e-01 1.51791057e-02 -2.12893994e+00] [ 1.20065373e-01 -1.06470245e-02 9.92708893e-01 1.60254716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38907232900002 meters Centerline goodness [0,1] 0.6569644323436622 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.13, Z:16.03 [[ 9.92080148e-01 3.84490877e-02 -1.19576953e-01 -1.19365238e+01] [-3.68956125e-02 9.99203837e-01 1.51791057e-02 -2.12893994e+00] [ 1.20065373e-01 -1.06470245e-02 9.92708893e-01 1.60254716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41907232900002 meters Centerline goodness [0,1] 0.6723672561594438 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.13, Z:16.03 [[ 9.92083273e-01 3.83122024e-02 -1.19594962e-01 -1.19363652e+01] [-3.67470854e-02 9.99207993e-01 1.52656106e-02 -2.12996952e+00] [ 1.20085101e-01 -1.07499906e-02 9.92705398e-01 1.60253738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44907232900002 meters Centerline goodness [0,1] 0.6608575619014753 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.13, Z:16.03 [[ 9.92093084e-01 3.82598441e-02 -1.19530322e-01 -1.19365641e+01] [-3.66737508e-02 9.99207979e-01 1.54418302e-02 -2.13119053e+00] [ 1.20026453e-01 -1.09361077e-02 9.92710457e-01 1.60254137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479072329 meters Centerline goodness [0,1] 0.6583880442294402 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.13, Z:16.03 [[ 9.92101652e-01 3.83273974e-02 -1.19437526e-01 -1.19368740e+01] [-3.67025884e-02 9.99201719e-01 1.57747979e-02 -2.13250925e+00] [ 1.19946789e-01 -1.12665366e-02 9.92716391e-01 1.60255092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.509072329 meters Centerline goodness [0,1] 0.6589609100131667 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.14, Z:16.03 [[ 9.92113320e-01 3.82013554e-02 -1.19380972e-01 -1.19369716e+01] [-3.65270688e-02 9.99201634e-01 1.61823542e-02 -2.13532340e+00] [ 1.19903850e-01 -1.16940921e-02 9.92716634e-01 1.60254617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539072329 meters Centerline goodness [0,1] 0.6590102950082187 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.14, Z:16.03 [[ 9.92115173e-01 3.81836824e-02 -1.19371230e-01 -1.19371093e+01] [-3.64823193e-02 9.99199614e-01 1.64064505e-02 -2.13645288e+00] [ 1.19902146e-01 -1.19221491e-02 9.92714127e-01 1.60255786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.569072329 meters Centerline goodness [0,1] 0.6619998271540921 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.14, Z:16.03 [[ 9.92131683e-01 3.79466434e-02 -1.19309578e-01 -1.19369709e+01] [-3.62142154e-02 9.99205239e-01 1.66559507e-02 -2.13874335e+00] [ 1.19846792e-01 -1.22041937e-02 9.92717384e-01 1.60253065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599072329 meters Centerline goodness [0,1] 0.6643056125423802 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.14, Z:16.03 [[ 9.92139036e-01 3.79228111e-02 -1.19256001e-01 -1.19369953e+01] [-3.61700771e-02 9.99203950e-01 1.68283119e-02 -2.13998388e+00] [ 1.19799244e-01 -1.23825264e-02 9.92720915e-01 1.60251609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.629072329 meters Centerline goodness [0,1] 0.6614579956342259 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.14, Z:16.03 [[ 9.92160489e-01 3.78678810e-02 -1.19094866e-01 -1.19374050e+01] [-3.60559261e-02 9.99199444e-01 1.73332445e-02 -2.14297994e+00] [ 1.19655898e-01 -1.29032847e-02 9.92731571e-01 1.60252132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659072329 meters Centerline goodness [0,1] 0.6562763268744735 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.14, Z:16.02 [[ 9.92170420e-01 3.77198334e-02 -1.19059109e-01 -1.19372750e+01] [-3.58968880e-02 9.99203668e-01 1.74196281e-02 -2.14427193e+00] [ 1.19621364e-01 -1.30093882e-02 9.92734348e-01 1.60249347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.689072329 meters Centerline goodness [0,1] 0.65766057621701 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.15, Z:16.02 [[ 9.92156719e-01 3.77798565e-02 -1.19154217e-01 -1.19370218e+01] [-3.59194715e-02 9.99197518e-01 1.77231984e-02 -2.14590305e+00] [ 1.19728178e-01 -1.33042338e-02 9.92717563e-01 1.60248499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719072329 meters Centerline goodness [0,1] 0.6536351462266188 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.15, Z:16.02 [[ 9.92148905e-01 3.74320714e-02 -1.19328918e-01 -1.19358588e+01] [-3.55459591e-02 9.99207792e-01 1.78961908e-02 -2.14885043e+00] [ 1.19904276e-01 -1.35140253e-02 9.92693475e-01 1.60239600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.749072329 meters Centerline goodness [0,1] 0.6597987127985832 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.15, Z:16.02 [[ 9.92141587e-01 3.73492362e-02 -1.19415685e-01 -1.19353237e+01] [-3.54458227e-02 9.99209041e-01 1.80245982e-02 -2.15014905e+00] [ 1.19994437e-01 -1.36501662e-02 9.92680718e-01 1.60234980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779072329 meters Centerline goodness [0,1] 0.6555524342545973 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.15, Z:16.02 [[ 9.92152281e-01 3.72792593e-02 -1.19348685e-01 -1.19351304e+01] [-3.53617990e-02 9.99209849e-01 1.81444273e-02 -2.15127744e+00] [ 1.19930792e-01 -1.37816508e-02 9.92686593e-01 1.60230603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.809072329 meters Centerline goodness [0,1] 0.6628813229992012 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.15, Z:16.02 [[ 9.92140478e-01 3.71632397e-02 -1.19482906e-01 -1.19346545e+01] [-3.52335311e-02 9.99212944e-01 1.82233417e-02 -2.15249073e+00] [ 1.20066105e-01 -1.38703103e-02 9.92669001e-01 1.60228672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839072329 meters Centerline goodness [0,1] 0.6439030711416354 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.15, Z:16.02 [[ 9.92155493e-01 3.71293119e-02 -1.19368721e-01 -1.19349582e+01] [-3.51805065e-02 9.99211710e-01 1.83926781e-02 -2.15367686e+00] [ 1.19957532e-01 -1.40489445e-02 9.92679615e-01 1.60229153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.869072329 meters Centerline goodness [0,1] 0.654594956675814 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.16, Z:16.02 [[ 9.92169987e-01 3.71561862e-02 -1.19239822e-01 -1.19357338e+01] [-3.51695123e-02 9.99205959e-01 1.87231751e-02 -2.15579246e+00] [ 1.19840822e-01 -1.43829660e-02 9.92688928e-01 1.60234652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899072329 meters Centerline goodness [0,1] 0.6576050520123705 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.16, Z:16.02 [[ 9.92178976e-01 3.72739384e-02 -1.19128220e-01 -1.19362950e+01] [-3.52566092e-02 9.99197707e-01 1.89977434e-02 -2.15681107e+00] [ 1.19740765e-01 -1.46491045e-02 9.92697110e-01 1.60237529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.929072329 meters Centerline goodness [0,1] 0.6587849499482223 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.16, Z:16.02 [[ 9.92166179e-01 3.72079836e-02 -1.19255353e-01 -1.19360536e+01] [-3.51806973e-02 9.99199184e-01 1.90606856e-02 -2.15762832e+00] [ 1.19869061e-01 -1.47158811e-02 9.92680639e-01 1.60238325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959072329 meters Centerline goodness [0,1] 0.6642244267219952 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.16, Z:16.02 [[ 9.92172683e-01 3.73658745e-02 -1.19151829e-01 -1.19365735e+01] [-3.53042835e-02 9.99188933e-01 1.93670763e-02 -2.15873269e+00] [ 1.19778857e-01 -1.50089141e-02 9.92687140e-01 1.60240588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.989072329 meters Centerline goodness [0,1] 0.6615700248353309 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.16, Z:16.02 [[ 9.92156740e-01 3.72808570e-02 -1.19311109e-01 -1.19359971e+01] [-3.52156919e-02 9.99191972e-01 1.93715989e-02 -2.15962077e+00] [ 1.19936892e-01 -1.50180392e-02 9.92667920e-01 1.60237562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019072329 meters Centerline goodness [0,1] 0.663050056194346 Centerline is valid? [False, False] Translation: X:-11.94, Y:-2.16, Z:16.02 [[ 9.92146163e-01 3.72659169e-02 -1.19403696e-01 -1.19355109e+01] [-3.51996000e-02 9.99192597e-01 1.93685813e-02 -2.16010121e+00] [ 1.20029077e-01 -1.50135013e-02 9.92656847e-01 1.60233946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.049072329 meters Centerline goodness [0,1] 0.6545407357743798 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.16, Z:16.02 [[ 9.92114814e-01 3.73038671e-02 -1.19652065e-01 -1.19348398e+01] [-3.52308481e-02 9.99190985e-01 1.93949134e-02 -2.16079586e+00] [ 1.20278770e-01 -1.50265372e-02 9.92626426e-01 1.60232078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079072329 meters Centerline goodness [0,1] 0.6648280337443219 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.16, Z:16.02 [[ 9.92107429e-01 3.73624676e-02 -1.19695012e-01 -1.19344996e+01] [-3.52862298e-02 9.99188553e-01 1.94195164e-02 -2.16116905e+00] [ 1.20323447e-01 -1.50426608e-02 9.92620767e-01 1.60228559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.109072329 meters Centerline goodness [0,1] 0.6520515318826459 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.16, Z:16.02 [[ 9.92096045e-01 3.74278092e-02 -1.19768934e-01 -1.19344314e+01] [-3.53384690e-02 9.99184708e-01 1.95220855e-02 -2.16173015e+00] [ 1.20401956e-01 -1.51353331e-02 9.92609838e-01 1.60229420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13907232900002 meters Centerline goodness [0,1] 0.6665656521927357 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.16, Z:16.02 [[ 9.92097745e-01 3.74651041e-02 -1.19743186e-01 -1.19345487e+01] [-3.53589742e-02 9.99181161e-01 1.96659839e-02 -2.16292217e+00] [ 1.20381924e-01 -1.52765820e-02 9.92610104e-01 1.60230119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16907232900002 meters Centerline goodness [0,1] 0.6631064602611779 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.16, Z:16.02 [[ 9.92084428e-01 3.73670784e-02 -1.19884067e-01 -1.19342974e+01] [-3.52582685e-02 9.99184753e-01 1.96642965e-02 -2.16356653e+00] [ 1.20521129e-01 -1.52817377e-02 9.92593132e-01 1.60230956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19907232900002 meters Centerline goodness [0,1] 0.6684908394800027 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.16, Z:16.02 [[ 9.92067154e-01 3.77069363e-02 -1.19920591e-01 -1.19349168e+01] [-3.55616802e-02 9.99167743e-01 1.99797177e-02 -2.16444820e+00] [ 1.20574160e-01 -1.55566440e-02 9.92582421e-01 1.60237835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.229072329 meters Centerline goodness [0,1] 0.6647581185316422 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.16, Z:16.02 [[ 9.92062620e-01 3.75723591e-02 -1.20000318e-01 -1.19344966e+01] [-3.54399770e-02 9.99174543e-01 1.98555164e-02 -2.16470353e+00] [ 1.20647281e-01 -1.54451071e-02 9.92575278e-01 1.60235235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259072329 meters Centerline goodness [0,1] 0.6647143999481316 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.17, Z:16.02 [[ 9.92031959e-01 3.76712228e-02 -1.20222588e-01 -1.19339101e+01] [-3.55223513e-02 9.99169373e-01 1.99681631e-02 -2.16548014e+00] [ 1.20874953e-01 -1.55384669e-02 9.92546121e-01 1.60233475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.289072329 meters Centerline goodness [0,1] 0.6642158982786956 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.17, Z:16.02 [[ 9.92025308e-01 3.77908290e-02 -1.20239931e-01 -1.19338059e+01] [-3.56232830e-02 9.99162606e-01 2.01262998e-02 -2.16617433e+00] [ 1.20899832e-01 -1.56824577e-02 9.92540826e-01 1.60231834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319072329 meters Centerline goodness [0,1] 0.6610448019373811 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.17, Z:16.02 [[ 9.91986318e-01 3.77315157e-02 -1.20579754e-01 -1.19328753e+01] [-3.55529711e-02 9.99164258e-01 2.01685678e-02 -2.16714876e+00] [ 1.21239971e-01 -1.57199748e-02 9.92498741e-01 1.60229778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.349072329 meters Centerline goodness [0,1] 0.6619483583317101 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.17, Z:16.02 [[ 9.91985367e-01 3.79309737e-02 -1.20524988e-01 -1.19331202e+01] [-3.57163637e-02 9.99152037e-01 2.04828850e-02 -2.16850486e+00] [ 1.21199723e-01 -1.60140079e-02 9.92498957e-01 1.60230320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379072329 meters Centerline goodness [0,1] 0.6665584837076464 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.17, Z:16.02 [[ 0.9919742 0.03796722 -0.1206055 -11.93306349] [ -0.03573339 0.99914837 0.02063158 -2.16964235] [ 0.12128611 -0.01615635 0.9924861 16.02313393] [ 0. 0. 0. 1. ]] SLAMing on 198.409072329 meters Centerline goodness [0,1] 0.6702723752244554 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.17, Z:16.02 [[ 0.99195891 0.03809693 -0.12069028 -11.93312145] [ -0.03582147 0.9991382 0.02096834 -2.17149036] [ 0.1213851 -0.01647643 0.99246873 16.02335557] [ 0. 0. 0. 1. ]] SLAMing on 198.439072329 meters Centerline goodness [0,1] 0.6646707881198392 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.17, Z:16.02 [[ 0.99195687 0.03793052 -0.12075948 -11.93264574] [ -0.03565822 0.99914499 0.02092319 -2.1721769 ] [ 0.12144986 -0.01644883 0.99246127 16.0229848 ] [ 0. 0. 0. 1. ]] SLAMing on 198.469072329 meters Centerline goodness [0,1] 0.6574271959933511 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.17, Z:16.02 [[ 0.99193848 0.03709495 -0.12116936 -11.92997295] [ -0.0348648 0.99918229 0.02047445 -2.17430062] [ 0.12182978 -0.01608485 0.99242067 16.0211576 ] [ 0. 0. 0. 1. ]] SLAMing on 198.499072329 meters Centerline goodness [0,1] 0.669875608436993 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.18, Z:16.02 [[ 0.99191762 0.03730035 -0.12127701 -11.92996289] [ -0.03502438 0.99916904 0.0208453 -2.17593327] [ 0.12195377 -0.01642916 0.9923998 16.02134873] [ 0. 0. 0. 1. ]] SLAMing on 198.529072329 meters Centerline goodness [0,1] 0.6637380710220511 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.18, Z:16.02 [[ 0.99193192 0.0373504 -0.12114459 -11.93019191] [ -0.03504935 0.99916344 0.02107052 -2.1773916 ] [ 0.12183023 -0.01665449 0.99241122 16.02122385] [ 0. 0. 0. 1. ]] SLAMing on 198.559072329 meters Centerline goodness [0,1] 0.6673737067659409 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.18, Z:16.02 [[ 0.99190438 0.03749312 -0.12132589 -11.93041935] [ -0.0351175 0.99914843 0.02166059 -2.18064372] [ 0.1220347 -0.01722458 0.99237636 16.02199668] [ 0. 0. 0. 1. ]] SLAMing on 198.589072329 meters Centerline goodness [0,1] 0.6728201354773087 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.18, Z:16.02 [[ 0.99189169 0.03743401 -0.12144777 -11.9302593 ] [ -0.03504276 0.99914874 0.02176674 -2.1817576 ] [ 0.1221592 -0.01733438 0.99235913 16.02215941] [ 0. 0. 0. 1. ]] SLAMing on 198.619072329 meters Centerline goodness [0,1] 0.6593817552961522 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.18, Z:16.02 [[ 0.99190056 0.03734352 -0.12140325 -11.93038489] [ -0.03494281 0.99915055 0.02184462 -2.18275862] [ 0.12211588 -0.01742552 0.99236287 16.02220793] [ 0. 0. 0. 1. ]] SLAMing on 198.649072329 meters Centerline goodness [0,1] 0.6683457281217572 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.18, Z:16.02 [[ 0.99188444 0.0374308 -0.12150803 -11.9304312 ] [ -0.03500179 0.99914365 0.02206453 -2.18410353] [ 0.12222987 -0.01763247 0.99234518 16.02246537] [ 0. 0. 0. 1. ]] SLAMing on 198.679072329 meters Centerline goodness [0,1] 0.670015807366666 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.19, Z:16.02 [[ 0.99187096 0.03761104 -0.12156234 -11.93026103] [ -0.0351285 0.99912945 0.02250173 -2.18651799] [ 0.12230283 -0.01804851 0.99232871 16.02230461] [ 0. 0. 0. 1. ]] SLAMing on 198.709072329 meters Centerline goodness [0,1] 0.6663492132204931 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.19, Z:16.02 [[ 0.99186301 0.03761121 -0.12162713 -11.92992088] [ -0.03511108 0.99912706 0.02263468 -2.1878778 ] [ 0.12237227 -0.01818004 0.99231775 16.02204731] [ 0. 0. 0. 1. ]] SLAMing on 198.739072329 meters Centerline goodness [0,1] 0.6596813301004503 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.19, Z:16.02 [[ 0.99181218 0.03740279 -0.12210497 -11.9283108 ] [ -0.03486668 0.99913091 0.02284173 -2.19056235] [ 0.1228532 -0.01839731 0.99225432 16.02144198] [ 0. 0. 0. 1. ]] SLAMing on 198.769072329 meters Centerline goodness [0,1] 0.6621454993834772 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.19, Z:16.02 [[ 0.99179348 0.03743973 -0.12224548 -11.92791998] [ -0.03487736 0.99912611 0.02303458 -2.19199756] [ 0.12300106 -0.01858195 0.99223256 16.0213297 ] [ 0. 0. 0. 1. ]] SLAMing on 198.799072329 meters Centerline goodness [0,1] 0.664639951531937 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.19, Z:16.02 [[ 0.99177456 0.03755207 -0.12236445 -11.9278822 ] [ -0.03496521 0.99911873 0.02322053 -2.1930584 ] [ 0.12312859 -0.01875103 0.99221356 16.02155045] [ 0. 0. 0. 1. ]] SLAMing on 198.829072329 meters Centerline goodness [0,1] 0.6672233911025314 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.19, Z:16.02 [[ 0.99176841 0.03793298 -0.12229685 -11.92866845] [ -0.03529299 0.99909638 0.023682 -2.19457899] [ 0.12308467 -0.01917084 0.99221099 16.02216297] [ 0. 0. 0. 1. ]] SLAMing on 198.859072329 meters Centerline goodness [0,1] 0.6649291662160701 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.20, Z:16.02 [[ 0.99173939 0.03790033 -0.122542 -11.92809828] [ -0.03525544 0.99909772 0.02368105 -2.19526619] [ 0.12332895 -0.01916515 0.99218076 16.02210662] [ 0. 0. 0. 1. ]] SLAMing on 198.88907232900002 meters Centerline goodness [0,1] 0.6585820087487548 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.20, Z:16.02 [[ 0.99169735 0.03818176 -0.12279462 -11.92774059] [ -0.03549667 0.99908203 0.02398108 -2.19655446] [ 0.12359754 -0.01942317 0.99214232 16.02225241] [ 0. 0. 0. 1. ]] SLAMing on 198.91907232900002 meters Centerline goodness [0,1] 0.6717164066050598 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.20, Z:16.02 [[ 0.99169274 0.03805066 -0.12287256 -11.92735878] [ -0.03537606 0.9990888 0.02387685 -2.19694098] [ 0.12366913 -0.01933175 0.99213519 16.02205626] [ 0. 0. 0. 1. ]] SLAMing on 198.94907232900002 meters Centerline goodness [0,1] 0.6671207992733879 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.20, Z:16.02 [[ 0.99167068 0.03812282 -0.12302814 -11.92698327] [ -0.0354331 0.99908436 0.02397786 -2.19786512] [ 0.12382959 -0.01941887 0.99211347 16.02199988] [ 0. 0. 0. 1. ]] SLAMing on 198.979072329 meters Centerline goodness [0,1] 0.6683201559623091 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.20, Z:16.02 [[ 0.99164775 0.03843166 -0.12311678 -11.92738612] [ -0.03569621 0.99906603 0.02434842 -2.19931403] [ 0.12393754 -0.01975025 0.99209345 16.02257865] [ 0. 0. 0. 1. ]] SLAMing on 199.009072329 meters Centerline goodness [0,1] 0.6681812280929508 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.20, Z:16.02 [[ 0.99162665 0.03842899 -0.12328745 -11.92695045] [ -0.03568575 0.99906556 0.02438322 -2.20004218] [ 0.12410927 -0.01977945 0.9920714 16.02255964] [ 0. 0. 0. 1. ]] SLAMing on 199.039072329 meters Centerline goodness [0,1] 0.6662342716305617 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.20, Z:16.02 [[ 0.99158466 0.03857675 -0.12357871 -11.92646822] [ -0.03582015 0.99905907 0.02445197 -2.20038091] [ 0.12440571 -0.01981959 0.99203347 16.02273173] [ 0. 0. 0. 1. ]] SLAMing on 199.069072329 meters Centerline goodness [0,1] 0.6615534400692341 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.20, Z:16.02 [[ 0.9915583 0.03861765 -0.12377732 -11.92590588] [ -0.03586077 0.99905827 0.02442481 -2.20054163] [ 0.12460398 -0.01977987 0.99200938 16.02256157] [ 0. 0. 0. 1. ]] SLAMing on 199.099072329 meters Centerline goodness [0,1] 0.6657684845871955 Centerline is valid? [False, False] Translation: X:-11.93, Y:-2.20, Z:16.02 [[ 0.991515 0.03863307 -0.12411882 -11.92501676] [ -0.03587 0.99905805 0.02442049 -2.20105217] [ 0.12494534 -0.01976114 0.99196681 16.02239121] [ 0. 0. 0. 1. ]] SLAMing on 199.129072329 meters Centerline goodness [0,1] 0.6684703794290168 Centerline is valid? [False, False] Translation: X:-11.92, Y:-2.20, Z:16.02 [[ 0.99150012 0.03880989 -0.12418252 -11.92485864] [ -0.03603091 0.99904915 0.02454724 -2.20151453] [ 0.12501711 -0.01986418 0.99195571 16.02228521] [ 0. 0. 0. 1. ]] SLAMing on 199.159072329 meters Centerline goodness [0,1] 0.6712521359202301 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91579963e-01 4.31550591e-02 -1.22093479e-01 -1.19102166e+01] [-4.13307360e-02 9.98993362e-01 1.74365403e-02 -2.20783863e+00] [ 1.22723050e-01 -1.22435106e-02 9.92365431e-01 1.60194818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.189072329 meters Centerline goodness [0,1] 0.6724586185977988 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91554287e-01 4.34482831e-02 -1.22197967e-01 -1.19105662e+01] [-4.15857513e-02 9.98977215e-01 1.77524628e-02 -2.20864023e+00] [ 1.22844299e-01 -1.25208363e-02 9.92346969e-01 1.60200776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219072329 meters Centerline goodness [0,1] 0.6758118216802871 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91519912e-01 4.35432685e-02 -1.22442832e-01 -1.19102440e+01] [-4.16770203e-02 9.98973222e-01 1.77630958e-02 -2.20881133e+00] [ 1.23090574e-01 -1.25094108e-02 9.92316595e-01 1.60203290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.249072329 meters Centerline goodness [0,1] 0.6692855442287298 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91520021e-01 4.35608154e-02 -1.22435709e-01 -1.19099987e+01] [-4.17034611e-02 9.98973359e-01 1.76931834e-02 -2.20895328e+00] [ 1.23080741e-01 -1.24371528e-02 9.92318723e-01 1.60200095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279072329 meters Centerline goodness [0,1] 0.6692855442287298 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91520021e-01 4.35608154e-02 -1.22435709e-01 -1.19099987e+01] [-4.17034611e-02 9.98973359e-01 1.76931834e-02 -2.20895328e+00] [ 1.23080741e-01 -1.24371528e-02 9.92318723e-01 1.60200095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.309072329 meters Centerline goodness [0,1] 0.6713380479681654 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91500934e-01 4.35006727e-02 -1.22611541e-01 -1.19092061e+01] [-4.16574900e-02 9.98977670e-01 1.75575682e-02 -2.20899102e+00] [ 1.23249958e-01 -1.23006562e-02 9.92299421e-01 1.60195652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339072329 meters Centerline goodness [0,1] 0.6626391234680178 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91469931e-01 4.36951708e-02 -1.22792947e-01 -1.19089996e+01] [-4.18390931e-02 9.98968366e-01 1.76548462e-02 -2.20924448e+00] [ 1.23437701e-01 -1.23667036e-02 9.92275264e-01 1.60197094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.369072329 meters Centerline goodness [0,1] 0.6725684761225328 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91446462e-01 4.36839571e-02 -1.22986277e-01 -1.19082971e+01] [-4.18294040e-02 9.98969344e-01 1.76224486e-02 -2.20950280e+00] [ 1.23629339e-01 -1.23272716e-02 9.92251896e-01 1.60193996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399072329 meters Centerline goodness [0,1] 0.6711804278699518 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91391490e-01 4.40379854e-02 -1.23302759e-01 -1.19080126e+01] [-4.21431075e-02 9.98950594e-01 1.79351505e-02 -2.21065557e+00] [ 1.23963192e-01 -1.25843942e-02 9.92207015e-01 1.60198108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.429072329 meters Centerline goodness [0,1] 0.6659389118263764 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91379026e-01 4.40112555e-02 -1.23412467e-01 -1.19075930e+01] [-4.21273799e-02 9.98953062e-01 1.78343219e-02 -2.21066656e+00] [ 1.24068172e-01 -1.24815288e-02 9.92195193e-01 1.60196281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459072329 meters Centerline goodness [0,1] 0.6657364743548143 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91351996e-01 4.42874915e-02 -1.23530720e-01 -1.19072439e+01] [-4.23894440e-02 9.98939860e-01 1.79524628e-02 -2.21094470e+00] [ 1.24194830e-01 -1.25608113e-02 9.92178346e-01 1.60194224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.489072329 meters Centerline goodness [0,1] 0.6639234201065535 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91323332e-01 4.44946578e-02 -1.23686206e-01 -1.19071546e+01] [-4.25838060e-02 9.98929809e-01 1.80514846e-02 -2.21113572e+00] [ 1.24357033e-01 -1.26278284e-02 9.92157178e-01 1.60196465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519072329 meters Centerline goodness [0,1] 0.672946316563568 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91307557e-01 4.44022690e-02 -1.23845735e-01 -1.19063673e+01] [-4.25080926e-02 9.98935820e-01 1.78966480e-02 -2.21109268e+00] [ 1.24508592e-01 -1.24766364e-02 9.92140083e-01 1.60191293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.549072329 meters Centerline goodness [0,1] 0.671189301480135 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91275541e-01 4.47654712e-02 -1.23971187e-01 -1.19065932e+01] [-4.28471667e-02 9.98917699e-01 1.80983442e-02 -2.21160784e+00] [ 1.24647194e-01 -1.26286318e-02 9.92120756e-01 1.60195702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579072329 meters Centerline goodness [0,1] 0.6718465933685396 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91238273e-01 4.48462552e-02 -1.24239686e-01 -1.19060994e+01] [-4.29239789e-02 9.98914236e-01 1.81075154e-02 -2.21172594e+00] [ 1.24916845e-01 -1.26160006e-02 9.92087001e-01 1.60196930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.609072329 meters Centerline goodness [0,1] 0.6710759138578395 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91200936e-01 4.51091586e-02 -1.24442225e-01 -1.19061648e+01] [-4.31678483e-02 9.98901059e-01 1.82540498e-02 -2.21230973e+00] [ 1.25128896e-01 -1.27215282e-02 9.92058931e-01 1.60202264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63907232900002 meters Centerline goodness [0,1] 0.6700785527255415 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91179735e-01 4.53647163e-02 -1.24518172e-01 -1.19065050e+01] [-4.34041155e-02 9.98887869e-01 1.84148632e-02 -2.21256375e+00] [ 1.25215077e-01 -1.28478381e-02 9.92046429e-01 1.60207263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66907232900002 meters Centerline goodness [0,1] 0.6727308167110648 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91170027e-01 4.54371136e-02 -1.24569038e-01 -1.19063668e+01] [-4.34750572e-02 9.98884586e-01 1.84255962e-02 -2.21282453e+00] [ 1.25267298e-01 -1.28472527e-02 9.92039844e-01 1.60206734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69907232900002 meters Centerline goodness [0,1] 0.6686586554075999 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91150419e-01 4.54784708e-02 -1.24709888e-01 -1.19061104e+01] [-4.35213005e-02 9.98883505e-01 1.83749590e-02 -2.21301841e+00] [ 1.25406315e-01 -1.27848118e-02 9.92023087e-01 1.60206795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.729072329 meters Centerline goodness [0,1] 0.6720610885740937 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91134536e-01 4.58066026e-02 -1.24716021e-01 -1.19060473e+01] [-4.38302272e-02 9.98866827e-01 1.85464859e-02 -2.21329631e+00] [ 1.25424248e-01 -1.29157312e-02 9.92019124e-01 1.60204738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759072329 meters Centerline goodness [0,1] 0.6723414380894697 Centerline is valid? [False, False] Translation: X:-11.91, Y:-2.21, Z:16.02 [[ 9.91112763e-01 4.57848327e-02 -1.24896917e-01 -1.19054032e+01] [-4.38088616e-02 9.98868197e-01 1.85232068e-02 -2.21362782e+00] [ 1.25603640e-01 -1.28869950e-02 9.91996800e-01 1.60202034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.789072329 meters Centerline goodness [0,1] 0.6730003462603877 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.21, Z:16.02 [[ 9.91077164e-01 4.59978879e-02 -1.25100957e-01 -1.19049572e+01] [-4.40023205e-02 9.98856963e-01 1.86698459e-02 -2.21440570e+00] [ 1.25816735e-01 -1.29985256e-02 9.91968340e-01 1.60201782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819072329 meters Centerline goodness [0,1] 0.6847463501277997 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.21, Z:16.02 [[ 9.91052582e-01 4.60652903e-02 -1.25270781e-01 -1.19047264e+01] [-4.40616104e-02 9.98853406e-01 1.87202419e-02 -2.21497261e+00] [ 1.25989500e-01 -1.30331118e-02 9.91945958e-01 1.60203213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.849072329 meters Centerline goodness [0,1] 0.6734715968133009 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.91056422e-01 4.61223396e-02 -1.25219401e-01 -1.19047837e+01] [-4.41121098e-02 9.98850042e-01 1.87807247e-02 -2.21580024e+00] [ 1.25941615e-01 -1.30890659e-02 9.91951302e-01 1.60201972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879072329 meters Centerline goodness [0,1] 0.6668033582975417 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.91034986e-01 4.61674208e-02 -1.25372351e-01 -1.19046285e+01] [-4.41549717e-02 9.98848068e-01 1.87849813e-02 -2.21620590e+00] [ 1.26095184e-01 -1.30807611e-02 9.91931902e-01 1.60204296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.909072329 meters Centerline goodness [0,1] 0.6702090818579283 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.91018452e-01 4.64585459e-02 -1.25395503e-01 -1.19048406e+01] [-4.44145724e-02 9.98831567e-01 1.90485419e-02 -2.21706158e+00] [ 1.26133954e-01 -1.33080689e-02 9.91923949e-01 1.60206211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939072329 meters Centerline goodness [0,1] 0.6735122722644658 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.91009019e-01 4.64683649e-02 -1.25466392e-01 -1.19043789e+01] [-4.44216834e-02 9.98830977e-01 1.90629009e-02 -2.21749501e+00] [ 1.26205541e-01 -1.33180784e-02 9.91914709e-01 1.60202812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.969072329 meters Centerline goodness [0,1] 0.6838789295921018 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.91003748e-01 4.64609982e-02 -1.25510749e-01 -1.19039708e+01] [-4.44118634e-02 9.98831144e-01 1.90770025e-02 -2.21822039e+00] [ 1.26250381e-01 -1.33312148e-02 9.91908826e-01 1.60199085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999072329 meters Centerline goodness [0,1] 0.6704705398323987 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.90976515e-01 4.64283304e-02 -1.25737653e-01 -1.19032798e+01] [-4.43763227e-02 9.98832792e-01 1.90734058e-02 -2.21885290e+00] [ 1.26476438e-01 -1.33215225e-02 9.91880158e-01 1.60197337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.029072329 meters Centerline goodness [0,1] 0.6866178889947181 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.90941858e-01 4.66057168e-02 -1.25944991e-01 -1.19030020e+01] [-4.45127686e-02 9.98820761e-01 1.93830013e-02 -2.22072353e+00] [ 1.26699831e-01 -1.36012671e-02 9.91847850e-01 1.60198559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059072329 meters Centerline goodness [0,1] 0.6754442999566537 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.90932717e-01 4.66001240e-02 -1.26018965e-01 -1.19029639e+01] [-4.44943571e-02 9.98819793e-01 1.94749419e-02 -2.22157338e+00] [ 1.26777771e-01 -1.36912243e-02 9.91836653e-01 1.60199986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.089072329 meters Centerline goodness [0,1] 0.6714922530944343 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.90914690e-01 4.65842438e-02 -1.26166501e-01 -1.19028387e+01] [-4.44752344e-02 9.98820483e-01 1.94832519e-02 -2.22227220e+00] [ 1.26925298e-01 -1.36949558e-02 9.91817734e-01 1.60202592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119072329 meters Centerline goodness [0,1] 0.6741740767183748 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.90909047e-01 4.65825018e-02 -1.26211458e-01 -1.19026149e+01] [-4.44603945e-02 9.98819240e-01 1.95805675e-02 -2.22358817e+00] [ 1.26974544e-01 -1.37911502e-02 9.91810097e-01 1.60201219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.149072329 meters Centerline goodness [0,1] 0.671814086459326 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.22, Z:16.02 [[ 9.90920491e-01 4.66201086e-02 -1.26107680e-01 -1.19027162e+01] [-4.44872192e-02 9.98816120e-01 1.96785714e-02 -2.22448295e+00] [ 1.26875800e-01 -1.38897197e-02 9.91821358e-01 1.60199047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179072329 meters Centerline goodness [0,1] 0.6717628232851829 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90896998e-01 4.66033512e-02 -1.26298328e-01 -1.19022691e+01] [-4.44535032e-02 9.98815441e-01 1.97888914e-02 -2.22562229e+00] [ 1.27070948e-01 -1.39943499e-02 9.91794904e-01 1.60198725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.209072329 meters Centerline goodness [0,1] 0.6850422638735759 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90867915e-01 4.67828618e-02 -1.26460031e-01 -1.19018751e+01] [-4.45899221e-02 9.98802785e-01 2.01180523e-02 -2.22767037e+00] [ 1.27249811e-01 -1.42954896e-02 9.91767677e-01 1.60197544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239072329 meters Centerline goodness [0,1] 0.6848077964266378 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90849036e-01 4.67766708e-02 -1.26610157e-01 -1.19013565e+01] [-4.45675142e-02 9.98801586e-01 2.02269287e-02 -2.22889972e+00] [ 1.27404574e-01 -1.43991328e-02 9.91746308e-01 1.60195114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.269072329 meters Centerline goodness [0,1] 0.6847908498147868 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90832044e-01 4.67721772e-02 -1.26744716e-01 -1.19003394e+01] [-4.45480879e-02 9.98800412e-01 2.03274501e-02 -2.23047377e+00] [ 1.27543434e-01 -1.44948542e-02 9.91727065e-01 1.60186388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299072329 meters Centerline goodness [0,1] 0.671170585942575 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90833117e-01 4.66306928e-02 -1.26788457e-01 -1.18999150e+01] [-4.44172316e-02 9.98808198e-01 2.02309758e-02 -2.23103162e+00] [ 1.27580734e-01 -1.44139285e-02 9.91723447e-01 1.60182661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.329072329 meters Centerline goodness [0,1] 0.6892970206860662 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90815243e-01 4.66965560e-02 -1.26903847e-01 -1.18996842e+01] [-4.44700445e-02 9.98803974e-01 2.03233221e-02 -2.23185225e+00] [ 1.27701095e-01 -1.44932376e-02 9.91706800e-01 1.60182637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359072329 meters Centerline goodness [0,1] 0.6865205800117042 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90790969e-01 4.68110825e-02 -1.27051087e-01 -1.18995273e+01] [-4.45544682e-02 9.98795631e-01 2.05471677e-02 -2.23332324e+00] [ 1.27859905e-01 -1.46972546e-02 9.91683334e-01 1.60184503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38907232900002 meters Centerline goodness [0,1] 0.6736970012585166 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90778897e-01 4.67562624e-02 -1.27165365e-01 -1.18992389e+01] [-4.44977539e-02 9.98798201e-01 2.05451795e-02 -2.23410141e+00] [ 1.27973153e-01 -1.46971572e-02 9.91668728e-01 1.60184529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41907232900002 meters Centerline goodness [0,1] 0.6847675525928492 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90737305e-01 4.69249837e-02 -1.27426991e-01 -1.18989353e+01] [-4.46358028e-02 9.98787542e-01 2.07627456e-02 -2.23534294e+00] [ 1.28246783e-01 -1.48826206e-02 9.91630612e-01 1.60187013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.449072329 meters Centerline goodness [0,1] 0.6831462135333131 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90735666e-01 4.69224678e-02 -1.27440665e-01 -1.18987296e+01] [-4.46294124e-02 9.98787241e-01 2.07909430e-02 -2.23597981e+00] [ 1.28261672e-01 -1.49107268e-02 9.91628264e-01 1.60184477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479072329 meters Centerline goodness [0,1] 0.6733477789815818 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90903202e-01 4.30224467e-02 -1.27514368e-01 -1.18986820e+01] [-4.12259395e-02 9.99010346e-01 1.66957958e-02 -2.23380033e+00] [ 1.28106467e-01 -1.12870179e-02 9.91696192e-01 1.60177567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.509072329 meters Centerline goodness [0,1] 0.6853363354911343 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90906174e-01 4.29568211e-02 -1.27513396e-01 -1.18983482e+01] [-4.11729915e-02 9.99014233e-01 1.65935835e-02 -2.23395706e+00] [ 1.28100505e-01 -1.11925764e-02 9.91698032e-01 1.60173793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539072329 meters Centerline goodness [0,1] 0.6886514369933677 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.23, Z:16.02 [[ 9.90895884e-01 4.31488095e-02 -1.27528537e-01 -1.18985044e+01] [-4.13470177e-02 9.99004545e-01 1.67434454e-02 -2.23456486e+00] [ 1.28124048e-01 -1.13180865e-02 9.91693566e-01 1.60174921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.569072329 meters Centerline goodness [0,1] 0.6927420227149811 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90873591e-01 4.32142491e-02 -1.27679501e-01 -1.18980210e+01] [-4.14064341e-02 9.99001459e-01 1.67807343e-02 -2.23518349e+00] [ 1.28277174e-01 -1.13408337e-02 9.91673511e-01 1.60172744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599072329 meters Centerline goodness [0,1] 0.6917771195052866 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90855707e-01 4.31478733e-02 -1.27840637e-01 -1.18973804e+01] [-4.13490485e-02 9.99005309e-01 1.66927659e-02 -2.23545628e+00] [ 1.28433733e-01 -1.12540336e-02 9.91654236e-01 1.60169270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.629072329 meters Centerline goodness [0,1] 0.6893685190396813 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90835965e-01 4.32576094e-02 -1.27956511e-01 -1.18973145e+01] [-4.14512735e-02 9.99000157e-01 1.67474560e-02 -2.23576917e+00] [ 1.28553030e-01 -1.12900213e-02 9.91638369e-01 1.60170818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659072329 meters Centerline goodness [0,1] 0.6928081969693695 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90813094e-01 4.32924089e-02 -1.28121741e-01 -1.18968961e+01] [-4.14859542e-02 9.98998910e-01 1.67359780e-02 -2.23622135e+00] [ 1.28718020e-01 -1.12669735e-02 9.91617228e-01 1.60169903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.689072329 meters Centerline goodness [0,1] 0.6883417781819756 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90814833e-01 4.35268010e-02 -1.28028843e-01 -1.18974972e+01] [-4.17025417e-02 9.98987193e-01 1.68963471e-02 -2.23655783e+00] [ 1.28634619e-01 -1.14020231e-02 9.91626507e-01 1.60173595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719072329 meters Centerline goodness [0,1] 0.6932735814336126 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90811327e-01 4.36875865e-02 -1.28001210e-01 -1.18978496e+01] [-4.18618347e-02 9.98980121e-01 1.69205474e-02 -2.23672498e+00] [ 1.28609882e-01 -1.14067045e-02 9.91629661e-01 1.60176051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.749072329 meters Centerline goodness [0,1] 0.6932735814336126 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90811327e-01 4.36875865e-02 -1.28001210e-01 -1.18978496e+01] [-4.18618347e-02 9.98980121e-01 1.69205474e-02 -2.23672498e+00] [ 1.28609882e-01 -1.14067045e-02 9.91629661e-01 1.60176051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779072329 meters Centerline goodness [0,1] 0.6964786131688137 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90798066e-01 4.38823098e-02 -1.28037243e-01 -1.18977186e+01] [-4.20508209e-02 9.98971278e-01 1.69739294e-02 -2.23670413e+00] [ 1.28650384e-01 -1.14336652e-02 9.91624097e-01 1.60174718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.809072329 meters Centerline goodness [0,1] 0.6973131094257855 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90792811e-01 4.37828193e-02 -1.28111942e-01 -1.18971919e+01] [-4.19700203e-02 9.98977331e-01 1.68169302e-02 -2.23669240e+00] [ 1.28717219e-01 -1.12852327e-02 9.91617124e-01 1.60170444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839072329 meters Centerline goodness [0,1] 0.7054742547425474 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90770216e-01 4.38181500e-02 -1.28274503e-01 -1.18966802e+01] [-4.20143077e-02 9.98976830e-01 1.67359199e-02 -2.23670915e+00] [ 1.28876594e-01 -1.11920865e-02 9.91597479e-01 1.60168646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.869072329 meters Centerline goodness [0,1] 0.676808800918206 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90763319e-01 4.36849297e-02 -1.28373181e-01 -1.18959675e+01] [-4.19037228e-02 9.98984659e-01 1.65447578e-02 -2.23664917e+00] [ 1.28965595e-01 -1.10126249e-02 9.91587917e-01 1.60163373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899072329 meters Centerline goodness [0,1] 0.6951683305242231 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90769729e-01 4.35683934e-02 -1.28363307e-01 -1.18958821e+01] [-4.18153153e-02 9.98992030e-01 1.63218693e-02 -2.23633409e+00] [ 1.28945038e-01 -1.08036619e-02 9.91592889e-01 1.60162017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.929072329 meters Centerline goodness [0,1] 0.6772238217911805 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90770798e-01 4.35732854e-02 -1.28353394e-01 -1.18958652e+01] [-4.18288135e-02 9.98992525e-01 1.62568306e-02 -2.23640285e+00] [ 1.28932445e-01 -1.07379228e-02 9.91595241e-01 1.60161027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959072329 meters Centerline goodness [0,1] 0.6936806351816196 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90773228e-01 4.35207442e-02 -1.28352465e-01 -1.18955211e+01] [-4.17902639e-02 9.98995937e-01 1.61459464e-02 -2.23658551e+00] [ 1.28926275e-01 -1.06330880e-02 9.91597173e-01 1.60156366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.989072329 meters Centerline goodness [0,1] 0.7012263823886289 Centerline is valid? [False, False] Translation: X:-11.90, Y:-2.24, Z:16.02 [[ 9.90765175e-01 4.34134072e-02 -1.28450942e-01 -1.18950329e+01] [-4.16950829e-02 9.99001661e-01 1.60374838e-02 -2.23688553e+00] [ 1.29018946e-01 -1.05336077e-02 9.91586181e-01 1.60153653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019072329 meters Centerline goodness [0,1] 0.6897119698316032 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.02 [[ 9.90761636e-01 4.33267831e-02 -1.28507476e-01 -1.18948035e+01] [-4.16256929e-02 9.99006834e-01 1.58948948e-02 -2.23689916e+00] [ 1.29068521e-01 -1.03988393e-02 9.91581152e-01 1.60151998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.049072329 meters Centerline goodness [0,1] 0.6978361167067386 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.02 [[ 9.90745278e-01 4.33335670e-02 -1.28631243e-01 -1.18945879e+01] [-4.16255210e-02 9.99006143e-01 1.59386729e-02 -2.23759491e+00] [ 1.29194081e-01 -1.04368224e-02 9.91564401e-01 1.60152786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079072329 meters Centerline goodness [0,1] 0.6974877199056543 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.02 [[ 9.90745997e-01 4.32262937e-02 -1.28661797e-01 -1.18943896e+01] [-4.15331316e-02 9.99011953e-01 1.58151076e-02 -2.23782483e+00] [ 1.29218301e-01 -1.03250272e-02 9.91562416e-01 1.60151203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.109072329 meters Centerline goodness [0,1] 0.6980614800103617 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90740076e-01 4.31656100e-02 -1.28727743e-01 -1.18940147e+01] [-4.14749574e-02 9.99014819e-01 1.57866634e-02 -2.23823560e+00] [ 1.29282364e-01 -1.03015024e-02 9.91554310e-01 1.60148736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13907232900002 meters Centerline goodness [0,1] 0.7069511296127662 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90734698e-01 4.33587808e-02 -1.28704215e-01 -1.18942317e+01] [-4.16395027e-02 9.99004252e-01 1.60205027e-02 -2.23909648e+00] [ 1.29270688e-01 -1.05128884e-02 9.91553614e-01 1.60149069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16907232900002 meters Centerline goodness [0,1] 0.6966401452910145 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90718407e-01 4.32105490e-02 -1.28879348e-01 -1.18936517e+01] [-4.15054305e-02 9.99011944e-01 1.58881977e-02 -2.23939855e+00] [ 1.29438546e-01 -1.03915371e-02 9.91532994e-01 1.60147187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199072329 meters Centerline goodness [0,1] 0.6966401452910145 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90718407e-01 4.32105490e-02 -1.28879348e-01 -1.18936517e+01] [-4.15054305e-02 9.99011944e-01 1.58881977e-02 -2.23939855e+00] [ 1.29438546e-01 -1.03915371e-02 9.91532994e-01 1.60147187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.229072329 meters Centerline goodness [0,1] 0.6956022530329289 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90713408e-01 4.32208523e-02 -1.28914317e-01 -1.18933979e+01] [-4.15099159e-02 9.99011083e-01 1.59305828e-02 -2.24012389e+00] [ 1.29475365e-01 -1.04314195e-02 9.91527768e-01 1.60144675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259072329 meters Centerline goodness [0,1] 0.7010418467923223 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90700894e-01 4.30124466e-02 -1.29080082e-01 -1.18926322e+01] [-4.13088380e-02 9.99020736e-01 1.58477068e-02 -2.24104682e+00] [ 1.29635327e-01 -1.03681891e-02 9.91507530e-01 1.60140928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.289072329 meters Centerline goodness [0,1] 0.6972082261098977 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90699520e-01 4.28825989e-02 -1.29133820e-01 -1.18922918e+01] [-4.11876755e-02 9.99026989e-01 1.57686289e-02 -2.24163504e+00] [ 1.29684371e-01 -1.03032512e-02 9.91501794e-01 1.60138629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319072329 meters Centerline goodness [0,1] 0.6956634472029559 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90697890e-01 4.26467861e-02 -1.29224388e-01 -1.18914753e+01] [-4.09768109e-02 9.99039000e-01 1.55555972e-02 -2.24189636e+00] [ 1.29763600e-01 -1.01156940e-02 9.91493359e-01 1.60132329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.349072329 meters Centerline goodness [0,1] 0.6954525768731052 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90696411e-01 4.25753896e-02 -1.29259265e-01 -1.18911812e+01] [-4.09100871e-02 9.99042404e-01 1.55125679e-02 -2.24207370e+00] [ 1.29795941e-01 -1.00802375e-02 9.91489487e-01 1.60129903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379072329 meters Centerline goodness [0,1] 0.6939040769464062 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90706205e-01 4.24920919e-02 -1.29211598e-01 -1.18910067e+01] [-4.08417723e-02 9.99046995e-01 1.53964464e-02 -2.24218555e+00] [ 1.29742686e-01 -9.97612433e-03 9.91497510e-01 1.60126259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.409072329 meters Centerline goodness [0,1] 0.6989614147215685 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90692219e-01 4.23700793e-02 -1.29358816e-01 -1.18907456e+01] [-4.07296152e-02 9.99053026e-01 1.53019578e-02 -2.24252171e+00] [ 1.29884661e-01 -9.89079573e-03 9.91479776e-01 1.60127297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439072329 meters Centerline goodness [0,1] 0.6936886274170524 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90699937e-01 4.23474523e-02 -1.29307104e-01 -1.18907734e+01] [-4.06957322e-02 9.99053048e-01 1.53904297e-02 -2.24351362e+00] [ 1.29836402e-01 -9.98505042e-03 9.91485152e-01 1.60125923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.469072329 meters Centerline goodness [0,1] 0.6976819546760569 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90700333e-01 4.21842010e-02 -1.29357426e-01 -1.18903065e+01] [-4.05405179e-02 9.99060522e-01 1.53146629e-02 -2.24398717e+00] [ 1.29881934e-01 -9.92802464e-03 9.91479762e-01 1.60122199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499072329 meters Centerline goodness [0,1] 0.6993407543499406 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90697641e-01 4.19881147e-02 -1.29441813e-01 -1.18896784e+01] [-4.03625878e-02 9.99070131e-01 1.51570090e-02 -2.24428466e+00] [ 1.29957863e-01 -9.79140653e-03 9.91471171e-01 1.60117480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.529072329 meters Centerline goodness [0,1] 0.6999156884363448 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90694850e-01 4.17295302e-02 -1.29546752e-01 -1.18885945e+01] [-4.01336273e-02 9.99083123e-01 1.49065215e-02 -2.24439125e+00] [ 1.30050016e-01 -9.56863299e-03 9.91461262e-01 1.60108443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559072329 meters Centerline goodness [0,1] 0.694344684349444 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90682775e-01 4.15038456e-02 -1.29711486e-01 -1.18872342e+01] [-3.99346365e-02 9.99094503e-01 1.46764756e-02 -2.24454955e+00] [ 1.30203163e-01 -9.35975056e-03 9.91443156e-01 1.60097311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.589072329 meters Centerline goodness [0,1] 0.6923243336794739 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90696769e-01 4.12906468e-02 -1.29672643e-01 -1.18867991e+01] [-3.97435948e-02 9.99104745e-01 1.44967368e-02 -2.24454958e+00] [ 1.30155133e-01 -9.20821332e-03 9.91450881e-01 1.60091641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619072329 meters Centerline goodness [0,1] 0.689225712988389 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.25, Z:16.01 [[ 9.90686778e-01 4.11948114e-02 -1.29779412e-01 -1.18863845e+01] [-3.96549145e-02 9.99109257e-01 1.44284675e-02 -2.24502191e+00] [ 1.30258190e-01 -9.14770052e-03 9.91437907e-01 1.60089907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.649072329 meters Centerline goodness [0,1] 0.6979569776240406 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.25, Z:16.01 [[ 9.90687879e-01 4.12527994e-02 -1.29752584e-01 -1.18870391e+01] [-3.97086830e-02 9.99106575e-01 1.44662413e-02 -2.24555345e+00] [ 1.30233433e-01 -9.17922566e-03 9.91440868e-01 1.60096395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679072329 meters Centerline goodness [0,1] 0.6994190835392552 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.25, Z:16.01 [[ 9.90695663e-01 4.13220389e-02 -1.29671097e-01 -1.18873399e+01] [-3.97760316e-02 9.99103538e-01 1.44909188e-02 -2.24550131e+00] [ 1.30153646e-01 -9.19828875e-03 9.91451169e-01 1.60097373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.709072329 meters Centerline goodness [0,1] 0.6978113566990669 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.25, Z:16.01 [[ 9.90692972e-01 4.11131648e-02 -1.29758018e-01 -1.18869746e+01] [-3.96026120e-02 9.99114586e-01 1.42013056e-02 -2.24504335e+00] [ 1.30226989e-01 -8.93037719e-03 9.91443987e-01 1.60096281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739072329 meters Centerline goodness [0,1] 0.6952713028131121 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90689086e-01 4.07876185e-02 -1.29890357e-01 -1.18858184e+01] [-3.93225494e-02 9.99130924e-01 1.38251247e-02 -2.24443015e+00] [ 1.30341366e-01 -8.58878020e-03 9.91431975e-01 1.60087388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.769072329 meters Centerline goodness [0,1] 0.6991959777214312 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90691764e-01 4.08849472e-02 -1.29839324e-01 -1.18858611e+01] [-3.94155767e-02 9.99126670e-01 1.38675552e-02 -2.24438359e+00] [ 1.30292905e-01 -8.62078093e-03 9.91438067e-01 1.60086064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799072329 meters Centerline goodness [0,1] 0.6969448165593535 Centerline is valid? [False, False] Translation: X:-11.89, Y:-2.24, Z:16.01 [[ 9.90678674e-01 4.06465717e-02 -1.30013925e-01 -1.18850408e+01] [-3.92006397e-02 9.99137954e-01 1.36623424e-02 -2.24451294e+00] [ 1.30457174e-01 -8.43836227e-03 9.91418035e-01 1.60081314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.829072329 meters Centerline goodness [0,1] 0.6900382562085288 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.24, Z:16.01 [[ 9.90663082e-01 4.04904114e-02 -1.30181354e-01 -1.18843645e+01] [-3.90627127e-02 9.99145523e-01 1.35029008e-02 -2.24470391e+00] [ 1.30616855e-01 -8.29158852e-03 9.91398248e-01 1.60077908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859072329 meters Centerline goodness [0,1] 0.6859952452993301 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90654366e-01 4.04818396e-02 -1.30250329e-01 -1.18840930e+01] [-3.90421351e-02 9.99145160e-01 1.35890061e-02 -2.24563020e+00] [ 1.30689094e-01 -8.37675723e-03 9.91388012e-01 1.60076898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88907232900002 meters Centerline goodness [0,1] 0.6969001148105626 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90658305e-01 4.05849929e-02 -1.30188250e-01 -1.18844908e+01] [-3.91402577e-02 9.99140655e-01 1.36379052e-02 -2.24567824e+00] [ 1.30629868e-01 -8.41490241e-03 9.91395495e-01 1.60079224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91907232900002 meters Centerline goodness [0,1] 0.6946673877771768 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90656350e-01 4.04357995e-02 -1.30249541e-01 -1.18841472e+01] [-3.90064668e-02 9.99147660e-01 1.35073830e-02 -2.24588116e+00] [ 1.30684706e-01 -8.30060029e-03 9.91389231e-01 1.60077170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.949072329 meters Centerline goodness [0,1] 0.7003805240854449 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90670013e-01 4.04754864e-02 -1.30133239e-01 -1.18843189e+01] [-3.90347875e-02 9.99145247e-01 1.36037218e-02 -2.24641426e+00] [ 1.30572624e-01 -8.39707597e-03 9.91403187e-01 1.60076243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979072329 meters Centerline goodness [0,1] 0.695095902824225 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90661525e-01 4.02677442e-02 -1.30262245e-01 -1.18838666e+01] [-3.88531431e-02 9.99155296e-01 1.33838923e-02 -2.24632679e+00] [ 1.30691152e-01 -8.19780954e-03 9.91389237e-01 1.60074834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.009072329 meters Centerline goodness [0,1] 0.6883442686221536 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90652546e-01 4.01102483e-02 -1.30379064e-01 -1.18833983e+01] [-3.87084326e-02 9.99162440e-01 1.32693566e-02 -2.24676940e+00] [ 1.30802101e-01 -8.09855273e-03 9.91375420e-01 1.60072318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039072329 meters Centerline goodness [0,1] 0.6861576982019901 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90645273e-01 4.04510390e-02 -1.30329031e-01 -1.18841013e+01] [-3.90026082e-02 9.99145899e-01 1.36480734e-02 -2.24751232e+00] [ 1.30769796e-01 -8.43722730e-03 9.91376858e-01 1.60077996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.069072329 meters Centerline goodness [0,1] 0.6959567567567568 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90635573e-01 4.07371214e-02 -1.30313655e-01 -1.18846084e+01] [-3.92426713e-02 9.99131397e-01 1.40165725e-02 -2.24880433e+00] [ 1.30771459e-01 -8.77145938e-03 9.91373737e-01 1.60082374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099072329 meters Centerline goodness [0,1] 0.7015326002251276 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90636578e-01 4.06787035e-02 -1.30324260e-01 -1.18843896e+01] [-3.91875042e-02 9.99133971e-01 1.39874147e-02 -2.24937789e+00] [ 1.30780385e-01 -8.74936222e-03 9.91372755e-01 1.60079592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.129072329 meters Centerline goodness [0,1] 0.6934135885333218 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90619715e-01 4.06024254e-02 -1.30476143e-01 -1.18839069e+01] [-3.91104562e-02 9.99137121e-01 1.39780459e-02 -2.25022232e+00] [ 1.30931100e-01 -8.74394639e-03 9.91352909e-01 1.60078118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159072329 meters Centerline goodness [0,1] 0.6864307931570762 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90609423e-01 4.04705867e-02 -1.30595185e-01 -1.18833215e+01] [-3.89983020e-02 9.99143807e-01 1.38125348e-02 -2.25027386e+00] [ 1.31042372e-01 -8.58983663e-03 9.91339554e-01 1.60074513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.189072329 meters Centerline goodness [0,1] 0.6955272255834053 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90623079e-01 4.04547872e-02 -1.30496455e-01 -1.18833700e+01] [-3.89923509e-02 9.99144991e-01 1.37434793e-02 -2.25030973e+00] [ 1.30940869e-01 -8.52624420e-03 9.91353515e-01 1.60072202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219072329 meters Centerline goodness [0,1] 0.6993406118257486 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90632452e-01 4.02264517e-02 -1.30495892e-01 -1.18826389e+01] [-3.88042639e-02 9.99156658e-01 1.34239015e-02 -2.24979550e+00] [ 1.30925836e-01 -8.23435542e-03 9.91357968e-01 1.60064431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.249072329 meters Centerline goodness [0,1] 0.6942307692307692 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90615075e-01 4.01352160e-02 -1.30655801e-01 -1.18821976e+01] [-3.87331167e-02 9.99161662e-01 1.32558971e-02 -2.24961174e+00] [ 1.31078296e-01 -8.07078513e-03 9.91339166e-01 1.60063358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279072329 meters Centerline goodness [0,1] 0.7144620849487752 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90613822e-01 4.02529109e-02 -1.30629086e-01 -1.18822007e+01] [-3.88498402e-02 9.99156909e-01 1.32725819e-02 -2.24960481e+00] [ 1.31053214e-01 -8.07308399e-03 9.91342464e-01 1.60061847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.309072329 meters Centerline goodness [0,1] 0.7030363192990785 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.00 [[ 9.90591621e-01 3.97389296e-02 -1.30954415e-01 -1.18801653e+01] [-3.84086620e-02 9.99181796e-01 1.26694181e-02 -2.24912855e+00] [ 1.31350736e-01 -7.52043559e-03 9.91307433e-01 1.60047941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339072329 meters Centerline goodness [0,1] 0.6932514009996322 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.00 [[ 9.90592988e-01 3.97884265e-02 -1.30929039e-01 -1.18802547e+01] [-3.84694735e-02 9.99180476e-01 1.25887140e-02 -2.24866462e+00] [ 1.31322625e-01 -7.43352065e-03 9.91311813e-01 1.60047724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.369072329 meters Centerline goodness [0,1] 0.7101879113266367 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90586638e-01 3.98850212e-02 -1.30947688e-01 -1.18805851e+01] [-3.85705660e-02 9.99176940e-01 1.25600239e-02 -2.24832848e+00] [ 1.31340867e-01 -7.39106535e-03 9.91309714e-01 1.60051571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399072329 meters Centerline goodness [0,1] 0.7183128993265412 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.00 [[ 9.90575280e-01 3.97712229e-02 -1.31068171e-01 -1.18801060e+01] [-3.84908226e-02 9.99183386e-01 1.22889323e-02 -2.24751843e+00] [ 1.31449885e-01 -7.12819082e-03 9.91297189e-01 1.60049253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.429072329 meters Centerline goodness [0,1] 0.7196796338672768 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.01 [[ 9.90560972e-01 3.98895929e-02 -1.31140308e-01 -1.18802028e+01] [-3.86410010e-02 9.99180463e-01 1.20530023e-02 -2.24597806e+00] [ 1.31513624e-01 -6.87184085e-03 9.91290545e-01 1.60052029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459072329 meters Centerline goodness [0,1] 0.7264642880325421 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.25, Z:16.00 [[ 9.90556491e-01 3.99257152e-02 -1.31163163e-01 -1.18799344e+01] [-3.86960090e-02 9.99180027e-01 1.19118380e-02 -2.24518276e+00] [ 1.31531202e-01 -6.72385753e-03 9.91289228e-01 1.60049434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.489072329 meters Centerline goodness [0,1] 0.7034083295511033 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.24, Z:16.00 [[ 9.90536442e-01 3.99628403e-02 -1.31303196e-01 -1.18791003e+01] [-3.87798780e-02 9.99180964e-01 1.15551408e-02 -2.24341944e+00] [ 1.31657430e-01 -6.35386613e-03 9.91274911e-01 1.60043493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519072329 meters Centerline goodness [0,1] 0.7238008736646339 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.24, Z:16.00 [[ 9.90530249e-01 3.98841649e-02 -1.31373816e-01 -1.18784771e+01] [-3.87350825e-02 9.99185715e-01 1.12915720e-02 -2.24262330e+00] [ 1.31717195e-01 -6.09586802e-03 9.91268592e-01 1.60038455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.549072329 meters Centerline goodness [0,1] 0.7103469171337676 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.24, Z:16.00 [[ 9.90540726e-01 3.98732628e-02 -1.31298109e-01 -1.18783689e+01] [-3.87556793e-02 9.99187538e-01 1.10571937e-02 -2.24151872e+00] [ 1.31632321e-01 -5.86405328e-03 9.91281264e-01 1.60034740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579072329 meters Centerline goodness [0,1] 0.737495136397043 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.24, Z:16.00 [[ 9.90526294e-01 4.01073330e-02 -1.31335685e-01 -1.18784705e+01] [-3.90290095e-02 9.99179978e-01 1.07753191e-02 -2.23948701e+00] [ 1.31660157e-01 -5.54733519e-03 9.91279391e-01 1.60036200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.609072329 meters Centerline goodness [0,1] 0.7443267776096822 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.24, Z:16.00 [[ 9.90516945e-01 3.99822849e-02 -1.31444279e-01 -1.18778990e+01] [-3.89581844e-02 9.99187191e-01 1.03545404e-02 -2.23786708e+00] [ 1.31751438e-01 -5.13551724e-03 9.91269481e-01 1.60032585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63907232900002 meters Centerline goodness [0,1] 0.7423469387755102 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.24, Z:16.00 [[ 9.90504515e-01 3.97466395e-02 -1.31609311e-01 -1.18770640e+01] [-3.87804811e-02 9.99198740e-01 9.89709989e-03 -2.23638746e+00] [ 1.31897234e-01 -4.69924975e-03 9.91252257e-01 1.60028438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66907232900002 meters Centerline goodness [0,1] 0.7478119584055459 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.23, Z:16.00 [[ 9.90493577e-01 3.99467233e-02 -1.31631053e-01 -1.18769841e+01] [-3.90039356e-02 9.99191645e-01 9.73390759e-03 -2.23490727e+00] [ 1.31913486e-01 -4.50724383e-03 9.91250986e-01 1.60027183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699072329 meters Centerline goodness [0,1] 0.7509174906092138 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.23, Z:16.00 [[ 9.90295247e-01 4.44693676e-02 -1.31673076e-01 -1.18766585e+01] [-4.30332123e-02 9.98979240e-01 1.37339349e-02 -2.23453161e+00] [ 1.32149409e-01 -7.93433506e-03 9.91198053e-01 1.60030942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.729072329 meters Centerline goodness [0,1] 0.7555695487905503 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.23, Z:16.00 [[ 9.90282402e-01 4.45850893e-02 -1.31730539e-01 -1.18764369e+01] [-4.31785363e-02 9.98975940e-01 1.35161283e-02 -2.23317057e+00] [ 1.32198257e-01 -7.69685211e-03 9.91193412e-01 1.60029351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759072329 meters Centerline goodness [0,1] 0.7768983213012091 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.23, Z:16.00 [[ 9.90286201e-01 4.47018185e-02 -1.31662396e-01 -1.18764976e+01] [-4.33440737e-02 9.98973504e-01 1.31616482e-02 -2.23089016e+00] [ 1.32115595e-01 -7.32701396e-03 9.91207236e-01 1.60028031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.789072329 meters Centerline goodness [0,1] 0.7652360422037827 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.23, Z:16.00 [[ 9.90278979e-01 4.44863271e-02 -1.31789647e-01 -1.18756782e+01] [-4.31842534e-02 9.98986108e-01 1.27230359e-02 -2.22972570e+00] [ 1.32222028e-01 -6.90811747e-03 9.91196052e-01 1.60022411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819072329 meters Centerline goodness [0,1] 0.7253206733596115 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.23, Z:16.00 [[ 9.90294815e-01 4.45476302e-02 -1.31649869e-01 -1.18758030e+01] [-4.32713439e-02 9.98984643e-01 1.25409237e-02 -2.22864796e+00] [ 1.32074866e-01 -6.72254498e-03 9.91216948e-01 1.60019692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.849072329 meters Centerline goodness [0,1] 0.7910639595677936 Centerline is valid? [False, False] Translation: X:-11.88, Y:-2.23, Z:16.00 [[ 9.90300273e-01 4.44581478e-02 -1.31639059e-01 -1.18754158e+01] [-4.32183866e-02 9.98990405e-01 1.22614294e-02 -2.22770252e+00] [ 1.32051277e-01 -6.45326917e-03 9.91221880e-01 1.60015009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879072329 meters Centerline goodness [0,1] 0.7926248232350701 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.23, Z:16.00 [[ 9.90302534e-01 4.42354237e-02 -1.31697071e-01 -1.18746845e+01] [-4.30468591e-02 9.99002660e-01 1.18597348e-02 -2.22661188e+00] [ 1.32090344e-01 -6.07558013e-03 9.91219062e-01 1.60008940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.909072329 meters Centerline goodness [0,1] 0.782004134479382 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.23, Z:16.00 [[ 9.90292573e-01 4.42160125e-02 -1.31778463e-01 -1.18741724e+01] [-4.30713784e-02 9.99005518e-01 1.15252091e-02 -2.22500272e+00] [ 1.32157011e-01 -5.73744891e-03 9.91212190e-01 1.60005511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939072329 meters Centerline goodness [0,1] 0.7828443322305415 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90298982e-01 4.40147014e-02 -1.31797695e-01 -1.18737389e+01] [-4.29159938e-02 9.99016278e-01 1.11666457e-02 -2.22424665e+00] [ 1.32159539e-01 -5.40208885e-03 9.91213738e-01 1.60001533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.969072329 meters Centerline goodness [0,1] 0.7874747123186356 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90295732e-01 4.40048698e-02 -1.31825397e-01 -1.18738282e+01] [-4.29251507e-02 9.99017486e-01 1.10224653e-02 -2.22387222e+00] [ 1.32180919e-01 -5.25687529e-03 9.91211668e-01 1.60003321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999072329 meters Centerline goodness [0,1] 0.8144762899610455 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90286674e-01 4.41559392e-02 -1.31842924e-01 -1.18743137e+01] [-4.30853356e-02 9.99011240e-01 1.09633943e-02 -2.22303852e+00] [ 1.32196662e-01 -5.17640669e-03 9.91209992e-01 1.60009044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.029072329 meters Centerline goodness [0,1] 0.7946341144983354 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90292910e-01 4.39841139e-02 -1.31853517e-01 -1.18739664e+01] [-4.29503627e-02 9.99020172e-01 1.06753116e-02 -2.22260165e+00] [ 1.32193867e-01 -4.90852898e-03 9.91211727e-01 1.60005683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059072329 meters Centerline goodness [0,1] 0.7939045878744371 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90285919e-01 4.37340374e-02 -1.31989139e-01 -1.18730726e+01] [-4.27434658e-02 9.99032673e-01 1.03302439e-02 -2.22198802e+00] [ 1.32313246e-01 -4.58822185e-03 9.91197333e-01 1.59999690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.089072329 meters Centerline goodness [0,1] 0.7939045878744371 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90285919e-01 4.37340374e-02 -1.31989139e-01 -1.18730726e+01] [-4.27434658e-02 9.99032673e-01 1.03302439e-02 -2.22198802e+00] [ 1.32313246e-01 -4.58822185e-03 9.91197333e-01 1.59999690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119072329 meters Centerline goodness [0,1] 0.7879223267154302 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90284840e-01 4.34002068e-02 -1.32107371e-01 -1.18717342e+01] [-4.24681677e-02 9.99049107e-01 9.86587803e-03 -2.22130943e+00] [ 1.32409932e-01 -4.15967147e-03 9.91186313e-01 1.59987858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.149072329 meters Centerline goodness [0,1] 0.7820225696331891 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90284928e-01 4.30674489e-02 -1.32215564e-01 -1.18707344e+01] [-4.21750816e-02 9.99064653e-01 9.54364377e-03 -2.22097251e+00] [ 1.32502917e-01 -3.87472438e-03 9.91175042e-01 1.59979963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179072329 meters Centerline goodness [0,1] 0.801748700437175 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90281057e-01 4.29591738e-02 -1.32279771e-01 -1.18698613e+01] [-4.20889560e-02 9.99069939e-01 9.36895580e-03 -2.22103949e+00] [ 1.32559225e-01 -3.71038201e-03 9.91168142e-01 1.59971563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.209072329 meters Centerline goodness [0,1] 0.8237608695652174 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90274016e-01 4.27338651e-02 -1.32405403e-01 -1.18692402e+01] [-4.18911414e-02 9.99080327e-01 9.14505812e-03 -2.22107899e+00] [ 1.32674437e-01 -3.50949998e-03 9.91153458e-01 1.59968266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239072329 meters Centerline goodness [0,1] 0.8424098692369617 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90291950e-01 4.28152756e-02 -1.32244874e-01 -1.18696938e+01] [-4.19632029e-02 9.99076571e-01 9.22468047e-03 -2.22126307e+00] [ 1.32517713e-01 -3.58570831e-03 9.91174151e-01 1.59969198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.269072329 meters Centerline goodness [0,1] 0.8182471108015757 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90303528e-01 4.26499649e-02 -1.32211585e-01 -1.18697735e+01] [-4.18064104e-02 9.99083823e-01 9.15089479e-03 -2.22169421e+00] [ 1.32480742e-01 -3.53487159e-03 9.91179276e-01 1.59969785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299072329 meters Centerline goodness [0,1] 0.7951878062057702 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90290904e-01 4.26412633e-02 -1.32308915e-01 -1.18694637e+01] [-4.17931343e-02 9.99084094e-01 9.18189976e-03 -2.22226355e+00] [ 1.32579260e-01 -3.56314758e-03 9.91166002e-01 1.59968345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.329072329 meters Centerline goodness [0,1] 0.8443763314638494 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90284840e-01 4.24240080e-02 -1.32424086e-01 -1.18689995e+01] [-4.15959760e-02 9.99093849e-01 9.01422892e-03 -2.22248240e+00] [ 1.32686510e-01 -3.41834513e-03 9.91152160e-01 1.59966230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359072329 meters Centerline goodness [0,1] 0.8067086409031697 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90290907e-01 4.20476259e-02 -1.32498741e-01 -1.18680115e+01] [-4.12537399e-02 9.99110542e-01 8.73233016e-03 -2.22260521e+00] [ 1.32748063e-01 -3.18147854e-03 9.91144707e-01 1.59957658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38907232900002 meters Centerline goodness [0,1] 0.8333551169781728 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90269004e-01 4.21561318e-02 -1.32627903e-01 -1.18678064e+01] [-4.13260599e-02 9.99105121e-01 9.00633238e-03 -2.22408549e+00] [ 1.32888889e-01 -3.43770312e-03 9.91124980e-01 1.59957812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41907232900002 meters Centerline goodness [0,1] 0.822799686602246 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.22, Z:16.00 [[ 9.90271711e-01 4.20679452e-02 -1.32635693e-01 -1.18675886e+01] [-4.12444854e-02 9.99108990e-01 8.95094720e-03 -2.22448478e+00] [ 1.32894061e-01 -3.39337888e-03 9.91124439e-01 1.59955554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.449072329 meters Centerline goodness [0,1] 0.8436813605027945 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.23, Z:16.00 [[ 9.90240307e-01 4.18975577e-02 -1.32923768e-01 -1.18668301e+01] [-4.10845462e-02 9.99116439e-01 8.85443595e-03 -2.22511509e+00] [ 1.33177301e-01 -3.30690669e-03 9.91086712e-01 1.59954480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479072329 meters Centerline goodness [0,1] 0.7770080386902817 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.23, Z:16.00 [[ 9.90256933e-01 4.19496451e-02 -1.32783411e-01 -1.18671247e+01] [-4.11233231e-02 9.99113897e-01 8.96058893e-03 -2.22562483e+00] [ 1.33041645e-01 -3.41279019e-03 9.91104572e-01 1.59953825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.509072329 meters Centerline goodness [0,1] 0.8015408387560121 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.23, Z:15.99 [[ 9.90230466e-01 4.18153065e-02 -1.33022946e-01 -1.18660930e+01] [-4.09953559e-02 9.99119715e-01 8.89806448e-03 -2.22634027e+00] [ 1.33277924e-01 -3.35781151e-03 9.91073015e-01 1.59948579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539072329 meters Centerline goodness [0,1] 0.8385551612271114 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.23, Z:15.99 [[ 9.90237480e-01 4.17768630e-02 -1.32982810e-01 -1.18659043e+01] [-4.09631031e-02 9.99121461e-01 8.85046998e-03 -2.22657803e+00] [ 1.33235724e-01 -3.31667853e-03 9.91078827e-01 1.59944752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.569072329 meters Centerline goodness [0,1] 0.8519365162301613 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.23, Z:15.99 [[ 9.90242482e-01 4.15640456e-02 -1.33012243e-01 -1.18651691e+01] [-4.07731057e-02 9.99130851e-01 8.66581022e-03 -2.22676708e+00] [ 1.33256822e-01 -3.15793116e-03 9.91076509e-01 1.59937610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599072329 meters Centerline goodness [0,1] 0.8183281141266527 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90243910e-01 4.14818163e-02 -1.33027284e-01 -1.18647336e+01] [-4.06787851e-02 9.99133963e-01 8.74987656e-03 -2.22786643e+00] [ 1.33275038e-01 -3.25312370e-03 9.91073752e-01 1.59933428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.629072329 meters Centerline goodness [0,1] 0.8183673912571392 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90227083e-01 4.14117027e-02 -1.33174306e-01 -1.18643488e+01] [-4.06070366e-02 9.99136848e-01 8.75372047e-03 -2.22867969e+00] [ 1.33421863e-01 -3.26035716e-03 9.91053973e-01 1.59932678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659072329 meters Centerline goodness [0,1] 0.8352508753996389 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90234985e-01 4.14772083e-02 -1.33095139e-01 -1.18646284e+01] [-4.06556081e-02 9.99133706e-01 8.88590925e-03 -2.22925437e+00] [ 1.33348402e-01 -3.38807440e-03 9.91063431e-01 1.59933498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.689072329 meters Centerline goodness [0,1] 0.8218752038974314 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90219933e-01 4.14745851e-02 -1.33207896e-01 -1.18646156e+01] [-4.06460229e-02 9.99133662e-01 8.93454531e-03 -2.22986427e+00] [ 1.33463049e-01 -3.43279366e-03 9.91047845e-01 1.59936350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719072329 meters Centerline goodness [0,1] 0.8373960736516781 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90238247e-01 4.14887344e-02 -1.33067269e-01 -1.18649449e+01] [-4.06613246e-02 9.99133075e-01 8.93058058e-03 -2.22989718e+00] [ 1.33322429e-01 -3.43271102e-03 9.91066772e-01 1.59936050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.749072329 meters Centerline goodness [0,1] 0.8047124861301482 Centerline is valid? [False, False] Translation: X:-11.87, Y:-2.23, Z:15.99 [[ 9.90243098e-01 4.14244967e-02 -1.33051183e-01 -1.18650001e+01] [-4.06130636e-02 9.99136127e-01 8.80792816e-03 -2.22982568e+00] [ 1.33301108e-01 -3.31837392e-03 9.91070029e-01 1.59937118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779072329 meters Centerline goodness [0,1] 0.8339453727646075 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90230299e-01 4.12479033e-02 -1.33201221e-01 -1.18644760e+01] [-4.04630687e-02 9.99144068e-01 8.59482565e-03 -2.22958602e+00] [ 1.33441728e-01 -3.12112663e-03 9.91051746e-01 1.59935207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.809072329 meters Centerline goodness [0,1] 0.8153688925612647 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90239895e-01 4.12667483e-02 -1.33124025e-01 -1.18644338e+01] [-4.04899057e-02 9.99143464e-01 8.53851805e-03 -2.22956987e+00] [ 1.33362357e-01 -3.06500198e-03 9.91062605e-01 1.59932479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839072329 meters Centerline goodness [0,1] 0.8312027132794156 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90250051e-01 4.11779942e-02 -1.33075951e-01 -1.18639433e+01] [-4.04329349e-02 9.99147802e-01 8.29741577e-03 -2.22896069e+00] [ 1.33304214e-01 -2.83586514e-03 9.91071110e-01 1.59925504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.869072329 meters Centerline goodness [0,1] 0.8367972520544371 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90235938e-01 4.11997043e-02 -1.33174212e-01 -1.18635002e+01] [-4.04655182e-02 9.99147156e-01 8.21598301e-03 -2.22887007e+00] [ 1.33399132e-01 -2.74679814e-03 9.91058589e-01 1.59922168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899072329 meters Centerline goodness [0,1] 0.846150512470476 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90236878e-01 4.09080909e-02 -1.33257098e-01 -1.18624764e+01] [-4.02157228e-02 9.99159914e-01 7.88425385e-03 -2.22843029e+00] [ 1.33467681e-01 -2.44824839e-03 9.91050142e-01 1.59913321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.929072329 meters Centerline goodness [0,1] 0.8294401670364087 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90236422e-01 4.10696930e-02 -1.33210770e-01 -1.18626741e+01] [-4.03665701e-02 9.99153105e-01 7.97580635e-03 -2.22828082e+00] [ 1.33425518e-01 -2.52067207e-03 9.91055638e-01 1.59913624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959072329 meters Centerline goodness [0,1] 0.818560910453272 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90206596e-01 4.09854925e-02 -1.33458180e-01 -1.18620440e+01] [-4.03108060e-02 9.99157097e-01 7.75463615e-03 -2.22799788e+00] [ 1.33663515e-01 -2.29888506e-03 9.91024107e-01 1.59912498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.989072329 meters Centerline goodness [0,1] 0.887963466347722 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90206267e-01 4.11416010e-02 -1.33412580e-01 -1.18624663e+01] [-4.04571897e-02 9.99150530e-01 7.83801361e-03 -2.22791458e+00] [ 1.33621719e-01 -2.36375213e-03 9.91029590e-01 1.59915953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019072329 meters Centerline goodness [0,1] 0.8617939188454935 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90215556e-01 4.10125133e-02 -1.33383385e-01 -1.18624389e+01] [-4.03501973e-02 9.99156191e-01 7.66597389e-03 -2.22760705e+00] [ 1.33585236e-01 -2.20892070e-03 9.91034866e-01 1.59915127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.049072329 meters Centerline goodness [0,1] 0.8827634181865611 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90209539e-01 4.10465510e-02 -1.33417575e-01 -1.18625380e+01] [-4.03919513e-02 9.99154929e-01 7.61045321e-03 -2.22730118e+00] [ 1.33617210e-01 -2.14694718e-03 9.91030692e-01 1.59916958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079072329 meters Centerline goodness [0,1] 0.8464980882864095 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90215400e-01 4.10716776e-02 -1.33366332e-01 -1.18626816e+01] [-4.04257476e-02 9.99154031e-01 7.54863961e-03 -2.22701157e+00] [ 1.33563543e-01 -2.08334554e-03 9.91038062e-01 1.59917342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.109072329 meters Centerline goodness [0,1] 0.9000870132695236 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90235714e-01 4.09323742e-02 -1.33258287e-01 -1.18623447e+01] [-4.03111476e-02 9.99160086e-01 7.35756538e-03 -2.22665620e+00] [ 1.33447524e-01 -1.91392955e-03 9.91054032e-01 1.59910696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13907232900002 meters Centerline goodness [0,1] 0.8840091314273291 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90219674e-01 4.06231004e-02 -1.33471949e-01 -1.18607581e+01] [-4.00445476e-02 9.99173254e-01 7.01732904e-03 -2.22652492e+00] [ 1.33646668e-01 -1.60387345e-03 9.91027747e-01 1.59898343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16907232900002 meters Centerline goodness [0,1] 0.9334160463192721 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90223442e-01 4.05412668e-02 -1.33468875e-01 -1.18603423e+01] [-3.99722849e-02 9.99176681e-01 6.94090560e-03 -2.22660574e+00] [ 1.33640380e-01 -1.53799154e-03 9.91028700e-01 1.59893425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199072329 meters Centerline goodness [0,1] 0.8815119467293381 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90241482e-01 4.05110021e-02 -1.33344165e-01 -1.18603399e+01] [-3.99430300e-02 9.99177907e-01 6.93283524e-03 -2.22686162e+00] [ 1.33515400e-01 -1.53901107e-03 9.91045544e-01 1.59889949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.229072329 meters Centerline goodness [0,1] 0.9024984765386959 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90242837e-01 4.05746063e-02 -1.33314763e-01 -1.18607238e+01] [-3.99978515e-02 9.99175227e-01 7.00264163e-03 -2.22707244e+00] [ 1.33488938e-01 -1.60201164e-03 9.91049008e-01 1.59893538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259072329 meters Centerline goodness [0,1] 0.8577177412337945 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90253406e-01 4.06153810e-02 -1.33223810e-01 -1.18614699e+01] [-4.00200971e-02 9.99173335e-01 7.14413051e-03 -2.22767206e+00] [ 1.33403840e-01 -1.74286977e-03 9.91060229e-01 1.59900166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.289072329 meters Centerline goodness [0,1] 0.8585108929853962 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90246033e-01 4.06922780e-02 -1.33255142e-01 -1.18616158e+01] [-4.00824710e-02 9.99170023e-01 7.25672920e-03 -2.22807513e+00] [ 1.33439836e-01 -1.84475193e-03 9.91055199e-01 1.59902475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319072329 meters Centerline goodness [0,1] 0.8547831771627805 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90253745e-01 4.06021055e-02 -1.33225331e-01 -1.18614887e+01] [-3.99986115e-02 9.99173764e-01 7.20421410e-03 -2.22818156e+00] [ 1.33407762e-01 -1.80517173e-03 9.91059590e-01 1.59900179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.349072329 meters Centerline goodness [0,1] 0.8664720109820669 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90260307e-01 4.04706496e-02 -1.33216557e-01 -1.18609287e+01] [-3.98814880e-02 9.99179269e-01 7.08905534e-03 -2.22812957e+00] [ 1.33394121e-01 -1.70713560e-03 9.91061600e-01 1.59893885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379072329 meters Centerline goodness [0,1] 0.8680001743147252 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90265032e-01 4.03159972e-02 -1.33228329e-01 -1.18604300e+01] [-3.97467844e-02 9.99185750e-01 6.93035172e-03 -2.22797088e+00] [ 1.33399252e-01 -1.56748730e-03 9.91061140e-01 1.59888796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.409072329 meters Centerline goodness [0,1] 0.8791563167298557 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90274663e-01 4.02180359e-02 -1.33186337e-01 -1.18602273e+01] [-3.96556227e-02 9.99189763e-01 6.87376293e-03 -2.22821422e+00] [ 1.33354874e-01 -1.52532613e-03 9.91067178e-01 1.59885823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439072329 meters Centerline goodness [0,1] 0.8877037939966479 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90268053e-01 4.02794241e-02 -1.33216929e-01 -1.18605304e+01] [-3.97153775e-02 9.99187280e-01 6.88965541e-03 -2.22804652e+00] [ 1.33386173e-01 -1.53184501e-03 9.91062956e-01 1.59890235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.469072329 meters Centerline goodness [0,1] 0.8298562011878087 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90278947e-01 4.02013466e-02 -1.33159522e-01 -1.18604554e+01] [-3.96568728e-02 9.99190628e-01 6.73960445e-03 -2.22768186e+00] [ 1.33322688e-01 -1.39339817e-03 9.91071702e-01 1.59887617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499072329 meters Centerline goodness [0,1] 0.8507917837461064 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90295484e-01 4.01146372e-02 -1.33062655e-01 -1.18603241e+01] [-3.95980193e-02 9.99194369e-01 6.52760106e-03 -2.22696640e+00] [ 1.33217308e-01 -1.19523626e-03 9.91086132e-01 1.59883318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.529072329 meters Centerline goodness [0,1] 0.8361902278998024 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90307670e-01 3.97189039e-02 -1.33090674e-01 -1.18593223e+01] [-3.92589383e-02 9.99210576e-01 6.07947277e-03 -2.22606610e+00] [ 1.33227080e-01 -7.95549934e-04 9.91085220e-01 1.59874202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559072329 meters Centerline goodness [0,1] 0.8399295437741922 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90290845e-01 3.97658836e-02 -1.33201793e-01 -1.18590676e+01] [-3.93090728e-02 9.99208733e-01 6.05850146e-03 -2.22591285e+00] [ 1.33337317e-01 -7.63639534e-04 9.91070420e-01 1.59873464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.589072329 meters Centerline goodness [0,1] 0.8543771592464637 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.23, Z:15.99 [[ 9.90307951e-01 3.96627729e-02 -1.33105320e-01 -1.18590948e+01] [-3.92262462e-02 9.99212929e-01 5.90128186e-03 -2.22536901e+00] [ 1.33234618e-01 -6.22864282e-04 9.91084330e-01 1.59871567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619072329 meters Centerline goodness [0,1] 0.8638407891020488 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.99 [[ 9.90293829e-01 3.96041262e-02 -1.33227799e-01 -1.18586331e+01] [-3.91851612e-02 9.99215329e-01 5.76626374e-03 -2.22499740e+00] [ 1.33351626e-01 -4.89742637e-04 9.91068668e-01 1.59870049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.649072329 meters Centerline goodness [0,1] 0.8559089722391436 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.99 [[ 9.90299112e-01 3.96706520e-02 -1.33168718e-01 -1.18586081e+01] [-3.92514860e-02 9.99212690e-01 5.77243040e-03 -2.22455075e+00] [ 1.33292869e-01 -4.89362625e-04 9.91076572e-01 1.59868566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679072329 meters Centerline goodness [0,1] 0.8535256689619106 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.99 [[ 9.90296031e-01 3.97705988e-02 -1.33161819e-01 -1.18585619e+01] [-3.93569918e-02 9.99208739e-01 5.73780911e-03 -2.22411604e+00] [ 1.33284650e-01 -4.41280956e-04 9.91077700e-01 1.59867029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.709072329 meters Centerline goodness [0,1] 0.8825806171040901 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.99 [[ 9.90304144e-01 3.92910319e-02 -1.33243829e-01 -1.18573284e+01] [-3.89488474e-02 9.99227807e-01 5.17462333e-03 -2.22293642e+00] [ 1.33344256e-01 6.52426571e-05 9.91069778e-01 1.59856465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739072329 meters Centerline goodness [0,1] 0.8719132791327913 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.98 [[ 9.90281051e-01 3.89169994e-02 -1.33524933e-01 -1.18557517e+01] [-3.86395801e-02 9.99242303e-01 4.66930160e-03 -2.22167181e+00] [ 1.33605477e-01 5.35426457e-04 9.91034454e-01 1.59846954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.769072329 meters Centerline goodness [0,1] 0.8514502221060883 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.98 [[ 9.90274692e-01 3.90126962e-02 -1.33544166e-01 -1.18557549e+01] [-3.87229508e-02 9.99238613e-01 4.76721916e-03 -2.22175197e+00] [ 1.33628469e-01 4.50367671e-04 9.91031397e-01 1.59847331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799072329 meters Centerline goodness [0,1] 0.8538638934818554 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.99 [[ 9.90256934e-01 3.91435753e-02 -1.33637511e-01 -1.18560083e+01] [-3.88396477e-02 9.99233533e-01 4.88143296e-03 -2.22183333e+00] [ 1.33726159e-01 3.56560999e-04 9.91018258e-01 1.59852520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.829072329 meters Centerline goodness [0,1] 0.8473511445403361 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.99 [[ 9.90247155e-01 3.91032513e-02 -1.33721758e-01 -1.18559812e+01] [-3.87966145e-02 9.99235119e-01 4.89901486e-03 -2.22188517e+00] [ 1.33811045e-01 3.36715983e-04 9.91006807e-01 1.59854881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859072329 meters Centerline goodness [0,1] 0.8347154206116009 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.99 [[ 9.90270201e-01 3.91615270e-02 -1.33533903e-01 -1.18565565e+01] [-3.88455894e-02 9.99232858e-01 4.97143318e-03 -2.22164493e+00] [ 1.33626152e-01 2.64141035e-04 9.91031776e-01 1.59856734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88907232900002 meters Centerline goodness [0,1] 0.8324120821727019 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.99 [[ 9.90258391e-01 3.91436839e-02 -1.33626688e-01 -1.18561838e+01] [-3.88324069e-02 9.99233547e-01 4.93588037e-03 -2.22165790e+00] [ 1.33717478e-01 3.01248954e-04 9.91019448e-01 1.59854740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91907232900002 meters Centerline goodness [0,1] 0.8742104116750163 Centerline is valid? [False, False] Translation: X:-11.86, Y:-2.22, Z:15.98 [[ 9.90266632e-01 3.90045174e-02 -1.33606304e-01 -1.18554723e+01] [-3.87051124e-02 9.99238962e-01 4.83848580e-03 -2.22157724e+00] [ 1.33693347e-01 3.79855954e-04 9.91022676e-01 1.59846284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.949072329 meters Centerline goodness [0,1] 0.8605106772023771 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90274653e-01 3.88590549e-02 -1.33589239e-01 -1.18549929e+01] [-3.85724817e-02 9.99244593e-01 4.73353628e-03 -2.22141018e+00] [ 1.33672265e-01 4.65367476e-04 9.91025483e-01 1.59841399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979072329 meters Centerline goodness [0,1] 0.8605106772023771 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90274653e-01 3.88590549e-02 -1.33589239e-01 -1.18549929e+01] [-3.85724817e-02 9.99244593e-01 4.73353628e-03 -2.22141018e+00] [ 1.33672265e-01 4.65367476e-04 9.91025483e-01 1.59841399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.009072329 meters Centerline goodness [0,1] 0.8272134000435066 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90259182e-01 3.89269852e-02 -1.33684117e-01 -1.18548200e+01] [-3.86298535e-02 9.99241980e-01 4.81665823e-03 -2.22152995e+00] [ 1.33770280e-01 3.94457808e-04 9.91012289e-01 1.59841365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039072329 meters Centerline goodness [0,1] 0.8445133856901115 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90240966e-01 3.87953224e-02 -1.33857211e-01 -1.18543936e+01] [-3.85205711e-02 9.99247022e-01 4.64272948e-03 -2.22118673e+00] [ 1.33936536e-01 5.58835290e-04 9.90989754e-01 1.59841696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.069072329 meters Centerline goodness [0,1] 0.8303427901116566 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90245032e-01 3.89044141e-02 -1.33795450e-01 -1.18547219e+01] [-3.86245436e-02 9.99242798e-01 4.68770237e-03 -2.22084384e+00] [ 1.33876512e-01 5.25814188e-04 9.90997882e-01 1.59843535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099072329 meters Centerline goodness [0,1] 0.8586029188861461 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90249660e-01 3.86232696e-02 -1.33842646e-01 -1.18540835e+01] [-3.83955384e-02 9.99253440e-01 4.28313474e-03 -2.22003202e+00] [ 1.33908153e-01 8.97587753e-04 9.90993340e-01 1.59837904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.129072329 meters Centerline goodness [0,1] 0.8941204640936895 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90251950e-01 3.88456374e-02 -1.33761323e-01 -1.18543566e+01] [-3.86210516e-02 9.99244787e-01 4.27424709e-03 -2.21886105e+00] [ 1.33826341e-01 9.33421465e-04 9.91004359e-01 1.59838174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159072329 meters Centerline goodness [0,1] 0.8566172468595563 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90264978e-01 3.88428838e-02 -1.33665643e-01 -1.18544291e+01] [-3.86292769e-02 9.99244818e-01 4.19202907e-03 -2.21813458e+00] [ 1.33727532e-01 1.01218758e-03 9.91017620e-01 1.59836756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.189072329 meters Centerline goodness [0,1] 0.8894465810572975 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90255333e-01 3.89208633e-02 -1.33714404e-01 -1.18542090e+01] [-3.87108241e-02 9.99241749e-01 4.17121479e-03 -2.21760498e+00] [ 1.33775362e-01 1.04562708e-03 9.91011130e-01 1.59835222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219072329 meters Centerline goodness [0,1] 0.8451094063290036 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90258061e-01 3.90744836e-02 -1.33649382e-01 -1.18543762e+01] [-3.88826385e-02 9.99235592e-01 4.04617367e-03 -2.21618741e+00] [ 1.33705322e-01 1.18988452e-03 9.91020419e-01 1.59834580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.249072329 meters Centerline goodness [0,1] 0.8897907804496918 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90238001e-01 3.90768538e-02 -1.33797237e-01 -1.18539669e+01] [-3.88969476e-02 9.99235384e-01 3.95926967e-03 -2.21576937e+00] [ 1.33849649e-01 1.28368483e-03 9.91000819e-01 1.59833155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279072329 meters Centerline goodness [0,1] 0.8537230009315626 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90227029e-01 3.89975152e-02 -1.33901548e-01 -1.18535996e+01] [-3.88404446e-02 9.99238253e-01 3.78599710e-03 -2.21500388e+00] [ 1.33947193e-01 1.45179899e-03 9.90987407e-01 1.59832207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.309072329 meters Centerline goodness [0,1] 0.9397496087636933 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90220806e-01 3.92586009e-02 -1.33871269e-01 -1.18540501e+01] [-3.90851348e-02 9.99228177e-01 3.92456496e-03 -2.21466103e+00] [ 1.33922017e-01 1.34619071e-03 9.90990959e-01 1.59835813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339072329 meters Centerline goodness [0,1] 0.9373531203760118 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90235912e-01 3.94202504e-02 -1.33711941e-01 -1.18548191e+01] [-3.92407163e-02 9.99221865e-01 3.97877397e-03 -2.21362229e+00] [ 1.33764740e-01 1.30702749e-03 9.91012253e-01 1.59841075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.369072329 meters Centerline goodness [0,1] 0.9538431449247018 Centerline is valid? [False, True] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90233749e-01 3.94020974e-02 -1.33733305e-01 -1.18547028e+01] [-3.92336164e-02 9.99222470e-01 3.89588801e-03 -2.21299249e+00] [ 1.33782829e-01 1.38900140e-03 9.91009700e-01 1.59840901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399072329 meters Centerline goodness [0,1] 0.9338155200209142 Centerline is valid? [True, False] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90234767e-01 3.95483579e-02 -1.33682582e-01 -1.18549850e+01] [-3.93674411e-02 9.99216806e-01 3.99734211e-03 -2.21278094e+00] [ 1.33735971e-01 1.30443401e-03 9.91016139e-01 1.59842652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.429072329 meters Centerline goodness [0,1] 0.9346625500086971 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90222911e-01 3.93445000e-02 -1.33830475e-01 -1.18541451e+01] [-3.91970051e-02 9.99224512e-01 3.73768565e-03 -2.21187541e+00] [ 1.33873748e-01 1.54461184e-03 9.90997192e-01 1.59837507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459072329 meters Centerline goodness [0,1] 0.8574598133687165 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90215220e-01 3.94497680e-02 -1.33856391e-01 -1.18540066e+01] [-3.92885623e-02 9.99220503e-01 3.84654540e-03 -2.21190232e+00] [ 1.33903795e-01 1.45011734e-03 9.90993275e-01 1.59836276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.489072329 meters Centerline goodness [0,1] 0.8930617026815934 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90207137e-01 3.91276854e-02 -1.34010632e-01 -1.18529300e+01] [-3.90027898e-02 9.99232767e-01 3.55810932e-03 -2.21173886e+00] [ 1.34047035e-01 1.70352327e-03 9.90973506e-01 1.59828709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519072329 meters Centerline goodness [0,1] 0.8853338546418177 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90208675e-01 3.91755257e-02 -1.33985288e-01 -1.18530022e+01] [-3.90424885e-02 9.99230990e-01 3.62120744e-03 -2.21167158e+00] [ 1.34024114e-01 1.64536804e-03 9.90976705e-01 1.59828902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.549072329 meters Centerline goodness [0,1] 0.8877539908966178 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90209979e-01 3.93338885e-02 -1.33929247e-01 -1.18536649e+01] [-3.91696630e-02 9.99225111e-01 3.86187503e-03 -2.21198208e+00] [ 1.33977370e-01 1.42189629e-03 9.90983372e-01 1.59834617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579072329 meters Centerline goodness [0,1] 0.8652860988104542 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90191853e-01 3.91188339e-02 -1.34126101e-01 -1.18531730e+01] [-3.89587442e-02 9.99233522e-01 3.81893633e-03 -2.21230095e+00] [ 1.34172688e-01 1.44390481e-03 9.90956914e-01 1.59834630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.609072329 meters Centerline goodness [0,1] 0.843197707238699 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.21, Z:15.98 [[ 9.90182833e-01 3.90136824e-02 -1.34223283e-01 -1.18533832e+01] [-3.88119774e-02 9.99238038e-01 4.12001285e-03 -2.21406144e+00] [ 1.34281747e-01 1.12990503e-03 9.90942549e-01 1.59841135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63907232900002 meters Centerline goodness [0,1] 0.8385466377440347 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90170886e-01 3.90140616e-02 -1.34311280e-01 -1.18535135e+01] [-3.87697707e-02 9.99238329e-01 4.43482791e-03 -2.21525144e+00] [ 1.34381999e-01 8.15980054e-04 9.90929267e-01 1.59845330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66907232900002 meters Centerline goodness [0,1] 0.8268975857797867 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90146961e-01 3.89925204e-02 -1.34493787e-01 -1.18533284e+01] [-3.87152525e-02 9.99239337e-01 4.67732037e-03 -2.21645178e+00] [ 1.34573863e-01 5.75726373e-04 9.90903398e-01 1.59847739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699072329 meters Centerline goodness [0,1] 0.793409735912823 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90122463e-01 3.77156081e-02 -1.35037183e-01 -1.18502927e+01] [-3.75038897e-02 9.99288020e-01 4.11228713e-03 -2.21896730e+00] [ 1.35096137e-01 9.92751761e-04 9.90831998e-01 1.59831191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.729072329 meters Centerline goodness [0,1] 0.7890957216002777 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90133968e-01 3.76012758e-02 -1.34984700e-01 -1.18503059e+01] [-3.73580404e-02 9.99292540e-01 4.33537726e-03 -2.22018066e+00] [ 1.35052219e-01 7.50159584e-04 9.90838198e-01 1.59830133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759072329 meters Centerline goodness [0,1] 0.7742347214710654 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90100677e-01 3.68203459e-02 -1.35443391e-01 -1.18484219e+01] [-3.66141867e-02 9.99321416e-01 4.01369989e-03 -2.22134073e+00] [ 1.35499267e-01 9.85182625e-04 9.90776957e-01 1.59822939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.789072329 meters Centerline goodness [0,1] 0.7538809831824063 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.90073695e-01 3.61527765e-02 -1.35819940e-01 -1.18470490e+01] [-3.59644376e-02 9.99345689e-01 3.84095069e-03 -2.22273553e+00] [ 1.35869933e-01 1.08186352e-03 9.90726093e-01 1.59819856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819072329 meters Centerline goodness [0,1] 0.7481382347227319 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.22, Z:15.98 [[ 9.91413252e-01 2.89458056e-02 -1.27522174e-01 -1.18502102e+01] [-2.77069899e-02 9.99550187e-01 1.14780699e-02 -2.22486765e+00] [ 1.27797055e-01 -7.84625498e-03 9.91769302e-01 1.59825487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.849072329 meters Centerline goodness [0,1] 0.7534795125435616 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.23, Z:15.98 [[ 9.91413553e-01 2.86489639e-02 -1.27586846e-01 -1.18498669e+01] [-2.73751520e-02 9.99556446e-01 1.17265989e-02 -2.22706703e+00] [ 1.27866209e-01 -8.13319973e-03 9.91758077e-01 1.59824789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879072329 meters Centerline goodness [0,1] 0.727597325312155 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.23, Z:15.98 [[ 9.91404445e-01 2.75244718e-02 -1.27904769e-01 -1.18476700e+01] [-2.62979875e-02 9.99590637e-01 1.12682475e-02 -2.22921510e+00] [ 1.28162563e-01 -7.80775267e-03 9.91722439e-01 1.59811368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.909072329 meters Centerline goodness [0,1] 0.7279589894445406 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.23, Z:15.98 [[ 9.91388096e-01 2.64041746e-02 -1.28267150e-01 -1.18453723e+01] [-2.52205645e-02 9.99623101e-01 1.08434266e-02 -2.23173510e+00] [ 1.28505118e-01 -7.51507410e-03 9.91680371e-01 1.59798250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939072329 meters Centerline goodness [0,1] 0.7067760296059038 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.23, Z:15.98 [[ 9.91564765e-01 1.77588542e-02 -1.28389801e-01 -1.18497723e+01] [-1.52624328e-02 9.99675357e-01 2.04019189e-02 -2.23459750e+00] [ 1.28710434e-01 -1.82702832e-02 9.91513903e-01 1.59839376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.969072329 meters Centerline goodness [0,1] 0.7053490284329424 Centerline is valid? [False, False] Translation: X:-11.85, Y:-2.24, Z:15.98 [[ 9.91546627e-01 1.58921179e-02 -1.28773937e-01 -1.18464200e+01] [-1.35187847e-02 9.99722657e-01 1.92834435e-02 -2.23671357e+00] [ 1.29044677e-01 -1.73795663e-02 9.91486471e-01 1.59817298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999072329 meters Centerline goodness [0,1] 0.683510868623885 Centerline is valid? [False, False] Translation: X:-11.84, Y:-2.24, Z:15.98 [[ 9.91628250e-01 9.74900885e-03 -1.28757025e-01 -1.18437251e+01] [-7.96018701e-03 9.99864624e-01 1.44003231e-02 -2.23884207e+00] [ 1.28879983e-01 -1.32548372e-02 9.91571611e-01 1.59788904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.029072329 meters Centerline goodness [0,1] 0.6937366039533222 Centerline is valid? [False, False] Translation: X:-11.84, Y:-2.24, Z:15.98 [[ 9.91584216e-01 8.51378543e-03 -1.29183042e-01 -1.18413628e+01] [-6.78168605e-03 9.99881196e-01 1.38420731e-02 -2.24080515e+00] [ 1.29285543e-01 -1.28495024e-02 9.91524149e-01 1.59778238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059072329 meters Centerline goodness [0,1] 0.6894710675918121 Centerline is valid? [False, False] Translation: X:-11.83, Y:-2.24, Z:15.98 [[ 9.92107356e-01 5.74267596e-03 -1.25259795e-01 -1.18334526e+01] [-3.44408250e-03 9.99821827e-01 1.85594522e-02 -2.24363060e+00] [ 1.25344058e-01 -1.79815640e-02 9.91950367e-01 1.59811767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.089072329 meters Centerline goodness [0,1] 0.6903665261109309 Centerline is valid? [False, False] Translation: X:-11.83, Y:-2.25, Z:15.98 [[ 9.92134444e-01 5.16212018e-03 -1.25070367e-01 -1.18330334e+01] [-2.85840697e-03 9.99823072e-01 1.85917967e-02 -2.24581828e+00] [ 1.25144212e-01 -1.80880599e-02 9.91973663e-01 1.59805354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.119072329 meters Centerline goodness [0,1] 0.7156261512124298 Centerline is valid? [False, False] Translation: X:-11.83, Y:-2.25, Z:15.98 [[ 9.92163673e-01 3.06651747e-03 -1.24907336e-01 -1.18308768e+01] [-8.51930205e-04 9.99841571e-01 1.77793997e-02 -2.24992266e+00] [ 1.24942068e-01 -1.75336622e-02 9.92009098e-01 1.59785831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.149072329 meters Centerline goodness [0,1] 0.7020525700428701 Centerline is valid? [False, False] Translation: X:-11.83, Y:-2.25, Z:15.98 [[ 9.92109239e-01 1.83237200e-03 -1.25363076e-01 -1.18283791e+01] [ 3.31099760e-04 9.99851418e-01 1.72346351e-02 -2.25207189e+00] [ 1.25376030e-01 -1.71401484e-02 9.91961222e-01 1.59773707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.179072329 meters Centerline goodness [0,1] 0.6922344385767466 Centerline is valid? [False, False] Translation: X:-11.83, Y:-2.25, Z:15.98 [[ 9.92048172e-01 5.48706968e-04 -1.25857555e-01 -1.18254939e+01] [ 1.55415579e-03 9.99860845e-01 1.66094759e-02 -2.25386897e+00] [ 1.25849155e-01 -1.66730024e-02 9.91909271e-01 1.59758356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.209072329 meters Centerline goodness [0,1] 0.694408406850026 Centerline is valid? [False, False] Translation: X:-11.82, Y:-2.26, Z:15.97 [[ 9.91992402e-01 -2.47601692e-03 -1.26273286e-01 -1.18207431e+01] [ 4.39172890e-03 9.99879418e-01 1.48950218e-02 -2.25715122e+00] [ 1.26221179e-01 -1.53303065e-02 9.91883660e-01 1.59726949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.239072329 meters Centerline goodness [0,1] 0.6942906574394463 Centerline is valid? [False, False] Translation: X:-11.81, Y:-2.26, Z:15.98 [[ 9.91623198e-01 -1.07517258e-03 -1.29159892e-01 -1.18133445e+01] [ 3.63151971e-03 9.99802124e-01 1.95582337e-02 -2.26202053e+00] [ 1.29113306e-01 -1.98634449e-02 9.91430884e-01 1.59763395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.269072329 meters Centerline goodness [0,1] 0.6793619228773993 Centerline is valid? [False, False] Translation: X:-11.80, Y:-2.27, Z:15.98 [[ 9.92262018e-01 -4.73244477e-03 -1.24071317e-01 -1.18041881e+01] [ 7.74096165e-03 9.99687307e-01 2.37774317e-02 -2.26602408e+00] [ 1.23919995e-01 -2.45538737e-02 9.91988378e-01 1.59778089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.299072329 meters Centerline goodness [0,1] 0.6825053995680346 Centerline is valid? [False, False] Translation: X:-11.80, Y:-2.27, Z:15.98 [[ 9.91907677e-01 -6.86936394e-03 -1.26775279e-01 -1.17969450e+01] [ 9.95556317e-03 9.99668920e-01 2.37263127e-02 -2.26754354e+00] [ 1.26570322e-01 -2.47964310e-02 9.91647665e-01 1.59789271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.329072329 meters Centerline goodness [0,1] 0.6728456265896452 Centerline is valid? [False, False] Translation: X:-11.79, Y:-2.27, Z:15.98 [[ 9.91473163e-01 -9.02331736e-03 -1.29998259e-01 -1.17893634e+01] [ 1.23114173e-02 9.99623725e-01 2.45120031e-02 -2.26940229e+00] [ 1.29728164e-01 -2.59034560e-02 9.91211186e-01 1.59823732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.359072329 meters Centerline goodness [0,1] 0.6825204483489852 Centerline is valid? [False, False] Translation: X:-11.78, Y:-2.27, Z:15.99 [[ 9.91019630e-01 -8.85001571e-03 -1.33423274e-01 -1.17794586e+01] [ 1.27999733e-02 9.99503926e-01 2.87760841e-02 -2.27335132e+00] [ 1.33102417e-01 -3.02254786e-02 9.90641291e-01 1.59866675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38907232900002 meters Centerline goodness [0,1] 0.6737616266493619 Centerline is valid? [False, False] Translation: X:-11.77, Y:-2.27, Z:15.99 [[ 9.90465323e-01 -1.39038787e-02 -1.37058840e-01 -1.17656751e+01] [ 1.79654522e-02 9.99434004e-01 2.84414215e-02 -2.27498907e+00] [ 1.36585819e-01 -3.06325658e-02 9.90154513e-01 1.59885203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41907232900002 meters Centerline goodness [0,1] 0.6711849017446008 Centerline is valid? [False, False] Translation: X:-11.75, Y:-2.28, Z:15.98 [[ 9.90830881e-01 -1.32001630e-02 -1.34461600e-01 -1.17458241e+01] [ 1.59309382e-02 9.99687710e-01 1.92532651e-02 -2.27809261e+00] [ 1.34165462e-01 -2.12188291e-02 9.90731745e-01 1.59829003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.449072329 meters Centerline goodness [0,1] 0.6538843975617137 Centerline is valid? [False, False] Translation: X:-11.74, Y:-2.28, Z:15.99 [[ 9.90342258e-01 -1.21392121e-02 -1.38111736e-01 -1.17360118e+01] [ 1.55934061e-02 9.99591403e-01 2.39556536e-02 -2.28142577e+00] [ 1.37764502e-01 -2.58779285e-02 9.90126898e-01 1.59870551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479072329 meters Centerline goodness [0,1] 0.6527804814742717 Centerline is valid? [False, False] Translation: X:-11.72, Y:-2.28, Z:15.99 [[ 0.98973115 -0.01742644 -0.14187518 -11.72174196] [ 0.02097332 0.9995028 0.02354304 -2.28181045] [ 0.14139436 -0.02627687 0.98960455 15.98958905] [ 0. 0. 0. 1. ]] SLAMing on 206.509072329 meters Centerline goodness [0,1] 0.6465905157493943 Centerline is valid? [False, False] Translation: X:-11.71, Y:-2.29, Z:15.99 [[ 0.98931842 -0.01750447 -0.14471575 -11.71008468] [ 0.02190913 0.9993422 0.02889911 -2.28502478] [ 0.1441147 -0.03176102 0.98905116 15.99493404] [ 0. 0. 0. 1. ]] SLAMing on 206.539072329 meters Centerline goodness [0,1] 0.6464801522096342 Centerline is valid? [False, False] Translation: X:-11.69, Y:-2.29, Z:15.99 [[ 9.89763294e-01 -1.57719255e-02 -1.41844525e-01 -1.16904595e+01] [ 1.89326802e-02 9.99601010e-01 2.09612550e-02 -2.28828243e+00] [ 1.41457331e-01 -2.34321778e-02 9.89666993e-01 1.59901779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.569072329 meters Centerline goodness [0,1] 0.6230164743575867 Centerline is valid? [False, False] Translation: X:-11.68, Y:-2.29, Z:16.00 [[ 9.89246480e-01 -1.54592706e-02 -1.45438690e-01 -1.16792841e+01] [ 1.94375992e-02 9.99473659e-01 2.59727510e-02 -2.29190159e+00] [ 1.44960620e-01 -2.85204315e-02 9.89026291e-01 1.59955705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.599072329 meters Centerline goodness [0,1] 0.6165420035453326 Centerline is valid? [False, False] Translation: X:-11.65, Y:-2.30, Z:15.99 [[ 0.98907431 -0.01721375 -0.14640936 -11.6496766 ] [ 0.0200424 0.99963947 0.01786684 -2.29530406] [ 0.14604902 -0.02060603 0.98906273 15.99412648] [ 0. 0. 0. 1. ]] SLAMing on 206.629072329 meters Centerline goodness [0,1] 0.6161991615161861 Centerline is valid? [False, False] Translation: X:-11.64, Y:-2.30, Z:16.00 [[ 0.98854094 -0.01646641 -0.15005219 -11.63892997] [ 0.02008511 0.99954207 0.02263267 -2.29862188] [ 0.1496108 -0.02538714 0.98841899 15.998614 ] [ 0. 0. 0. 1. ]] SLAMing on 206.659072329 meters Centerline goodness [0,1] 0.6135900879435082 Centerline is valid? [False, False] Translation: X:-11.62, Y:-2.30, Z:16.00 [[ 9.88744147e-01 -1.34260004e-02 -1.49012595e-01 -1.16152414e+01] [ 1.63726547e-02 9.99693584e-01 1.85654111e-02 -2.30411842e+00] [ 1.48717676e-01 -2.07961733e-02 9.88661000e-01 1.59986530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.689072329 meters Centerline goodness [0,1] 0.6006556238195515 Centerline is valid? [False, False] Translation: X:-11.60, Y:-2.30, Z:16.00 [[ 0.98798705 -0.01885486 -0.15338213 -11.59946567] [ 0.02183663 0.99960346 0.01777863 -2.30472191] [ 0.15298609 -0.02091441 0.98800701 16.00088182] [ 0. 0. 0. 1. ]] SLAMing on 206.719072329 meters Centerline goodness [0,1] 0.5904093516426212 Centerline is valid? [False, False] Translation: X:-11.59, Y:-2.31, Z:16.01 [[ 0.98750856 -0.01913636 -0.15639897 -11.58768299] [ 0.02298269 0.99947535 0.02282164 -2.30835779] [ 0.15588019 -0.02613104 0.98743027 16.00656224] [ 0. 0. 0. 1. ]] SLAMing on 206.749072329 meters Centerline goodness [0,1] 0.5901493251027017 Centerline is valid? [False, False] Translation: X:-11.57, Y:-2.32, Z:16.01 [[ 9.88150428e-01 -1.37146830e-02 -1.52874584e-01 -1.15689214e+01] [ 1.73018551e-02 9.99604730e-01 2.21591676e-02 -2.31580477e+00] [ 1.52510252e-01 -2.45416049e-02 9.87997132e-01 1.60096285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779072329 meters Centerline goodness [0,1] 0.5760252365930599 Centerline is valid? [False, False] Translation: X:-11.55, Y:-2.32, Z:16.01 [[ 0.9888678 -0.01862955 -0.14762594 -11.5540257 ] [ 0.02251703 0.99944115 0.02470584 -2.31939616] [ 0.14708318 -0.02775491 0.98873465 16.00918142] [ 0. 0. 0. 1. ]] SLAMing on 206.809072329 meters Centerline goodness [0,1] 0.5722645203393517 Centerline is valid? [False, False] Translation: X:-11.54, Y:-2.32, Z:16.01 [[ 0.98843399 -0.0216621 -0.15009662 -11.5419222 ] [ 0.02604066 0.99928893 0.02726765 -2.32099703] [ 0.14939922 -0.03086089 0.98829524 16.01371668] [ 0. 0. 0. 1. ]] SLAMing on 206.839072329 meters Centerline goodness [0,1] 0.5699366882057306 Centerline is valid? [False, False] Translation: X:-11.53, Y:-2.32, Z:16.02 [[ 0.98921977 -0.02373148 -0.14450285 -11.53207593] [ 0.02873857 0.9990532 0.03266199 -2.32462077] [ 0.14359091 -0.0364627 0.98896518 16.01551718] [ 0. 0. 0. 1. ]] SLAMing on 206.869072329 meters Centerline goodness [0,1] 0.5626375542045281 Centerline is valid? [False, False] Translation: X:-11.51, Y:-2.33, Z:16.02 [[ 0.98844524 -0.03123411 -0.14832545 -11.51267865] [ 0.03638388 0.99882114 0.03213327 -2.32697031] [ 0.14714694 -0.03715863 0.98841642 16.0181705 ] [ 0. 0. 0. 1. ]] SLAMing on 206.899072329 meters Centerline goodness [0,1] 0.5571413007952937 Centerline is valid? [False, False] Translation: X:-11.50, Y:-2.34, Z:16.02 [[ 0.98921142 -0.02504601 -0.144338 -11.49527405] [ 0.03002068 0.99902432 0.03239087 -2.33590998] [ 0.14338591 -0.03637455 0.98899817 16.02113249] [ 0. 0. 0. 1. ]] SLAMing on 206.929072329 meters Centerline goodness [0,1] 0.5571413007952937 Centerline is valid? [False, False] Translation: X:-11.49, Y:-2.34, Z:16.02 [[ 9.90235519e-01 -1.54959744e-02 -1.38540579e-01 -1.14868307e+01] [ 2.00462338e-02 9.99302410e-01 3.15093827e-02 -2.34223367e+00] [ 1.37955666e-01 -3.39789267e-02 9.89855377e-01 1.60205398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959072329 meters Centerline goodness [0,1] 0.5606588809482308 Centerline is valid? [False, False] Translation: X:-11.48, Y:-2.35, Z:16.02 [[ 0.99102887 -0.01861375 -0.1323454 -11.47716748] [ 0.02355275 0.99907953 0.03585199 -2.34546072] [ 0.13155624 -0.03864745 0.99055506 16.02184205] [ 0. 0. 0. 1. ]] SLAMing on 206.989072329 meters Centerline goodness [0,1] 0.5714223433242507 Centerline is valid? [False, False] Translation: X:-11.46, Y:-2.35, Z:16.02 [[ 0.99144276 -0.02426411 -0.12826732 -11.46101649] [ 0.0293986 0.99883416 0.03828889 -2.35001042] [ 0.12718874 -0.04173213 0.99100023 16.0215514 ] [ 0. 0. 0. 1. ]] SLAMing on 207.019072329 meters Centerline goodness [0,1] 0.5625109208457103 Centerline is valid? [False, False] Translation: X:-11.45, Y:-2.35, Z:16.02 [[ 0.99209586 -0.02754895 -0.1224208 -11.45093026] [ 0.03301324 0.99853666 0.04283307 -2.35332109] [ 0.12106165 -0.04653602 0.99155357 16.02258901] [ 0. 0. 0. 1. ]] SLAMing on 207.049072329 meters Centerline goodness [0,1] 0.5759281071412992 Centerline is valid? [False, False] Translation: X:-11.43, Y:-2.36, Z:16.02 [[ 0.99231541 -0.02454734 -0.12127469 -11.43244568] [ 0.02916725 0.99890911 0.0364672 -2.35920443] [ 0.12024722 -0.03972421 0.99194889 16.01995364] [ 0. 0. 0. 1. ]] SLAMing on 207.079072329 meters Centerline goodness [0,1] 0.5145298024820836 Centerline is valid? [False, False] Translation: X:-11.41, Y:-2.36, Z:16.02 [[ 0.99177141 -0.03294587 -0.1237095 -11.41228706] [ 0.03767036 0.99863986 0.03604674 -2.36254171] [ 0.12235364 -0.04041031 0.99166355 16.02147711] [ 0. 0. 0. 1. ]] SLAMing on 207.109072329 meters Centerline goodness [0,1] 0.5013212203271384 Centerline is valid? [False, False] Translation: X:-11.40, Y:-2.37, Z:16.02 [[ 0.99245978 -0.03573304 -0.11724644 -11.40276419] [ 0.04077477 0.99833143 0.04088741 -2.36635165] [ 0.11558978 -0.04535981 0.9922608 16.0223563 ] [ 0. 0. 0. 1. ]] SLAMing on 207.13907232900002 meters Centerline goodness [0,1] 0.49285122706072093 Centerline is valid? [False, False] Translation: X:-11.39, Y:-2.37, Z:16.02 [[ 0.99305808 -0.03013187 -0.11370011 -11.38631274] [ 0.03477328 0.99863159 0.03906115 -2.37468494] [ 0.11236754 -0.04274372 0.99274695 16.02311181] [ 0. 0. 0. 1. ]] SLAMing on 207.16907232900002 meters Centerline goodness [0,1] 0.48052879911286994 Centerline is valid? [False, False] Translation: X:-11.37, Y:-2.38, Z:16.02 [[ 0.99292398 -0.02811826 -0.11537479 -11.36913054] [ 0.03194511 0.99899455 0.03145465 -2.37966044] [ 0.11437433 -0.03491773 0.99282388 16.02175384] [ 0. 0. 0. 1. ]] SLAMing on 207.199072329 meters Centerline goodness [0,1] 0.4605326138984378 Centerline is valid? [False, False] Translation: X:-11.36, Y:-2.38, Z:16.02 [[ 0.99334334 -0.03295986 -0.11037511 -11.35555553] [ 0.0370042 0.99870915 0.03479557 -2.38378828] [ 0.10908578 -0.03864829 0.99328073 16.02183087] [ 0. 0. 0. 1. ]] SLAMing on 207.229072329 meters Centerline goodness [0,1] 0.4663949788606546 Centerline is valid? [False, False] Translation: X:-11.34, Y:-2.38, Z:16.02 [[ 0.99318827 -0.038128 -0.11010598 -11.3430363 ] [ 0.04243213 0.99841344 0.03701516 -2.38438235] [ 0.10851997 -0.04143505 0.99323036 16.02484096] [ 0. 0. 0. 1. ]] SLAMing on 207.259072329 meters Centerline goodness [0,1] 0.4560803450830029 Centerline is valid? [False, False] Translation: X:-11.33, Y:-2.39, Z:16.03 [[ 0.99371034 -0.04086951 -0.10425661 -11.3339921 ] [ 0.04547286 0.99807531 0.04216518 -2.3873464 ] [ 0.10233268 -0.04664082 0.99365621 16.02630893] [ 0. 0. 0. 1. ]] SLAMing on 207.289072329 meters Centerline goodness [0,1] 0.4555284269271015 Centerline is valid? [False, False] Translation: X:-11.32, Y:-2.39, Z:16.03 [[ 0.99326306 -0.04559623 -0.10653391 -11.32104778] [ 0.05046804 0.99777835 0.04348953 -2.38781158] [ 0.10431427 -0.04857311 0.99335753 16.0303205 ] [ 0. 0. 0. 1. ]] SLAMing on 207.319072329 meters Centerline goodness [0,1] 0.45898450307097116 Centerline is valid? [False, False] Translation: X:-11.30, Y:-2.39, Z:16.03 [[ 0.99261049 -0.05242953 -0.10943286 -11.30370577] [ 0.05745602 0.99740887 0.04329387 -2.38914878] [ 0.10687943 -0.04926152 0.9930509 16.03258908] [ 0. 0. 0. 1. ]] SLAMing on 207.349072329 meters Centerline goodness [0,1] 0.45054752901575923 Centerline is valid? [False, False] Translation: X:-11.29, Y:-2.39, Z:16.03 [[ 0.99232463 -0.05031765 -0.11296 -11.28896035] [ 0.05478158 0.99782125 0.036766 -2.39277363] [ 0.11086391 -0.04267193 0.99291908 16.03317264] [ 0. 0. 0. 1. ]] SLAMing on 207.379072329 meters Centerline goodness [0,1] 0.45003825554705434 Centerline is valid? [False, False] Translation: X:-11.28, Y:-2.39, Z:16.03 [[ 0.9926753 -0.05461924 -0.10776127 -11.27655155] [ 0.05927476 0.99742059 0.04048056 -2.39484365] [ 0.10527229 -0.04657157 0.99335232 16.03346456] [ 0. 0. 0. 1. ]] SLAMing on 207.409072329 meters Centerline goodness [0,1] 0.4564137357466459 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.39, Z:16.04 [[ 0.99279479 -0.05854912 -0.10454902 -11.2667401 ] [ 0.0634758 0.99699379 0.04443209 -2.39487273] [ 0.10163326 -0.05074828 0.99352669 16.03584997] [ 0. 0. 0. 1. ]] SLAMing on 207.439072329 meters Centerline goodness [0,1] 0.45483814446537296 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.40, Z:16.04 [[ 0.99234683 -0.05940334 -0.10825439 -11.25751554] [ 0.06416819 0.99709347 0.04107378 -2.39581873] [ 0.10549982 -0.04770592 0.99327435 16.03598779] [ 0. 0. 0. 1. ]] SLAMing on 207.469072329 meters Centerline goodness [0,1] 0.44207690960056056 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.40, Z:16.04 [[ 0.9928773 -0.06178627 -0.1018682 -11.24946554] [ 0.06679658 0.99668124 0.04652668 -2.39732411] [ 0.09865541 -0.05299973 0.99370928 16.03724884] [ 0. 0. 0. 1. ]] SLAMing on 207.499072329 meters Centerline goodness [0,1] 0.4501961471870959 Centerline is valid? [False, False] Translation: X:-11.24, Y:-2.40, Z:16.04 [[ 0.99318131 -0.06590695 -0.09616218 -11.23831009] [ 0.07098252 0.99620606 0.05034839 -2.39853695] [ 0.09247904 -0.05683091 0.99409148 16.03753189] [ 0. 0. 0. 1. ]] SLAMing on 207.529072329 meters Centerline goodness [0,1] 0.45540996537972744 Centerline is valid? [False, False] Translation: X:-11.24, Y:-2.40, Z:16.04 [[ 0.99303981 -0.06693975 -0.09690715 -11.23526306] [ 0.07199216 0.9961706 0.0496111 -2.39832254] [ 0.0932151 -0.05624236 0.99405621 16.03637548] [ 0. 0. 0. 1. ]] SLAMing on 207.559072329 meters Centerline goodness [0,1] 0.4506401137980085 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.40, Z:16.04 [[ 0.9929153 -0.06797914 -0.09745789 -11.23259451] [ 0.07300084 0.99613145 0.04891846 -2.39810238] [ 0.09375543 -0.0556864 0.99403669 16.03518845] [ 0. 0. 0. 1. ]] SLAMing on 207.589072329 meters Centerline goodness [0,1] 0.446924070870108 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.40, Z:16.03 [[ 0.99287228 -0.06834325 -0.09764138 -11.23158545] [ 0.07336955 0.99610794 0.04884549 -2.39837823] [ 0.09392309 -0.05566124 0.99402227 16.03478502] [ 0. 0. 0. 1. ]] SLAMing on 207.619072329 meters Centerline goodness [0,1] 0.449461138304177 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.40, Z:16.03 [[ 0.99278006 -0.06916673 -0.09799851 -11.22980622] [ 0.07422014 0.99604268 0.0488912 -2.39943709] [ 0.09422905 -0.05581167 0.99398488 16.03464906] [ 0. 0. 0. 1. ]] SLAMing on 207.649072329 meters Centerline goodness [0,1] 0.44895147711617944 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.40, Z:16.03 [[ 0.99274322 -0.06956843 -0.09808739 -11.22916514] [ 0.07463066 0.99601072 0.04891747 -2.40026277] [ 0.09429298 -0.05588281 0.99397482 16.03454239] [ 0. 0. 0. 1. ]] SLAMing on 207.679072329 meters Centerline goodness [0,1] 0.4489465508565428 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.40, Z:16.03 [[ 0.9927171 -0.06990052 -0.09811559 -11.22886467] [ 0.07497576 0.99597945 0.04902618 -2.40136639] [ 0.09429415 -0.05602542 0.99396668 16.0346779 ] [ 0. 0. 0. 1. ]] SLAMing on 207.709072329 meters Centerline goodness [0,1] 0.44868876143776537 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.40, Z:16.03 [[ 0.99264817 -0.07091993 -0.09808146 -11.22791577] [ 0.07601289 0.99589234 0.04919838 -2.40353499] [ 0.09418943 -0.05629214 0.99396154 16.03450723] [ 0. 0. 0. 1. ]] SLAMing on 207.739072329 meters Centerline goodness [0,1] 0.4508427887453269 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.40, Z:16.03 [[ 0.99262576 -0.07133298 -0.09800875 -11.22759769] [ 0.07643714 0.99585257 0.04934602 -2.40487482] [ 0.09408227 -0.05647364 0.9939614 16.03429296] [ 0. 0. 0. 1. ]] SLAMing on 207.769072329 meters Centerline goodness [0,1] 0.4562479537269454 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.41, Z:16.03 [[ 0.99259642 -0.07179003 -0.09797218 -11.22713212] [ 0.07690163 0.99581259 0.04943109 -2.40607582] [ 0.09401327 -0.05659934 0.99396077 16.03393711] [ 0. 0. 0. 1. ]] SLAMing on 207.799072329 meters Centerline goodness [0,1] 0.44437182754939764 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.41, Z:16.03 [[ 0.99252413 -0.07310992 -0.09772815 -11.22635348] [ 0.07823748 0.99569497 0.04970327 -2.40919297] [ 0.09367363 -0.05697769 0.99397122 16.03339468] [ 0. 0. 0. 1. ]] SLAMing on 207.829072329 meters Centerline goodness [0,1] 0.44688596778061174 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.41, Z:16.03 [[ 0.99250572 -0.07362376 -0.0975292 -11.2262883 ] [ 0.07876518 0.99564077 0.04995505 -2.41124681] [ 0.09342616 -0.05726258 0.99397814 16.03320419] [ 0. 0. 0. 1. ]] SLAMing on 207.859072329 meters Centerline goodness [0,1] 0.4677159175131883 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.41, Z:16.03 [[ 0.99248471 -0.07417711 -0.09732342 -11.2263753 ] [ 0.07933337 0.99558224 0.05022171 -2.41345343] [ 0.09316817 -0.05756527 0.99398488 16.03325811] [ 0. 0. 0. 1. ]] SLAMing on 207.88907232900002 meters Centerline goodness [0,1] 0.46781564172868517 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.42, Z:16.03 [[ 0.99211383 -0.0792411 -0.09711335 -11.22495805] [ 0.08406004 0.99537176 0.04657214 -2.41607018] [ 0.09297346 -0.05436822 0.9941831 16.03224139] [ 0. 0. 0. 1. ]] SLAMing on 207.91907232900002 meters Centerline goodness [0,1] 0.4604035582555869 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.42, Z:16.03 [[ 0.9921055 -0.07979094 -0.09674751 -11.22513925] [ 0.0846313 0.99530331 0.04699854 -2.41880279] [ 0.09254306 -0.05481538 0.9941987 16.03198161] [ 0. 0. 0. 1. ]] SLAMing on 207.949072329 meters Centerline goodness [0,1] 0.4933897753174862 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.42, Z:16.03 [[ 0.99209528 -0.0804248 -0.09632652 -11.22551012] [ 0.08527621 0.99523173 0.04734743 -2.4214027 ] [ 0.0920593 -0.05518752 0.99422302 16.03176634] [ 0. 0. 0. 1. ]] SLAMing on 207.979072329 meters Centerline goodness [0,1] 0.4802750005421935 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.42, Z:16.03 [[ 0.991708 -0.08558036 -0.09587094 -11.22461046] [ 0.09010448 0.99496469 0.04389133 -2.42489468] [ 0.09163196 -0.05216578 0.99442562 16.03069596] [ 0. 0. 0. 1. ]] SLAMing on 208.009072329 meters Centerline goodness [0,1] 0.49966370875008137 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.43, Z:16.03 [[ 0.99169372 -0.08633625 -0.09533954 -11.22519574] [ 0.09086782 0.99487932 0.04425131 -2.42775654] [ 0.09103084 -0.05254704 0.99446076 16.03051237] [ 0. 0. 0. 1. ]] SLAMing on 208.039072329 meters Centerline goodness [0,1] 0.520649702219816 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.43, Z:16.03 [[ 0.99168942 -0.08702166 -0.09475925 -11.226042 ] [ 0.09156243 0.99479706 0.04466693 -2.43078484] [ 0.09037923 -0.05297211 0.99449764 16.03051395] [ 0. 0. 0. 1. ]] SLAMing on 208.069072329 meters Centerline goodness [0,1] 0.5144935379819453 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.43, Z:16.03 [[ 0.99167999 -0.08774031 -0.09419357 -11.22674414] [ 0.09228832 0.99471237 0.04505734 -2.4337226 ] [ 0.08974216 -0.05337543 0.99453376 16.03034958] [ 0. 0. 0. 1. ]] SLAMing on 208.099072329 meters Centerline goodness [0,1] 0.5204183051726373 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.44, Z:16.03 [[ 0.99165146 -0.09783291 -0.08400066 -11.22894213] [ 0.10235231 0.99342521 0.05128699 -2.43750835] [ 0.07843082 -0.05945648 0.99514498 16.02824273] [ 0. 0. 0. 1. ]] SLAMing on 208.129072329 meters Centerline goodness [0,1] 0.522102489904334 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.44, Z:16.03 [[ 0.99164017 -0.09838836 -0.08348358 -11.22967984] [ 0.10291551 0.99334202 0.05176899 -2.44049993] [ 0.07783428 -0.05992796 0.99516354 16.02821944] [ 0. 0. 0. 1. ]] SLAMing on 208.159072329 meters Centerline goodness [0,1] 0.5230344112948491 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.44, Z:16.03 [[ 0.99121095 -0.10318197 -0.08279085 -11.22952845] [ 0.10743404 0.99302112 0.04865174 -2.44458198] [ 0.07719308 -0.05711869 0.99537866 16.02747229] [ 0. 0. 0. 1. ]] SLAMing on 208.189072329 meters Centerline goodness [0,1] 0.5088372693806377 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.45, Z:16.03 [[ 0.99121648 -0.10360162 -0.0821985 -11.2303749 ] [ 0.10787272 0.99293998 0.04933218 -2.4479267 ] [ 0.07650728 -0.05776584 0.99539427 16.0273554 ] [ 0. 0. 0. 1. ]] SLAMing on 208.219072329 meters Centerline goodness [0,1] 0.5204694734575213 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.45, Z:16.03 [[ 0.99121563 -0.10406487 -0.08162157 -11.23117431] [ 0.1083462 0.99286027 0.0498958 -2.45091079] [ 0.07584641 -0.05830088 0.99541365 16.02722932] [ 0. 0. 0. 1. ]] SLAMing on 208.249072329 meters Centerline goodness [0,1] 0.5168295564386209 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.45, Z:16.03 [[ 0.99120702 -0.10459266 -0.0810495 -11.23193428] [ 0.10888134 0.99277495 0.05042563 -2.45397873] [ 0.07518977 -0.05880702 0.99543369 16.02705795] [ 0. 0. 0. 1. ]] SLAMing on 208.279072329 meters Centerline goodness [0,1] 0.5150481583971512 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.46, Z:16.03 [[ 0.99077492 -0.1092399 -0.08019785 -11.23207313] [ 0.11324666 0.99244387 0.04722667 -2.45741306] [ 0.07443283 -0.05587314 0.99565955 16.02622204] [ 0. 0. 0. 1. ]] SLAMing on 208.309072329 meters Centerline goodness [0,1] 0.5125606561600893 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.46, Z:16.03 [[ 0.99077179 -0.10968643 -0.07962502 -11.23289935] [ 0.11369886 0.99236821 0.04772743 -2.46021999] [ 0.07378228 -0.05634027 0.99568165 16.02607891] [ 0. 0. 0. 1. ]] SLAMing on 208.339072329 meters Centerline goodness [0,1] 0.5099140425714347 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.46, Z:16.03 [[ 0.99031758 -0.11437405 -0.07867443 -11.2331741 ] [ 0.11809701 0.99200875 0.04440432 -2.46345432] [ 0.07296702 -0.05326559 0.99591093 16.025219 ] [ 0. 0. 0. 1. ]] SLAMing on 208.369072329 meters Centerline goodness [0,1] 0.508877764942455 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.47, Z:16.03 [[ 0.99031945 -0.11477452 -0.07806528 -11.23421718] [ 0.11850519 0.99193546 0.04495057 -2.46653078] [ 0.07227654 -0.05376657 0.99593436 16.02529535] [ 0. 0. 0. 1. ]] SLAMing on 208.399072329 meters Centerline goodness [0,1] 0.5045895115219206 Centerline is valid? [False, False] Translation: X:-11.24, Y:-2.47, Z:16.03 [[ 0.99030937 -0.11533871 -0.07735847 -11.2353999 ] [ 0.11906152 0.99185018 0.0453605 -2.46928558] [ 0.07149619 -0.05413135 0.99597093 16.02535017] [ 0. 0. 0. 1. ]] SLAMing on 208.429072329 meters Centerline goodness [0,1] 0.5031856666381596 Centerline is valid? [False, False] Translation: X:-11.24, Y:-2.47, Z:16.03 [[ 0.99030788 -0.11578836 -0.07670299 -11.23650037] [ 0.11951292 0.99177212 0.04587721 -2.47211412] [ 0.07075984 -0.05459956 0.99599796 16.02538074] [ 0. 0. 0. 1. ]] SLAMing on 208.459072329 meters Centerline goodness [0,1] 0.49721960817862954 Centerline is valid? [False, False] Translation: X:-11.24, Y:-2.47, Z:16.03 [[ 0.99031443 -0.1161882 -0.07601076 -11.2376784 ] [ 0.11991338 0.99169862 0.04641801 -2.47486193] [ 0.06998654 -0.05508314 0.99602597 16.02533518] [ 0. 0. 0. 1. ]] SLAMing on 208.489072329 meters Centerline goodness [0,1] 0.4981213440929081 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.48, Z:16.02 [[ 0.99023839 -0.12401445 -0.06362662 -11.24569108] [ 0.12752793 0.99033711 0.05448888 -2.47846388] [ 0.05625439 -0.06207115 0.99648513 16.02206948] [ 0. 0. 0. 1. ]] SLAMing on 208.519072329 meters Centerline goodness [0,1] 0.465973051338905 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.48, Z:16.02 [[ 0.99022991 -0.12442613 -0.06295121 -11.24679326] [ 0.1279316 0.99025128 0.05509912 -2.48154108] [ 0.05548174 -0.06261425 0.99649447 16.02209796] [ 0. 0. 0. 1. ]] SLAMing on 208.549072329 meters Centerline goodness [0,1] 0.4907962374421432 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.48, Z:16.02 [[ 0.99020923 -0.12495614 -0.06222252 -11.24793225] [ 0.12844799 0.99015165 0.05568499 -2.48491806] [ 0.05465155 -0.06313214 0.99650767 16.02209613] [ 0. 0. 0. 1. ]] SLAMing on 208.579072329 meters Centerline goodness [0,1] 0.4745092200693366 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.49, Z:16.02 [[ 0.98967623 -0.12966016 -0.06106724 -11.24859632] [ 0.13291742 0.98972598 0.05268248 -2.48975373] [ 0.05360901 -0.0602555 0.99674237 16.02172353] [ 0. 0. 0. 1. ]] SLAMing on 208.609072329 meters Centerline goodness [0,1] 0.44375399021068307 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.49, Z:16.02 [[ 0.98965278 -0.13021129 -0.06026931 -11.24998787] [ 0.13345201 0.989622 0.05328091 -2.49316308] [ 0.05270605 -0.06077267 0.99675913 16.02193639] [ 0. 0. 0. 1. ]] SLAMing on 208.63907232900002 meters Centerline goodness [0,1] 0.4637871780728924 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.50, Z:16.02 [[ 0.98955757 -0.13154757 -0.05891561 -11.25169769] [ 0.13475782 0.98938996 0.05429408 -2.49952272] [ 0.05114826 -0.06166646 0.99678538 16.02147535] [ 0. 0. 0. 1. ]] SLAMing on 208.66907232900002 meters Centerline goodness [0,1] 0.4312423072025805 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.50, Z:16.02 [[ 0.9895569 -0.13185766 -0.05822972 -11.25279317] [ 0.13505857 0.98931278 0.05494912 -2.50234024] [ 0.05036195 -0.06223971 0.99678979 16.02139527] [ 0. 0. 0. 1. ]] SLAMing on 208.699072329 meters Centerline goodness [0,1] 0.4491665606311236 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.51, Z:16.02 [[ 0.98955234 -0.13222061 -0.05747938 -11.25400069] [ 0.13540987 0.98922511 0.05565828 -2.50560205] [ 0.04950087 -0.06286006 0.996794 16.02140667] [ 0. 0. 0. 1. ]] SLAMing on 208.729072329 meters Centerline goodness [0,1] 0.42527225729903806 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.51, Z:16.02 [[ 0.98953448 -0.13267204 -0.05674187 -11.25526285] [ 0.13584433 0.98913121 0.05626516 -2.50885326] [ 0.04866034 -0.06338437 0.99680218 16.0215945 ] [ 0. 0. 0. 1. ]] SLAMing on 208.759072329 meters Centerline goodness [0,1] 0.4181664375594798 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.51, Z:16.02 [[ 0.98897904 -0.13727476 -0.05546268 -11.25616233] [ 0.14023025 0.98867499 0.05345315 -2.51416616] [ 0.04749679 -0.06064159 0.99702891 16.02145086] [ 0. 0. 0. 1. ]] SLAMing on 208.789072329 meters Centerline goodness [0,1] 0.4181664375594798 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.51, Z:16.02 [[ 0.98897904 -0.13727476 -0.05546268 -11.25616233] [ 0.14023025 0.98867499 0.05345315 -2.51416616] [ 0.04749679 -0.06064159 0.99702891 16.02145086] [ 0. 0. 0. 1. ]] SLAMing on 208.819072329 meters Centerline goodness [0,1] 0.39056292790127634 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.52, Z:16.02 [[ 0.98893796 -0.13790851 -0.05461645 -11.25744151] [ 0.14084147 0.98855424 0.05407582 -2.51799564] [ 0.04653381 -0.06116989 0.99704205 16.02156948] [ 0. 0. 0. 1. ]] SLAMing on 208.849072329 meters Centerline goodness [0,1] 0.3871785661461745 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.52, Z:16.02 [[ 0.98890527 -0.13845924 -0.05380898 -11.25871411] [ 0.141374 0.98844033 0.05476405 -2.52183741] [ 0.04560438 -0.06176365 0.99704839 16.02172474] [ 0. 0. 0. 1. ]] SLAMing on 208.879072329 meters Centerline goodness [0,1] 0.4013956822398381 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.53, Z:16.02 [[ 0.98836578 -0.14269313 -0.05264748 -11.25909059] [ 0.1454249 0.98798515 0.05231586 -2.52733338] [ 0.04454981 -0.05936346 0.99724184 16.02092758] [ 0. 0. 0. 1. ]] SLAMing on 208.909072329 meters Centerline goodness [0,1] 0.38637225569929623 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.53, Z:16.02 [[ 0.9883519 -0.14307169 -0.05187503 -11.26035733] [ 0.1457891 0.98789288 0.05303956 -2.53062742] [ 0.04365852 -0.05998456 0.9972441 16.02102195] [ 0. 0. 0. 1. ]] SLAMing on 208.939072329 meters Centerline goodness [0,1] 0.3709484046021496 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.53, Z:16.02 [[ 0.98834663 -0.14337387 -0.05113588 -11.26146285] [ 0.14608089 0.98780677 0.05383455 -2.53405407] [ 0.0427939 -0.06067717 0.99723967 16.02102285] [ 0. 0. 0. 1. ]] SLAMing on 208.969072329 meters Centerline goodness [0,1] 0.3721859877971807 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.54, Z:16.02 [[ 0.98833257 -0.14374437 -0.05036163 -11.26273481] [ 0.14643359 0.98771615 0.05453446 -2.53744286] [ 0.04190398 -0.06127282 0.99724104 16.02114493] [ 0. 0. 0. 1. ]] SLAMing on 208.999072329 meters Centerline goodness [0,1] 0.3566487963838957 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.54, Z:16.02 [[ 0.98776389 -0.14796747 -0.04927595 -11.26315955] [ 0.15047528 0.987256 0.05179555 -2.5423916 ] [ 0.04098392 -0.05857659 0.99744128 16.02096153] [ 0. 0. 0. 1. ]] SLAMing on 209.029072329 meters Centerline goodness [0,1] 0.362456965320346 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.55, Z:16.02 [[ 0.98772546 -0.14844558 -0.0486038 -11.26417792] [ 0.15093754 0.98715427 0.05238609 -2.54575928] [ 0.04020296 -0.05907921 0.99744342 16.0211728 ] [ 0. 0. 0. 1. ]] SLAMing on 209.059072329 meters Centerline goodness [0,1] 0.35046248715313466 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.55, Z:16.02 [[ 0.98769054 -0.14891494 -0.04787199 -11.26541919] [ 0.15138772 0.98705239 0.05300323 -2.54910089] [ 0.03935919 -0.05959802 0.9974462 16.0215369 ] [ 0. 0. 0. 1. ]] SLAMing on 209.089072329 meters Centerline goodness [0,1] 0.33467370361062243 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.56, Z:16.02 [[ 0.9875646 -0.1501152 -0.04670743 -11.26651051] [ 0.15254956 0.98682832 0.05383764 -2.55561758] [ 0.03801037 -0.06029335 0.99745673 16.0213119 ] [ 0. 0. 0. 1. ]] SLAMing on 209.119072329 meters Centerline goodness [0,1] 0.3395039728296191 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.56, Z:16.02 [[ 0.98757329 -0.15024621 -0.04609862 -11.26739262] [ 0.15267447 0.98676387 0.05465871 -2.55870951] [ 0.03727619 -0.06101756 0.9974404 16.02123696] [ 0. 0. 0. 1. ]] SLAMing on 209.149072329 meters Centerline goodness [0,1] 0.33980704697986575 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.56, Z:16.02 [[ 0.98757605 -0.15039406 -0.04555401 -11.26822259] [ 0.15281641 0.9867002 0.05540624 -2.56168532] [ 0.03661538 -0.06167928 0.99742417 16.02131125] [ 0. 0. 0. 1. ]] SLAMing on 209.179072329 meters Centerline goodness [0,1] 0.3354202437287994 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.57, Z:16.02 [[ 0.9875094 -0.15111747 -0.04459476 -11.26916919] [ 0.15351985 0.9865275 0.05652561 -2.56775682] [ 0.03545195 -0.06266576 0.99740471 16.0212073 ] [ 0. 0. 0. 1. ]] SLAMing on 209.209072329 meters Centerline goodness [0,1] 0.3365972047870115 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.57, Z:16.02 [[ 0.98750056 -0.15132024 -0.04410029 -11.27012206] [ 0.15371232 0.98646307 0.05712385 -2.57060468] [ 0.03485931 -0.06318859 0.99739262 16.02171602] [ 0. 0. 0. 1. ]] SLAMing on 209.239072329 meters Centerline goodness [0,1] 0.33631406305496936 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.58, Z:16.02 [[ 0.98742412 -0.15200116 -0.04346561 -11.27083863] [ 0.15438231 0.98630738 0.05799867 -2.57600801] [ 0.03405459 -0.06397961 0.99736999 16.02226551] [ 0. 0. 0. 1. ]] SLAMing on 209.269072329 meters Centerline goodness [0,1] 0.32630039690829327 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.58, Z:16.02 [[ 0.98742371 -0.15209325 -0.0431515 -11.27144079] [ 0.15447162 0.9862629 0.05851498 -2.57824155] [ 0.03365899 -0.06444476 0.99735347 16.02264371] [ 0. 0. 0. 1. ]] SLAMing on 209.299072329 meters Centerline goodness [0,1] 0.3234937492160388 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.58, Z:16.02 [[ 0.98743727 -0.15213593 -0.04268847 -11.27229688] [ 0.15450479 0.98622109 0.05912895 -2.58056817] [ 0.03310463 -0.0649817 0.99733719 16.02285895] [ 0. 0. 0. 1. ]] SLAMing on 209.329072329 meters Centerline goodness [0,1] 0.33205811644193584 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.58, Z:16.02 [[ 0.98744114 -0.15217279 -0.04246686 -11.2726698 ] [ 0.15454507 0.98618206 0.05967217 -2.58281282] [ 0.03279957 -0.0654858 0.99731429 16.02319903] [ 0. 0. 0. 1. ]] SLAMing on 209.359072329 meters Centerline goodness [0,1] 0.3280718947434267 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.59, Z:16.02 [[ 0.98745907 -0.15212944 -0.04220451 -11.27306753] [ 0.15450406 0.98615213 0.06027003 -2.58501943] [ 0.03245122 -0.06603496 0.99728948 16.02340746] [ 0. 0. 0. 1. ]] SLAMing on 209.38907232900002 meters Centerline goodness [0,1] 0.3210007929552189 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.59, Z:16.02 [[ 0.98745842 -0.15218852 -0.0420063 -11.27339766] [ 0.15457738 0.98608833 0.06111989 -2.58893828] [ 0.03212017 -0.06684657 0.99724612 16.02417552] [ 0. 0. 0. 1. ]] SLAMing on 209.41907232900002 meters Centerline goodness [0,1] 0.3251350731167991 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.59, Z:16.02 [[ 0.98747112 -0.15215045 -0.04184519 -11.27378255] [ 0.15454214 0.98606753 0.06154308 -2.59061189] [ 0.03189838 -0.06723886 0.99722687 16.02460079] [ 0. 0. 0. 1. ]] SLAMing on 209.449072329 meters Centerline goodness [0,1] 0.3218474767291397 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.59, Z:16.03 [[ 0.98747938 -0.1520771 -0.04191704 -11.27383578] [ 0.1544892 0.98604558 0.06202584 -2.59282449] [ 0.0318994 -0.06772497 0.99719394 16.02545741] [ 0. 0. 0. 1. ]] SLAMing on 209.479072329 meters Centerline goodness [0,1] 0.32411661515328716 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.59, Z:16.03 [[ 0.98749751 -0.15195408 -0.04193607 -11.27397214] [ 0.15437633 0.98604614 0.06229727 -2.59368986] [ 0.03188457 -0.06799234 0.99717622 16.02590945] [ 0. 0. 0. 1. ]] SLAMing on 209.509072329 meters Centerline goodness [0,1] 0.3406318423522052 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.59, Z:16.03 [[ 0.98751867 -0.15177889 -0.04207194 -11.27368935] [ 0.15422025 0.98605161 0.06259664 -2.59464554] [ 0.03198425 -0.06830369 0.99715175 16.02608208] [ 0. 0. 0. 1. ]] SLAMing on 209.539072329 meters Centerline goodness [0,1] 0.3237142678164999 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.03 [[ 0.98753931 -0.15160021 -0.04223138 -11.27334212] [ 0.15406187 0.98605834 0.06287998 -2.59544563] [ 0.03210999 -0.06860269 0.99712718 16.02621478] [ 0. 0. 0. 1. ]] SLAMing on 209.569072329 meters Centerline goodness [0,1] 0.3267886577503286 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.03 [[ 0.98755917 -0.15136426 -0.04261152 -11.27259893] [ 0.15386536 0.98606357 0.06327779 -2.59693754] [ 0.03243967 -0.06904699 0.99708584 16.02663829] [ 0. 0. 0. 1. ]] SLAMing on 209.599072329 meters Centerline goodness [0,1] 0.3403611945278612 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.03 [[ 0.98757138 -0.15122987 -0.04280536 -11.27226025] [ 0.15374962 0.98607173 0.06343186 -2.59746249] [ 0.03261636 -0.0692248 0.99706775 16.0268556 ] [ 0. 0. 0. 1. ]] SLAMing on 209.629072329 meters Centerline goodness [0,1] 0.3283108643933387 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.03 [[ 0.98758133 -0.15110807 -0.04300548 -11.27187047] [ 0.15364691 0.98607789 0.06358475 -2.59804562] [ 0.03279858 -0.06940277 0.9970494 16.02711574] [ 0. 0. 0. 1. ]] SLAMing on 209.659072329 meters Centerline goodness [0,1] 0.34565094988843237 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.03 [[ 0.9875667 -0.15113278 -0.04325376 -11.2714515 ] [ 0.15368645 0.98607639 0.06351247 -2.59813908] [ 0.0330527 -0.06937032 0.99704327 16.02741204] [ 0. 0. 0. 1. ]] SLAMing on 209.689072329 meters Centerline goodness [0,1] 0.3314688817464624 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.03 [[ 0.98842821 -0.14872383 -0.02984803 -11.27409741] [ 0.15049111 0.98613273 0.06996185 -2.60140704] [ 0.01902913 -0.07364413 0.99710302 16.02518468] [ 0. 0. 0. 1. ]] SLAMing on 209.719072329 meters Centerline goodness [0,1] 0.33074644302582723 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.03 [[ 0.9888475 -0.14591052 -0.02984539 -11.27494174] [ 0.14774803 0.98630375 0.07331734 -2.6025698 ] [ 0.01873885 -0.07690927 0.99686199 16.02571957] [ 0. 0. 0. 1. ]] SLAMing on 209.749072329 meters Centerline goodness [0,1] 0.33258891300717985 Centerline is valid? [False, False] Translation: X:-11.28, Y:-2.60, Z:16.03 [[ 0.98922134 -0.14338448 -0.02969895 -11.2756123 ] [ 0.14527545 0.9864337 0.07644347 -2.60392866] [ 0.01833524 -0.07993404 0.99663151 16.02591979] [ 0. 0. 0. 1. ]] SLAMing on 209.779072329 meters Centerline goodness [0,1] 0.33262981924563784 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.03 [[ 0.98917696 -0.14356106 -0.03031771 -11.27407543] [ 0.14549478 0.98642685 0.07611394 -2.60361116] [ 0.01897921 -0.07970122 0.9966381 16.02582177] [ 0. 0. 0. 1. ]] SLAMing on 209.809072329 meters Centerline goodness [0,1] 0.3418263010725763 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.03 [[ 0.98916465 -0.1435985 -0.03054115 -11.27342515] [ 0.1455492 0.98642176 0.07607587 -2.60382427] [ 0.01920208 -0.0796968 0.99663419 16.02569452] [ 0. 0. 0. 1. ]] SLAMing on 209.839072329 meters Centerline goodness [0,1] 0.3556563166032847 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.03 [[ 0.98913985 -0.14371515 -0.03079479 -11.27280978] [ 0.14568263 0.98641445 0.07591507 -2.60370189] [ 0.01946628 -0.07957689 0.99663864 16.02569344] [ 0. 0. 0. 1. ]] SLAMing on 209.869072329 meters Centerline goodness [0,1] 0.3329233976029182 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.02 [[ 0.98909358 -0.14392345 -0.03130368 -11.27093917] [ 0.14592749 0.98639132 0.07574523 -2.60358857] [ 0.01997617 -0.07948719 0.99663571 16.02475776] [ 0. 0. 0. 1. ]] SLAMing on 209.899072329 meters Centerline goodness [0,1] 0.33396663674134075 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.02 [[ 0.98908703 -0.14392389 -0.03150804 -11.27005393] [ 0.14594492 0.98638598 0.07578107 -2.60363952] [ 0.02017238 -0.07955251 0.99662655 16.02411232] [ 0. 0. 0. 1. ]] SLAMing on 209.929072329 meters Centerline goodness [0,1] 0.3318669863442093 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.02 [[ 0.98905929 -0.14407159 -0.03170343 -11.26929934] [ 0.14610557 0.98637047 0.07567338 -2.60365525] [ 0.02036894 -0.0794775 0.99662853 16.02371478] [ 0. 0. 0. 1. ]] SLAMing on 209.959072329 meters Centerline goodness [0,1] 0.3363114497442856 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.02 [[ 0.98895479 -0.14473689 -0.03193214 -11.2682809 ] [ 0.14677565 0.98631395 0.07511126 -2.60322133] [ 0.02062375 -0.0789685 0.99666375 16.02351935] [ 0. 0. 0. 1. ]] SLAMing on 209.989072329 meters Centerline goodness [0,1] 0.33216535268844116 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.02 [[ 0.98889943 -0.14510181 -0.03199038 -11.26796824] [ 0.14713744 0.98628481 0.07478534 -2.60295836] [ 0.02070014 -0.07866216 0.99668639 16.02345559] [ 0. 0. 0. 1. ]] SLAMing on 210.019072329 meters Centerline goodness [0,1] 0.33352093886144285 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.02 [[ 0.98885369 -0.14538879 -0.03210097 -11.26755187] [ 0.14742577 0.98626562 0.07446995 -2.60249878] [ 0.02083299 -0.0783724 0.99670645 16.023251 ] [ 0. 0. 0. 1. ]] SLAMing on 210.049072329 meters Centerline goodness [0,1] 0.3306764595417936 Centerline is valid? [False, False] Translation: X:-11.27, Y:-2.60, Z:16.02 [[ 0.98881442 -0.14561662 -0.03227757 -11.26687005] [ 0.14766106 0.98625116 0.0741948 -2.60190953] [ 0.02102979 -0.07813102 0.99672127 16.02282632] [ 0. 0. 0. 1. ]] SLAMing on 210.079072329 meters Centerline goodness [0,1] 0.3322842851187995 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.02 [[ 0.98872944 -0.14610161 -0.03268651 -11.26487298] [ 0.14816603 0.98621292 0.07369473 -2.60071261] [ 0.02146894 -0.07770718 0.99674504 16.02129505] [ 0. 0. 0. 1. ]] SLAMing on 210.109072329 meters Centerline goodness [0,1] 0.3267070909128795 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.02 [[ 0.98869074 -0.14633147 -0.03282873 -11.2640936 ] [ 0.14840203 0.98619234 0.07349487 -2.60044214] [ 0.02162083 -0.07753555 0.99675512 16.02066383] [ 0. 0. 0. 1. ]] SLAMing on 210.13907232900002 meters Centerline goodness [0,1] 0.3295113408939293 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.02 [[ 0.98864009 -0.14665867 -0.03289384 -11.26344942] [ 0.14872739 0.98616409 0.07321573 -2.60010316] [ 0.02170101 -0.07727622 0.99677352 16.02005106] [ 0. 0. 0. 1. ]] SLAMing on 210.16907232900002 meters Centerline goodness [0,1] 0.3260620693961659 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.02 [[ 0.98858588 -0.14702034 -0.03290879 -11.26308254] [ 0.14908355 0.98612991 0.07295128 -2.6000442 ] [ 0.02172702 -0.07702477 0.99679242 16.01975903] [ 0. 0. 0. 1. ]] SLAMing on 210.199072329 meters Centerline goodness [0,1] 0.3250869411299223 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.02 [[ 0.98844753 -0.14794795 -0.03290708 -11.26225116] [ 0.14999235 0.98604741 0.07219965 -2.59905618] [ 0.02176615 -0.07630138 0.9968472 16.0191362 ] [ 0. 0. 0. 1. ]] SLAMing on 210.229072329 meters Centerline goodness [0,1] 0.3245303453159495 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.02 [[ 0.98839226 -0.1482976 -0.03299328 -11.2616972 ] [ 0.15033866 0.98602492 0.07178536 -2.59822391] [ 0.0218866 -0.07591226 0.99687427 16.01861629] [ 0. 0. 0. 1. ]] SLAMing on 210.259072329 meters Centerline goodness [0,1] 0.330517115804807 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.02 [[ 0.98833843 -0.14864736 -0.03303208 -11.26115197] [ 0.1506835 0.98599549 0.07146589 -2.59753966] [ 0.02194627 -0.07560988 0.99689594 16.01799426] [ 0. 0. 0. 1. ]] SLAMing on 210.289072329 meters Centerline goodness [0,1] 0.3244830386705816 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.02 [[ 0.98821771 -0.14939623 -0.03326432 -11.25955422] [ 0.15143344 0.98592838 0.07080347 -2.59629037] [ 0.02221846 -0.07500658 0.99693548 16.01662357] [ 0. 0. 0. 1. ]] SLAMing on 210.319072329 meters Centerline goodness [0,1] 0.32430073563027306 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.02 [[ 0.9881644 -0.14975627 -0.03322932 -11.2591366 ] [ 0.151785 0.98589052 0.07057764 -2.59615737] [ 0.02219102 -0.07478602 0.99695266 16.0160147 ] [ 0. 0. 0. 1. ]] SLAMing on 210.349072329 meters Centerline goodness [0,1] 0.3237861656135683 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.01 [[ 0.98801782 -0.15074169 -0.03313215 -11.25807157] [ 0.15274663 0.98578787 0.0699339 -2.59559531] [ 0.02211932 -0.07415677 0.99700126 16.01477903] [ 0. 0. 0. 1. ]] SLAMing on 210.379072329 meters Centerline goodness [0,1] 0.3224700897308076 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.60, Z:16.01 [[ 0.98794891 -0.15122148 -0.03300016 -11.25792395] [ 0.15320713 0.98574338 0.06955256 -2.5951406 ] [ 0.02201185 -0.07377023 0.99703231 16.01429162] [ 0. 0. 0. 1. ]] SLAMing on 210.409072329 meters Centerline goodness [0,1] 0.32450372337115474 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.59, Z:16.01 [[ 0.98788189 -0.15166727 -0.03296071 -11.25753006] [ 0.15364259 0.98569612 0.06926114 -2.59489226] [ 0.02198459 -0.07348599 0.9970539 16.01375172] [ 0. 0. 0. 1. ]] SLAMing on 210.439072329 meters Centerline goodness [0,1] 0.3245674165472259 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.59, Z:16.01 [[ 0.98781836 -0.15209101 -0.03291209 -11.25705963] [ 0.15405425 0.98565598 0.06891721 -2.59433916] [ 0.02195831 -0.07314794 0.99707934 16.01295646] [ 0. 0. 0. 1. ]] SLAMing on 210.469072329 meters Centerline goodness [0,1] 0.3238855484138503 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.59, Z:16.01 [[ 0.98767753 -0.15302341 -0.03281668 -11.25582341] [ 0.15496623 0.98554923 0.06839719 -2.59370172] [ 0.02187608 -0.07263985 0.99711829 16.01131638] [ 0. 0. 0. 1. ]] SLAMing on 210.499072329 meters Centerline goodness [0,1] 0.32378740435062103 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.59, Z:16.01 [[ 0.98761265 -0.15346211 -0.03272065 -11.25541078] [ 0.15539123 0.98550067 0.06813213 -2.59346534] [ 0.02179052 -0.07237265 0.9971396 16.01050694] [ 0. 0. 0. 1. ]] SLAMing on 210.529072329 meters Centerline goodness [0,1] 0.32459886396616777 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.59, Z:16.01 [[ 0.98753375 -0.15399732 -0.03258699 -11.2552371 ] [ 0.15590919 0.98543927 0.06783638 -2.59326184] [ 0.02166588 -0.07207132 0.99716414 16.01002834] [ 0. 0. 0. 1. ]] SLAMing on 210.559072329 meters Centerline goodness [0,1] 0.32238626716087215 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.59, Z:16.01 [[ 0.98730967 -0.15553172 -0.03208593 -11.25487708] [ 0.15738814 0.98525607 0.06707798 -2.59327846] [ 0.0211801 -0.07127668 0.99723169 16.0090829 ] [ 0. 0. 0. 1. ]] SLAMing on 210.589072329 meters Centerline goodness [0,1] 0.32142044161165495 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.59, Z:16.01 [[ 0.98722081 -0.15615864 -0.03177331 -11.25501856] [ 0.15798527 0.98518061 0.06678189 -2.59334403] [ 0.02087388 -0.07094819 0.99726157 16.00855001] [ 0. 0. 0. 1. ]] SLAMing on 210.619072329 meters Centerline goodness [0,1] 0.32210674215343926 Centerline is valid? [False, False] Translation: X:-11.26, Y:-2.59, Z:16.01 [[ 0.9871365 -0.1567489 -0.0314852 -11.25505997] [ 0.15854874 0.98510689 0.06653361 -2.59342933] [ 0.02058722 -0.07066969 0.9972873 16.00799935] [ 0. 0. 0. 1. ]] SLAMing on 210.649072329 meters Centerline goodness [0,1] 0.32172313289373045 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.59, Z:16.01 [[ 0.98705014 -0.15732049 -0.03134135 -11.25482212] [ 0.1591026 0.98503857 0.06622214 -2.59324734] [ 0.02045433 -0.07035107 0.99731256 16.00736425] [ 0. 0. 0. 1. ]] SLAMing on 210.679072329 meters Centerline goodness [0,1] 0.3256740575581155 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.59, Z:16.01 [[ 0.98685294 -0.15862592 -0.03096915 -11.25391707] [ 0.16036769 0.98487166 0.06565079 -2.59291411] [ 0.02008672 -0.06975412 0.99736196 16.00560497] [ 0. 0. 0. 1. ]] SLAMing on 210.709072329 meters Centerline goodness [0,1] 0.32327782139757844 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.59, Z:16.00 [[ 0.98677167 -0.15916824 -0.03077563 -11.25365132] [ 0.16089032 0.98480339 0.06539563 -2.59283584] [ 0.01989904 -0.06948205 0.99738472 16.00480146] [ 0. 0. 0. 1. ]] SLAMing on 210.739072329 meters Centerline goodness [0,1] 0.32327782139757844 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.59, Z:16.00 [[ 0.98677167 -0.15916824 -0.03077563 -11.25365132] [ 0.16089032 0.98480339 0.06539563 -2.59283584] [ 0.01989904 -0.06948205 0.99738472 16.00480146] [ 0. 0. 0. 1. ]] SLAMing on 210.769072329 meters Centerline goodness [0,1] 0.3236186505397428 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.59, Z:16.00 [[ 0.98667453 -0.15979232 -0.0306558 -11.25336812] [ 0.16149753 0.9847284 0.06502712 -2.59258666] [ 0.0197968 -0.06911144 0.9974125 16.00423116] [ 0. 0. 0. 1. ]] SLAMing on 210.799072329 meters Centerline goodness [0,1] 0.3261649484536082 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.59, Z:16.00 [[ 0.98632773 -0.16197975 -0.03033444 -11.25144954] [ 0.16363812 0.98444325 0.06398483 -2.59294347] [ 0.01949829 -0.06807389 0.99748973 16.00195249] [ 0. 0. 0. 1. ]] SLAMing on 210.829072329 meters Centerline goodness [0,1] 0.3267953636101143 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.59, Z:16.00 [[ 0.98622922 -0.16264541 -0.02997323 -11.25133689] [ 0.16427583 0.98434411 0.06387592 -2.59351017] [ 0.01911484 -0.06792017 0.99750763 16.00100033] [ 0. 0. 0. 1. ]] SLAMing on 210.859072329 meters Centerline goodness [0,1] 0.32515097178424945 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.59, Z:16.00 [[ 0.98613399 -0.16330044 -0.02954165 -11.25142059] [ 0.16489944 0.98424277 0.06383063 -2.59426526] [ 0.01865259 -0.06781696 0.9975234 16.00013522] [ 0. 0. 0. 1. ]] SLAMing on 210.88907232900002 meters Centerline goodness [0,1] 0.3272896039603961 Centerline is valid? [False, False] Translation: X:-11.25, Y:-2.59, Z:16.00 [[ 0.98602128 -0.16405375 -0.02912727 -11.25152885] [ 0.16561975 0.98413402 0.06364221 -2.59470995] [ 0.01822439 -0.06757663 0.99754763 15.99933258] [ 0. 0. 0. 1. ]] SLAMing on 210.91907232900002 meters Centerline goodness [0,1] 0.33050533338824595 Centerline is valid? [False, False] Translation: X:-11.24, Y:-2.60, Z:16.00 [[ 9.84643828e-01 -1.72632605e-01 -2.59714299e-02 -1.12382565e+01] [ 1.73979216e-01 9.82645392e-01 6.43371274e-02 -2.59646964e+00] [ 1.44140200e-02 -6.78676445e-02 9.97590206e-01 1.59985371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.949072329 meters Centerline goodness [0,1] 0.32979729451913986 Centerline is valid? [False, False] Translation: X:-11.24, Y:-2.60, Z:16.00 [[ 9.84497254e-01 -1.73536545e-01 -2.54994806e-02 -1.12385589e+01] [ 1.74843978e-01 9.82516755e-01 6.39563118e-02 -2.59648116e+00] [ 1.39549096e-02 -6.74232439e-02 9.97626867e-01 1.59978921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979072329 meters Centerline goodness [0,1] 0.20974406413814373 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.60, Z:16.00 [[ 9.83018823e-01 -1.82247318e-01 -2.14454853e-02 -1.12259417e+01] [ 1.83269138e-01 9.80949611e-01 6.44226995e-02 -2.59762751e+00] [ 9.29607628e-03 -6.72590218e-02 9.97692241e-01 1.59977061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.009072329 meters Centerline goodness [0,1] 0.2129899445926534 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.60, Z:16.00 [[ 9.82862811e-01 -1.83149816e-01 -2.09006912e-02 -1.12262951e+01] [ 1.84129954e-01 9.80811997e-01 6.40623612e-02 -2.59770444e+00] [ 8.76663904e-03 -6.68129558e-02 9.97727004e-01 1.59968964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039072329 meters Centerline goodness [0,1] 0.21331282051282052 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.60, Z:16.00 [[ 9.82694653e-01 -1.84110548e-01 -2.03599071e-02 -1.12266888e+01] [ 1.85049576e-01 9.80662595e-01 6.36987361e-02 -2.59785448e+00] [ 8.23859010e-03 -6.63639995e-02 9.97761467e-01 1.59961801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.069072329 meters Centerline goodness [0,1] 0.2150471504715047 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.60, Z:15.99 [[ 9.81730313e-01 -1.89204447e-01 -2.01809217e-02 -1.12231054e+01] [ 1.90085064e-01 9.79975811e-01 5.92880864e-02 -2.59778332e+00] [ 8.55924553e-03 -6.20410035e-02 9.98036900e-01 1.59934086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.099072329 meters Centerline goodness [0,1] 0.21549800388985563 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.60, Z:15.99 [[ 9.81588571e-01 -1.89991752e-01 -1.96725847e-02 -1.12232020e+01] [ 1.90838439e-01 9.79836906e-01 5.91635731e-02 -2.59837810e+00] [ 8.03533364e-03 -6.18285726e-02 9.98054438e-01 1.59923199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.129072329 meters Centerline goodness [0,1] 0.20980753480753478 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.60, Z:15.99 [[ 9.81444479e-01 -1.90777339e-01 -1.92546283e-02 -1.12231788e+01] [ 1.91595260e-01 9.79701334e-01 5.89622946e-02 -2.59862341e+00] [ 7.61511535e-03 -6.15573141e-02 9.98074500e-01 1.59913076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.159072329 meters Centerline goodness [0,1] 0.20848512136220376 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.60, Z:15.99 [[ 9.80965965e-01 -1.93274817e-01 -1.87248742e-02 -1.12212100e+01] [ 1.94050539e-01 9.79261939e-01 5.82275022e-02 -2.59911964e+00] [ 7.08264676e-03 -6.07527698e-02 9.98127716e-01 1.59883885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.189072329 meters Centerline goodness [0,1] 0.20616432767624016 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.60, Z:15.99 [[ 9.80809740e-01 -1.94132577e-01 -1.80221190e-02 -1.12217024e+01] [ 1.94863610e-01 9.79105548e-01 5.81420667e-02 -2.59968166e+00] [ 6.35828745e-03 -6.05381605e-02 9.98145632e-01 1.59872575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.219072329 meters Centerline goodness [0,1] 0.20843885303488274 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.60, Z:15.99 [[ 9.80612357e-01 -1.95197377e-01 -1.72449653e-02 -1.12222391e+01] [ 1.95878451e-01 9.78914854e-01 5.79425634e-02 -2.60015625e+00] [ 5.57111632e-03 -6.01971107e-02 9.98170963e-01 1.59861373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.249072329 meters Centerline goodness [0,1] 0.2164226347280933 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.60, Z:15.99 [[ 9.80356204e-01 -1.96567604e-01 -1.62139129e-02 -1.12232367e+01] [ 1.97183704e-01 9.78661007e-01 5.78032919e-02 -2.60144592e+00] [ 4.50566971e-03 -5.98649352e-02 9.98196318e-01 1.59850797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.279072329 meters Centerline goodness [0,1] 0.21044255371243192 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.60, Z:15.98 [[ 9.77715629e-01 -2.09818867e-01 -6.94206955e-03 -1.12274648e+01] [ 2.09854920e-01 9.75908627e-01 5.96930801e-02 -2.60216259e+00] [-5.74990884e-03 -5.98196848e-02 9.98192639e-01 1.59760338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.309072329 meters Centerline goodness [0,1] 0.21361516688048543 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.60, Z:15.97 [[ 9.76696502e-01 -2.14554347e-01 -5.51136444e-03 -1.12273516e+01] [ 2.14520665e-01 9.75098163e-01 5.62535018e-02 -2.60467045e+00] [-6.69531199e-03 -5.61249000e-02 9.98401306e-01 1.59746773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.339072329 meters Centerline goodness [0,1] 0.21669041318949722 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.61, Z:15.97 [[ 9.75605918e-01 -2.19497367e-01 -3.74144423e-03 -1.12276195e+01] [ 2.19383928e-01 9.74198447e-01 5.29912996e-02 -2.60809227e+00] [-7.98654159e-03 -5.25194383e-02 9.98587965e-01 1.59732041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.369072329 meters Centerline goodness [0,1] 0.2146707622205496 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.61, Z:15.97 [[ 9.74429711e-01 -2.24685922e-01 -1.72489109e-03 -1.12282397e+01] [ 2.24490675e-01 9.73200244e-01 4.98519996e-02 -2.61211779e+00] [-9.52237805e-03 -4.89644915e-02 9.98755127e-01 1.59715983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.399072329 meters Centerline goodness [0,1] 0.21308187821577607 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.62, Z:15.97 [[ 9.69364345e-01 -2.45565946e-01 5.48928079e-03 -1.12249076e+01] [ 2.44992749e-01 9.68223997e-01 5.02080092e-02 -2.62056092e+00] [-1.76442306e-02 -4.73250200e-02 9.98723697e-01 1.59681899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.429072329 meters Centerline goodness [0,1] 0.2094256736239043 Centerline is valid? [False, False] Translation: X:-11.23, Y:-2.63, Z:15.97 [[ 9.67846224e-01 -2.51413834e-01 8.04802769e-03 -1.12259396e+01] [ 2.50767326e-01 9.66879280e-01 4.75416293e-02 -2.62618199e+00] [-1.97340945e-02 -4.39948040e-02 9.98836835e-01 1.59658710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.459072329 meters Centerline goodness [0,1] 0.21227786752827138 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.64, Z:15.97 [[ 9.61476361e-01 -2.74787978e-01 7.40099050e-03 -1.12157394e+01] [ 2.74179014e-01 9.60582148e-01 4.59108307e-02 -2.63682938e+00] [-1.97250037e-02 -4.21129821e-02 9.98918125e-01 1.59650748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.489072329 meters Centerline goodness [0,1] 0.20830477726264862 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.64, Z:15.96 [[ 9.59857199e-01 -2.80298957e-01 1.03272207e-02 -1.12180319e+01] [ 2.79605540e-01 9.59104864e-01 4.40295699e-02 -2.64338675e+00] [-2.22463302e-02 -3.93745516e-02 9.98976849e-01 1.59626181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.519072329 meters Centerline goodness [0,1] 0.2101958258699459 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.65, Z:15.96 [[ 9.58203978e-01 -2.85773678e-01 1.33619331e-02 -1.12205775e+01] [ 2.85006398e-01 9.57600196e-01 4.21095988e-02 -2.65007231e+00] [-2.48292047e-02 -3.65413487e-02 9.99023644e-01 1.59602704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.549072329 meters Centerline goodness [0,1] 0.20695547291185046 Centerline is valid? [False, False] Translation: X:-11.21, Y:-2.66, Z:15.96 [[ 9.51575524e-01 -3.07298074e-01 8.48027947e-03 -1.12116164e+01] [ 3.06785577e-01 9.51030060e-01 3.77416851e-02 -2.66131980e+00] [-1.96629479e-02 -3.33124364e-02 9.99251545e-01 1.59606724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.579072329 meters Centerline goodness [0,1] 0.20729874346179278 Centerline is valid? [False, False] Translation: X:-11.21, Y:-2.67, Z:15.96 [[ 9.50055563e-01 -3.11870805e-01 1.14467404e-02 -1.12146076e+01] [ 3.11299733e-01 9.49633497e-01 3.58984332e-02 -2.66908580e+00] [-2.20658814e-02 -3.05421389e-02 9.99289885e-01 1.59589425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.609072329 meters Centerline goodness [0,1] 0.2011342230772314 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.68, Z:15.96 [[ 9.48523771e-01 -3.16385528e-01 1.42426996e-02 -1.12177421e+01] [ 3.15770442e-01 9.48219177e-01 3.41967969e-02 -2.67690110e+00] [-2.43245726e-02 -2.79390512e-02 9.99313627e-01 1.59575919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63907232900002 meters Centerline goodness [0,1] 0.1934246027780554 Centerline is valid? [False, False] Translation: X:-11.21, Y:-2.69, Z:15.96 [[ 9.42126956e-01 -3.35143104e-01 8.71197912e-03 -1.12116849e+01] [ 3.34745127e-01 9.41807230e-01 3.07382625e-02 -2.69004371e+00] [-1.85067216e-02 -2.60430531e-02 9.99489500e-01 1.59592341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66907232900002 meters Centerline goodness [0,1] 0.19316208610262864 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.70, Z:15.96 [[ 9.41001338e-01 -3.38217258e-01 1.12056815e-02 -1.12151126e+01] [ 3.37780568e-01 9.40763092e-01 2.94803674e-02 -2.69925308e+00] [-2.05126606e-02 -2.39560038e-02 9.99502547e-01 1.59586998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699072329 meters Centerline goodness [0,1] 0.19544331047679797 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.71, Z:15.96 [[ 9.40010010e-01 -3.40878750e-01 1.35225363e-02 -1.12183305e+01] [ 3.40417553e-01 9.39853762e-01 2.81210881e-02 -2.70860827e+00] [-2.22950880e-02 -2.18307956e-02 9.99513054e-01 1.59585117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.729072329 meters Centerline goodness [0,1] 0.19449913489648585 Centerline is valid? [False, False] Translation: X:-11.21, Y:-2.73, Z:15.96 [[ 9.34881175e-01 -3.54726147e-01 1.29053886e-02 -1.12111352e+01] [ 3.54363410e-01 9.34799164e-01 2.40228508e-02 -2.72616257e+00] [-2.05854798e-02 -1.78853135e-02 9.99628108e-01 1.59597948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759072329 meters Centerline goodness [0,1] 0.19270171537484115 Centerline is valid? [False, False] Translation: X:-11.21, Y:-2.74, Z:15.96 [[ 9.34265974e-01 -3.56267881e-01 1.48420674e-02 -1.12138229e+01] [ 3.55920170e-01 9.34262156e-01 2.17957845e-02 -2.73602281e+00] [-2.16315198e-02 -1.50804686e-02 9.99652268e-01 1.59605820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.789072329 meters Centerline goodness [0,1] 0.18603358608916587 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.75, Z:15.96 [[ 9.33663635e-01 -3.57771640e-01 1.64824119e-02 -1.12159192e+01] [ 3.57446616e-01 9.33724905e-01 1.97412651e-02 -2.74584867e+00] [-2.24529032e-02 -1.25401190e-02 9.99669252e-01 1.59613887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.819072329 meters Centerline goodness [0,1] 0.15463835697985906 Centerline is valid? [False, False] Translation: X:-11.22, Y:-2.76, Z:15.96 [[ 9.33152480e-01 -3.59027701e-01 1.80432324e-02 -1.12179053e+01] [ 3.58719260e-01 9.33267326e-01 1.82370525e-02 -2.75606698e+00] [-2.33867664e-02 -1.05454958e-02 9.99670872e-01 1.59620219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.849072329 meters Centerline goodness [0,1] 0.18986815536286972 Centerline is valid? [False, False] Translation: X:-11.21, Y:-2.78, Z:15.96 [[ 9.29914531e-01 -3.67355200e-01 1.75818485e-02 -1.12101607e+01] [ 3.67072309e-01 9.30030090e-01 1.73767739e-02 -2.77661838e+00] [-2.27350964e-02 -9.70510480e-03 9.99694416e-01 1.59648310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.879072329 meters Centerline goodness [0,1] 0.1723251537381607 Centerline is valid? [False, False] Translation: X:-11.21, Y:-2.79, Z:15.97 [[ 9.30370951e-01 -3.66236221e-01 1.67607970e-02 -1.12064683e+01] [ 3.66004903e-01 9.30486185e-01 1.53580986e-02 -2.79033630e+00] [-2.12203820e-02 -8.15419495e-03 9.99741569e-01 1.59685303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.909072329 meters Centerline goodness [0,1] 0.1701559812585256 Centerline is valid? [False, False] Translation: X:-11.19, Y:-2.81, Z:15.97 [[ 9.27664648e-01 -3.73100976e-01 1.52958578e-02 -1.11930013e+01] [ 3.72948945e-01 9.27775302e-01 1.19194733e-02 -2.81327416e+00] [-1.86382862e-02 -5.35269997e-03 9.99811964e-01 1.59730189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.939072329 meters Centerline goodness [0,1] 0.16891918593163402 Centerline is valid? [False, False] Translation: X:-11.19, Y:-2.83, Z:15.98 [[ 9.28405617e-01 -3.71246377e-01 1.54640725e-02 -1.11917030e+01] [ 3.71159108e-01 9.28532352e-01 8.28181784e-03 -2.82573943e+00] [-1.74334865e-02 -1.94925484e-03 9.99846125e-01 1.59757480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.969072329 meters Centerline goodness [0,1] 0.1895564245368725 Centerline is valid? [False, False] Translation: X:-11.18, Y:-2.84, Z:15.98 [[ 9.31093502e-01 -3.64472868e-01 1.49805985e-02 -1.11832087e+01] [ 3.64471902e-01 9.31209896e-01 2.89185991e-03 -2.84430146e+00] [-1.50040860e-02 2.76741524e-03 9.99883603e-01 1.59796354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.999072329 meters Centerline goodness [0,1] 0.11753918958887899 Centerline is valid? [False, False] Translation: X:-11.18, Y:-2.86, Z:15.98 [[ 9.31619072e-01 -3.63148369e-01 1.44626155e-02 -1.11802099e+01] [ 3.63189075e-01 9.31715436e-01 -2.02464799e-04 -2.85538099e+00] [-1.34015174e-02 5.44128402e-03 9.99895390e-01 1.59829029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.029072329 meters Centerline goodness [0,1] 0.15895296652893376 Centerline is valid? [False, False] Translation: X:-11.17, Y:-2.87, Z:15.99 [[ 9.32319367e-01 -3.61394938e-01 1.32021418e-02 -1.11747988e+01] [ 3.61464223e-01 9.32380414e-01 -3.22176232e-03 -2.86767292e+00] [-1.11450898e-02 7.77581332e-03 9.99907658e-01 1.59865531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.059072329 meters Centerline goodness [0,1] 0.15770101367975597 Centerline is valid? [False, False] Translation: X:-11.16, Y:-2.90, Z:15.99 [[ 9.33083335e-01 -3.59235854e-01 1.74668683e-02 -1.11568613e+01] [ 3.59358032e-01 9.33189676e-01 -4.33967619e-03 -2.89628363e+00] [-1.47409339e-02 1.03261390e-02 9.99838025e-01 1.59932752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.089072329 meters Centerline goodness [0,1] 0.15577730885282115 Centerline is valid? [False, False] Translation: X:-11.15, Y:-2.92, Z:16.00 [[ 9.36558623e-01 -3.49617690e-01 2.50083243e-02 -1.11482235e+01] [ 3.49865496e-01 9.36779475e-01 -6.19280767e-03 -2.91761722e+00] [-2.12621698e-02 1.45494772e-02 9.99668061e-01 1.59992703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.119072329 meters Centerline goodness [0,1] 0.14732002514932407 Centerline is valid? [False, False] Translation: X:-11.14, Y:-2.94, Z:16.01 [[ 9.39973323e-01 -3.39729899e-01 3.21519445e-02 -1.11399858e+01] [ 3.40153267e-01 9.40330670e-01 -8.60146848e-03 -2.93858696e+00] [-2.73112835e-02 1.90217399e-02 9.99445980e-01 1.60054391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.149072329 meters Centerline goodness [0,1] 0.14030231645072633 Centerline is valid? [False, False] Translation: X:-11.12, Y:-2.97, Z:16.01 [[ 9.41744629e-01 -3.33275524e-01 4.52159094e-02 -1.11244893e+01] [ 3.34153053e-01 9.42425577e-01 -1.32578319e-02 -2.96692177e+00] [-3.81941186e-02 2.75945261e-02 9.98889259e-01 1.60096237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.179072329 meters Centerline goodness [0,1] 0.1542622241453916 Centerline is valid? [False, False] Translation: X:-11.12, Y:-2.99, Z:16.02 [[ 0.94603178 -0.31803843 0.06225287 -11.12072644] [ 0.31959265 0.94741001 -0.01657765 -2.9885753 ] [ -0.05370666 0.03557854 0.99792272 16.01500767] [ 0. 0. 0. 1. ]] SLAMing on 212.209072329 meters Centerline goodness [0,1] 0.15652139664034348 Centerline is valid? [False, False] Translation: X:-11.11, Y:-3.01, Z:16.02 [[ 0.94742845 -0.31233518 0.06946993 -11.10567595] [ 0.31447191 0.94901125 -0.02202436 -3.01314978] [ -0.05904876 0.04271285 0.99734089 16.02094269] [ 0. 0. 0. 1. ]] SLAMing on 212.239072329 meters Centerline goodness [0,1] 0.15264687401822186 Centerline is valid? [False, False] Translation: X:-11.11, Y:-3.03, Z:16.03 [[ 0.95129664 -0.29621925 0.0853748 -11.10660434] [ 0.29937697 0.9537633 -0.02662686 -3.03010685] [ -0.07353996 0.05088929 0.99599305 16.02610612] [ 0. 0. 0. 1. ]] SLAMing on 212.269072329 meters Centerline goodness [0,1] 0.1488380309335008 Centerline is valid? [False, False] Translation: X:-11.11, Y:-3.04, Z:16.03 [[ 0.95526915 -0.28210644 0.08875139 -11.10676385] [ 0.28596964 0.95763289 -0.03406777 -3.04105525] [ -0.07538052 0.05792409 0.99547103 16.03202216] [ 0. 0. 0. 1. ]] SLAMing on 212.299072329 meters Centerline goodness [0,1] 0.14157400325547642 Centerline is valid? [False, False] Translation: X:-11.10, Y:-3.05, Z:16.03 [[ 0.95441229 -0.28528654 0.08779958 -11.10141366] [ 0.28931312 0.9565225 -0.0369137 -3.04888668] [ -0.0734513 0.06063246 0.99545397 16.03239657] [ 0. 0. 0. 1. ]] SLAMing on 212.329072329 meters Centerline goodness [0,1] 0.14764416383992474 Centerline is valid? [False, False] Translation: X:-11.10, Y:-3.06, Z:16.04 [[ 0.95807392 -0.27175022 0.09080855 -11.10238818] [ 0.27649682 0.95999135 -0.0443409 -3.05756724] [ -0.07512577 0.06759014 0.99488074 16.03720494] [ 0. 0. 0. 1. ]] SLAMing on 212.359072329 meters Centerline goodness [0,1] 0.15529241084557022 Centerline is valid? [False, False] Translation: X:-11.10, Y:-3.06, Z:16.04 [[ 0.96137143 -0.2589842 0.09323172 -11.10387914] [ 0.26437798 0.96307585 -0.05088403 -3.06466308] [ -0.07661106 0.07356687 0.99434333 16.04077998] [ 0. 0. 0. 1. ]] SLAMing on 212.38907232900002 meters Centerline goodness [0,1] 0.14865898879711192 Centerline is valid? [False, False] Translation: X:-11.09, Y:-3.08, Z:16.04 [[ 0.96178366 -0.25850924 0.09025054 -11.09368868] [ 0.26395095 0.96299371 -0.05452528 -3.07568647] [ -0.07281541 0.07626324 0.99442538 16.0422955 ] [ 0. 0. 0. 1. ]] SLAMing on 212.41907232900002 meters Centerline goodness [0,1] 0.10907379444237442 Centerline is valid? [False, False] Translation: X:-11.09, Y:-3.08, Z:16.05 [[ 0.96277164 -0.25562046 0.08791444 -11.09041918] [ 0.26104867 0.96364724 -0.05689973 -3.07985825] [ -0.07017378 0.07773139 0.99450162 16.04502515] [ 0. 0. 0. 1. ]] SLAMing on 212.449072329 meters Centerline goodness [0,1] 0.15484920977293226 Centerline is valid? [False, False] Translation: X:-11.09, Y:-3.08, Z:16.05 [[ 0.96519301 -0.24548438 0.09022123 -11.09200229] [ 0.25149998 0.96582915 -0.06262439 -3.0843723 ] [ -0.07176498 0.08313526 0.99395086 16.04633939] [ 0. 0. 0. 1. ]] SLAMing on 212.479072329 meters Centerline goodness [0,1] 0.15470869599309967 Centerline is valid? [False, False] Translation: X:-11.08, Y:-3.09, Z:16.05 [[ 0.96529658 -0.24635737 0.08666345 -11.08129511] [ 0.25241313 0.96525803 -0.0675614 -3.09194857] [ -0.06700835 0.08709178 0.99394411 16.04677417] [ 0. 0. 0. 1. ]] SLAMing on 212.509072329 meters Centerline goodness [0,1] 0.1585626162733771 Centerline is valid? [False, False] Translation: X:-11.08, Y:-3.10, Z:16.05 [[ 0.96752647 -0.23625005 0.08988018 -11.08275474] [ 0.24300266 0.96724176 -0.07343758 -3.09532412] [ -0.06958623 0.09289392 0.9932414 16.04717692] [ 0. 0. 0. 1. ]] SLAMing on 212.539072329 meters Centerline goodness [0,1] 0.16358224154475842 Centerline is valid? [False, False] Translation: X:-11.08, Y:-3.10, Z:16.05 [[ 0.9681078 -0.23462944 0.08784259 -11.07966735] [ 0.24129325 0.96755642 -0.07491418 -3.0971965 ] [ -0.06741559 0.09372083 0.99331342 16.04870396] [ 0. 0. 0. 1. ]] SLAMing on 212.569072329 meters Centerline goodness [0,1] 0.1643134486410166 Centerline is valid? [False, False] Translation: X:-11.07, Y:-3.10, Z:16.05 [[ 0.96832693 -0.23502142 0.08430826 -11.06878284] [ 0.24154885 0.96725118 -0.07796991 -3.10328161] [ -0.06322266 0.09586493 0.99338452 16.04754389] [ 0. 0. 0. 1. ]] SLAMing on 212.599072329 meters Centerline goodness [0,1] 0.1643134486410166 Centerline is valid? [False, False] Translation: X:-11.07, Y:-3.10, Z:16.05 [[ 0.96873969 -0.23353566 0.08369299 -11.06863446] [ 0.24005679 0.96755675 -0.07878241 -3.10398616] [ -0.06257921 0.09641072 0.99337245 16.0485571 ] [ 0. 0. 0. 1. ]] SLAMing on 212.629072329 meters Centerline goodness [0,1] 0.16035926737633066 Centerline is valid? [False, False] Translation: X:-11.07, Y:-3.11, Z:16.05 [[ 0.96934117 -0.23174511 0.0816817 -11.06508747] [ 0.23814544 0.96793332 -0.07994896 -3.10591464] [ -0.06053466 0.09694994 0.99344666 16.04955533] [ 0. 0. 0. 1. ]] SLAMing on 212.659072329 meters Centerline goodness [0,1] 0.15920699845392094 Centerline is valid? [False, False] Translation: X:-11.06, Y:-3.11, Z:16.05 [[ 0.96984243 -0.23036221 0.07961733 -11.06139158] [ 0.23662382 0.96822222 -0.08096234 -3.10769958] [ -0.0584366 0.09736007 0.99353217 16.05029152] [ 0. 0. 0. 1. ]] SLAMing on 212.689072329 meters Centerline goodness [0,1] 0.1616209027614801 Centerline is valid? [False, False] Translation: X:-11.05, Y:-3.11, Z:16.05 [[ 0.97012004 -0.23072448 0.07505549 -11.04759837] [ 0.23674385 0.96787186 -0.08471368 -3.11321134] [ -0.05309858 0.09995136 0.99357449 16.04850561] [ 0. 0. 0. 1. ]] SLAMing on 212.719072329 meters Centerline goodness [0,1] 0.15931003461561022 Centerline is valid? [False, False] Translation: X:-11.04, Y:-3.11, Z:16.05 [[ 0.9706648 -0.22918725 0.07268455 -11.04285376] [ 0.23503485 0.96818194 -0.0859206 -3.11469491] [ -0.05067997 0.10048351 0.99364712 16.04934353] [ 0. 0. 0. 1. ]] SLAMing on 212.749072329 meters Centerline goodness [0,1] 0.16470035804425665 Centerline is valid? [False, False] Translation: X:-11.04, Y:-3.12, Z:16.05 [[ 0.97124944 -0.22745824 0.0702658 -11.03793008] [ 0.2331069 0.96857536 -0.08673494 -3.11622604] [ -0.04832914 0.10062071 0.99375035 16.05000561] [ 0. 0. 0. 1. ]] SLAMing on 212.779072329 meters Centerline goodness [0,1] 0.1624376406143011 Centerline is valid? [False, False] Translation: X:-11.03, Y:-3.12, Z:16.05 [[ 0.97178357 -0.22589581 0.06788061 -11.03292993] [ 0.23134484 0.96892787 -0.08751196 -3.11766132] [ -0.04600283 0.10074652 0.99384802 16.05048762] [ 0. 0. 0. 1. ]] SLAMing on 212.809072329 meters Centerline goodness [0,1] 0.1613919715029456 Centerline is valid? [False, False] Translation: X:-11.02, Y:-3.12, Z:16.05 [[ 0.97353683 -0.21803657 0.06845511 -11.01823494] [ 0.2237137 0.97043252 -0.09062502 -3.12495079] [ -0.04667149 0.10354114 0.99352957 16.04805657] [ 0. 0. 0. 1. ]] SLAMing on 212.839072329 meters Centerline is valid? [False, False] Translation: X:-11.01, Y:-3.13, Z:16.05 [[ 0.97403196 -0.21662852 0.06583181 -11.01233331] [ 0.22207232 0.97073838 -0.09138311 -3.12614667] [ -0.04410928 0.10362949 0.99363741 16.04817432] [ 0. 0. 0. 1. ]] SLAMing on 212.869072329 meters Centerline is valid? [False, False] /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) Translation: X:-11.01, Y:-3.13, Z:16.05 [[ 0.97450269 -0.21527064 0.06326977 -11.00621024] [ 0.22048524 0.97102891 -0.09213637 -3.12756581] [ -0.04160252 0.10373719 0.99373428 16.04825589] [ 0. 0. 0. 1. ]] SLAMing on 212.899072329 meters Centerline is valid? [False, False] Translation: X:-10.99, Y:-3.13, Z:16.04 [[ 0.97610489 -0.20754056 0.06439073 -10.98985952] [ 0.21306912 0.97230339 -0.0960607 -3.13436876] [ -0.04267083 0.107485 0.99329058 16.04360433] [ 0. 0. 0. 1. ]] SLAMing on 212.929072329 meters Centerline is valid? [False, False] Translation: X:-10.98, Y:-3.14, Z:16.04 [[ 0.97653498 -0.20634059 0.06166838 -10.9835943 ] [ 0.21160283 0.97257087 -0.09659268 -3.13522981] [ -0.04004588 0.10737533 0.99341173 16.04341985] [ 0. 0. 0. 1. ]] SLAMing on 212.959072329 meters Centerline is valid? [False, False] Translation: X:-10.98, Y:-3.14, Z:16.04 [[ 0.97699208 -0.20501323 0.05878823 -10.97683739] [ 0.20999298 0.97286383 -0.09715415 -3.13608535] [ -0.03727506 0.10726395 0.99353159 16.04321436] [ 0. 0. 0. 1. ]] SLAMing on 212.989072329 meters Centerline is valid? [False, False] Translation: X:-10.96, Y:-3.14, Z:16.04 [[ 0.97749907 -0.19993127 0.06725366 -10.96289141] [ 0.2059223 0.97357332 -0.09874716 -3.14150497] [ -0.04573372 0.11037428 0.99283732 16.03632691] [ 0. 0. 0. 1. ]] SLAMing on 213.019072329 meters Centerline is valid? [False, False] Translation: X:-10.96, Y:-3.14, Z:16.04 [[ 0.97794659 -0.19871114 0.06429885 -10.95625188] [ 0.20440797 0.97382897 -0.09937058 -3.14187413] [ -0.04287004 0.11032232 0.99297087 16.03644406] [ 0. 0. 0. 1. ]] SLAMing on 213.049072329 meters Centerline is valid? [False, False] Translation: X:-10.95, Y:-3.14, Z:16.04 [[ 0.97840856 -0.19737367 0.06132147 -10.94954781] [ 0.20277111 0.97411215 -0.09994699 -3.14229537] [ -0.04000709 0.11022322 0.99310134 16.0366123 ] [ 0. 0. 0. 1. ]] SLAMing on 213.079072329 meters Centerline is valid? [False, False] /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) /usr/local/lib/python3.11/site-packages/sklearn/decomposition/_pca.py:586: RuntimeWarning: invalid value encountered in divide explained_variance_ = (S**2) / (n_samples - 1) Translation: X:-10.93, Y:-3.15, Z:16.03 [[ 0.98019486 -0.18854119 0.06058264 -10.93401213] [ 0.19399855 0.97563279 -0.10249495 -3.14695531] [ -0.03978189 0.11221797 0.99288697 16.03370011] [ 0. 0. 0. 1. ]] SLAMing on 213.109072329 meters Centerline goodness [0,1] 0.14510523644031392 Centerline is valid? [False, False] Translation: X:-10.93, Y:-3.15, Z:16.03 [[ 0.98057718 -0.18750783 0.05752565 -10.92686965] [ 0.19264845 0.97583995 -0.10306779 -3.14723217] [ -0.03680981 0.11214815 0.99300948 16.03346477] [ 0. 0. 0. 1. ]] SLAMing on 213.13907232900002 meters Centerline goodness [0,1] 0.14041456845063827 Centerline is valid? [False, False] Translation: X:-10.92, Y:-3.15, Z:16.03 [[ 0.98094661 -0.18648952 0.05445555 -10.91958975] [ 0.19131523 0.97602711 -0.10377646 -3.14748777] [ -0.03379687 0.11221734 0.99310878 16.03327578] [ 0. 0. 0. 1. ]] SLAMing on 213.16907232900002 meters Centerline goodness [0,1] 0.13938933083762284 Centerline is valid? [False, False] Translation: X:-10.90, Y:-3.15, Z:16.03 [[ 0.98261812 -0.17790754 0.05301453 -10.9028078 ] [ 0.18273714 0.97727168 -0.10745788 -3.15148645] [ -0.03269203 0.11527779 0.99279518 16.03093061] [ 0. 0. 0. 1. ]] SLAMing on 213.199072329 meters Centerline is valid? [False, False] Translation: X:-10.90, Y:-3.15, Z:16.03 [[ 0.9829692 -0.17683322 0.0500157 -10.89592003] [ 0.18134113 0.97746638 -0.10805035 -3.15129045] [ -0.02978177 0.11528007 0.99288648 16.0310015 ] [ 0. 0. 0. 1. ]] SLAMing on 213.229072329 meters Centerline is valid? [False, False] Translation: X:-10.89, Y:-3.15, Z:16.03 [[ 0.98332881 -0.1756597 0.04699063 -10.88873216] [ 0.1798429 0.9776735 -0.10867864 -3.15091039] [ -0.02685104 0.11531777 0.99296568 16.03087302] [ 0. 0. 0. 1. ]] SLAMing on 213.259072329 meters Centerline goodness [0,1] 0.13250828298577277 Centerline is valid? [False, False] Translation: X:-10.87, Y:-3.15, Z:16.03 [[ 0.98497966 -0.1666204 0.04530687 -10.8720072 ] [ 0.17072671 0.97902808 -0.11115936 -3.15395756] [ -0.02583528 0.1172248 0.9927693 16.02794967] [ 0. 0. 0. 1. ]] SLAMing on 213.289072329 meters Centerline goodness [0,1] 0.13273318914284604 Centerline is valid? [False, False] Translation: X:-10.86, Y:-3.15, Z:16.03 [[ 0.98529479 -0.16560234 0.04207181 -10.86451976] [ 0.16935154 0.97919023 -0.11183264 -3.15321877] [ -0.02267655 0.11731304 0.99283605 16.02793425] [ 0. 0. 0. 1. ]] SLAMing on 213.319072329 meters Centerline is valid? [False, False] Translation: X:-10.86, Y:-3.15, Z:16.03 [[ 0.98559845 -0.16460081 0.03875899 -10.85688285] [ 0.16798401 0.97933372 -0.11263587 -3.15224389] [ -0.01941803 0.11752463 0.9928801 16.02807314] [ 0. 0. 0. 1. ]] SLAMing on 213.349072329 meters Centerline goodness [0,1] 0.12822560227471902 Centerline is valid? [False, False] Translation: X:-10.85, Y:-3.15, Z:16.03 [[ 0.98587093 -0.16372022 0.03541458 -10.84907462] [ 0.16673261 0.97943458 -0.11361401 -3.1510611 ] [ -0.01608535 0.11791351 0.99289358 16.02824018] [ 0. 0. 0. 1. ]] SLAMing on 213.379072329 meters Centerline goodness [0,1] 0.1282320872274143 Centerline is valid? [False, False] Translation: X:-10.83, Y:-3.15, Z:16.02 [[ 0.98729978 -0.15483665 0.0355635 -10.83116284] [ 0.15799352 0.98040562 -0.11765567 -3.1536285 ] [ -0.01664924 0.12178022 0.99241744 16.02372197] [ 0. 0. 0. 1. ]] SLAMing on 213.409072329 meters Centerline goodness [0,1] 0.12763434170619803 Centerline is valid? [False, False] Translation: X:-10.83, Y:-3.15, Z:16.02 [[ 9.87792248e-01 -1.52242171e-01 3.29969197e-02 -1.08264943e+01] [ 1.55081061e-01 9.81064971e-01 -1.16023215e-01 -3.15101870e+00] [-1.47084961e-02 1.19724029e-01 9.92698251e-01 1.60246611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.439072329 meters Centerline goodness [0,1] 0.12671693260856864 Centerline is valid? [False, False] Translation: X:-10.81, Y:-3.15, Z:16.02 [[ 9.89297965e-01 -1.42099520e-01 3.31249488e-02 -1.08105301e+01] [ 1.45057546e-01 9.82337020e-01 -1.18204432e-01 -3.15301348e+00] [-1.57430704e-02 1.21744428e-01 9.92436623e-01 1.60207508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.469072329 meters Centerline goodness [0,1] 0.12581260461676202 Centerline is valid? [False, False] Translation: X:-10.81, Y:-3.15, Z:16.02 [[ 9.89778566e-01 -1.39287271e-01 3.06177515e-02 -1.08061419e+01] [ 1.41932304e-01 9.83033578e-01 -1.16190382e-01 -3.15046836e+00] [-1.39144367e-02 1.19348398e-01 9.92754929e-01 1.60219178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.499072329 meters Centerline goodness [0,1] 0.12404005054923695 Centerline is valid? [False, False] Translation: X:-10.80, Y:-3.15, Z:16.02 [[ 9.90225624e-01 -1.36620934e-01 2.80701789e-02 -1.08017274e+01] [ 1.38959736e-01 9.83662170e-01 -1.14450548e-01 -3.14747913e+00] [-1.19752323e-02 1.17232490e-01 9.93032294e-01 1.60232823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.529072329 meters Centerline goodness [0,1] 0.1228712119737636 Centerline is valid? [False, False] Translation: X:-10.80, Y:-3.14, Z:16.02 [[ 9.90624212e-01 -1.34233191e-01 2.53992233e-02 -1.07970348e+01] [ 1.36262243e-01 9.84192065e-01 -1.13130813e-01 -3.14451054e+00] [-9.81180398e-03 1.15531077e-01 9.93255405e-01 1.60247703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.559072329 meters Centerline goodness [0,1] 0.12142815517006933 Centerline is valid? [False, False] Translation: X:-10.78, Y:-3.15, Z:16.02 [[ 0.9909869 -0.12932847 0.03491573 -10.78278894] [ 0.13252584 0.98452062 -0.11469982 -3.14533855] [ -0.0195413 0.11829326 0.9927864 16.01787808] [ 0. 0. 0. 1. ]] SLAMing on 213.589072329 meters Centerline goodness [0,1] 0.11774982529699507 Centerline is valid? [False, False] Translation: X:-10.78, Y:-3.14, Z:16.02 [[ 0.99119682 -0.12844744 0.03209546 -10.77627837] [ 0.13133061 0.984589 -0.11548496 -3.1435926 ] [ -0.01676709 0.11868344 0.99279057 16.01821936] [ 0. 0. 0. 1. ]] SLAMing on 213.619072329 meters Centerline goodness [0,1] 0.12080054405906926 Centerline is valid? [False, False] Translation: X:-10.77, Y:-3.14, Z:16.02 [[ 9.91562415e-01 -1.26158218e-01 2.98006914e-02 -1.07720501e+01] [ 1.28763742e-01 9.85090086e-01 -1.14093914e-01 -3.14033148e+00] [-1.49624808e-02 1.16968486e-01 9.93022909e-01 1.60192282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.649072329 meters Centerline goodness [0,1] 0.11911427349430381 Centerline is valid? [False, False] Translation: X:-10.76, Y:-3.14, Z:16.02 [[ 9.92085038e-01 -1.23332777e-01 2.35860689e-02 -1.07581668e+01] [ 1.25221347e-01 9.85681749e-01 -1.12920784e-01 -3.13606891e+00] [-9.32152378e-03 1.14980500e-01 9.93324013e-01 1.60222116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.679072329 meters Centerline goodness [0,1] 0.1169763022146375 Centerline is valid? [False, False] Translation: X:-10.75, Y:-3.13, Z:16.02 [[ 9.92455406e-01 -1.20702222e-01 2.15230515e-02 -1.07546374e+01] [ 1.22356462e-01 9.86251684e-01 -1.11069856e-01 -3.13292985e+00] [-7.82076738e-03 1.12865364e-01 9.93579511e-01 1.60234170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.709072329 meters Centerline goodness [0,1] 0.11741637383758174 Centerline is valid? [False, False] Translation: X:-10.74, Y:-3.13, Z:16.03 [[ 9.92889700e-01 -1.18076882e-01 1.50961356e-02 -1.07404409e+01] [ 1.19022545e-01 9.86788278e-01 -1.09920558e-01 -3.12850249e+00] [-1.91761276e-03 1.10935771e-01 9.93825728e-01 1.60272351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.739072329 meters Centerline goodness [0,1] 0.15932670118486625 Centerline is valid? [False, False] Translation: X:-10.74, Y:-3.13, Z:16.03 [[ 9.93203711e-01 -1.15664250e-01 1.29680228e-02 -1.07368446e+01] [ 1.16388624e-01 9.87281561e-01 -1.08299619e-01 -3.12530959e+00] [-2.76695548e-04 1.09072914e-01 9.94033713e-01 1.60287234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.769072329 meters Centerline goodness [0,1] 0.15845097735029479 Centerline is valid? [False, False] Translation: X:-10.73, Y:-3.12, Z:16.03 [[ 9.93501063e-01 -1.13299007e-01 1.09075084e-02 -1.07330700e+01] [ 1.13815270e-01 9.87757903e-01 -1.06679000e-01 -3.12220741e+00] [ 1.31264712e-03 1.07227141e-01 9.94233683e-01 1.60298695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.799072329 meters Centerline goodness [0,1] 0.1520765906316014 Centerline is valid? [False, False] Translation: X:-10.73, Y:-3.12, Z:16.03 [[ 9.93790940e-01 -1.10907908e-01 8.88841238e-03 -1.07293559e+01] [ 1.11226661e-01 9.88231019e-01 -1.05014679e-01 -3.11904752e+00] [ 2.86315352e-03 1.05351265e-01 9.94430949e-01 1.60309782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.829072329 meters Centerline goodness [0,1] 0.11401945208664321 Centerline is valid? [False, False] Translation: X:-10.72, Y:-3.12, Z:16.04 [[ 9.94089807e-01 -1.08527237e-01 2.70081759e-03 -1.07154443e+01] [ 1.08219859e-01 9.88690490e-01 -1.03824746e-01 -3.11537972e+00] [ 8.59754008e-03 1.03503404e-01 9.94591940e-01 1.60351814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.859072329 meters Centerline goodness [0,1] 0.160810836999283 Centerline is valid? [False, False] Translation: X:-10.71, Y:-3.11, Z:16.04 [[ 9.94406046e-01 -1.05618559e-01 1.15581324e-03 -1.07131527e+01] [ 1.05190915e-01 9.89270241e-01 -1.01386698e-01 -3.11279214e+00] [ 9.56490531e-03 1.00941127e-01 9.94846421e-01 1.60365536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88907232900002 meters Centerline goodness [0,1] 0.14984632632942219 Centerline is valid? [False, False] Translation: X:-10.71, Y:-3.11, Z:16.04 [[ 9.94697905e-01 -1.02839419e-01 -3.64092967e-04 -1.07106377e+01] [ 1.02297210e-01 9.89804353e-01 -9.91091459e-02 -3.10995530e+00] [ 1.05527078e-02 9.85464140e-02 9.95076502e-01 1.60378133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91907232900002 meters Centerline goodness [0,1] 0.158952555802493 Centerline is valid? [False, False] Translation: X:-10.70, Y:-3.11, Z:16.04 [[ 9.95025538e-01 -9.95140663e-02 -4.59672049e-03 -1.07011827e+01] [ 9.85948359e-02 9.90338546e-01 -9.75121661e-02 -3.10558879e+00] [ 1.42561416e-02 9.65738826e-02 9.95223717e-01 1.60397375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.949072329 meters Centerline goodness [0,1] 0.14890539106953415 Centerline is valid? [False, False] Translation: X:-10.70, Y:-3.10, Z:16.04 [[ 9.95086725e-01 -9.87716766e-02 -6.82391417e-03 -1.06956690e+01] [ 9.76306439e-02 9.90371745e-01 -9.81430841e-02 -3.10390404e+00] [ 1.64519687e-02 9.69946570e-02 9.95148918e-01 1.60402397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979072329 meters Centerline goodness [0,1] 0.15714533773224515 Centerline is valid? [False, False] Translation: X:-10.69, Y:-3.10, Z:16.04 [[ 9.95135739e-01 -9.80921944e-02 -9.09850080e-03 -1.06900663e+01] [ 9.67213585e-02 9.90394221e-01 -9.88142984e-02 -3.10221221e+00] [ 1.87040140e-02 9.74536205e-02 9.95064295e-01 1.60407462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.009072329 meters Centerline goodness [0,1] 0.15175629588238693 Centerline is valid? [False, False] Translation: X:-10.67, Y:-3.10, Z:16.03 [[ 9.95394283e-01 -9.58580595e-02 1.20611543e-03 -1.06745393e+01] [ 9.54870533e-02 9.90267752e-01 -1.01252167e-01 -3.10131770e+00] [ 8.51145906e-03 1.00900997e-01 9.94860062e-01 1.60330863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.039072329 meters Centerline goodness [0,1] 0.15612058172011944 Centerline is valid? [False, False] Translation: X:-10.67, Y:-3.10, Z:16.03 [[ 9.95607986e-01 -9.36193113e-02 -4.02947746e-04 -1.06718048e+01] [ 9.31142760e-02 9.90665615e-01 -9.95558675e-02 -3.09785666e+00] [ 9.71953823e-03 9.90810966e-02 9.95031892e-01 1.60344266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.069072329 meters Centerline goodness [0,1] 0.15618025090433307 Centerline is valid? [False, False] Translation: X:-10.66, Y:-3.09, Z:16.04 [[ 9.95832568e-01 -9.11165153e-02 -3.90865326e-03 -1.06631431e+01] [ 9.02937093e-02 9.91055325e-01 -9.82669299e-02 -3.09298014e+00] [ 1.28274318e-02 9.75044823e-02 9.95152417e-01 1.60356085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.099072329 meters Centerline goodness [0,1] 0.1468666268288451 Centerline is valid? [False, False] Translation: X:-10.66, Y:-3.09, Z:16.04 [[ 9.96051741e-01 -8.86235857e-02 -5.17578519e-03 -1.06613231e+01] [ 8.77189625e-02 9.91497727e-01 -9.61126483e-02 -3.09022307e+00] [ 1.36496268e-02 9.52791561e-02 9.95357006e-01 1.60370569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.129072329 meters Centerline goodness [0,1] 0.15975863664404688 Centerline is valid? [False, False] Translation: X:-10.66, Y:-3.09, Z:16.04 [[ 9.96254645e-01 -8.62303726e-02 -6.40359972e-03 -1.06594811e+01] [ 8.52495624e-02 9.91908821e-01 -9.40712631e-02 -3.08740132e+00] [ 1.44635871e-02 9.31730287e-02 9.95544872e-01 1.60385775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.159072329 meters Centerline goodness [0,1] 0.1614120909808755 Centerline is valid? [False, False] Translation: X:-10.66, Y:-3.08, Z:16.04 [[ 9.96441450e-01 -8.39359431e-02 -7.69374182e-03 -1.06577367e+01] [ 8.28742171e-02 9.92287120e-01 -9.21853312e-02 -3.08452599e+00] [ 1.53720636e-02 9.12196723e-02 9.95712143e-01 1.60402809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.189072329 meters Centerline goodness [0,1] 0.16094986807387868 Centerline is valid? [False, False] Translation: X:-10.63, Y:-3.09, Z:16.03 [[ 9.96256845e-01 -8.63868062e-02 -3.10147708e-03 -1.06320228e+01] [ 8.57477000e-02 9.92153144e-01 -9.09915929e-02 -3.08840098e+00] [ 1.09376133e-02 9.03850527e-02 9.95846831e-01 1.60345609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.219072329 meters Centerline goodness [0,1] 0.1535094485152333 Centerline is valid? [False, False] Translation: X:-10.63, Y:-3.09, Z:16.04 [[ 9.96469581e-01 -8.38593475e-02 -3.99787472e-03 -1.06309276e+01] [ 8.31770832e-02 9.92587053e-01 -8.86144201e-02 -3.08606587e+00] [ 1.13993861e-02 8.79690425e-02 9.96057981e-01 1.60358934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.249072329 meters Centerline goodness [0,1] 0.1575405853545675 Centerline is valid? [False, False] Translation: X:-10.63, Y:-3.08, Z:16.04 [[ 9.96657773e-01 -8.15448729e-02 -4.87010172e-03 -1.06297235e+01] [ 8.08205069e-02 9.92969533e-01 -8.64844084e-02 -3.08341809e+00] [ 1.18882227e-02 8.58017538e-02 9.96241301e-01 1.60371289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.279072329 meters Centerline goodness [0,1] 0.16179870530209617 Centerline is valid? [False, False] Translation: X:-10.63, Y:-3.08, Z:16.04 [[ 9.96838701e-01 -7.92437334e-02 -5.74756527e-03 -1.06285979e+01] [ 7.84794185e-02 9.93341474e-01 -8.43427334e-02 -3.08113692e+00] [ 1.23929280e-02 8.36250352e-02 9.96420227e-01 1.60383724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.309072329 meters Centerline goodness [0,1] 0.17334876096808405 Centerline is valid? [False, False] Translation: X:-10.62, Y:-3.08, Z:16.04 [[ 9.96781518e-01 -7.97403514e-02 -8.25112878e-03 -1.06198941e+01] [ 7.87457875e-02 9.93209997e-01 -8.56329551e-02 -3.07904459e+00] [ 1.50235055e-02 8.47076054e-02 9.96292585e-01 1.60373632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.339072329 meters Centerline goodness [0,1] 0.172485549132948 Centerline is valid? [False, False] Translation: X:-10.62, Y:-3.08, Z:16.04 [[ 9.96759219e-01 -7.99120244e-02 -9.22643443e-03 -1.06161330e+01] [ 7.88281695e-02 9.93170745e-01 -8.60115703e-02 -3.07848340e+00] [ 1.60367835e-02 8.50055228e-02 9.96251415e-01 1.60369062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.369072329 meters Centerline goodness [0,1] 0.17120046171604464 Centerline is valid? [False, False] Translation: X:-10.61, Y:-3.08, Z:16.04 [[ 9.96741656e-01 -8.00290821e-02 -1.00706167e-02 -1.06127738e+01] [ 7.88685662e-02 9.93144536e-01 -8.62767664e-02 -3.07803717e+00] [ 1.69062284e-02 8.52013919e-02 9.96220308e-01 1.60365442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.399072329 meters Centerline goodness [0,1] 0.16949380980803663 Centerline is valid? [False, False] Translation: X:-10.59, Y:-3.08, Z:16.03 [[ 9.96063623e-01 -8.81914218e-02 -8.91809474e-03 -1.05891005e+01] [ 8.70864136e-02 9.92388215e-01 -8.70723087e-02 -3.07802642e+00] [ 1.65292428e-02 8.59529144e-02 9.96162075e-01 1.60330919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.429072329 meters Centerline goodness [0,1] 0.16829277698507583 Centerline is valid? [False, False] Translation: X:-10.59, Y:-3.08, Z:16.03 [[ 9.96016786e-01 -8.86836252e-02 -9.26157498e-03 -1.05870437e+01] [ 8.75386214e-02 9.92303601e-01 -8.75816897e-02 -3.07717787e+00] [ 1.69573560e-02 8.64220876e-02 9.96114286e-01 1.60330886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.459072329 meters Centerline goodness [0,1] 0.16661849432529818 Centerline is valid? [False, False] Translation: X:-10.59, Y:-3.08, Z:16.03 [[ 9.95957839e-01 -8.93234258e-02 -9.45037085e-03 -1.05854123e+01] [ 8.81496810e-02 9.92198087e-01 -8.81622984e-02 -3.07622587e+00] [ 1.72515984e-02 8.69728850e-02 9.96061293e-01 1.60331656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.489072329 meters Centerline goodness [0,1] 0.16607187638650434 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.07, Z:16.03 [[ 9.95778103e-01 -9.12050958e-02 -1.03730146e-02 -1.05804541e+01] [ 8.99126239e-02 9.91887266e-01 -8.98630730e-02 -3.07406821e+00] [ 1.84848313e-02 8.85510154e-02 9.95900110e-01 1.60322450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.519072329 meters Centerline goodness [0,1] 0.1660322674137764 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.07, Z:16.03 [[ 9.95711025e-01 -9.19513122e-02 -1.02230140e-02 -1.05793593e+01] [ 9.06609184e-02 9.91778441e-01 -9.03112445e-02 -3.07355383e+00] [ 1.84432023e-02 8.89970740e-02 9.95861119e-01 1.60316130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.549072329 meters Centerline goodness [0,1] 0.1660322674137764 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.07, Z:16.03 [[ 9.95716100e-01 -9.19290463e-02 -9.92468585e-03 -1.05794475e+01] [ 9.06661537e-02 9.91782230e-01 -9.02643749e-02 -3.07362153e+00] [ 1.81410450e-02 8.89778582e-02 9.95868386e-01 1.60314359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.579072329 meters Centerline goodness [0,1] 0.16100480322280752 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.07, Z:16.03 [[ 9.95530828e-01 -9.39097835e-02 -9.96612028e-03 -1.05757784e+01] [ 9.26156209e-02 9.91504197e-01 -9.13333138e-02 -3.07266297e+00] [ 1.84585418e-02 9.00021110e-02 9.95770507e-01 1.60291777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.609072329 meters Centerline goodness [0,1] 0.159024069344478 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.07, Z:16.03 [[ 9.95463464e-01 -9.46524718e-02 -9.66443369e-03 -1.05753056e+01] [ 9.33774453e-02 9.91407467e-01 -9.16072455e-02 -3.07267170e+00] [ 1.82522439e-02 9.02892258e-02 9.95748317e-01 1.60285809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63907232900002 meters Centerline goodness [0,1] 0.158908507223114 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.07, Z:16.03 [[ 9.95386661e-01 -9.54881562e-02 -9.34917029e-03 -1.05750892e+01] [ 9.42321368e-02 9.91295624e-01 -9.19417807e-02 -3.07261833e+00] [ 1.80471427e-02 9.06366298e-02 9.95720494e-01 1.60281760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66907232900002 meters Centerline goodness [0,1] 0.1570861952210506 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.07, Z:16.03 [[ 9.94896133e-01 -1.00456006e-01 -9.50131784e-03 -1.05701897e+01] [ 9.90886217e-02 9.90435327e-01 -9.60172315e-02 -3.07393763e+00] [ 1.90559484e-02 9.45856998e-02 9.95334324e-01 1.60260240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699072329 meters Centerline goodness [0,1] 0.1560749655987751 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.07, Z:16.03 [[ 9.94802797e-01 -1.01418265e-01 -9.04045839e-03 -1.05705034e+01] [ 1.00083636e-01 9.90301520e-01 -9.63647471e-02 -3.07407526e+00] [ 1.87259252e-02 9.49591181e-02 9.95305031e-01 1.60257924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.729072329 meters Centerline goodness [0,1] 0.15472934970229435 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.07, Z:16.03 [[ 9.94711864e-01 -1.02341546e-01 -8.63225583e-03 -1.05706554e+01] [ 1.01035969e-01 9.90175640e-01 -9.66640289e-02 -3.07429353e+00] [ 1.84401956e-02 9.52806880e-02 9.95279634e-01 1.60253268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759072329 meters Centerline goodness [0,1] 0.15219327112935077 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.07, Z:16.02 [[ 9.94620239e-01 -1.03266782e-01 -8.15789307e-03 -1.05708762e+01] [ 1.01997911e-01 9.90053956e-01 -9.68999013e-02 -3.07470043e+00] [ 1.80832953e-02 9.55465149e-02 9.95260698e-01 1.60247812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.789072329 meters Centerline goodness [0,1] 0.16066583985737537 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.08, Z:16.02 [[ 9.94064740e-01 -1.08526131e-01 -7.57442033e-03 -1.05664760e+01] [ 1.07217053e-01 9.89110600e-01 -1.00820262e-01 -3.07622251e+00] [ 1.84335724e-02 9.94097605e-02 9.94875823e-01 1.60207254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.819072329 meters Centerline goodness [0,1] 0.1725978993146563 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.08, Z:16.02 [[ 9.93965541e-01 -1.09470341e-01 -6.98201513e-03 -1.05669811e+01] [ 1.08212387e-01 9.88984797e-01 -1.00990844e-01 -3.07692447e+00] [ 1.79606089e-02 9.96258782e-02 9.94862855e-01 1.60201312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.849072329 meters Centerline goodness [0,1] 0.16984102304971427 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.08, Z:16.02 [[ 9.93849311e-01 -1.10556712e-01 -6.38438940e-03 -1.05675738e+01] [ 1.09347638e-01 9.88829499e-01 -1.01288278e-01 -3.07745234e+00] [ 1.75111716e-02 9.99671676e-02 9.94836632e-01 1.60196946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.879072329 meters Centerline goodness [0,1] 0.18400701275932596 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.08, Z:16.02 [[ 9.93730453e-01 -1.11656099e-01 -5.71858125e-03 -1.05683465e+01] [ 1.10503359e-01 9.88672819e-01 -1.01563105e-01 -3.07808130e+00] [ 1.69939459e-02 1.00294428e-01 9.94812663e-01 1.60192104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.909072329 meters Centerline goodness [0,1] 0.19811894991065992 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.08, Z:16.02 [[ 9.93090727e-01 -1.17248241e-01 -4.86403857e-03 -1.05656318e+01] [ 1.16080966e-01 9.87591843e-01 -1.05771266e-01 -3.07951705e+00] [ 1.72051796e-02 1.04475841e-01 9.94378590e-01 1.60161439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.939072329 meters Centerline goodness [0,1] 0.1975179749827637 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.08, Z:16.02 [[ 9.92967920e-01 -1.18312735e-01 -4.09971009e-03 -1.05667025e+01] [ 1.17217325e-01 9.87443971e-01 -1.05898548e-01 -3.08024252e+00] [ 1.65773808e-02 1.04673304e-01 9.94368488e-01 1.60156210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.969072329 meters Centerline goodness [0,1] 0.19799153293295269 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.08, Z:16.02 [[ 9.92845772e-01 -1.19358636e-01 -3.28473763e-03 -1.05678912e+01] [ 1.18341243e-01 9.87299829e-01 -1.05992439e-01 -3.08098073e+00] [ 1.58941338e-02 1.04845425e-01 9.94361510e-01 1.60150582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.999072329 meters Centerline goodness [0,1] 0.19480416617163676 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.08, Z:16.01 [[ 9.92193956e-01 -1.24686005e-01 -2.13407185e-03 -1.05667199e+01] [ 1.23700926e-01 9.86233330e-01 -1.09735594e-01 -3.08308541e+00] [ 1.57871856e-02 1.08615006e-01 9.93958523e-01 1.60126821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.029072329 meters Centerline goodness [0,1] 0.20407232642055595 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.08, Z:16.01 [[ 9.92055839e-01 -1.25791813e-01 -1.27780614e-03 -1.05682298e+01] [ 1.24891679e-01 9.86072615e-01 -1.09831080e-01 -3.08411829e+00] [ 1.50758602e-02 1.08798977e-01 9.93949446e-01 1.60124199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.059072329 meters Centerline goodness [0,1] 0.2047208081450843 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.09, Z:16.01 [[ 9.91915244e-01 -1.26901441e-01 -4.16876219e-04 -1.05696050e+01] [ 1.26086980e-01 9.85910178e-01 -1.09923588e-01 -3.08519300e+00] [ 1.43604642e-02 1.08982320e-01 9.93939953e-01 1.60119552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.089072329 meters Centerline goodness [0,1] 0.20892697021022222 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.09, Z:16.01 [[ 9.91771297e-01 -1.28020919e-01 5.81554305e-04 -1.05711056e+01] [ 1.27309323e-01 9.85759519e-01 -1.09865860e-01 -3.08652470e+00] [ 1.34918556e-02 1.09035844e-01 9.93946253e-01 1.60112053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.119072329 meters Centerline goodness [0,1] 0.2082948939071838 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.09, Z:16.01 [[ 9.90985127e-01 -1.33947195e-01 2.57429535e-03 -1.05697754e+01] [ 1.33374089e-01 9.84567511e-01 -1.13305644e-01 -3.08924786e+00] [ 1.26424056e-02 1.12627552e-01 9.93556845e-01 1.60060784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.149072329 meters Centerline goodness [0,1] 0.20898795035304052 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.09, Z:16.00 [[ 9.90832479e-01 -1.35038312e-01 3.95627936e-03 -1.05718433e+01] [ 1.34618558e-01 9.84444939e-01 -1.12898213e-01 -3.09099865e+00] [ 1.13508450e-02 1.12395805e-01 9.93598682e-01 1.60046676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.179072329 meters Centerline goodness [0,1] 0.20926807617817944 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.09, Z:16.00 [[ 9.90682905e-01 -1.36085519e-01 5.30228398e-03 -1.05739122e+01] [ 1.35815370e-01 9.84336459e-01 -1.12409615e-01 -3.09296422e+00] [ 1.00780893e-02 1.12082415e-01 9.93647807e-01 1.60034033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.209072329 meters Centerline goodness [0,1] 0.20932030932030932 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.10, Z:16.00 [[ 9.89874440e-01 -1.41739268e-01 7.65324739e-03 -1.05752625e+01] [ 1.41672089e-01 9.83182779e-01 -1.15241672e-01 -3.09683738e+00] [ 8.80972917e-03 1.15159037e-01 9.93308001e-01 1.60000849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.239072329 meters Centerline goodness [0,1] 0.21095728171199868 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.10, Z:16.00 [[ 9.89675712e-01 -1.43029694e-01 9.19187907e-03 -1.05782830e+01] [ 1.43134070e-01 9.83017255e-01 -1.14846482e-01 -3.09921581e+00] [ 7.39068146e-03 1.14976445e-01 9.93340725e-01 1.59995353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.269072329 meters Centerline goodness [0,1] 0.21155462615577014 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.10, Z:16.00 [[ 9.89442074e-01 -1.44516114e-01 1.09304308e-02 -1.05817560e+01] [ 1.44813260e-01 9.82824907e-01 -1.14386723e-01 -3.10179223e+00] [ 5.78802505e-03 1.14761908e-01 9.93376164e-01 1.59990657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.299072329 meters Centerline goodness [0,1] 0.21678408363117985 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.11, Z:16.01 [[ 9.87496308e-01 -1.57641925e-01 -2.56977738e-04 -1.05792749e+01] [ 1.56549038e-01 9.80839307e-01 -1.15959704e-01 -3.10723249e+00] [ 1.85321648e-02 1.14469550e-01 9.93253886e-01 1.60065493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.329072329 meters Centerline goodness [0,1] 0.21972451332765464 Centerline is valid? [False, False] Translation: X:-10.58, Y:-3.11, Z:16.00 [[ 9.87182136e-01 -1.59581319e-01 2.28753932e-03 -1.05838177e+01] [ 1.58780134e-01 9.80575212e-01 -1.15156953e-01 -3.11023301e+00] [ 1.61337940e-02 1.14044102e-01 9.93344675e-01 1.60048929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.359072329 meters Centerline goodness [0,1] 0.22238004720823845 Centerline is valid? [False, False] Translation: X:-10.59, Y:-3.11, Z:16.00 [[ 9.86832534e-01 -1.61667775e-01 5.00812327e-03 -1.05886309e+01] [ 1.61177175e-01 9.80301719e-01 -1.14151033e-01 -3.11369947e+00] [ 1.35450717e-02 1.13455148e-01 9.93450784e-01 1.60031099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38907232900002 meters Centerline goodness [0,1] 0.22955656718934414 Centerline is valid? [False, False] Translation: X:-10.59, Y:-3.12, Z:16.01 [[ 9.84567085e-01 -1.74956659e-01 -4.22173955e-03 -1.05907178e+01] [ 1.73327075e-01 9.78164013e-01 -1.14686047e-01 -3.12024673e+00] [ 2.41946413e-02 1.12184365e-01 9.93392816e-01 1.60089150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41907232900002 meters Centerline goodness [0,1] 0.23353420023258276 Centerline is valid? [False, False] Translation: X:-10.61, Y:-3.12, Z:16.02 [[ 9.83891626e-01 -1.78479325e-01 -1.01192200e-02 -1.06083486e+01] [ 1.76085586e-01 9.77351062e-01 -1.17382996e-01 -3.11652598e+00] [ 3.08404683e-02 1.13710298e-01 9.93035162e-01 1.60151666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.449072329 meters Centerline goodness [0,1] 0.24330037795477355 Centerline is valid? [False, False] Translation: X:-10.61, Y:-3.12, Z:16.02 [[ 0.98114564 -0.19236523 -0.01867771 -10.61320664] [ 0.18884378 0.97475286 -0.11914233 -3.12403308] [ 0.04112499 0.11336881 0.99270149 16.02050222] [ 0. 0. 0. 1. ]] SLAMing on 215.479072329 meters Centerline goodness [0,1] 0.24776503376567693 Centerline is valid? [False, False] Translation: X:-10.63, Y:-3.12, Z:16.03 [[ 0.98020394 -0.19648738 -0.02435061 -10.63182351] [ 0.19217516 0.97377967 -0.12174508 -3.12052011] [ 0.0476335 0.11465542 0.99226266 16.02649051] [ 0. 0. 0. 1. ]] SLAMing on 215.509072329 meters Centerline goodness [0,1] 0.2585954330030159 Centerline is valid? [False, False] Translation: X:-10.65, Y:-3.12, Z:16.03 [[ 0.97917729 -0.20078123 -0.02997895 -10.65064761] [ 0.19565405 0.97274916 -0.1244129 -3.1169544 ] [ 0.05414177 0.11595678 0.99177754 16.03143536] [ 0. 0. 0. 1. ]] SLAMing on 215.539072329 meters Centerline goodness [0,1] 0.2624035281146637 Centerline is valid? [False, False] Translation: X:-10.67, Y:-3.11, Z:16.04 [[ 0.977987 -0.20559582 -0.03566206 -10.66915109] [ 0.19963756 0.97163433 -0.12677373 -3.1139064 ] [ 0.06071463 0.11686357 0.99129039 16.03598986] [ 0. 0. 0. 1. ]] SLAMing on 215.569072329 meters Centerline goodness [0,1] 0.16181583608493144 Centerline is valid? [False, False] Translation: X:-10.68, Y:-3.12, Z:16.04 [[ 0.97455006 -0.22020226 -0.04198988 -10.6789003 ] [ 0.21331451 0.96852651 -0.12827052 -3.12187749] [ 0.06891377 0.11604899 0.9908499 16.03835917] [ 0. 0. 0. 1. ]] SLAMing on 215.599072329 meters Centerline goodness [0,1] 0.16237402015677493 Centerline is valid? [False, False] Translation: X:-10.70, Y:-3.12, Z:16.04 [[ 0.97328525 -0.22481004 -0.04665059 -10.69966732] [ 0.21718417 0.967361 -0.13055166 -3.11830052] [ 0.07447728 0.11693224 0.99034337 16.04215895] [ 0. 0. 0. 1. ]] SLAMing on 215.629072329 meters Centerline goodness [0,1] 0.16273564226216575 Centerline is valid? [False, False] Translation: X:-10.72, Y:-3.11, Z:16.05 [[ 0.97192456 -0.22961803 -0.05136356 -10.71969025] [ 0.22122797 0.96613007 -0.13285656 -3.11474266] [ 0.08013014 0.11776349 0.98980348 16.0456106 ] [ 0. 0. 0. 1. ]] SLAMing on 215.659072329 meters Centerline goodness [0,1] 0.16391711759271477 Centerline is valid? [False, False] Translation: X:-10.74, Y:-3.11, Z:16.05 [[ 0.97064953 -0.23396359 -0.05568236 -10.74116331] [ 0.22487213 0.96501689 -0.13481442 -3.1107393 ] [ 0.08527608 0.11833614 0.98930508 16.04902462] [ 0. 0. 0. 1. ]] SLAMing on 215.689072329 meters Centerline goodness [0,1] 0.16888292017084228 Centerline is valid? [False, False] Translation: X:-10.57, Y:-3.22, Z:16.09 [[ 0.93821098 -0.33197758 -0.09772945 -10.57478457] [ 0.31977397 0.93961595 -0.12192815 -3.22307822] [ 0.13230556 0.083143 0.98771579 16.08746433] [ 0. 0. 0. 1. ]] SLAMing on 215.719072329 meters Centerline goodness [0,1] 0.17001586462189322 Centerline is valid? [False, False] Translation: X:-10.38, Y:-3.33, Z:16.15 [[ 0.89639379 -0.41818303 -0.14697324 -10.38039138] [ 0.40498635 0.90744545 -0.11193218 -3.32892884] [ 0.18017834 0.04081315 0.98278688 16.14556457] [ 0. 0. 0. 1. ]] SLAMing on 215.749072329 meters Centerline goodness [0,1] 0.17100519739024655 Centerline is valid? [False, False] Translation: X:-10.19, Y:-3.43, Z:16.23 [[ 0.84000866 -0.50033284 -0.20988685 -10.18685688] [ 0.49029226 0.86565005 -0.1013089 -3.42997282] [ 0.23237673 -0.01780554 0.97246286 16.22892323] [ 0. 0. 0. 1. ]] SLAMing on 215.779072329 meters Centerline goodness [0,1] 0.1711741643963054 Centerline is valid? [False, False] Translation: X:-9.99, Y:-3.51, Z:16.34 [[ 0.78288125 -0.55667923 -0.27785821 -9.98951446] [ 0.55535679 0.82658655 -0.09128808 -3.51431119] [ 0.28049204 -0.08284272 0.9562747 16.33604941] [ 0. 0. 0. 1. ]] SLAMing on 215.809072329 meters Centerline goodness [0,1] 0.17066956174945713 Centerline is valid? [False, False] Translation: X:-9.76, Y:-3.59, Z:16.48 [[ 0.71930564 -0.60155162 -0.34746949 -9.76150458] [ 0.61680211 0.7831482 -0.07895608 -3.5945939 ] [ 0.31961626 -0.15752636 0.93436122 16.47613544] [ 0. 0. 0. 1. ]] SLAMing on 215.839072329 meters Centerline goodness [0,1] 0.16911067498732058 Centerline is valid? [False, False] Translation: X:-9.54, Y:-3.67, Z:16.62 [[ 0.64707757 -0.64726167 -0.40291804 -9.5383564 ] [ 0.68507663 0.72553741 -0.06531065 -3.66574745] [ 0.33460519 -0.23376868 0.91290283 16.62207074] [ 0. 0. 0. 1. ]] SLAMing on 215.869072329 meters Centerline goodness [0,1] 0.166696191319752 Centerline is valid? [False, False] Translation: X:-9.34, Y:-3.71, Z:16.75 [[ 0.59148312 -0.67658445 -0.43861281 -9.33656283] [ 0.73484013 0.67623103 -0.05216872 -3.71196244] [ 0.33190014 -0.29145338 0.89716065 16.75202937] [ 0. 0. 0. 1. ]] SLAMing on 215.899072329 meters Centerline goodness [0,1] 0.16712340876944842 Centerline is valid? [False, False] Translation: X:-9.14, Y:-3.75, Z:16.88 [[ 0.54107126 -0.70187463 -0.46326439 -9.14143577] [ 0.77898887 0.62586108 -0.03839605 -3.74675505] [ 0.31688836 -0.34010281 0.88538796 16.87927566] [ 0. 0. 0. 1. ]] SLAMing on 215.929072329 meters Centerline goodness [0,1] 0.1621149465956082 Centerline is valid? [False, False] Translation: X:-8.88, Y:-3.78, Z:17.05 [[ 0.48188831 -0.7272661 -0.48874091 -8.88485268] [ 0.82524065 0.56418867 -0.02586539 -3.77621142] [ 0.2945531 -0.39086464 0.87204547 17.05049482] [ 0. 0. 0. 1. ]] SLAMing on 215.959072329 meters Centerline goodness [0,1] 0.1601394254251587 Centerline is valid? [False, False] Translation: X:-8.64, Y:-3.79, Z:17.22 [[ 4.36057924e-01 -7.41131476e-01 -5.10468043e-01 -8.64105845e+00] [ 8.57630958e-01 5.14081454e-01 -1.37622157e-02 -3.78502765e+00] [ 2.72621765e-01 -4.31792073e-01 8.59786589e-01 1.72238537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.989072329 meters Centerline goodness [0,1] 0.16018848306528333 Centerline is valid? [False, False] Translation: X:-8.40, Y:-3.77, Z:17.40 [[ 3.86042662e-01 -7.62463288e-01 -5.19250226e-01 -8.40233899e+00] [ 8.87290678e-01 4.60893312e-01 -1.71057685e-02 -3.77277537e+00] [ 2.52361477e-01 -4.54122329e-01 8.54451049e-01 1.74041800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.019072329 meters Centerline goodness [0,1] 0.15625897373594577 Centerline is valid? [False, False] Translation: X:-8.13, Y:-3.74, Z:17.62 [[ 0.29663246 -0.79315967 -0.53188996 -8.13010516] [ 0.92581073 0.37546679 -0.04357968 -3.73621536] [ 0.23427266 -0.47950228 0.84569136 17.62216344] [ 0. 0. 0. 1. ]] SLAMing on 216.049072329 meters Centerline goodness [0,1] 0.1538393430285322 Centerline is valid? [False, False] Translation: X:-7.92, Y:-3.69, Z:17.80 [[ 0.22138613 -0.81509596 -0.53535666 -7.92061411] [ 0.9491219 0.30617172 -0.07366474 -3.69060467] [ 0.22395491 -0.49181038 0.8414076 17.79509736] [ 0. 0. 0. 1. ]] SLAMing on 216.079072329 meters Centerline goodness [0,1] 0.15032694225867227 Centerline is valid? [False, False] Translation: X:-9.62, Y:-3.81, Z:18.05 [[ 0.23938902 0.05561855 0.96932939 -9.61811916] [ 0.74847262 0.62535447 -0.22072727 -3.8078908 ] [-0.618451 0.7783562 0.10807403 18.0469075 ] [ 0. 0. 0. 1. ]] SLAMing on 216.109072329 meters Centerline goodness [0,1] 0.1427624455885277 Centerline is valid? [False, False] Translation: X:-10.44, Y:-3.70, Z:18.38 [[ 0.64938457 -0.40650466 0.6426925 -10.44106807] [ 0.7092356 0.62867863 -0.3189797 -3.70461759] [ -0.27438031 0.66296089 0.69656178 18.37591046] [ 0. 0. 0. 1. ]] SLAMing on 216.13907232900002 meters Centerline goodness [0,1] 0.1390343608441056 Centerline is valid? [False, False] Translation: X:-10.91, Y:-3.57, Z:18.78 [[ 0.72191875 -0.24965525 0.64537243 -10.90973261] [ 0.58427029 0.71962525 -0.37519026 -3.5650449 ] [ -0.37075808 0.64792882 0.6653771 18.77710091] [ 0. 0. 0. 1. ]] SLAMing on 216.16907232900002 meters Centerline goodness [0,1] 0.13639474555690478 Centerline is valid? [False, False] Translation: X:-11.17, Y:-3.39, Z:19.11 [[ 0.80019992 -0.13263066 0.58488391 -11.17099152] [ 0.45293202 0.77288621 -0.44440914 -3.38538274] [ -0.39310643 0.62052881 0.67853616 19.10815607] [ 0. 0. 0. 1. ]] SLAMing on 216.199072329 meters Centerline goodness [0,1] 0.1344803762062894 Centerline is valid? [False, False] Translation: X:-11.28, Y:-3.26, Z:19.34 [[ 0.86626889 -0.06184885 0.49573474 -11.27745292] [ 0.33822157 0.8029149 -0.49085011 -3.257 ] [ -0.36767429 0.59287636 0.71645882 19.33533071] [ 0. 0. 0. 1. ]] SLAMing on 216.229072329 meters Centerline goodness [0,1] 0.13701853701853706 Centerline is valid? [False, False] Translation: X:-11.29, Y:-3.22, Z:19.39 [[ 0.90206994 -0.04899645 0.42879969 -11.28618038] [ 0.2922262 0.80048017 -0.52329279 -3.21926009] [ -0.31760616 0.5973532 0.73640714 19.39429866] [ 0. 0. 0. 1. ]] SLAMing on 216.259072329 meters Centerline goodness [0,1] 0.13265261017548513 Centerline is valid? [False, False] Translation: X:-11.28, Y:-3.22, Z:19.41 [[ 0.92059074 -0.06992512 0.38421761 -11.28083347] [ 0.28621616 0.79015406 -0.54197497 -3.22119886] [ -0.26569344 0.60890643 0.74742221 19.41004622] [ 0. 0. 0. 1. ]] SLAMing on 216.289072329 meters Centerline goodness [0,1] 0.13192326393493348 Centerline is valid? [False, False] Translation: X:-11.28, Y:-3.22, Z:19.42 [[ 0.93002366 -0.07980029 0.35873097 -11.28038933] [ 0.27998072 0.78614976 -0.55098035 -3.21985802] [ -0.23804787 0.61286252 0.75348042 19.42414437] [ 0. 0. 0. 1. ]] SLAMing on 216.319072329 meters Centerline goodness [0,1] 0.1291313184870979 Centerline is valid? [False, False] Translation: X:-11.28, Y:-3.24, Z:19.42 [[ 0.9338154 -0.11006163 0.34040453 -11.27606352] [ 0.29468759 0.77614725 -0.55745374 -3.2360729 ] [ -0.20284978 0.62087187 0.75721205 19.42151271] [ 0. 0. 0. 1. ]] SLAMing on 216.349072329 meters Centerline goodness [0,1] 0.12756023433026475 Centerline is valid? [False, False] Translation: X:-11.28, Y:-3.24, Z:19.42 [[ 0.93610265 -0.1218949 0.32992948 -11.27750055] [ 0.29830517 0.77212015 -0.56111007 -3.24075183] [ -0.18634874 0.62367629 0.75914559 19.42397521] [ 0. 0. 0. 1. ]] SLAMing on 216.379072329 meters Centerline goodness [0,1] 0.12360490457217077 Centerline is valid? [False, False] Translation: X:-11.28, Y:-3.25, Z:19.43 [[ 0.93762517 -0.13462706 0.32052239 -11.27855542] [ 0.30307131 0.76821745 -0.56390578 -3.24611348] [ -0.17031392 0.62587339 0.76110161 19.42546392] [ 0. 0. 0. 1. ]] SLAMing on 216.409072329 meters Centerline goodness [0,1] 0.12360490457217077 Centerline is valid? [False, False] Translation: X:-11.28, Y:-3.24, Z:19.44 [[ 0.94189971 -0.1329328 0.3084701 -11.27821431] [ 0.29388798 0.77083998 -0.56518633 -3.24358717] [ -0.16264928 0.62300449 0.76512131 19.44072331] [ 0. 0. 0. 1. ]] SLAMing on 216.439072329 meters Centerline goodness [0,1] 0.12212897526501765 Centerline is valid? [False, False] Translation: X:-11.27, Y:-3.26, Z:19.43 [[ 0.93815397 -0.16723143 0.3031514 -11.27445745] [ 0.31855161 0.75992229 -0.56660656 -3.26456451] [ -0.13561708 0.62813356 0.76619595 19.42809348] [ 0. 0. 0. 1. ]] SLAMing on 216.469072329 meters Centerline goodness [0,1] 0.09715128566396614 Centerline is valid? [False, False] Translation: X:-11.27, Y:-3.27, Z:19.43 [[ 0.93722029 -0.18275618 0.29701566 -11.27441519] [ 0.32728889 0.75502323 -0.56817419 -3.27195223] [ -0.12041637 0.6297143 0.76743716 19.42689059] [ 0. 0. 0. 1. ]] SLAMing on 216.499072329 meters Centerline goodness [0,1] 0.09105034182722183 Centerline is valid? [False, False] Translation: X:-11.27, Y:-3.28, Z:19.43 [[ 0.93601299 -0.19788888 0.29106645 -11.27458747] [ 0.33563015 0.75085187 -0.56883554 -3.27876438] [ -0.10598156 0.63012813 0.76922458 19.42702039] [ 0. 0. 0. 1. ]] SLAMing on 216.529072329 meters Centerline goodness [0,1] 0.09456422579712076 Centerline is valid? [False, False] Translation: X:-11.27, Y:-3.30, Z:19.41 [[ 0.92849833 -0.23080084 0.2908983 -11.27044965] [ 0.36181502 0.73856313 -0.56887115 -3.30193917] [ -0.08355082 0.63344729 0.76926185 19.41238553] [ 0. 0. 0. 1. ]] SLAMing on 216.559072329 meters Centerline goodness [0,1] 0.09533249631049145 Centerline is valid? [False, False] Translation: X:-11.27, Y:-3.31, Z:19.41 [[ 0.92580641 -0.24647733 0.28658581 -11.26967436] [ 0.37159744 0.73239002 -0.57054378 -3.30985038] [ -0.06926648 0.63470763 0.76964172 19.40944434] [ 0. 0. 0. 1. ]] SLAMing on 216.589072329 meters Centerline goodness [0,1] 0.09641619511339217 Centerline is valid? [False, False] Translation: X:-11.27, Y:-3.32, Z:19.41 [[ 0.92290901 -0.26178173 0.28232834 -11.26951265] [ 0.38106611 0.72585873 -0.57264102 -3.31671167] [ -0.05502353 0.63608131 0.7696577 19.40751556] [ 0. 0. 0. 1. ]] SLAMing on 216.619072329 meters Centerline goodness [0,1] 0.14319412895334616 Centerline is valid? [False, False] Translation: X:-11.27, Y:-3.32, Z:19.41 [[ 0.92004634 -0.27608749 0.27801156 -11.26896287] [ 0.3896678 0.71885364 -0.57568086 -3.32355002] [ -0.04091134 0.63798522 0.76896107 19.40673755] [ 0. 0. 0. 1. ]] SLAMing on 216.649072329 meters Centerline goodness [0,1] 0.10275809440750028 Centerline is valid? [False, False] Translation: X:-11.27, Y:-3.35, Z:19.40 [[ 0.90928428 -0.30338398 0.28488639 -11.26606452] [ 0.41557955 0.69852347 -0.58254493 -3.34937323] [ -0.02226503 0.64809191 0.76123659 19.40278744] [ 0. 0. 0. 1. ]] SLAMing on 216.679072329 meters Centerline goodness [0,1] 0.10579020856968324 Centerline is valid? [False, False] Translation: X:-11.28, Y:-3.37, Z:19.42 [[ 0.90246143 -0.3046821 0.30451959 -11.27663172] [ 0.42989161 0.68214288 -0.59150173 -3.36648208] [ -0.02750588 0.66471792 0.74658792 19.42311636] [ 0. 0. 0. 1. ]] SLAMing on 216.709072329 meters Centerline goodness [0,1] 0.10839581193031544 Centerline is valid? [False, False] Translation: X:-11.29, Y:-3.39, Z:19.45 [[ 0.89218104 -0.30439744 0.33369925 -11.28903202] [ 0.45004414 0.66187117 -0.5994888 -3.39131832] [ -0.03838306 0.68503194 0.72750119 19.44701699] [ 0. 0. 0. 1. ]] SLAMing on 216.739072329 meters Centerline goodness [0,1] 0.1124141689373297 Centerline is valid? [False, False] Translation: X:-11.30, Y:-3.42, Z:19.47 [[ 0.8809696 -0.30314864 0.36330905 -11.3015953 ] [ 0.47072443 0.63950089 -0.60782985 -3.41677908] [ -0.04807367 0.70649807 0.70608031 19.47464371] [ 0. 0. 0. 1. ]] SLAMing on 216.769072329 meters Centerline goodness [0,1] 0.11634015541206089 Centerline is valid? [False, False] Translation: X:-11.31, Y:-3.46, Z:19.50 [[ 0.86224203 -0.31490556 0.39670288 -11.30735992] [ 0.50470513 0.60000273 -0.62070078 -3.45801404] [ -0.04256068 0.73541228 0.67628202 19.49827662] [ 0. 0. 0. 1. ]] SLAMing on 216.799072329 meters Centerline goodness [0,1] 0.11731868035640014 Centerline is valid? [False, False] Translation: X:-11.31, Y:-3.47, Z:19.53 [[ 0.85661419 -0.31035316 0.41218084 -11.3148729 ] [ 0.51418327 0.57968246 -0.63212642 -3.47462078] [ -0.04275157 0.75342495 0.65614263 19.52874908] [ 0. 0. 0. 1. ]] SLAMing on 216.829072329 meters Centerline goodness [0,1] 0.12209696837036221 Centerline is valid? [False, False] Translation: X:-11.31, Y:-3.48, Z:19.53 [[ 8.53546421e-01 -3.32683157e-01 4.00974344e-01 -1.13106871e+01] [ 5.20925104e-01 5.59354499e-01 -6.44794216e-01 -3.48477809e+00] [-9.77462756e-03 7.59239397e-01 6.50738038e-01 1.95315219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.859072329 meters Centerline goodness [0,1] 0.12654585392641404 Centerline is valid? [False, False] Translation: X:-11.32, Y:-3.48, Z:19.54 [[ 8.57007476e-01 -3.36266922e-01 3.90464780e-01 -1.13174837e+01] [ 5.15295869e-01 5.54990065e-01 -6.53036136e-01 -3.47829029e+00] [ 2.89037753e-03 7.60861738e-01 6.48907590e-01 1.95435438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88907232900002 meters Centerline goodness [0,1] 0.14036701265711904 Centerline is valid? [False, False] Translation: X:-11.33, Y:-3.47, Z:19.56 [[ 8.60729551e-01 -3.38852713e-01 3.79899300e-01 -1.13279924e+01] [ 5.08861633e-01 5.51747675e-01 -6.60783128e-01 -3.46958106e+00] [ 1.42995999e-02 7.62071743e-01 6.47334674e-01 1.95563981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91907232900002 meters Centerline goodness [0,1] 0.14503264823173667 Centerline is valid? [False, False] Translation: X:-11.34, Y:-3.46, Z:19.57 [[ 0.86505415 -0.33932389 0.36951402 -11.34203887] [ 0.50109047 0.54876559 -0.6691522 -3.45657562] [ 0.02428274 0.76401284 0.64474392 19.57305009] [ 0. 0. 0. 1. ]] SLAMing on 216.949072329 meters Centerline goodness [0,1] 0.1272502100933257 Centerline is valid? [False, False] Translation: X:-11.37, Y:-3.42, Z:19.63 [[ 0.87274575 -0.33238926 0.35753634 -11.37277686] [ 0.48721602 0.54718416 -0.68059536 -3.42307394] [ 0.03058436 0.76818414 0.63949802 19.62603412] [ 0. 0. 0. 1. ]] SLAMing on 216.979072329 meters Centerline goodness [0,1] 0.12992505587938818 Centerline is valid? [False, False] Translation: X:-11.39, Y:-3.40, Z:19.66 [[ 0.89283724 -0.3099254 0.32678418 -11.38712955] [ 0.44913974 0.55890979 -0.6970605 -3.40303674] [ 0.03339388 0.76913334 0.63821529 19.65859518] [ 0. 0. 0. 1. ]] SLAMing on 217.009072329 meters Centerline goodness [0,1] 0.13341092761770912 Centerline is valid? [False, False] Translation: X:-11.40, Y:-3.39, Z:19.68 [[ 0.90803553 -0.29383307 0.29855251 -11.39562651] [ 0.41705366 0.56742589 -0.70999585 -3.39009664] [ 0.03921383 0.76921387 0.63778703 19.68260378] [ 0. 0. 0. 1. ]] SLAMing on 217.039072329 meters Centerline goodness [0,1] 0.1425750394944708 Centerline is valid? [False, False] Translation: X:-11.40, Y:-3.39, Z:19.69 [[ 0.91914844 -0.2963018 0.25955999 -11.39502182] [ 0.38817514 0.56927744 -0.72473668 -3.3881078 ] [ 0.06697914 0.76689533 0.63826746 19.69470555] [ 0. 0. 0. 1. ]] SLAMing on 217.069072329 meters Centerline goodness [0,1] 0.1477380297193176 Centerline is valid? [False, False] Translation: X:-11.40, Y:-3.38, Z:19.72 [[ 0.93671405 -0.27042265 0.22234744 -11.40416177] [ 0.34304655 0.58217101 -0.73715397 -3.3758569 ] [ 0.0698989 0.766778 0.63809532 19.72316046] [ 0. 0. 0. 1. ]] SLAMing on 217.099072329 meters Centerline goodness [0,1] 0.15214909777407037 Centerline is valid? [False, False] Translation: X:-11.40, Y:-3.37, Z:19.74 [[ 0.9528591 -0.24454031 0.17960948 -11.40275204] [ 0.2936196 0.59399612 -0.74897005 -3.36957624] [ 0.07646604 0.7663998 0.63779644 19.74435568] [ 0. 0. 0. 1. ]] SLAMing on 217.129072329 meters Centerline goodness [0,1] 0.16082726122431168 Centerline is valid? [False, False] Translation: X:-11.39, Y:-3.36, Z:19.81 [[ 0.98073357 -0.18072542 0.07416189 -11.38714926] [ 0.17535067 0.64709358 -0.74197173 -3.35928384] [ 0.08610347 0.74068092 0.66631672 19.80774144] [ 0. 0. 0. 1. ]] SLAMing on 217.159072329 meters Centerline goodness [0,1] 0.16609537033019484 Centerline is valid? [False, False] Translation: X:-11.36, Y:-3.40, Z:19.80 [[ 9.87722744e-01 -1.56210945e-01 -1.38615047e-03 -1.13617555e+01] [ 1.06431077e-01 6.79406577e-01 -7.26002155e-01 -3.39553895e+00] [ 1.14351242e-01 7.16941312e-01 6.87691027e-01 1.98037253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.189072329 meters Centerline goodness [0,1] 0.17040747728406302 Centerline is valid? [False, False] Translation: X:-11.37, Y:-3.45, Z:19.76 [[ 0.98843366 -0.14910989 -0.02766114 -11.3660407 ] [ 0.08372274 0.68860801 -0.72028432 -3.44991517] [ 0.1264492 0.70963741 0.69312723 19.76072174] [ 0. 0. 0. 1. ]] SLAMing on 217.219072329 meters Centerline goodness [0,1] 0.18318155143558867 Centerline is valid? [False, False] Translation: X:-11.38, Y:-3.53, Z:19.69 [[ 0.98311798 -0.17816577 -0.04166532 -11.37709737] [ 0.09504094 0.6918262 -0.7157819 -3.52559518] [ 0.15635299 0.69973814 0.69707982 19.68820072] [ 0. 0. 0. 1. ]] SLAMing on 217.249072329 meters Centerline goodness [0,1] 0.19131266576807693 Centerline is valid? [False, False] Translation: X:-11.39, Y:-3.58, Z:19.64 [[ 0.98071756 -0.18834255 -0.05215508 -11.38770609] [ 0.09519786 0.69346924 -0.7141693 -3.58030879] [ 0.17067641 0.69543332 0.69802727 19.63677546] [ 0. 0. 0. 1. ]] SLAMing on 217.279072329 meters Centerline goodness [0,1] 0.1999739391043739 Centerline is valid? [False, False] Translation: X:-11.39, Y:-3.61, Z:19.60 [[ 0.97666244 -0.20629929 -0.0597585 -11.39195623] [ 0.10297934 0.6939493 -0.71262165 -3.61407038] [ 0.18848271 0.68983691 0.69899879 19.60397494] [ 0. 0. 0. 1. ]] SLAMing on 217.309072329 meters Centerline goodness [0,1] 0.2131233025529603 Centerline is valid? [False, False] Translation: X:-11.40, Y:-3.66, Z:19.56 [[ 0.9663792 -0.24842638 -0.06629908 -11.39732559] [ 0.12943379 0.69281963 -0.70939965 -3.65870116] [ 0.22216689 0.67696772 0.70168125 19.55593657] [ 0. 0. 0. 1. ]] SLAMing on 217.339072329 meters Centerline goodness [0,1] 0.21722919511825023 Centerline is valid? [False, False] Translation: X:-11.40, Y:-3.68, Z:19.54 [[ 0.96192132 -0.26316942 -0.07381891 -11.40206225] [ 0.13522041 0.69290856 -0.70823243 -3.68040564] [ 0.23753487 0.67128205 0.70210939 19.53534996] [ 0. 0. 0. 1. ]] SLAMing on 217.369072329 meters Centerline goodness [0,1] 0.21071552321552323 Centerline is valid? [False, False] Translation: X:-11.41, Y:-3.70, Z:19.52 [[ 0.95736344 -0.27728709 -0.08103769 -11.408083 ] [ 0.14039758 0.69175514 -0.70835256 -3.70077087] [ 0.25247526 0.66677335 0.70119152 19.51844839] [ 0. 0. 0. 1. ]] SLAMing on 217.399072329 meters Centerline goodness [0,1] 0.215619915392125 Centerline is valid? [False, False] Translation: X:-11.42, Y:-3.72, Z:19.50 [[ 0.95301793 -0.29013535 -0.08705339 -11.41637779] [ 0.14589656 0.69150754 -0.70748252 -3.72220972] [ 0.26546377 0.66154274 0.70134884 19.49792158] [ 0. 0. 0. 1. ]] SLAMing on 217.429072329 meters Centerline goodness [0,1] 0.20726941115164144 Centerline is valid? [False, False] Translation: X:-11.43, Y:-3.77, Z:19.45 [[ 0.94153313 -0.32245945 -0.09764872 -11.42918835] [ 0.1638176 0.69140527 -0.70364945 -3.77255315] [ 0.29441325 0.64651269 0.7038055 19.44608621] [ 0. 0. 0. 1. ]] SLAMing on 217.459072329 meters Centerline goodness [0,1] 0.19305446963773787 Centerline is valid? [False, False] Translation: X:-11.45, Y:-3.82, Z:19.41 [[ 0.93797714 -0.32934368 -0.10831268 -11.44635612] [ 0.1625516 0.69371148 -0.70167041 -3.81521056] [ 0.30622846 0.6405444 0.70422085 19.40656367] [ 0. 0. 0. 1. ]] SLAMing on 217.489072329 meters Centerline goodness [0,1] 0.18595771605611677 Centerline is valid? [False, False] Translation: X:-11.46, Y:-3.88, Z:19.34 [[ 0.92523873 -0.35867791 -0.12362626 -11.46368897] [ 0.17760599 0.69744756 -0.69427878 -3.88230106] [ 0.3352453 0.62041685 0.70900884 19.33897968] [ 0. 0. 0. 1. ]] SLAMing on 217.519072329 meters Centerline goodness [0,1] 0.14776151998252895 Centerline is valid? [False, False] Translation: X:-11.48, Y:-3.94, Z:19.28 [[ 0.92124522 -0.36389588 -0.1374301 -11.48279293] [ 0.17713147 0.70700324 -0.68466844 -3.93814407] [ 0.34631155 0.60640433 0.71578076 19.28324628] [ 0. 0. 0. 1. ]] SLAMing on 217.549072329 meters Centerline goodness [0,1] 0.11649062957860434 Centerline is valid? [False, False] Translation: X:-11.50, Y:-4.00, Z:19.23 [[ 0.91629684 -0.36950732 -0.15448117 -11.49892885] [ 0.17651577 0.71883276 -0.67239991 -3.99790106] [ 0.35950282 0.58884955 0.72388806 19.22808407] [ 0. 0. 0. 1. ]] SLAMing on 217.579072329 meters Centerline goodness [0,1] 0.14566274028988047 Centerline is valid? [False, False] Translation: X:-11.51, Y:-4.06, Z:19.18 [[ 0.9102327 -0.3767145 -0.17193782 -11.51325231] [ 0.17734239 0.72983538 -0.66021966 -4.05712394] [ 0.37420062 0.57046166 0.73112748 19.17629528] [ 0. 0. 0. 1. ]] SLAMing on 217.609072329 meters Centerline goodness [0,1] 0.166794823911945 Centerline is valid? [False, False] Translation: X:-11.53, Y:-4.12, Z:19.13 [[ 0.90367962 -0.38434762 -0.18878571 -11.52744656] [ 0.17905497 0.73964587 -0.64873978 -4.11562215] [ 0.38897616 0.5524499 0.73722225 19.1273224 ] [ 0. 0. 0. 1. ]] SLAMing on 217.63907232900002 meters Centerline goodness [0,1] 0.19935528029851401 Centerline is valid? [False, False] Translation: X:-11.54, Y:-4.19, Z:19.07 [[ 0.88663961 -0.41313056 -0.20783008 -11.5391865 ] [ 0.19829604 0.74561512 -0.63618926 -4.1873665 ] [ 0.41779048 0.52285871 0.74301405 19.06889616] [ 0. 0. 0. 1. ]] SLAMing on 217.66907232900002 meters Centerline goodness [0,1] 0.19826862771079012 Centerline is valid? [False, False] Translation: X:-11.55, Y:-4.24, Z:19.02 [[ 0.87950534 -0.42042314 -0.22296802 -11.55335164] [ 0.2014701 0.7534165 -0.62591802 -4.2428242 ] [ 0.43113821 0.50557685 0.74733653 19.02417845] [ 0. 0. 0. 1. ]] SLAMing on 217.699072329 meters Centerline goodness [0,1] 0.19721988578511662 Centerline is valid? [False, False] Translation: X:-11.57, Y:-4.29, Z:18.99 [[ 0.87140308 -0.42976268 -0.23656016 -11.56593712] [ 0.20622689 0.75845673 -0.61823447 -4.29010883] [ 0.44511475 0.48994636 0.74955015 18.98629212] [ 0. 0. 0. 1. ]] SLAMing on 217.729072329 meters Centerline goodness [0,1] 0.18873695175195582 Centerline is valid? [False, False] Translation: X:-11.58, Y:-4.34, Z:18.94 [[ 0.85366884 -0.45855767 -0.24692989 -11.57647351] [ 0.23069969 0.75800609 -0.61008559 -4.34346279] [ 0.46693378 0.46384441 0.75287529 18.94243974] [ 0. 0. 0. 1. ]] SLAMing on 217.759072329 meters Centerline goodness [0,1] 0.1846253028922037 Centerline is valid? [False, False] Translation: X:-11.59, Y:-4.39, Z:18.91 [[ 0.8452904 -0.46762083 -0.25848577 -11.58998494] [ 0.23727118 0.76198092 -0.6025674 -4.38543255] [ 0.47873429 0.44801322 0.7550481 18.90748756] [ 0. 0. 0. 1. ]] SLAMing on 217.789072329 meters Centerline goodness [0,1] 0.17979028918720363 Centerline is valid? [False, False] Translation: X:-11.60, Y:-4.42, Z:18.87 [[ 0.83756337 -0.47811292 -0.26437783 -11.60294663] [ 0.24797445 0.76387242 -0.59582514 -4.42076853] [ 0.48682263 0.43348236 0.75835135 18.874824 ] [ 0. 0. 0. 1. ]] SLAMing on 217.819072329 meters Centerline goodness [0,1] 0.16863839285714288 Centerline is valid? [False, False] Translation: X:-11.62, Y:-4.47, Z:18.83 [[ 0.82044384 -0.50385486 -0.27018916 -11.61659187] [ 0.27333044 0.76075114 -0.58868343 -4.46868763] [ 0.50215772 0.40913077 0.76187246 18.83356015] [ 0. 0. 0. 1. ]] SLAMing on 217.849072329 meters Centerline goodness [0,1] 0.16467769742292282 Centerline is valid? [False, False] Translation: X:-11.63, Y:-4.51, Z:18.80 [[ 0.8132066 -0.51112955 -0.27828332 -11.63428769] [ 0.28078168 0.76341866 -0.5816817 -4.50895792] [ 0.50976139 0.39489054 0.76433291 18.79868221] [ 0. 0. 0. 1. ]] SLAMing on 217.879072329 meters Centerline goodness [0,1] 0.16122883731360016 Centerline is valid? [False, False] Translation: X:-11.65, Y:-4.55, Z:18.76 [[ 0.80648223 -0.51719334 -0.28652657 -11.65280339] [ 0.28760296 0.76656188 -0.57416673 -4.54894045] [ 0.51659555 0.38064937 0.76696486 18.76446507] [ 0. 0. 0. 1. ]] SLAMing on 217.909072329 meters Centerline goodness [0,1] 0.15903484773736376 Centerline is valid? [False, False] Translation: X:-11.67, Y:-4.59, Z:18.73 [[ 0.7999914 -0.52306967 -0.29395897 -11.67233627] [ 0.29478048 0.76934926 -0.56675055 -4.58697118] [ 0.52260714 0.3667422 0.76966352 18.73092069] [ 0. 0. 0. 1. ]] SLAMing on 217.939072329 meters Centerline goodness [0,1] 0.15942321492644418 Centerline is valid? [False, False] Translation: X:-11.69, Y:-4.62, Z:18.70 [[ 0.79414149 -0.52807952 -0.30078449 -11.69359569] [ 0.30201694 0.77241501 -0.55871353 -4.62479448] [ 0.52737563 0.35285558 0.77289578 18.69691328] [ 0. 0. 0. 1. ]] SLAMing on 217.969072329 meters Centerline goodness [0,1] 0.16089352930632728 Centerline is valid? [False, False] Translation: X:-11.72, Y:-4.67, Z:18.65 [[ 0.77955436 -0.54513963 -0.30841171 -11.71965667] [ 0.3224399 0.77143772 -0.54855844 -4.67126313] [ 0.53696137 0.32818688 0.7771524 18.65438675] [ 0. 0. 0. 1. ]] SLAMing on 217.999072329 meters Centerline goodness [0,1] 0.1718896897524287 Centerline is valid? [False, False] Translation: X:-11.75, Y:-4.71, Z:18.62 [[ 0.77465401 -0.54779582 -0.31596029 -11.74682402] [ 0.32873306 0.77564486 -0.53880388 -4.70765637] [ 0.54022749 0.31351999 0.780935 18.61879149] [ 0. 0. 0. 1. ]] SLAMing on 218.029072329 meters Centerline goodness [0,1] 0.19414666965687377 Centerline is valid? [False, False] Translation: X:-11.77, Y:-4.74, Z:18.59 [[ 0.76837901 -0.55061717 -0.32621223 -11.77157559] [ 0.3342534 0.77993074 -0.52913392 -4.74241688] [ 0.54577317 0.29753785 0.78332808 18.58959778] [ 0. 0. 0. 1. ]] SLAMing on 218.059072329 meters Centerline goodness [0,1] 0.24427703414721647 Centerline is valid? [False, False] Translation: X:-11.80, Y:-4.78, Z:18.56 [[ 0.75325775 -0.56346528 -0.33927812 -11.79770689] [ 0.34878789 0.77953469 -0.52026212 -4.78433504] [ 0.5576287 0.27355537 0.78372042 18.5572257 ] [ 0. 0. 0. 1. ]] SLAMing on 218.089072329 meters Centerline goodness [0,1] 0.2605463502015226 Centerline is valid? [False, False] Translation: X:-11.82, Y:-4.82, Z:18.53 [[ 0.74657421 -0.56424812 -0.35249257 -11.82073727] [ 0.35147726 0.7843564 -0.511125 -4.81711651] [ 0.56488112 0.25769962 0.78390065 18.53251647] [ 0. 0. 0. 1. ]] SLAMing on 218.119072329 meters Centerline goodness [0,1] 0.28741199156912867 Centerline is valid? [False, False] Translation: X:-11.85, Y:-4.86, Z:18.50 [[ 0.7313222 -0.57428487 -0.36791947 -11.84542628] [ 0.36309607 0.7844755 -0.50275186 -4.85577392] [ 0.5773466 0.23408349 0.78222492 18.50483839] [ 0. 0. 0. 1. ]] SLAMing on 218.149072329 meters Centerline goodness [0,1] 0.3007951618322321 Centerline is valid? [False, False] Translation: X:-11.87, Y:-4.89, Z:18.48 [[ 0.72471143 -0.57336526 -0.38215916 -11.86776958] [ 0.3630473 0.78911772 -0.49546936 -4.88751339] [ 0.58565348 0.22033046 0.78004134 18.48438809] [ 0. 0. 0. 1. ]] SLAMing on 218.179072329 meters Centerline goodness [0,1] 0.3088129818899049 Centerline is valid? [False, False] Translation: X:-11.89, Y:-4.92, Z:18.47 [[ 0.71796551 -0.57200351 -0.39665792 -11.88893421] [ 0.36248608 0.793721 -0.48847807 -4.91802892] [ 0.59424689 0.20692743 0.77720761 18.46609772] [ 0. 0. 0. 1. ]] SLAMing on 218.209072329 meters Centerline goodness [0,1] 0.29877583964844623 Centerline is valid? [False, False] Translation: X:-11.91, Y:-4.96, Z:18.44 [[ 0.70540275 -0.57678228 -0.411982 -11.91155622] [ 0.36940679 0.79521255 -0.48080726 -4.95525968] [ 0.60493437 0.18697381 0.77401241 18.44373271] [ 0. 0. 0. 1. ]] SLAMing on 218.239072329 meters Centerline goodness [0,1] 0.29584697492936274 Centerline is valid? [False, False] Translation: X:-11.93, Y:-4.98, Z:18.43 [[ 0.6998512 -0.57381013 -0.42538245 -11.93206627] [ 0.36818752 0.80011824 -0.4735491 -4.98468234] [ 0.61208353 0.1747934 0.77123344 18.42663653] [ 0. 0. 0. 1. ]] SLAMing on 218.269072329 meters Centerline goodness [0,1] 0.2920431361119207 Centerline is valid? [False, False] Translation: X:-11.95, Y:-5.01, Z:18.41 [[ 0.69442747 -0.57107516 -0.43777123 -11.95233172] [ 0.36747142 0.80452257 -0.46659211 -5.01304343] [ 0.618656 0.16314596 0.76853637 18.4095178 ] [ 0. 0. 0. 1. ]] SLAMing on 218.299072329 meters Centerline goodness [0,1] 0.2767029423619508 Centerline is valid? [False, False] Translation: X:-11.97, Y:-5.04, Z:18.39 [[ 0.68513434 -0.57317049 -0.4495181 -11.97256191] [ 0.37224848 0.80595473 -0.46029125 -5.04474151] [ 0.62611661 0.14802892 0.76554911 18.39169782] [ 0. 0. 0. 1. ]] SLAMing on 218.329072329 meters Centerline goodness [0,1] 0.2681536666367471 Centerline is valid? [False, False] Translation: X:-11.99, Y:-5.07, Z:18.38 [[ 0.68010544 -0.56975678 -0.46133913 -11.99109176] [ 0.37056084 0.8101461 -0.45425539 -5.06975237] [ 0.63256719 0.13798735 0.76211433 18.37898172] [ 0. 0. 0. 1. ]] SLAMing on 218.359072329 meters Centerline goodness [0,1] 0.2681536666367471 Centerline is valid? [False, False] Translation: X:-12.01, Y:-5.09, Z:18.37 [[ 0.67846582 -0.56194445 -0.47318344 -12.0060336 ] [ 0.36193726 0.81620225 -0.45035021 -5.08831577] [ 0.63928519 0.13428451 0.75715396 18.37175276] [ 0. 0. 0. 1. ]] SLAMing on 218.38907232900002 meters Centerline goodness [0,1] 0.25865311422558546 Centerline is valid? [False, False] Translation: X:-12.02, Y:-5.11, Z:18.37 [[ 0.6729298 -0.55971825 -0.48361241 -12.02026154] [ 0.35967276 0.81888616 -0.44728175 -5.10798853] [ 0.64637527 0.12704701 0.75236831 18.36549918] [ 0. 0. 0. 1. ]] SLAMing on 218.41907232900002 meters Centerline goodness [0,1] 0.2546845896636072 Centerline is valid? [False, False] Translation: X:-12.03, Y:-5.13, Z:18.36 [[ 0.66715936 -0.55768831 -0.49384424 -12.03345592] [ 0.35737833 0.8213036 -0.44468093 -5.12638129] [ 0.65358941 0.12018382 0.7472461 18.36005393] [ 0. 0. 0. 1. ]] SLAMing on 218.449072329 meters Centerline goodness [0,1] 0.24571005585339045 Centerline is valid? [False, False] Translation: X:-12.05, Y:-5.15, Z:18.35 [[ 0.65956174 -0.55965316 -0.50176354 -12.04844381] [ 0.35940158 0.8211071 -0.44341136 -5.14642223] [ 0.66015818 0.11212256 0.74271105 18.3503028 ] [ 0. 0. 0. 1. ]] SLAMing on 218.479072329 meters Centerline goodness [0,1] 0.24170637317405985 Centerline is valid? [False, False] Translation: X:-12.06, Y:-5.16, Z:18.34 [[ 0.65417629 -0.55705151 -0.51161215 -12.06030457] [ 0.35680415 0.82372159 -0.44065126 -5.16322556] [ 0.66689143 0.10571826 0.73761743 18.34493537] [ 0. 0. 0. 1. ]] SLAMing on 218.509072329 meters Centerline goodness [0,1] 0.23796223885599377 Centerline is valid? [False, False] Translation: X:-12.07, Y:-5.18, Z:18.34 [[ 0.64858011 -0.55476061 -0.52113771 -12.07179051] [ 0.35432372 0.82602108 -0.43834219 -5.17852031] [ 0.67364571 0.09964858 0.73230569 18.34001713] [ 0. 0. 0. 1. ]] SLAMing on 218.539072329 meters Centerline goodness [0,1] 0.23502913491707755 Centerline is valid? [False, False] Translation: X:-12.08, Y:-5.19, Z:18.33 [[ 0.64230677 -0.55383909 -0.52981531 -12.08438191] [ 0.35358507 0.8274255 -0.43628505 -5.19479357] [ 0.68001442 0.09289406 0.72729023 18.33362009] [ 0. 0. 0. 1. ]] SLAMing on 218.569072329 meters Centerline goodness [0,1] 0.23286843224607667 Centerline is valid? [False, False] Translation: X:-12.10, Y:-5.21, Z:18.33 [[ 0.63719714 -0.55060129 -0.53927546 -12.0952558 ] [ 0.35084007 0.83024405 -0.43313515 -5.20818615] [ 0.68621502 0.08679303 0.72220213 18.32902301] [ 0. 0. 0. 1. ]] SLAMing on 218.599072329 meters Centerline goodness [0,1] 0.23235241422556663 Centerline is valid? [False, False] Translation: X:-12.10, Y:-5.22, Z:18.32 [[ 0.63193589 -0.54778002 -0.54826461 -12.10481334] [ 0.34851969 0.83270959 -0.43026592 -5.2198927 ] [ 0.69223627 0.08081947 0.7171312 18.32452428] [ 0. 0. 0. 1. ]] SLAMing on 218.629072329 meters Centerline goodness [0,1] 0.22479771111806512 Centerline is valid? [False, False] Translation: X:-12.12, Y:-5.23, Z:18.32 [[ 0.62629624 -0.54625981 -0.55619532 -12.11534242] [ 0.34749697 0.83426723 -0.42807014 -5.23319169] [ 0.69785305 0.07482253 0.71232206 18.31845323] [ 0. 0. 0. 1. ]] SLAMing on 218.659072329 meters Centerline goodness [0,1] 0.22889817069084895 Centerline is valid? [False, False] Translation: X:-12.12, Y:-5.24, Z:18.31 [[ 0.62123216 -0.54370693 -0.56431673 -12.12331944] [ 0.34555436 0.83640877 -0.4254557 -5.24372051] [ 0.70332267 0.06930466 0.70748433 18.31363367] [ 0. 0. 0. 1. ]] SLAMing on 218.689072329 meters Centerline goodness [0,1] 0.2289021991775434 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.25, Z:18.31 [[ 0.61607115 -0.54121053 -0.57231766 -12.13112219] [ 0.34366406 0.83845716 -0.42294751 -5.25367675] [ 0.70876749 0.06388075 0.70254387 18.30885138] [ 0. 0. 0. 1. ]] SLAMing on 218.719072329 meters Centerline goodness [0,1] 0.22826962671202222 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.26, Z:18.31 [[ 0.61611717 -0.54030756 -0.57312073 -12.13086126] [ 0.34297375 0.83905836 -0.42231514 -5.25592591] [ 0.70906181 0.06363024 0.70226957 18.30916183] [ 0. 0. 0. 1. ]] SLAMing on 218.749072329 meters Centerline goodness [0,1] 0.2260836484883747 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.26, Z:18.30 [[ 0.61548039 -0.53858132 -0.5754251 -12.13593599] [ 0.34509452 0.84054349 -0.41760798 -5.2621781 ] [ 0.70858568 0.05845347 0.7031995 18.29927314] [ 0. 0. 0. 1. ]] SLAMing on 218.779072329 meters Centerline goodness [0,1] 0.22836178161562382 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.27, Z:18.30 [[ 0.61687119 -0.5349634 -0.57730763 -12.13707686] [ 0.34277973 0.8428833 -0.41478887 -5.26613756] [ 0.70849982 0.05798196 0.70332503 18.2991575 ] [ 0. 0. 0. 1. ]] SLAMing on 218.809072329 meters Centerline goodness [0,1] 0.23167050510922793 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.27, Z:18.30 [[ 0.61697965 -0.5341627 -0.5779328 -12.13740143] [ 0.34216962 0.84340168 -0.41423852 -5.26811759] [ 0.70870026 0.05782569 0.70313592 18.29947806] [ 0. 0. 0. 1. ]] SLAMing on 218.839072329 meters Centerline goodness [0,1] 0.23532299453308048 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.28, Z:18.28 [[ 0.61505946 -0.53193554 -0.58201929 -12.15087484] [ 0.33797965 0.8447631 -0.41490367 -5.28000491] [ 0.71237042 0.05847975 0.69936292 18.28465455] [ 0. 0. 0. 1. ]] SLAMing on 218.869072329 meters Centerline goodness [0,1] 0.2289964149724999 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.28, Z:18.28 [[ 0.61522212 -0.53123441 -0.58248755 -12.1509494 ] [ 0.3374589 0.8452102 -0.4144167 -5.28188097] [ 0.71247683 0.05839271 0.69926179 18.28471595] [ 0. 0. 0. 1. ]] SLAMing on 218.899072329 meters Centerline goodness [0,1] 0.2386310569503436 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.28, Z:18.28 [[ 0.61568848 -0.53016792 -0.58296628 -12.15175206] [ 0.33673296 0.84588131 -0.41363719 -5.28469426] [ 0.71241744 0.05836769 0.69932439 18.28423766] [ 0. 0. 0. 1. ]] SLAMing on 218.929072329 meters Centerline goodness [0,1] 0.23991161503437197 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.29, Z:18.28 [[ 0.61584624 -0.52965765 -0.58326339 -12.15213859] [ 0.33637242 0.84620442 -0.41326949 -5.28586751] [ 0.71245141 0.05831674 0.69929404 18.28418675] [ 0. 0. 0. 1. ]] SLAMing on 218.959072329 meters Centerline goodness [0,1] 0.24176363068967055 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.29, Z:18.28 [[ 0.61598972 -0.52909293 -0.58362431 -12.15236817] [ 0.33594894 0.84656129 -0.41288291 -5.28719933] [ 0.71252718 0.05826366 0.69922126 18.28418628] [ 0. 0. 0. 1. ]] SLAMing on 218.989072329 meters Centerline goodness [0,1] 0.23539377187311916 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.29, Z:18.28 [[ 0.6161934 -0.52855438 -0.58389722 -12.15249174] [ 0.33560726 0.84690231 -0.4124612 -5.28853437] [ 0.71251208 0.05819572 0.6992423 18.28401243] [ 0. 0. 0. 1. ]] SLAMing on 219.019072329 meters Centerline goodness [0,1] 0.2405450004459906 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.29, Z:18.28 [[ 0.61639646 -0.52798133 -0.58420127 -12.15255578] [ 0.3352089 0.84726258 -0.41204504 -5.29014998] [ 0.71252396 0.05815364 0.6992337 18.28387154] [ 0. 0. 0. 1. ]] SLAMing on 219.049072329 meters Centerline goodness [0,1] 0.23955388348433915 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.29, Z:18.28 [[ 0.61694436 -0.52688895 -0.584609 -12.15265989] [ 0.33451383 0.84794377 -0.4112078 -5.29367059] [ 0.71237641 0.05813254 0.69938577 18.28315603] [ 0. 0. 0. 1. ]] SLAMing on 219.079072329 meters Centerline goodness [0,1] 0.25031746385367704 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.30, Z:18.28 [[ 0.61718212 -0.5263347 -0.58485726 -12.15278724] [ 0.33417957 0.84829244 -0.41076021 -5.29544387] [ 0.71232734 0.05806651 0.69944123 18.28292986] [ 0. 0. 0. 1. ]] SLAMing on 219.109072329 meters Centerline goodness [0,1] 0.2500556916907998 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.30, Z:18.28 [[ 0.6173942 -0.52578624 -0.58512669 -12.15295535] [ 0.33383709 0.84863732 -0.41032608 -5.2972078 ] [ 0.71230415 0.05799595 0.6994707 18.28279985] [ 0. 0. 0. 1. ]] SLAMing on 219.13907232900002 meters Centerline goodness [0,1] 0.2511800855005344 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.30, Z:18.28 [[ 0.61795897 -0.52460036 -0.58559471 -12.15320932] [ 0.33312156 0.84937724 -0.40937554 -5.30096132] [ 0.71214938 0.05790306 0.69963598 18.28207473] [ 0. 0. 0. 1. ]] SLAMing on 219.16907232900002 meters Centerline goodness [0,1] 0.2537486611924312 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.30, Z:18.28 [[ 0.61815173 -0.52401881 -0.58591188 -12.15284349] [ 0.33280515 0.8497468 -0.40886563 -5.3029703 ] [ 0.71213003 0.05774651 0.69966861 18.28186223] [ 0. 0. 0. 1. ]] SLAMing on 219.199072329 meters Centerline goodness [0,1] 0.2579659050339165 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.31, Z:18.28 [[ 0.6183521 -0.52334793 -0.58629995 -12.15231091] [ 0.33242972 0.85017277 -0.40828512 -5.30511795] [ 0.71213143 0.05756043 0.69968252 18.28166924] [ 0. 0. 0. 1. ]] SLAMing on 219.229072329 meters Centerline goodness [0,1] 0.2544211323444251 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.31, Z:18.28 [[ 0.61879855 -0.52202407 -0.58700871 -12.15093167] [ 0.33170691 0.85100956 -0.40712805 -5.30976241] [ 0.71208067 0.0572154 0.69976247 18.28090851] [ 0. 0. 0. 1. ]] SLAMing on 219.259072329 meters Centerline goodness [0,1] 0.25717025737098 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.31, Z:18.28 [[ 0.61902918 -0.52127588 -0.58743028 -12.14994693] [ 0.33132346 0.8514843 -0.40644712 -5.31221568] [ 0.71205874 0.05697319 0.69980455 18.2805623 ] [ 0. 0. 0. 1. ]] SLAMing on 219.289072329 meters Centerline goodness [0,1] 0.2582690126120515 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.31, Z:18.28 [[ 0.61923114 -0.52055808 -0.58785379 -12.14900602] [ 0.33093412 0.85193815 -0.40581277 -5.31455347] [ 0.71206418 0.05675103 0.69981706 18.28030347] [ 0. 0. 0. 1. ]] SLAMing on 219.319072329 meters Centerline goodness [0,1] 0.26042014004668224 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.32, Z:18.28 [[ 0.61945068 -0.51987775 -0.58822444 -12.14809024] [ 0.33057816 0.85236694 -0.40520204 -5.31685651] [ 0.71203858 0.05654853 0.6998595 18.27999023] [ 0. 0. 0. 1. ]] SLAMing on 219.349072329 meters Centerline goodness [0,1] 0.2600583350032285 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.32, Z:18.28 [[ 0.62005312 -0.51847559 -0.58882696 -12.14631709] [ 0.32985663 0.85324087 -0.40394878 -5.32202066] [ 0.71184881 0.05624122 0.70007728 18.27887229] [ 0. 0. 0. 1. ]] SLAMing on 219.379072329 meters Centerline goodness [0,1] 0.2634989200863931 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.32, Z:18.28 [[ 0.62029923 -0.51775673 -0.58920017 -12.14529861] [ 0.32949393 0.85369157 -0.40329202 -5.32463828] [ 0.71180237 0.05602385 0.70014192 18.2785122 ] [ 0. 0. 0. 1. ]] SLAMing on 219.409072329 meters Centerline goodness [0,1] 0.2624966645913013 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.33, Z:18.28 [[ 0.62055609 -0.51701021 -0.58958509 -12.14416968] [ 0.32911315 0.85415824 -0.40261426 -5.3272413 ] [ 0.71175465 0.05580452 0.70020795 18.27815522] [ 0. 0. 0. 1. ]] SLAMing on 219.439072329 meters Centerline goodness [0,1] 0.26146452172752155 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.33, Z:18.28 [[ 0.62123933 -0.51545538 -0.59022661 -12.1421299 ] [ 0.32825567 0.85511416 -0.40128293 -5.3329317 ] [ 0.71155457 0.05554751 0.7004317 18.27699765] [ 0. 0. 0. 1. ]] SLAMing on 219.469072329 meters Centerline goodness [0,1] 0.26311577449759915 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.34, Z:18.28 [[ 0.62153053 -0.51467992 -0.59059663 -12.14113217] [ 0.3278652 0.85559492 -0.40057677 -5.33538253] [ 0.71148029 0.05533461 0.700524 18.2765648 ] [ 0. 0. 0. 1. ]] SLAMing on 219.499072329 meters Centerline goodness [0,1] 0.2603326892753237 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.34, Z:18.28 [[ 0.62181298 -0.51391195 -0.59096795 -12.14017424] [ 0.32745135 0.8560682 -0.39990355 -5.33776062] [ 0.71142409 0.05515197 0.70059548 18.27621121] [ 0. 0. 0. 1. ]] SLAMing on 219.529072329 meters Centerline goodness [0,1] 0.2673278334926953 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.34, Z:18.27 [[ 0.62263505 -0.5123196 -0.59148476 -12.13909974] [ 0.32654181 0.85703004 -0.39858493 -5.34271078] [ 0.71112308 0.05502844 0.70091072 18.27496262] [ 0. 0. 0. 1. ]] SLAMing on 219.559072329 meters Centerline goodness [0,1] 0.2690983406268743 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.35, Z:18.27 [[ 0.62302508 -0.5115378 -0.59175065 -12.13857185] [ 0.32615038 0.85750574 -0.39788168 -5.34513726] [ 0.7109611 0.05489057 0.70108583 18.27444036] [ 0. 0. 0. 1. ]] SLAMing on 219.589072329 meters Centerline goodness [0,1] 0.26920681524978873 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.35, Z:18.27 [[ 0.62339414 -0.51077438 -0.59202135 -12.13804799] [ 0.32576244 0.85796946 -0.39719923 -5.34743548] [ 0.71081543 0.05475336 0.70124425 18.27397605] [ 0. 0. 0. 1. ]] SLAMing on 219.619072329 meters Centerline goodness [0,1] 0.27123092664264425 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.35, Z:18.27 [[ 0.62379565 -0.51002691 -0.5922428 -12.13754826] [ 0.32538272 0.8584205 -0.3965354 -5.34967918] [ 0.71063709 0.05465148 0.70143292 18.27341098] [ 0. 0. 0. 1. ]] SLAMing on 219.649072329 meters Centerline goodness [0,1] 0.273746613970425 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.36, Z:18.26 [[ 0.6288964 -0.50688317 -0.58954115 -12.13942409] [ 0.32210322 0.85999126 -0.39580874 -5.35744034] [ 0.70762902 0.05902959 0.7041141 18.26237345] [ 0. 0. 0. 1. ]] SLAMing on 219.679072329 meters Centerline goodness [0,1] 0.27296768745277566 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.36, Z:18.26 [[ 0.62935258 -0.50614532 -0.58968825 -12.13909654] [ 0.32172632 0.86042922 -0.39516292 -5.3593674 ] [ 0.70739487 0.05897857 0.70435363 18.26169502] [ 0. 0. 0. 1. ]] SLAMing on 219.709072329 meters Centerline goodness [0,1] 0.2759624141990803 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.36, Z:18.26 [[ 0.62981052 -0.50542167 -0.58982001 -12.13881569] [ 0.32134605 0.86085646 -0.39454135 -5.36126565] [ 0.70716011 0.05894997 0.70459171 18.26099799] [ 0. 0. 0. 1. ]] SLAMing on 219.739072329 meters Centerline goodness [0,1] 0.27407933583431376 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.37, Z:18.25 [[ 0.63516571 -0.50203472 -0.58696309 -12.14088626] [ 0.31785434 0.86251081 -0.39375592 -5.36899365] [ 0.70394115 0.06353149 0.7074112 18.24940457] [ 0. 0. 0. 1. ]] SLAMing on 219.769072329 meters Centerline goodness [0,1] 0.2733435236259719 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.37, Z:18.25 [[ 0.63566182 -0.50124244 -0.58710312 -12.14072478] [ 0.31741449 0.86297208 -0.39309952 -5.37107098] [ 0.70369176 0.06352332 0.70766001 18.24872083] [ 0. 0. 0. 1. ]] SLAMing on 219.799072329 meters Centerline goodness [0,1] 0.27252581660240216 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.37, Z:18.25 [[ 0.63622247 -0.50038057 -0.587231 -12.14061715] [ 0.31695841 0.86347352 -0.39236571 -5.37331341] [ 0.7033906 0.06350408 0.70796109 18.24793339] [ 0. 0. 0. 1. ]] SLAMing on 219.829072329 meters Centerline goodness [0,1] 0.24898705188056025 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.38, Z:18.24 [[ 0.64149623 -0.49695529 -0.58439543 -12.14319435] [ 0.31354132 0.8651148 -0.39149486 -5.38063023] [ 0.70012458 0.06791037 0.7107839 18.23663712] [ 0. 0. 0. 1. ]] SLAMing on 219.859072329 meters Centerline goodness [0,1] 0.24824913007091576 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.39, Z:18.24 [[ 0.64362698 -0.49169289 -0.58650014 -12.14154491] [ 0.31017939 0.86815341 -0.38742536 -5.3851379 ] [ 0.69966639 0.06743716 0.71127996 18.23569801] [ 0. 0. 0. 1. ]] SLAMing on 219.88907232900002 meters Centerline goodness [0,1] 0.27491036253375234 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.39, Z:18.23 [[ 0.64415073 -0.49089403 -0.58659431 -12.14116903] [ 0.30975949 0.86860681 -0.38674444 -5.3870945 ] [ 0.69937035 0.06741856 0.7115728 18.23484549] [ 0. 0. 0. 1. ]] SLAMing on 219.91907232900002 meters Centerline goodness [0,1] 0.24187147837144551 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.40, Z:18.22 [[ 0.64941228 -0.48723215 -0.58383946 -12.14288017] [ 0.30619163 0.87032152 -0.38572936 -5.39522047] [ 0.69606779 0.07173062 0.71438389 18.22337337] [ 0. 0. 0. 1. ]] SLAMing on 219.949072329 meters Centerline goodness [0,1] 0.2742031280934468 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.40, Z:18.22 [[ 0.64993713 -0.48638867 -0.58395873 -12.14242543] [ 0.30574161 0.87079615 -0.38501446 -5.39748186] [ 0.69577568 0.0716947 0.714672 18.22252404] [ 0. 0. 0. 1. ]] SLAMing on 219.979072329 meters Centerline goodness [0,1] 0.2711793471078021 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.40, Z:18.22 [[ 0.65200168 -0.48138449 -0.58580098 -12.14143417] [ 0.30264781 0.87361675 -0.38104866 -5.40229412] [ 0.69519646 0.07115298 0.71528955 18.22134088] [ 0. 0. 0. 1. ]] SLAMing on 220.009072329 meters Centerline goodness [0,1] 0.23050840042002096 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.41, Z:18.21 [[ 0.65713174 -0.47749284 -0.5832482 -12.14400476] [ 0.2991396 0.87542757 -0.37966046 -5.41086217] [ 0.69187671 0.0750143 0.71810826 18.21045189] [ 0. 0. 0. 1. ]] SLAMing on 220.039072329 meters Centerline goodness [0,1] 0.227163303716024 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.42, Z:18.21 [[ 0.65924768 -0.47171718 -0.58555564 -12.14184048] [ 0.29537686 0.87860385 -0.37524362 -5.41576861] [ 0.6914803 0.0744189 0.71855189 18.20968309] [ 0. 0. 0. 1. ]] SLAMing on 220.069072329 meters Centerline goodness [0,1] 0.2271165671021248 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.42, Z:18.21 [[ 0.6612554 -0.46629497 -0.58763109 -12.1401968 ] [ 0.29190145 0.88154342 -0.37104547 -5.4206106 ] [ 0.69103896 0.07382545 0.71903753 18.20881362] [ 0. 0. 0. 1. ]] SLAMing on 220.099072329 meters Centerline goodness [0,1] 0.2241594294839543 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.43, Z:18.20 [[ 0.66646309 -0.46208699 -0.58506629 -12.14216111] [ 0.28822823 0.88343588 -0.36941241 -5.43024928] [ 0.68756922 0.07756712 0.72196393 18.19749071] [ 0. 0. 0. 1. ]] SLAMing on 220.129072329 meters Centerline goodness [0,1] 0.22419492545808795 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.44, Z:18.20 [[ 0.66839303 -0.45679653 -0.58701592 -12.14005464] [ 0.28486685 0.88623834 -0.3652841 -5.43508697] [ 0.68709653 0.07693197 0.72248172 18.19643793] [ 0. 0. 0. 1. ]] SLAMing on 220.159072329 meters Centerline goodness [0,1] 0.22742284726930728 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.44, Z:18.20 [[ 0.67026572 -0.45143247 -0.58902682 -12.13788829] [ 0.28144084 0.88904046 -0.36110679 -5.44008518] [ 0.686684 0.0762613 0.72294488 18.19550852] [ 0. 0. 0. 1. ]] SLAMing on 220.189072329 meters Centerline goodness [0,1] 0.2283610378858848 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.44, Z:18.19 [[ 0.67210088 -0.44595113 -0.59110743 -12.13515699] [ 0.27790629 0.89186085 -0.35686456 -5.44471865] [ 0.68632973 0.07557651 0.72335309 18.19464713] [ 0. 0. 0. 1. ]] SLAMing on 220.219072329 meters Centerline goodness [0,1] 0.2283610378858848 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.44, Z:18.19 [[ 0.67210088 -0.44595113 -0.59110743 -12.13515699] [ 0.27790629 0.89186085 -0.35686456 -5.44471865] [ 0.68632973 0.07557651 0.72335309 18.19464713] [ 0. 0. 0. 1. ]] SLAMing on 220.249072329 meters Centerline goodness [0,1] 0.22949417878050382 Centerline is valid? [False, False] Translation: X:-12.14, Y:-5.45, Z:18.18 [[ 0.67712773 -0.44174673 -0.58852176 -12.13629996] [ 0.27436556 0.89365619 -0.35510865 -5.45403355] [ 0.6828042 0.07898381 0.72631948 18.183209 ] [ 0. 0. 0. 1. ]] SLAMing on 220.279072329 meters Centerline goodness [0,1] 0.23188818542291934 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.46, Z:18.18 [[ 0.67877148 -0.43656987 -0.59048795 -12.13364797] [ 0.27105528 0.89626231 -0.35105971 -5.45873459] [ 0.68249419 0.07823444 0.72669186 18.1824028 ] [ 0. 0. 0. 1. ]] SLAMing on 220.309072329 meters Centerline goodness [0,1] 0.22995190205509397 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.46, Z:18.18 [[ 0.67928228 -0.43556074 -0.59064577 -12.13269239] [ 0.2705284 0.89676634 -0.35017784 -5.4615264 ] [ 0.68219496 0.07808314 0.72698903 18.18138706] [ 0. 0. 0. 1. ]] SLAMing on 220.339072329 meters Centerline goodness [0,1] 0.2488343829411115 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.46, Z:18.18 [[ 0.67979664 -0.43456607 -0.59078664 -12.13193651] [ 0.27002998 0.89726341 -0.34928812 -5.46434135] [ 0.68188 0.07791479 0.72730252 18.18040689] [ 0. 0. 0. 1. ]] SLAMing on 220.369072329 meters Centerline goodness [0,1] 0.23407517742924733 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.47, Z:18.17 [[ 0.68444121 -0.4302037 -0.58861278 -12.13382842] [ 0.26654125 0.89911279 -0.34720591 -5.47463594] [ 0.67859855 0.08075245 0.73005688 18.17024871] [ 0. 0. 0. 1. ]] SLAMing on 220.399072329 meters Centerline goodness [0,1] 0.23462605097504075 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.48, Z:18.17 [[ 0.68495526 -0.42914349 -0.58878872 -12.13352101] [ 0.26597962 0.89963448 -0.34628405 -5.4777174 ] [ 0.67830018 0.08058328 0.73035279 18.16944842] [ 0. 0. 0. 1. ]] SLAMing on 220.429072329 meters Centerline goodness [0,1] 0.23279831601105117 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.48, Z:18.17 [[ 0.68544188 -0.42806675 -0.58900619 -12.13295366] [ 0.26540569 0.90016474 -0.34534513 -5.48088655] [ 0.67803337 0.08038842 0.73062196 18.16865023] [ 0. 0. 0. 1. ]] SLAMing on 220.459072329 meters Centerline goodness [0,1] 0.23552487398641242 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.49, Z:18.16 [[ 0.69002234 -0.42383607 -0.58671301 -12.13405316] [ 0.26205396 0.90191321 -0.34333697 -5.49094647] [ 0.67468281 0.08315971 0.73340819 18.15815192] [ 0. 0. 0. 1. ]] SLAMing on 220.489072329 meters Centerline goodness [0,1] 0.23542807094372675 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.49, Z:18.16 [[ 0.69049145 -0.42276316 -0.58693515 -12.13278736] [ 0.26148106 0.9024358 -0.34239929 -5.4940143 ] [ 0.6744251 0.08295136 0.73366876 18.15717824] [ 0. 0. 0. 1. ]] SLAMing on 220.519072329 meters Centerline goodness [0,1] 0.23491987144450033 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.50, Z:18.16 [[ 0.69096305 -0.42172025 -0.58713039 -12.1314326 ] [ 0.26094083 0.90294316 -0.34147259 -5.49703772] [ 0.67415128 0.08273865 0.73394439 18.15612453] [ 0. 0. 0. 1. ]] SLAMing on 220.549072329 meters Centerline goodness [0,1] 0.23238604019792442 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.50, Z:18.16 [[ 0.69143807 -0.42065612 -0.58733451 -12.13023507] [ 0.26039751 0.90346066 -0.34051721 -5.50013503] [ 0.67387427 0.08250611 0.7342249 18.15511755] [ 0. 0. 0. 1. ]] SLAMing on 220.579072329 meters Centerline goodness [0,1] 0.23476010876238929 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.51, Z:18.15 [[ 0.69258532 -0.41832146 -0.58765018 -12.12858706] [ 0.25908849 0.90456881 -0.3385682 -5.50694457] [ 0.67320037 0.08223397 0.73487335 18.15279258] [ 0. 0. 0. 1. ]] SLAMing on 220.609072329 meters Centerline goodness [0,1] 0.23683750218646138 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.51, Z:18.15 [[ 0.69300943 -0.41725974 -0.58790496 -12.1276548 ] [ 0.25854962 0.90508402 -0.33760184 -5.51017635] [ 0.67297104 0.08195865 0.73511411 18.15200225] [ 0. 0. 0. 1. ]] SLAMing on 220.63907232900002 meters Centerline goodness [0,1] 0.236299648064354 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.51, Z:18.15 [[ 0.69339009 -0.4161565 -0.588238 -12.1266504 ] [ 0.25797232 0.90561972 -0.33660541 -5.51370839] [ 0.67280046 0.08164974 0.7353046 18.15137946] [ 0. 0. 0. 1. ]] SLAMing on 220.66907232900002 meters Centerline goodness [0,1] 0.2360094657960472 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.52, Z:18.15 [[ 0.69379371 -0.41499784 -0.58858056 -12.12543906] [ 0.25738124 0.90618199 -0.33554299 -5.51747009] [ 0.67261072 0.08130802 0.73551602 18.15068028] [ 0. 0. 0. 1. ]] SLAMing on 220.699072329 meters Centerline goodness [0,1] 0.23653108211818874 Centerline is valid? [False, False] Translation: X:-12.12, Y:-5.53, Z:18.15 [[ 0.69476847 -0.41251627 -0.58917494 -12.12263606] [ 0.25598527 0.90735646 -0.33343035 -5.52580342] [ 0.67213713 0.08083678 0.73600075 18.14868419] [ 0. 0. 0. 1. ]] SLAMing on 220.729072329 meters Centerline goodness [0,1] 0.2407176730260714 Centerline is valid? [False, False] Translation: X:-12.12, Y:-5.53, Z:18.15 [[ 0.69512987 -0.41131734 -0.58958673 -12.1210557 ] [ 0.25535608 0.90793362 -0.3323399 -5.5297733 ] [ 0.67200278 0.08046484 0.73616417 18.1480189 ] [ 0. 0. 0. 1. ]] SLAMing on 220.759072329 meters Centerline goodness [0,1] 0.24283091449554117 Centerline is valid? [False, False] Translation: X:-12.12, Y:-5.54, Z:18.15 [[ 0.69610222 -0.40878043 -0.59020358 -12.11827707] [ 0.25396931 0.90912742 -0.33013168 -5.53771082] [ 0.67152163 0.0799118 0.73666329 18.14597459] [ 0. 0. 0. 1. ]] SLAMing on 220.789072329 meters Centerline goodness [0,1] 0.2516582386550207 Centerline is valid? [False, False] Translation: X:-12.12, Y:-5.54, Z:18.15 [[ 0.69646331 -0.40757851 -0.59060869 -12.11683334] [ 0.25335738 0.90970178 -0.32901781 -5.54149616] [ 0.67137836 0.07951376 0.73683693 18.14530167] [ 0. 0. 0. 1. ]] SLAMing on 220.819072329 meters Centerline goodness [0,1] 0.2510643872404532 Centerline is valid? [False, False] Translation: X:-12.12, Y:-5.55, Z:18.14 [[ 0.69685438 -0.40636168 -0.59098575 -12.11537432] [ 0.25275771 0.91028172 -0.32787304 -5.5454166 ] [ 0.67119857 0.07910356 0.73704485 18.14452575] [ 0. 0. 0. 1. ]] SLAMing on 220.849072329 meters Centerline goodness [0,1] 0.25218550572602505 Centerline is valid? [False, False] Translation: X:-12.11, Y:-5.55, Z:18.14 [[ 0.69724219 -0.40507938 -0.59140851 -12.11371114] [ 0.25212609 0.91089209 -0.32666196 -5.54958514] [ 0.67103335 0.07865298 0.73724348 18.14375882] [ 0. 0. 0. 1. ]] SLAMing on 220.879072329 meters Centerline goodness [0,1] 0.25770915462111255 Centerline is valid? [False, False] Translation: X:-12.11, Y:-5.56, Z:18.14 [[ 0.69818367 -0.40236344 -0.59215136 -12.11052199] [ 0.25074559 0.91216413 -0.32416547 -5.55904336] [ 0.67057156 0.0778477 0.73774895 18.14182106] [ 0. 0. 0. 1. ]] SLAMing on 220.909072329 meters Centerline goodness [0,1] 0.25775091960063057 Centerline is valid? [False, False] Translation: X:-12.11, Y:-5.56, Z:18.14 [[ 0.69853834 -0.40098686 -0.59266662 -12.10865587] [ 0.25007581 0.91281596 -0.32284534 -5.56387903] [ 0.67045229 0.07730826 0.73791406 18.14117245] [ 0. 0. 0. 1. ]] SLAMing on 220.939072329 meters Centerline goodness [0,1] 0.25544974007251753 Centerline is valid? [False, False] Translation: X:-12.11, Y:-5.57, Z:18.14 [[ 0.69889819 -0.39960422 -0.59317601 -12.10687574] [ 0.24940481 0.91346768 -0.32151834 -5.56877839] [ 0.6703272 0.07676763 0.73808413 18.14050764] [ 0. 0. 0. 1. ]] SLAMing on 220.969072329 meters Centerline goodness [0,1] 0.2613007279543176 Centerline is valid? [False, False] Translation: X:-12.10, Y:-5.58, Z:18.14 [[ 0.69957586 -0.39699987 -0.59412517 -12.10334514] [ 0.2481607 0.91468952 -0.3189974 -5.57868464] [ 0.670082 0.07572436 0.73841448 18.13901177] [ 0. 0. 0. 1. ]] SLAMing on 220.999072329 meters Centerline goodness [0,1] 0.2632393659929797 Centerline is valid? [False, False] Translation: X:-12.10, Y:-5.58, Z:18.14 [[ 0.69993708 -0.3955363 -0.59467564 -12.10141325] [ 0.24746158 0.91537276 -0.31757752 -5.58388883] [ 0.66996332 0.07512491 0.73858338 18.13834154] [ 0. 0. 0. 1. ]] SLAMing on 221.029072329 meters Centerline goodness [0,1] 0.26540738161559885 Centerline is valid? [False, False] Translation: X:-12.09, Y:-5.59, Z:18.13 [[ 0.70784546 -0.39359228 -0.58654916 -12.09324526] [ 0.24909414 0.91611704 -0.31413641 -5.58642084] [ 0.66098934 0.07625407 0.74651082 18.13172074] [ 0. 0. 0. 1. ]] SLAMing on 221.059072329 meters Centerline goodness [0,1] 0.2742100787195534 Centerline is valid? [False, False] Translation: X:-12.09, Y:-5.60, Z:18.13 [[ 0.70813497 -0.39151791 -0.5875871 -12.08874495] [ 0.24826518 0.91711056 -0.31188559 -5.59647584] [ 0.66099112 0.07497968 0.74663832 18.13060759] [ 0. 0. 0. 1. ]] SLAMing on 221.089072329 meters Centerline goodness [0,1] 0.27447685963036506 Centerline is valid? [False, False] Translation: X:-12.09, Y:-5.60, Z:18.13 [[ 0.70838248 -0.39004716 -0.58826649 -12.0862008 ] [ 0.24760416 0.9177995 -0.31038083 -5.60202452] [ 0.66097386 0.07421112 0.74673039 18.1300377 ] [ 0. 0. 0. 1. ]] SLAMing on 221.119072329 meters Centerline goodness [0,1] 0.27393796726171016 Centerline is valid? [False, False] Translation: X:-12.08, Y:-5.61, Z:18.13 [[ 0.70856628 -0.38863154 -0.58898162 -12.08356171] [ 0.24697191 0.91846279 -0.30891905 -5.60747977] [ 0.66101339 0.07342771 0.74677284 18.12957092] [ 0. 0. 0. 1. ]] SLAMing on 221.149072329 meters Centerline goodness [0,1] 0.2834285464136407 Centerline is valid? [False, False] Translation: X:-12.08, Y:-5.62, Z:18.13 [[ 0.70781886 -0.39148538 -0.5879895 -12.08163956] [ 0.24951399 0.91728628 -0.31036857 -5.6158992 ] [ 0.66085946 0.07297312 0.74695361 18.12792006] [ 0. 0. 0. 1. ]] SLAMing on 221.179072329 meters Centerline goodness [0,1] 0.28560200851435436 Centerline is valid? [False, False] Translation: X:-12.07, Y:-5.62, Z:18.12 [[ 0.71521874 -0.39036275 -0.57972328 -12.07216828] [ 0.25316112 0.91785021 -0.30571301 -5.61785694] [ 0.6514381 0.07188828 0.75528834 18.12236204] [ 0. 0. 0. 1. ]] SLAMing on 221.209072329 meters Centerline goodness [0,1] 0.2869035133717881 Centerline is valid? [False, False] Translation: X:-12.06, Y:-5.62, Z:18.12 [[ 0.72239364 -0.3892657 -0.57150647 -12.06252721] [ 0.25721199 0.91845781 -0.30046171 -5.61996412] [ 0.64186402 0.07005331 0.76361189 18.11675045] [ 0. 0. 0. 1. ]] SLAMing on 221.239072329 meters Centerline goodness [0,1] 0.29268292682926833 Centerline is valid? [False, False] Translation: X:-12.06, Y:-5.63, Z:18.12 [[ 0.72245096 -0.38794207 -0.57233344 -12.05853201] [ 0.25691656 0.91911595 -0.29869675 -5.63014638] [ 0.64191783 0.06875181 0.76368494 18.1158874 ] [ 0. 0. 0. 1. ]] SLAMing on 221.269072329 meters Centerline goodness [0,1] 0.2997393951339159 Centerline is valid? [False, False] Translation: X:-12.05, Y:-5.63, Z:18.11 [[ 0.72982716 -0.3869231 -0.56359812 -12.04942047] [ 0.26070301 0.91964092 -0.29375928 -5.63253445] [ 0.63197014 0.06746178 0.77205094 18.10995157] [ 0. 0. 0. 1. ]] SLAMing on 221.299072329 meters Centerline goodness [0,1] 0.30130097299661096 Centerline is valid? [False, False] Translation: X:-12.04, Y:-5.64, Z:18.10 [[ 0.7369593 -0.3858636 -0.55497772 -12.04021926] [ 0.26429395 0.92017956 -0.28882224 -5.63509053] [ 0.62212514 0.06617298 0.7801163 18.10405577] [ 0. 0. 0. 1. ]] SLAMing on 221.329072329 meters Centerline goodness [0,1] 0.30350720404560017 Centerline is valid? [False, False] Translation: X:-12.04, Y:-5.64, Z:18.10 [[ 0.73691081 -0.38475269 -0.55581277 -12.03749375] [ 0.26385592 0.92071237 -0.28752179 -5.64044405] [ 0.62236847 0.06522343 0.78000217 18.10407285] [ 0. 0. 0. 1. ]] SLAMing on 221.359072329 meters Centerline goodness [0,1] 0.3122657842256361 Centerline is valid? [False, False] Translation: X:-12.04, Y:-5.65, Z:18.10 [[ 0.73601435 -0.38769989 -0.55495195 -12.03564385] [ 0.26650944 0.91950856 -0.28892339 -5.64953873] [ 0.62229864 0.06475183 0.78009718 18.10288314] [ 0. 0. 0. 1. ]] SLAMing on 221.38907232900002 meters Centerline goodness [0,1] 0.31515072425942847 Centerline is valid? [False, False] Translation: X:-12.03, Y:-5.65, Z:18.10 [[ 0.74242313 -0.38595186 -0.54758475 -12.02670091] [ 0.26880214 0.92030918 -0.28421192 -5.65329285] [ 0.6136394 0.06381355 0.78700351 18.09654141] [ 0. 0. 0. 1. ]] SLAMing on 221.41907232900002 meters Centerline goodness [0,1] 0.3176755236828912 Centerline is valid? [False, False] Translation: X:-12.02, Y:-5.66, Z:18.09 [[ 0.74866644 -0.38520884 -0.53954862 -12.01718058] [ 0.2728787 0.92078072 -0.27874734 -5.65588072] [ 0.60418191 0.06145745 0.79447291 18.09082209] [ 0. 0. 0. 1. ]] SLAMing on 221.449072329 meters Centerline goodness [0,1] 0.3201871803243008 Centerline is valid? [False, False] Translation: X:-12.01, Y:-5.66, Z:18.09 [[ 0.74860218 -0.38415877 -0.54038581 -12.01443413] [ 0.27251163 0.92128783 -0.27742772 -5.66121119] [ 0.60442716 0.06042158 0.79436581 18.09080971] [ 0. 0. 0. 1. ]] SLAMing on 221.479072329 meters Centerline goodness [0,1] 0.32365813826891676 Centerline is valid? [False, False] Translation: X:-12.01, Y:-5.67, Z:18.09 [[ 0.74772279 -0.38698418 -0.53958676 -12.01278717] [ 0.27515787 0.92014149 -0.27861764 -5.67071412] [ 0.60431678 0.05985722 0.7944925 18.08967708] [ 0. 0. 0. 1. ]] SLAMing on 221.509072329 meters Centerline goodness [0,1] 0.32875013597302294 Centerline is valid? [False, False] Translation: X:-12.00, Y:-5.67, Z:18.08 [[ 0.75430213 -0.38614861 -0.53095908 -12.00317453] [ 0.27908019 0.92062429 -0.27306624 -5.67354684] [ 0.59425798 0.05779428 0.80219529 18.08375732] [ 0. 0. 0. 1. ]] SLAMing on 221.539072329 meters Centerline goodness [0,1] 0.3280281782010306 Centerline is valid? [False, False] Translation: X:-11.99, Y:-5.68, Z:18.08 [[ 0.76062049 -0.38561026 -0.52226544 -11.99336426] [ 0.2830885 0.92097434 -0.26770724 -5.67628617] [ 0.58422373 0.05577627 0.80967379 18.07783765] [ 0. 0. 0. 1. ]] SLAMing on 221.569072329 meters Centerline goodness [0,1] 0.33198389378604853 Centerline is valid? [False, False] Translation: X:-11.99, Y:-5.69, Z:18.08 [[ 0.75961393 -0.38854235 -0.52155682 -11.99112 ] [ 0.28580756 0.91977437 -0.26894078 -5.68590081] [ 0.58420948 0.05522628 0.80972177 18.07691472] [ 0. 0. 0. 1. ]] SLAMing on 221.599072329 meters Centerline goodness [0,1] 0.33510975210221683 Centerline is valid? [False, False] Translation: X:-11.99, Y:-5.69, Z:18.08 [[ 0.75954169 -0.38745507 -0.52247008 -11.98816643] [ 0.28545565 0.92030361 -0.26750016 -5.69175987] [ 0.58447539 0.05403548 0.8096102 18.07691192] [ 0. 0. 0. 1. ]] SLAMing on 221.629072329 meters Centerline goodness [0,1] 0.33508787193318257 Centerline is valid? [False, False] Translation: X:-11.98, Y:-5.70, Z:18.08 [[ 0.7593005 -0.38659628 -0.52345589 -11.98483941] [ 0.28523719 0.92073315 -0.26625217 -5.6970571 ] [ 0.58489528 0.05285631 0.80938478 18.07715789] [ 0. 0. 0. 1. ]] SLAMing on 221.659072329 meters Centerline goodness [0,1] 0.33979336595976073 Centerline is valid? [False, False] Translation: X:-11.98, Y:-5.71, Z:18.08 [[ 0.75823705 -0.38955232 -0.52280548 -11.98258572] [ 0.28801933 0.91952387 -0.26743356 -5.70685868] [ 0.58491149 0.05219995 0.80941566 18.07634033] [ 0. 0. 0. 1. ]] SLAMing on 221.689072329 meters Centerline goodness [0,1] 0.3417405283281195 Centerline is valid? [False, False] Translation: X:-11.98, Y:-5.71, Z:18.08 [[ 0.7580986 -0.3886134 -0.52370425 -11.9796575 ] [ 0.28779676 0.91998913 -0.2660696 -5.71259711] [ 0.58520042 0.05098661 0.80928415 18.07643423] [ 0. 0. 0. 1. ]] SLAMing on 221.719072329 meters Centerline goodness [0,1] 0.3428311215196461 Centerline is valid? [False, False] Translation: X:-11.97, Y:-5.72, Z:18.07 [[ 0.76404528 -0.38846486 -0.5151018 -11.97011213] [ 0.29216809 0.92018084 -0.26058592 -5.71562506] [ 0.57521528 0.04860314 0.81655687 18.07088015] [ 0. 0. 0. 1. ]] SLAMing on 221.749072329 meters Centerline goodness [0,1] 0.34828140616173464 Centerline is valid? [False, False] Translation: X:-11.97, Y:-5.73, Z:18.07 [[ 0.76290491 -0.39156525 -0.51444413 -11.96780884] [ 0.29508469 0.91890098 -0.26181295 -5.72529653] [ 0.57524006 0.0479338 0.81657897 18.07016982] [ 0. 0. 0. 1. ]] SLAMing on 221.779072329 meters Centerline goodness [0,1] 0.35328792245218754 Centerline is valid? [False, False] Translation: X:-11.97, Y:-5.73, Z:18.07 [[ 0.76280633 -0.39065158 -0.51528423 -11.96500688] [ 0.294895 0.91935288 -0.26043661 -5.73095782] [ 0.57546801 0.04670795 0.8164894 18.07013311] [ 0. 0. 0. 1. ]] SLAMing on 221.809072329 meters Centerline goodness [0,1] 0.3557793115498864 Centerline is valid? [False, False] Translation: X:-11.96, Y:-5.74, Z:18.07 [[ 0.76159272 -0.39391596 -0.51459377 -11.96254287] [ 0.29792138 0.91799114 -0.26179214 -5.74008188] [ 0.57551663 0.04607051 0.81649135 18.06937771] [ 0. 0. 0. 1. ]] SLAMing on 221.839072329 meters Centerline goodness [0,1] 0.35405346663768744 Centerline is valid? [False, False] Translation: X:-11.96, Y:-5.75, Z:18.07 [[ 0.76134772 -0.39326813 -0.5154511 -11.95939249] [ 0.29792717 0.91832995 -0.26059452 -5.74528473] [ 0.5758377 0.04483615 0.81633367 18.06942532] [ 0. 0. 0. 1. ]] SLAMing on 221.869072329 meters Centerline goodness [0,1] 0.35631983240223464 Centerline is valid? [False, False] Translation: X:-11.96, Y:-5.75, Z:18.07 [[ 0.76121437 -0.39242507 -0.51628989 -11.956612 ] [ 0.29781171 0.91875101 -0.25923881 -5.75098232] [ 0.57607367 0.04357914 0.81623525 18.06945159] [ 0. 0. 0. 1. ]] SLAMing on 221.899072329 meters Centerline goodness [0,1] 0.35574705139922536 Centerline is valid? [False, False] Translation: X:-11.95, Y:-5.76, Z:18.07 [[ 0.76105468 -0.39169531 -0.51707887 -11.95391605] [ 0.29778281 0.91912006 -0.25796068 -5.75652886] [ 0.57629956 0.04234499 0.81614075 18.06949113] [ 0. 0. 0. 1. ]] SLAMing on 221.929072329 meters Centerline goodness [0,1] 0.3552525362714083 Centerline is valid? [False, False] Translation: X:-11.95, Y:-5.77, Z:18.07 [[ 0.75973839 -0.39512318 -0.51640609 -11.951635 ] [ 0.30103566 0.91768911 -0.25927636 -5.76605839] [ 0.57634635 0.04152556 0.81614981 18.06896649] [ 0. 0. 0. 1. ]] SLAMing on 221.959072329 meters Centerline goodness [0,1] 0.3547382632174898 Centerline is valid? [False, False] Translation: X:-11.95, Y:-5.77, Z:18.07 [[ 0.7595955 -0.39442535 -0.51714923 -11.94886808] [ 0.30106296 0.91804536 -0.25798026 -5.77162971] [ 0.5765204 0.04026617 0.81608998 18.06885258] [ 0. 0. 0. 1. ]] SLAMing on 221.989072329 meters Centerline goodness [0,1] 0.3547291412645881 Centerline is valid? [False, False] Translation: X:-11.95, Y:-5.78, Z:18.07 [[ 0.75939803 -0.39382847 -0.51789359 -11.94601349] [ 0.301166 0.91835602 -0.25675136 -5.77696003] [ 0.57672669 0.03900453 0.8160055 18.06874302] [ 0. 0. 0. 1. ]] SLAMing on 222.019072329 meters Centerline goodness [0,1] 0.35227198430859763 Centerline is valid? [False, False] Translation: X:-11.94, Y:-5.78, Z:18.07 [[ 0.7592285 -0.39318403 -0.51863128 -11.94318667] [ 0.30122413 0.91868395 -0.25550698 -5.78227488] [ 0.5769195 0.03776392 0.81592756 18.06860318] [ 0. 0. 0. 1. ]] SLAMing on 222.049072329 meters Centerline goodness [0,1] 0.344905940702222 Centerline is valid? [False, False] Translation: X:-11.94, Y:-5.79, Z:18.07 [[ 0.75778183 -0.39697074 -0.51786189 -11.93998978] [ 0.30475627 0.91708647 -0.25705257 -5.79074171] [ 0.57696648 0.03696811 0.81593078 18.06769995] [ 0. 0. 0. 1. ]] SLAMing on 222.079072329 meters Centerline goodness [0,1] 0.33975366876310276 Centerline is valid? [False, False] Translation: X:-11.94, Y:-5.80, Z:18.07 [[ 0.75761374 -0.39632396 -0.51860268 -11.93720021] [ 0.30483902 0.91741693 -0.25577207 -5.79611082] [ 0.57714348 0.0356861 0.81586268 18.06756209] [ 0. 0. 0. 1. ]] SLAMing on 222.109072329 meters Centerline goodness [0,1] 0.33543472550564746 Centerline is valid? [False, False] Translation: X:-11.93, Y:-5.80, Z:18.07 [[ 0.75745002 -0.39572228 -0.51930083 -11.93471027] [ 0.30494634 0.91772417 -0.25453895 -5.80137539] [ 0.57730165 0.03444165 0.81580425 18.06748992] [ 0. 0. 0. 1. ]] SLAMing on 222.13907232900002 meters Centerline goodness [0,1] 0.3243367280038463 Centerline is valid? [False, False] Translation: X:-11.93, Y:-5.81, Z:18.07 [[ 0.75605956 -0.39944232 -0.51847834 -11.93289224] [ 0.30842355 0.91613942 -0.25605367 -5.81001973] [ 0.57727711 0.03368089 0.81585338 18.06703134] [ 0. 0. 0. 1. ]] SLAMing on 222.16907232900002 meters Centerline goodness [0,1] 0.3243367280038463 Centerline is valid? [False, False] Translation: X:-11.93, Y:-5.81, Z:18.07 [[ 0.75605956 -0.39944232 -0.51847834 -11.93289224] [ 0.30842355 0.91613942 -0.25605367 -5.81001973] [ 0.57727711 0.03368089 0.81585338 18.06703134] [ 0. 0. 0. 1. ]] SLAMing on 222.199072329 meters Centerline goodness [0,1] 0.3200604176699794 Centerline is valid? [False, False] Translation: X:-11.93, Y:-5.82, Z:18.07 [[ 0.75597801 -0.39877205 -0.5191128 -11.93090671] [ 0.30848685 0.91647533 -0.25477213 -5.81540488] [ 0.57735008 0.03246266 0.81585113 18.0669735 ] [ 0. 0. 0. 1. ]] SLAMing on 222.229072329 meters Centerline goodness [0,1] 0.3110824629637722 Centerline is valid? [False, False] Translation: X:-11.93, Y:-5.82, Z:18.07 [[ 0.75586058 -0.39821103 -0.51971411 -11.9289759 ] [ 0.30862767 0.9167608 -0.25357167 -5.82059182] [ 0.57742856 0.03126667 0.8158423 18.06693422] [ 0. 0. 0. 1. ]] SLAMing on 222.259072329 meters Centerline goodness [0,1] 0.28920756690785454 Centerline is valid? [False, False] Translation: X:-11.93, Y:-5.83, Z:18.07 [[ 0.75434663 -0.40231395 -0.51875297 -11.92692831] [ 0.31234097 0.91498867 -0.25541897 -5.82807312] [ 0.57741171 0.03064664 0.81587775 18.06634492] [ 0. 0. 0. 1. ]] SLAMing on 222.289072329 meters Centerline goodness [0,1] 0.2874948158819549 Centerline is valid? [False, False] Translation: X:-11.92, Y:-5.83, Z:18.07 [[ 0.75420261 -0.40187018 -0.51930606 -11.92451621] [ 0.31254518 0.91522091 -0.2543348 -5.83269099] [ 0.57748934 0.02951336 0.81586459 18.06604233] [ 0. 0. 0. 1. ]] SLAMing on 222.319072329 meters Centerline goodness [0,1] 0.2779621059984284 Centerline is valid? [False, False] Translation: X:-11.92, Y:-5.84, Z:18.07 [[ 0.75402228 -0.40146773 -0.5198789 -11.92220899] [ 0.31277796 0.91543358 -0.25328108 -5.8372628 ] [ 0.57759878 0.02837291 0.81582757 18.06588802] [ 0. 0. 0. 1. ]] SLAMing on 222.349072329 meters Centerline goodness [0,1] 0.26911067927247323 Centerline is valid? [False, False] Translation: X:-11.92, Y:-5.84, Z:18.07 [[ 0.753846 -0.40105687 -0.52045134 -11.92002791] [ 0.31299809 0.91564794 -0.25223211 -5.84176841] [ 0.57770962 0.02724389 0.81578757 18.06576944] [ 0. 0. 0. 1. ]] SLAMing on 222.379072329 meters Centerline goodness [0,1] 0.2608970999301188 Centerline is valid? [False, False] Translation: X:-11.92, Y:-5.85, Z:18.07 [[ 0.75348612 -0.40136682 -0.52073346 -11.91786225] [ 0.31440663 0.91557008 -0.25075864 -5.85017101] [ 0.57741418 0.0252211 0.81606174 18.06501904] [ 0. 0. 0. 1. ]] SLAMing on 222.409072329 meters Centerline goodness [0,1] 0.25592013282069204 Centerline is valid? [False, False] Translation: X:-11.92, Y:-5.85, Z:18.06 [[ 0.75334868 -0.40100696 -0.52120934 -11.91620953] [ 0.31463353 0.91575549 -0.24979516 -5.85432156] [ 0.57746991 0.02419291 0.81605343 18.06494506] [ 0. 0. 0. 1. ]] SLAMing on 222.439072329 meters Centerline goodness [0,1] 0.25331935709294195 Centerline is valid? [False, False] Translation: X:-11.91, Y:-5.86, Z:18.06 [[ 0.75322402 -0.40063795 -0.52167308 -11.91458828] [ 0.31487004 0.91594405 -0.24880385 -5.85861262] [ 0.57750362 0.02314582 0.81605995 18.06484799] [ 0. 0. 0. 1. ]] SLAMing on 222.469072329 meters Centerline goodness [0,1] 0.2442211055276382 Centerline is valid? [False, False] Translation: X:-11.91, Y:-5.87, Z:18.06 [[ 0.75281388 -0.40116969 -0.52185643 -11.9123456 ] [ 0.31636433 0.91575613 -0.24759711 -5.86618483] [ 0.57722168 0.02129778 0.81630971 18.06405238] [ 0. 0. 0. 1. ]] SLAMing on 222.499072329 meters Centerline goodness [0,1] 0.24833140031074252 Centerline is valid? [False, False] Translation: X:-11.91, Y:-5.87, Z:18.06 [[ 0.75268347 -0.4007853 -0.52233968 -11.91061735] [ 0.31655342 0.91594711 -0.24664718 -5.87009066] [ 0.57728808 0.02029884 0.8162882 18.06396291] [ 0. 0. 0. 1. ]] SLAMing on 222.529072329 meters Centerline goodness [0,1] 0.2400393184796854 Centerline is valid? [False, False] Translation: X:-11.91, Y:-5.88, Z:18.06 [[ 0.75245117 -0.40097923 -0.5225255 -11.90899957] [ 0.31780794 0.91590159 -0.24519867 -5.87653698] [ 0.57690151 0.01843728 0.8166056 18.06303206] [ 0. 0. 0. 1. ]] SLAMing on 222.559072329 meters Centerline goodness [0,1] 0.2382118799755052 Centerline is valid? [False, False] Translation: X:-11.91, Y:-5.88, Z:18.06 [[ 7.52368436e-01 -4.00717431e-01 -5.22845365e-01 -1.19079079e+01] [ 3.18045422e-01 9.16032829e-01 -2.44399193e-01 -5.87972645e+00] [ 5.76878536e-01 1.75896633e-02 8.16640532e-01 1.80628443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.589072329 meters Centerline goodness [0,1] 0.23478983510475437 Centerline is valid? [False, False] Translation: X:-11.91, Y:-5.88, Z:18.06 [[ 7.52247784e-01 -4.00507744e-01 -5.23179528e-01 -1.19066788e+01] [ 3.18316561e-01 9.16140406e-01 -2.43641795e-01 -5.88283810e+00] [ 5.76886331e-01 1.67422918e-02 8.16652838e-01 1.80627009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.619072329 meters Centerline goodness [0,1] 0.2224728451296426 Centerline is valid? [False, False] Translation: X:-11.91, Y:-5.89, Z:18.06 [[ 7.51944002e-01 -4.01127716e-01 -5.23141255e-01 -1.19054293e+01] [ 3.19834109e-01 9.15898076e-01 -2.42563097e-01 -5.88827581e+00] [ 5.76442850e-01 1.50754486e-02 8.16998391e-01 1.80617121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.649072329 meters Centerline goodness [0,1] 0.22261344997266264 Centerline is valid? [False, False] Translation: X:-11.90, Y:-5.89, Z:18.06 [[ 7.51763717e-01 -4.01021320e-01 -5.23481819e-01 -1.19040028e+01] [ 3.20181794e-01 9.15958279e-01 -2.41876104e-01 -5.89128452e+00] [ 5.76484980e-01 1.42243315e-02 8.16983926e-01 1.80616065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.679072329 meters Centerline goodness [0,1] 0.21745684946471489 Centerline is valid? [False, False] Translation: X:-11.90, Y:-5.89, Z:18.06 [[ 7.51553930e-01 -4.01063858e-01 -5.23750392e-01 -1.19026325e+01] [ 3.20652679e-01 9.15952250e-01 -2.41274400e-01 -5.89400191e+00] [ 5.76496791e-01 1.33887568e-02 8.16989713e-01 1.80614247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.709072329 meters Centerline goodness [0,1] 0.21446558784242453 Centerline is valid? [False, False] Translation: X:-11.90, Y:-5.90, Z:18.06 [[ 7.51370866e-01 -4.01065352e-01 -5.24011837e-01 -1.19011987e+01] [ 3.21085501e-01 9.15963202e-01 -2.40656420e-01 -5.89669023e+00] [ 5.76494512e-01 1.25696192e-02 8.17004334e-01 1.80611616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.739072329 meters Centerline goodness [0,1] 0.20622789011660914 Centerline is valid? [False, False] Translation: X:-11.90, Y:-5.90, Z:18.06 [[ 7.51064812e-01 -4.02021727e-01 -5.23717652e-01 -1.19006152e+01] [ 3.22849656e-01 9.15563633e-01 -2.39815206e-01 -5.90110145e+00] [ 5.75907760e-01 1.10346987e-02 8.17440204e-01 1.80599179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.769072329 meters Centerline goodness [0,1] 0.19965915049816463 Centerline is valid? [False, False] Translation: X:-11.90, Y:-5.90, Z:18.06 [[ 7.50972177e-01 -4.02088237e-01 -5.23799426e-01 -1.18999629e+01] [ 3.23346081e-01 9.15543190e-01 -2.39223701e-01 -5.90342885e+00] [ 5.75750034e-01 1.02818517e-02 8.17561118e-01 1.80594873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.799072329 meters Centerline goodness [0,1] 0.197752219355403 Centerline is valid? [False, False] Translation: X:-11.90, Y:-5.91, Z:18.06 [[ 7.50891368e-01 -4.02106940e-01 -5.23900909e-01 -1.18993303e+01] [ 3.23789831e-01 9.15542937e-01 -2.38623712e-01 -5.90573438e+00] [ 5.75606028e-01 9.54669838e-03 8.17671426e-01 1.80590886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.829072329 meters Centerline goodness [0,1] 0.18968491385898645 Centerline is valid? [False, False] Translation: X:-11.90, Y:-5.91, Z:18.06 [[ 7.50791215e-01 -4.02182064e-01 -5.23986774e-01 -1.18985931e+01] [ 3.24285388e-01 9.15517390e-01 -2.38048095e-01 -5.90794351e+00] [ 5.75457678e-01 8.80316416e-03 8.17784180e-01 1.80586147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.859072329 meters Centerline goodness [0,1] 0.17993140060734492 Centerline is valid? [False, False] Translation: X:-11.90, Y:-5.91, Z:18.05 [[ 7.50758008e-01 -4.05434434e-01 -5.21522131e-01 -1.19023533e+01] [ 3.30580287e-01 9.14116074e-01 -2.34751945e-01 -5.91262914e+00] [ 5.71908285e-01 3.83696699e-03 8.20308595e-01 1.80487600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88907232900002 meters Centerline goodness [0,1] 0.1757034253757428 Centerline is valid? [False, False] Translation: X:-11.90, Y:-5.91, Z:18.05 [[ 7.50597792e-01 -4.05679753e-01 -5.21561974e-01 -1.19015607e+01] [ 3.31222685e-01 9.14010091e-01 -2.34258588e-01 -5.91461562e+00] [ 5.71746873e-01 3.08082129e-03 8.20424294e-01 1.80482461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91907232900002 meters Centerline goodness [0,1] 0.16616070063555155 Centerline is valid? [False, False] Translation: X:-11.90, Y:-5.92, Z:18.05 [[ 7.50426758e-01 -4.06029001e-01 -5.21536319e-01 -1.19007709e+01] [ 3.31960851e-01 9.13857228e-01 -2.33809665e-01 -5.91650233e+00] [ 5.71543239e-01 2.32738836e-03 8.20568650e-01 1.80476172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.949072329 meters Centerline goodness [0,1] 0.1631154526978299 Centerline is valid? [False, False] Translation: X:-11.92, Y:-5.92, Z:18.04 [[ 7.44097606e-01 -4.13354154e-01 -5.24840067e-01 -1.19181388e+01] [ 3.39796219e-01 9.10564778e-01 -2.35393958e-01 -5.92297665e+00] [ 5.75201949e-01 -3.18258975e-03 8.18005250e-01 1.80408363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979072329 meters Centerline goodness [0,1] 0.1568002097077199 Centerline is valid? [False, False] Translation: X:-11.94, Y:-5.93, Z:18.03 [[ 7.40474472e-01 -4.16801383e-01 -5.27232552e-01 -1.19397593e+01] [ 3.43520682e-01 9.08975967e-01 -2.36127575e-01 -5.93024461e+00] [ 5.77660019e-01 -6.26884410e-03 8.16253395e-01 1.80290616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.009072329 meters Centerline goodness [0,1] 0.15263640732165484 Centerline is valid? [False, False] Translation: X:-11.96, Y:-5.94, Z:18.02 [[ 7.36778747e-01 -4.20245905e-01 -5.29670140e-01 -1.19616513e+01] [ 3.47416428e-01 9.07358843e-01 -2.36646901e-01 -5.93733299e+00] [ 5.80050776e-01 -9.65970099e-03 8.14523043e-01 1.80176534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.039072329 meters Centerline goodness [0,1] 0.14859464063421346 Centerline is valid? [False, False] Translation: X:-11.98, Y:-5.94, Z:18.01 [[ 7.30892508e-01 -4.28038652e-01 -5.31581653e-01 -1.19798947e+01] [ 3.56693611e-01 9.03614083e-01 -2.37173473e-01 -5.94103112e+00] [ 5.81864082e-01 -1.62634643e-02 8.13123416e-01 1.80108785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.069072329 meters Centerline goodness [0,1] 0.13969335604770017 Centerline is valid? [False, False] Translation: X:-12.00, Y:-5.95, Z:18.00 [[ 0.72705686 -0.43180846 -0.53378814 -12.00202795] [ 0.36099242 0.90174755 -0.23777263 -5.94688451] [ 0.58401438 -0.01981925 0.81150132 17.99973558] [ 0. 0. 0. 1. ]] SLAMing on 223.099072329 meters Centerline goodness [0,1] 0.14090126229043576 Centerline is valid? [False, False] Translation: X:-12.02, Y:-5.95, Z:17.99 [[ 0.72317621 -0.43557171 -0.53599763 -12.02383164] [ 0.36516305 0.8998551 -0.23857231 -5.95257827] [ 0.58623555 -0.02319671 0.80980849 17.98828766] [ 0. 0. 0. 1. ]] SLAMing on 223.129072329 meters Centerline goodness [0,1] 0.13564270152505442 Centerline is valid? [False, False] Translation: X:-12.04, Y:-5.96, Z:17.98 [[ 0.71736101 -0.44278925 -0.53789485 -12.04404397] [ 0.37281184 0.89618893 -0.24053426 -5.95566625] [ 0.58856139 -0.02798367 0.80796807 17.9792778 ] [ 0. 0. 0. 1. ]] SLAMing on 223.159072329 meters Centerline goodness [0,1] 0.133598400903837 Centerline is valid? [False, False] Translation: X:-12.07, Y:-5.96, Z:17.97 [[ 0.71339473 -0.446521 -0.5400805 -12.06574232] [ 0.37671406 0.89423553 -0.24172159 -5.96023651] [ 0.59089294 -0.03101301 0.80615366 17.96746612] [ 0. 0. 0. 1. ]] SLAMing on 223.189072329 meters Centerline goodness [0,1] 0.13169171869221896 Centerline is valid? [False, False] Translation: X:-12.09, Y:-5.96, Z:17.96 [[ 0.70800163 -0.45278556 -0.54195842 -12.08684354] [ 0.3835231 0.89090843 -0.24329447 -5.96196421] [ 0.59299555 -0.0356007 0.80441834 17.95775146] [ 0. 0. 0. 1. ]] SLAMing on 223.219072329 meters Centerline goodness [0,1] 0.13460952795301284 Centerline is valid? [False, False] Translation: X:-12.11, Y:-5.97, Z:17.95 [[ 0.70449287 -0.45567913 -0.54410139 -12.10924954] [ 0.38669802 0.88931392 -0.24410118 -5.96611598] [ 0.59510876 -0.03843539 0.80272554 17.94550244] [ 0. 0. 0. 1. ]] SLAMing on 223.249072329 meters Centerline goodness [0,1] 0.13713763782267363 Centerline is valid? [False, False] Translation: X:-12.13, Y:-5.97, Z:17.93 [[ 0.70088576 -0.45870499 -0.54621322 -12.13196727] [ 0.38996531 0.88762993 -0.24503095 -5.97003853] [ 0.59723212 -0.0412655 0.80100621 17.93354471] [ 0. 0. 0. 1. ]] SLAMing on 223.279072329 meters Centerline goodness [0,1] 0.13718835661140838 Centerline is valid? [False, False] Translation: X:-12.15, Y:-5.97, Z:17.92 [[ 0.69728476 -0.46172248 -0.54827576 -12.15477291] [ 0.39308082 0.8859391 -0.24616943 -5.97376607] [ 0.59940089 -0.04386649 0.79924608 17.92149683] [ 0. 0. 0. 1. ]] SLAMing on 223.309072329 meters Centerline goodness [0,1] 0.14153792668882947 Centerline is valid? [False, False] Translation: X:-12.18, Y:-5.97, Z:17.91 [[ 0.69219602 -0.46792392 -0.54946508 -12.17804134] [ 0.39956278 0.8824768 -0.24816179 -5.97348609] [ 0.60101103 -0.04776919 0.79781191 17.91118994] [ 0. 0. 0. 1. ]] SLAMing on 223.339072329 meters Centerline goodness [0,1] 0.14190114068441062 Centerline is valid? [False, False] Translation: X:-12.20, Y:-5.98, Z:17.90 [[ 0.68878578 -0.47049177 -0.55155384 -12.2006474 ] [ 0.402156 0.88098065 -0.24928628 -5.97623022] [ 0.6031954 -0.05010584 0.79601803 17.89843092] [ 0. 0. 0. 1. ]] SLAMing on 223.369072329 meters Centerline goodness [0,1] 0.1440932214444106 Centerline is valid? [False, False] Translation: X:-12.22, Y:-5.98, Z:17.89 [[ 0.68549665 -0.47248852 -0.55393947 -12.2231371 ] [ 0.40427133 0.87977297 -0.2501284 -5.9789921 ] [ 0.60552377 -0.05247967 0.79409499 17.88566872] [ 0. 0. 0. 1. ]] SLAMing on 223.399072329 meters Centerline goodness [0,1] 0.14016400555362718 Centerline is valid? [False, False] Translation: X:-12.25, Y:-5.98, Z:17.87 [[ 0.68224483 -0.47421373 -0.55647401 -12.2455811 ] [ 0.40626524 0.87868822 -0.25071011 -5.98156376] [ 0.60785734 -0.05503037 0.79213706 17.87324367] [ 0. 0. 0. 1. ]] SLAMing on 223.429072329 meters Centerline goodness [0,1] 0.14438757807078417 Centerline is valid? [False, False] Translation: X:-12.27, Y:-5.98, Z:17.86 [[ 0.67831166 -0.4780118 -0.55803048 -12.26959647] [ 0.41068344 0.87639896 -0.25152333 -5.97874551] [ 0.60928845 -0.05856267 0.79078316 17.8611919 ] [ 0. 0. 0. 1. ]] SLAMing on 223.459072329 meters Centerline goodness [0,1] 0.14246705963938977 Centerline is valid? [False, False] Translation: X:-12.29, Y:-5.98, Z:17.85 [[ 0.67537805 -0.47951389 -0.56029539 -12.29311261] [ 0.41239058 0.87542641 -0.25211627 -5.98049335] [ 0.61139063 -0.06078674 0.78899079 17.84838116] [ 0. 0. 0. 1. ]] SLAMing on 223.489072329 meters Centerline goodness [0,1] 0.144139650872818 Centerline is valid? [False, False] Translation: X:-12.32, Y:-5.98, Z:17.84 [[ 0.67254367 -0.48095309 -0.56246702 -12.31699218] [ 0.41393552 0.87449469 -0.25281697 -5.98232186] [ 0.61346752 -0.06279463 0.78721943 17.83525572] [ 0. 0. 0. 1. ]] SLAMing on 223.519072329 meters Centerline goodness [0,1] 0.14425618581271393 Centerline is valid? [False, False] Translation: X:-12.34, Y:-5.98, Z:17.82 [[ 0.66869246 -0.48478818 -0.56376486 -12.3432033 ] [ 0.4171798 0.87224861 -0.25523201 -5.97821334] [ 0.61547658 -0.06451959 0.7855099 17.82227027] [ 0. 0. 0. 1. ]] SLAMing on 223.549072329 meters Centerline goodness [0,1] 0.14352442531842657 Centerline is valid? [False, False] Translation: X:-12.37, Y:-5.98, Z:17.81 [[ 0.66599172 -0.48609054 -0.56583656 -12.36738973] [ 0.41815825 0.87142598 -0.25643798 -5.97926336] [ 0.61773676 -0.06582365 0.78362526 17.80837579] [ 0. 0. 0. 1. ]] SLAMing on 223.579072329 meters Centerline goodness [0,1] 0.14187712350407933 Centerline is valid? [False, False] Translation: X:-12.39, Y:-5.98, Z:17.79 [[ 0.66331723 -0.48718862 -0.56802948 -12.39161348] [ 0.41895423 0.87071248 -0.25755997 -5.98009928] [ 0.62007065 -0.06713439 0.78166832 17.79455976] [ 0. 0. 0. 1. ]] SLAMing on 223.609072329 meters Centerline goodness [0,1] 0.1401780312851093 Centerline is valid? [False, False] Translation: X:-12.42, Y:-5.97, Z:17.78 [[ 0.66015723 -0.48920365 -0.56997564 -12.4181527 ] [ 0.42065398 0.86945494 -0.25903347 -5.97443829] [ 0.62228825 -0.06875971 0.77976242 17.78122843] [ 0. 0. 0. 1. ]] SLAMing on 223.63907232900002 meters Centerline goodness [0,1] 0.1393334629257651 Centerline is valid? [False, False] Translation: X:-12.44, Y:-5.97, Z:17.77 [[ 0.65800297 -0.4892443 -0.5724265 -12.44245665] [ 0.42073974 0.869318 -0.25935361 -5.97484124] [ 0.62450794 -0.07018713 0.77785834 17.76735302] [ 0. 0. 0. 1. ]] SLAMing on 223.66907232900002 meters Centerline goodness [0,1] 0.1381402781376868 Centerline is valid? [False, False] Translation: X:-12.47, Y:-5.98, Z:17.75 [[ 0.65581984 -0.48905816 -0.57508474 -12.46670342] [ 0.42060655 0.86930539 -0.25961177 -5.97508452] [ 0.62688951 -0.07162586 0.77580879 17.75380691] [ 0. 0. 0. 1. ]] SLAMing on 223.699072329 meters Centerline goodness [0,1] 0.13709173224102622 Centerline is valid? [False, False] Translation: X:-12.49, Y:-5.97, Z:17.74 [[ 0.65367022 -0.48880113 -0.57774449 -12.49088339] [ 0.42036261 0.86933778 -0.25989824 -5.97493748] [ 0.62929367 -0.07297444 0.77373394 17.74018782] [ 0. 0. 0. 1. ]] SLAMing on 223.729072329 meters Centerline goodness [0,1] 0.1357616609415171 Centerline is valid? [False, False] Translation: X:-12.52, Y:-5.97, Z:17.73 [[ 0.65116533 -0.48946728 -0.58000473 -12.51867119] [ 0.42041601 0.86890055 -0.26127039 -5.96785018] [ 0.63184974 -0.07371306 0.77157779 17.72673249] [ 0. 0. 0. 1. ]] SLAMing on 223.759072329 meters Centerline goodness [0,1] 0.1313374973077751 Centerline is valid? [False, False] Translation: X:-12.54, Y:-5.97, Z:17.71 [[ 0.64929773 -0.48923964 -0.58228604 -12.54320337] [ 0.41974349 0.86898337 -0.262075 -5.96733515] [ 0.63421436 -0.07424606 0.76958409 17.7124615 ] [ 0. 0. 0. 1. ]] SLAMing on 223.789072329 meters Centerline goodness [0,1] 0.1312772102245786 Centerline is valid? [False, False] Translation: X:-12.57, Y:-5.97, Z:17.70 [[ 0.64747702 -0.48880407 -0.58467434 -12.56780389] [ 0.41887497 0.86918509 -0.26279467 -5.96674607] [ 0.63664533 -0.07475194 0.76752516 17.69819989] [ 0. 0. 0. 1. ]] SLAMing on 223.819072329 meters Centerline goodness [0,1] 0.12633589424438818 Centerline is valid? [False, False] Translation: X:-12.60, Y:-5.96, Z:17.68 [[ 0.64545611 -0.48861483 -0.58706214 -12.59633219] [ 0.41799984 0.86926625 -0.26391726 -5.95848278] [ 0.63926719 -0.07504487 0.76531413 17.68456107] [ 0. 0. 0. 1. ]] SLAMing on 223.849072329 meters Centerline goodness [0,1] 0.12640044728297095 Centerline is valid? [False, False] Translation: X:-12.62, Y:-5.96, Z:17.67 [[ 0.6436906 -0.48768168 -0.58977029 -12.62085459] [ 0.41678635 0.86973463 -0.26429304 -5.95680427] [ 0.64183451 -0.07568526 0.76309907 17.6707203 ] [ 0. 0. 0. 1. ]] SLAMing on 223.879072329 meters Centerline goodness [0,1] 0.12179363341704763 Centerline is valid? [False, False] Translation: X:-12.65, Y:-5.96, Z:17.66 [[ 0.64214947 -0.48632093 -0.59256731 -12.64549635] [ 0.41526395 0.87044154 -0.26436222 -5.9551824 ] [ 0.64436008 -0.07631178 0.76090512 17.65684371] [ 0. 0. 0. 1. ]] SLAMing on 223.909072329 meters Centerline goodness [0,1] 0.1183425604051328 Centerline is valid? [False, False] Translation: X:-12.67, Y:-5.95, Z:17.64 [[ 0.64095759 -0.4849096 -0.59500928 -12.6744476 ] [ 0.4130363 0.87127063 -0.26511981 -5.94578344] [ 0.64697325 -0.07582988 0.75873279 17.64286507] [ 0. 0. 0. 1. ]] SLAMing on 223.939072329 meters Centerline goodness [0,1] 0.11719671463189718 Centerline is valid? [False, False] Translation: X:-12.70, Y:-5.94, Z:17.63 [[ 0.63971604 -0.48372415 -0.59730589 -12.69908673] [ 0.41111723 0.87195801 -0.26584178 -5.94406863] [ 0.64941975 -0.07549949 0.75667286 17.62798012] [ 0. 0. 0. 1. ]] SLAMing on 223.969072329 meters Centerline goodness [0,1] 0.11240791502484149 Centerline is valid? [False, False] Translation: X:-12.73, Y:-5.93, Z:17.61 [[ 0.63826374 -0.48254531 -0.59980782 -12.72799822] [ 0.40847138 0.87271316 -0.26743761 -5.9338984 ] [ 0.65251094 -0.07430861 0.75412711 17.61408418] [ 0. 0. 0. 1. ]] SLAMing on 223.999072329 meters Centerline goodness [0,1] 0.10796986688353383 Centerline is valid? [False, False] Translation: X:-12.75, Y:-5.93, Z:17.60 [[ 0.63744327 -0.48033429 -0.60244921 -12.75284799] [ 0.40577653 0.87396109 -0.26746481 -5.93212183] [ 0.65498968 -0.0739661 0.75200899 17.59882084] [ 0. 0. 0. 1. ]] SLAMing on 224.029072329 meters Centerline goodness [0,1] 0.10796986688353383 Centerline is valid? [False, False] Translation: X:-12.77, Y:-5.94, Z:17.58 [[ 0.63662246 -0.4781551 -0.60504508 -12.77339665] [ 0.40344154 0.87514825 -0.26711507 -5.9385539 ] [ 0.65722658 -0.07404887 0.75004666 17.58357888] [ 0. 0. 0. 1. ]] SLAMing on 224.059072329 meters Centerline goodness [0,1] 0.10929933576173134 Centerline is valid? [False, False] Translation: X:-12.80, Y:-5.94, Z:17.57 [[ 0.63575704 -0.47587428 -0.60774719 -12.79791523] [ 0.40058524 0.87643055 -0.26720959 -5.93612765] [ 0.65980638 -0.07357418 0.7478251 17.56824006] [ 0. 0. 0. 1. ]] SLAMing on 224.089072329 meters Centerline goodness [0,1] 0.10715354684226275 Centerline is valid? [False, False] Translation: X:-12.82, Y:-5.93, Z:17.55 [[ 0.63486451 -0.47365307 -0.61040956 -12.82254529] [ 0.397841 0.87766624 -0.26725364 -5.93365366] [ 0.66232137 -0.0731761 0.74563776 17.55313665] [ 0. 0. 0. 1. ]] SLAMing on 224.119072329 meters Centerline goodness [0,1] 0.10435377640920362 Centerline is valid? [False, False] Translation: X:-12.85, Y:-5.92, Z:17.54 [[ 0.63394212 -0.47145383 -0.61306498 -12.85143824] [ 0.3941614 0.87898604 -0.26836605 -5.92265579] [ 0.66539776 -0.07151801 0.74305517 17.53904086] [ 0. 0. 0. 1. ]] SLAMing on 224.149072329 meters Centerline goodness [0,1] 0.10246594092863104 Centerline is valid? [False, False] Translation: X:-12.88, Y:-5.92, Z:17.52 [[ 0.63341637 -0.46911363 -0.61539914 -12.87608173] [ 0.39101712 0.88031942 -0.2685951 -5.92068601] [ 0.66774944 -0.07049906 0.74104019 17.52349753] [ 0. 0. 0. 1. ]] SLAMing on 224.179072329 meters Centerline goodness [0,1] 0.10050379984629831 Centerline is valid? [False, False] Translation: X:-12.90, Y:-5.92, Z:17.51 [[ 0.63294157 -0.46660289 -0.6177918 -12.90050682] [ 0.38770285 0.88173842 -0.26874497 -5.91846419] [ 0.67012794 -0.06941978 0.73899217 17.50779415] [ 0. 0. 0. 1. ]] SLAMing on 224.209072329 meters Centerline goodness [0,1] 0.09857555960158504 Centerline is valid? [False, False] Translation: X:-12.93, Y:-5.91, Z:17.49 [[ 0.63217048 -0.46381163 -0.62067644 -12.9295427 ] [ 0.38355652 0.88334051 -0.26943264 -5.9075489 ] [ 0.67323464 -0.06773713 0.73631977 17.49320596] [ 0. 0. 0. 1. ]] SLAMing on 224.239072329 meters Centerline goodness [0,1] 0.0989438576987215 Centerline is valid? [False, False] Translation: X:-12.95, Y:-5.90, Z:17.48 [[ 0.63150018 -0.46096531 -0.62347294 -12.95385105] [ 0.37992518 0.8849063 -0.26943958 -5.90474908] [ 0.67591743 -0.06672192 0.73395082 17.47786093] [ 0. 0. 0. 1. ]] SLAMing on 224.269072329 meters Centerline goodness [0,1] 0.09768226054294005 Centerline is valid? [False, False] Translation: X:-12.98, Y:-5.89, Z:17.46 [[ 0.6305848 -0.45812418 -0.62648627 -12.98253298] [ 0.37539226 0.88653452 -0.27043889 -5.89294052] [ 0.6792963 -0.06464344 0.73101146 17.46375553] [ 0. 0. 0. 1. ]] SLAMing on 224.299072329 meters Centerline goodness [0,1] 0.0955633578040217 Centerline is valid? [False, False] Translation: X:-13.01, Y:-5.89, Z:17.45 [[ 0.63030795 -0.45527783 -0.62883542 -13.00657599] [ 0.37139319 0.88812518 -0.27074115 -5.89020932] [ 0.68174701 -0.0628949 0.72887945 17.44801335] [ 0. 0. 0. 1. ]] SLAMing on 224.329072329 meters Centerline goodness [0,1] 0.09572653217895677 Centerline is valid? [False, False] Translation: X:-13.03, Y:-5.89, Z:17.43 [[ 0.6301959 -0.45227094 -0.6311134 -13.03076785] [ 0.36719038 0.88979478 -0.27099164 -5.88785328] [ 0.68412305 -0.06096095 0.72681457 17.43202324] [ 0. 0. 0. 1. ]] SLAMing on 224.359072329 meters Centerline goodness [0,1] 0.09357845014681476 Centerline is valid? [False, False] Translation: X:-13.05, Y:-5.89, Z:17.42 [[ 0.63009711 -0.44926747 -0.63335327 -13.05474114] [ 0.36304343 0.89144206 -0.27116511 -5.88547645] [ 0.68642341 -0.05907439 0.72479867 17.41605924] [ 0. 0. 0. 1. ]] SLAMing on 224.38907232900002 meters Centerline goodness [0,1] 0.09275998806122887 Centerline is valid? [False, False] Translation: X:-13.08, Y:-5.87, Z:17.40 [[ 0.6295596 -0.44639462 -0.63591395 -13.08344577] [ 0.35811037 0.89306651 -0.2723769 -5.87357664] [ 0.68950103 -0.05624989 0.72209714 17.40155052] [ 0. 0. 0. 1. ]] SLAMing on 224.41907232900002 meters Centerline goodness [0,1] 0.09142930077219258 Centerline is valid? [False, False] Translation: X:-13.11, Y:-5.87, Z:17.39 [[ 0.62951223 -0.44288147 -0.63841237 -13.10754609] [ 0.35350642 0.89493481 -0.27225887 -5.87065597] [ 0.69191586 -0.05429258 0.71993385 17.38539244] [ 0. 0. 0. 1. ]] SLAMing on 224.449072329 meters Centerline goodness [0,1] 0.09107150453017998 Centerline is valid? [False, False] Translation: X:-13.13, Y:-5.87, Z:17.37 [[ 0.62946708 -0.43913064 -0.64104249 -13.13150459] [ 0.34854426 0.89691023 -0.2721561 -5.86733914] [ 0.69446965 -0.05211837 0.71763192 17.36937966] [ 0. 0. 0. 1. ]] SLAMing on 224.479072329 meters Centerline goodness [0,1] 0.08978453415091125 Centerline is valid? [False, False] Translation: X:-13.16, Y:-5.86, Z:17.35 [[ 0.62906354 -0.43528803 -0.64405232 -13.15971724] [ 0.34294379 0.89893506 -0.27259002 -5.85523658] [ 0.69761638 -0.04939731 0.7147666 17.35463549] [ 0. 0. 0. 1. ]] SLAMing on 224.509072329 meters Centerline goodness [0,1] 0.08996818663838813 Centerline is valid? [False, False] Translation: X:-13.16, Y:-5.85, Z:17.35 [[ 0.63051266 -0.43232247 -0.64463251 -13.16456833] [ 0.34055371 0.90039669 -0.27075628 -5.84908629] [ 0.697479 -0.04881673 0.71494054 17.35344673] [ 0. 0. 0. 1. ]] SLAMing on 224.539072329 meters Centerline goodness [0,1] 0.0879688426043519 Centerline is valid? [False, False] Translation: X:-13.17, Y:-5.84, Z:17.35 [[ 0.63382475 -0.42910294 -0.64353466 -13.17216921] [ 0.3378412 0.9020272 -0.26871966 -5.84346334] [ 0.69579416 -0.04709135 0.71669582 17.34616179] [ 0. 0. 0. 1. ]] SLAMing on 224.569072329 meters Centerline goodness [0,1] 0.08684283254320879 Centerline is valid? [False, False] Translation: X:-13.20, Y:-5.83, Z:17.33 [[ 0.63370766 -0.42572617 -0.6458884 -13.20031911] [ 0.33195553 0.90381639 -0.27003973 -5.83162869] [ 0.6987275 -0.04327998 0.71407753 17.33114459] [ 0. 0. 0. 1. ]] SLAMing on 224.599072329 meters Centerline goodness [0,1] 0.08574577205103207 Centerline is valid? [False, False] Translation: X:-13.20, Y:-5.83, Z:17.33 [[ 0.63518103 -0.42257612 -0.64650946 -13.20446629] [ 0.32942409 0.90532151 -0.26809092 -5.82537335] [ 0.69858774 -0.04268953 0.7142498 17.32995309] [ 0. 0. 0. 1. ]] SLAMing on 224.629072329 meters Centerline goodness [0,1] 0.08224251862452125 Centerline is valid? [False, False] Translation: X:-13.23, Y:-5.81, Z:17.31 [[ 0.63585853 -0.41802448 -0.64879848 -13.22826164] [ 0.32276417 0.90761057 -0.26845175 -5.81231879] [ 0.70107576 -0.03871157 0.71203524 17.31445092] [ 0. 0. 0. 1. ]] SLAMing on 224.659072329 meters Centerline goodness [0,1] 0.08263972721689217 Centerline is valid? [False, False] Translation: X:-13.25, Y:-5.81, Z:17.30 [[ 0.63650236 -0.41315848 -0.65127937 -13.25083043] [ 0.3163299 0.90997227 -0.26811541 -5.80883948] [ 0.70342031 -0.03536305 0.70989388 17.29794883] [ 0. 0. 0. 1. ]] SLAMing on 224.689072329 meters Centerline goodness [0,1] 0.08134416793634669 Centerline is valid? [False, False] Translation: X:-13.26, Y:-5.80, Z:17.30 [[ 0.63823879 -0.40938278 -0.65196394 -13.25518964] [ 0.31331354 0.91170453 -0.26576206 -5.80290012] [ 0.7031969 -0.03464947 0.71015036 17.29662992] [ 0. 0. 0. 1. ]] SLAMing on 224.719072329 meters Centerline goodness [0,1] 0.08002288184071693 Centerline is valid? [False, False] Translation: X:-13.28, Y:-5.79, Z:17.28 [[ 0.63928228 -0.40259879 -0.65515829 -13.28157889] [ 0.30425092 0.91489421 -0.2653299 -5.79058849] [ 0.70622202 -0.02971181 0.70736671 17.28090335] [ 0. 0. 0. 1. ]] SLAMing on 224.749072329 meters Centerline goodness [0,1] 0.07994333558863331 Centerline is valid? [False, False] Translation: X:-13.29, Y:-5.78, Z:17.28 [[ 0.64067251 -0.39933512 -0.65579738 -13.28628719] [ 0.30149092 0.91634852 -0.26345515 -5.78406053] [ 0.70614585 -0.02892848 0.70747521 17.28017183] [ 0. 0. 0. 1. ]] SLAMing on 224.779072329 meters Centerline goodness [0,1] 0.0780668358714044 Centerline is valid? [False, False] Translation: X:-13.29, Y:-5.78, Z:17.27 [[ 0.64414928 -0.39606614 -0.65437246 -13.2944912 ] [ 0.29811127 0.91784654 -0.26208282 -5.77727284] [ 0.70441563 -0.02625534 0.70930197 17.27362822] [ 0. 0. 0. 1. ]] SLAMing on 224.809072329 meters Centerline goodness [0,1] 0.07631838913760847 Centerline is valid? [False, False] Translation: X:-13.31, Y:-5.76, Z:17.26 [[ 0.65252545 -0.39121516 -0.64896937 -13.31329305] [ 0.29282668 0.92007667 -0.26021426 -5.76143079] [ 0.69890134 -0.02023912 0.71493168 17.25786242] [ 0. 0. 0. 1. ]] SLAMing on 224.839072329 meters Centerline goodness [0,1] 0.07738458623665878 Centerline is valid? [False, False] Translation: X:-13.32, Y:-5.75, Z:17.25 [[ 0.655883 -0.38782278 -0.64761947 -13.32148406] [ 0.28927575 0.9215673 -0.25890782 -5.75406219] [ 0.69723528 -0.01752737 0.71662805 17.25179812] [ 0. 0. 0. 1. ]] SLAMing on 224.869072329 meters Centerline goodness [0,1] 0.07813488548652414 Centerline is valid? [False, False] Translation: X:-13.33, Y:-5.75, Z:17.24 [[ 6.62323287e-01 -3.84508860e-01 -6.43024728e-01 -1.33333500e+01] [ 2.85017507e-01 9.23041430e-01 -2.58378672e-01 -5.74610566e+00] [ 6.92887353e-01 -1.21430935e-02 7.20943591e-01 1.72402484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.899072329 meters Centerline goodness [0,1] 0.08304899111167274 Centerline is valid? [False, False] Translation: X:-13.34, Y:-5.74, Z:17.24 [[ 6.65033643e-01 -3.80933674e-01 -6.42354879e-01 -1.33401358e+01] [ 2.81565614e-01 9.24547188e-01 -2.56774809e-01 -5.73887469e+00] [ 6.91701568e-01 -1.01011597e-02 7.22112808e-01 1.72358480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.929072329 meters Centerline goodness [0,1] 0.08542174754015641 Centerline is valid? [False, False] Translation: X:-13.36, Y:-5.72, Z:17.22 [[ 6.74355994e-01 -3.73505611e-01 -6.36975315e-01 -1.33586597e+01] [ 2.70434547e-01 9.27626748e-01 -2.57631079e-01 -5.72282091e+00] [ 6.87101993e-01 1.47493159e-03 7.26559478e-01 1.72168782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.959072329 meters Centerline goodness [0,1] 0.08733009810718262 Centerline is valid? [False, False] Translation: X:-13.37, Y:-5.72, Z:17.21 [[ 6.77097440e-01 -3.69808319e-01 -6.36223910e-01 -1.33651582e+01] [ 2.66885589e-01 9.29101300e-01 -2.56013391e-01 -5.71551924e+00] [ 6.85792344e-01 3.54701878e-03 7.27788623e-01 1.72122981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.989072329 meters Centerline goodness [0,1] 0.08910433008769536 Centerline is valid? [False, False] Translation: X:-13.38, Y:-5.70, Z:17.19 [[ 6.87059299e-01 -3.62729417e-01 -6.29584697e-01 -1.33834513e+01] [ 2.57490271e-01 9.31794224e-01 -2.55848166e-01 -5.69849843e+00] [ 6.79447040e-01 1.36709275e-02 7.33597182e-01 1.71923474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.019072329 meters Centerline goodness [0,1] 0.09594204729715505 Centerline is valid? [False, False] Translation: X:-13.39, Y:-5.69, Z:17.18 [[ 0.69197728 -0.35893049 -0.62636758 -13.39323988] [ 0.25290047 0.93318502 -0.25535674 -5.69041508] [ 0.67617216 0.01829241 0.73651653 17.18412636] [ 0. 0. 0. 1. ]] SLAMing on 225.049072329 meters Centerline goodness [0,1] 0.09508816120906805 Centerline is valid? [False, False] Translation: X:-13.40, Y:-5.68, Z:17.18 [[ 0.69482085 -0.35502224 -0.6254464 -13.40039187] [ 0.24906155 0.93463093 -0.25383728 -5.68307555] [ 0.67467943 0.02059678 0.73782345 17.17968883] [ 0. 0. 0. 1. ]] SLAMing on 225.079072329 meters Centerline goodness [0,1] 0.09317317989962415 Centerline is valid? [False, False] Translation: X:-13.41, Y:-5.67, Z:17.17 [[ 0.69919676 -0.35106047 -0.62280048 -13.40970473] [ 0.24445391 0.93602495 -0.25317896 -5.67495905] [ 0.67183791 0.02477589 0.74028372 17.17263923] [ 0. 0. 0. 1. ]] SLAMing on 225.109072329 meters Centerline goodness [0,1] 0.10171238640188485 Centerline is valid? [False, False] Translation: X:-13.43, Y:-5.66, Z:17.16 [[ 0.70805591 -0.33982362 -0.61901271 -13.42980566] [ 0.22930812 0.93973654 -0.25360013 -5.66049728] [ 0.66788818 0.03761843 0.74331032 17.15707121] [ 0. 0. 0. 1. ]] SLAMing on 225.13907232900002 meters Centerline goodness [0,1] 0.10339233038348083 Centerline is valid? [False, False] Translation: X:-13.44, Y:-5.65, Z:17.15 [[ 0.71353578 -0.3355236 -0.61505333 -13.44014888] [ 0.22391807 0.94103984 -0.25358374 -5.6518494 ] [ 0.66387302 0.04321952 0.7465954 17.14862123] [ 0. 0. 0. 1. ]] SLAMing on 225.16907232900002 meters Centerline goodness [0,1] 0.10668461570821586 Centerline is valid? [False, False] Translation: X:-13.45, Y:-5.64, Z:17.14 [[ 0.71768542 -0.33118875 -0.61256971 -13.4483771 ] [ 0.21897583 0.94237328 -0.25294699 -5.64362034] [ 0.66104253 0.04739841 0.7488499 17.14161365] [ 0. 0. 0. 1. ]] SLAMing on 225.199072329 meters Centerline goodness [0,1] 0.11191502786833529 Centerline is valid? [False, False] Translation: X:-13.47, Y:-5.63, Z:17.13 [[ 0.72526234 -0.31987065 -0.60965343 -13.46819115] [ 0.20280584 0.94548502 -0.25480947 -5.62941973] [ 0.65792425 0.06116243 0.75059632 17.12816713] [ 0. 0. 0. 1. ]] SLAMing on 225.229072329 meters Centerline goodness [0,1] 0.11639175040552785 Centerline is valid? [False, False] Translation: X:-13.48, Y:-5.62, Z:17.12 [[ 0.73068172 -0.31539877 -0.60549801 -13.47821317] [ 0.19713687 0.94658502 -0.25517417 -5.62056345] [ 0.65363697 0.06708512 0.75382909 17.11968349] [ 0. 0. 0. 1. ]] SLAMing on 225.259072329 meters Centerline goodness [0,1] 0.1183376034272754 Centerline is valid? [False, False] Translation: X:-13.49, Y:-5.61, Z:17.11 [[ 0.73454846 -0.31087744 -0.6031532 -13.48634655] [ 0.19211183 0.94778665 -0.25454568 -5.61245458] [ 0.65079306 0.07110327 0.75591846 17.11332339] [ 0. 0. 0. 1. ]] SLAMing on 225.289072329 meters Centerline goodness [0,1] 0.12143514259429622 Centerline is valid? [False, False] Translation: X:-13.50, Y:-5.60, Z:17.10 [[ 0.74317114 -0.29975792 -0.59819883 -13.50455535] [ 0.17763014 0.95034088 -0.25553813 -5.5966852 ] [ 0.64509239 0.08365042 0.75951196 17.0998702 ] [ 0. 0. 0. 1. ]] SLAMing on 225.319072329 meters Centerline goodness [0,1] 0.12547671933280247 Centerline is valid? [False, False] Translation: X:-13.52, Y:-5.59, Z:17.09 [[ 0.74869855 -0.29485492 -0.59372642 -13.51528044] [ 0.17156443 0.95130628 -0.25608983 -5.58768851] [ 0.64032502 0.08987176 0.76282825 17.09204885] [ 0. 0. 0. 1. ]] SLAMing on 225.349072329 meters Centerline goodness [0,1] 0.1250052163752452 Centerline is valid? [False, False] Translation: X:-13.52, Y:-5.58, Z:17.09 [[ 0.75327456 -0.29008136 -0.5902798 -13.52454372] [ 0.16589156 0.95226305 -0.25627147 -5.57862565] [ 0.63644122 0.09512035 0.76543758 17.08530786] [ 0. 0. 0. 1. ]] SLAMing on 225.379072329 meters Centerline goodness [0,1] 0.12430399734064657 Centerline is valid? [False, False] Translation: X:-13.53, Y:-5.57, Z:17.08 [[ 0.7579736 -0.28517818 -0.58664251 -13.53389825] [ 0.16006184 0.95318459 -0.25655282 -5.56957658] [ 0.63234187 0.10056118 0.76813489 17.0784508 ] [ 0. 0. 0. 1. ]] SLAMing on 225.409072329 meters Centerline goodness [0,1] 0.1266105157820122 Centerline is valid? [False, False] Translation: X:-13.55, Y:-5.56, Z:17.07 [[ 0.76567873 -0.27071102 -0.58348233 -13.55468102] [ 0.14209911 0.9559002 -0.25702656 -5.55583033] [ 0.6273308 0.11388744 0.77038024 17.06604295] [ 0. 0. 0. 1. ]] SLAMing on 225.439072329 meters Centerline goodness [0,1] 0.13089137192304456 Centerline is valid? [False, False] Translation: X:-13.57, Y:-5.55, Z:17.06 [[ 0.77142367 -0.26518513 -0.57843095 -13.56535493] [ 0.1354212 0.95661717 -0.25796256 -5.54660975] [ 0.62174481 0.12066661 0.77386882 17.05752162] [ 0. 0. 0. 1. ]] SLAMing on 225.469072329 meters Centerline goodness [0,1] 0.13301588621808202 Centerline is valid? [False, False] Translation: X:-13.58, Y:-5.53, Z:17.05 [[ 0.77851751 -0.25567736 -0.57318373 -13.5797837 ] [ 0.12407201 0.95793414 -0.25878236 -5.52899931] [ 0.61523705 0.13035054 0.7774909 17.04799229] [ 0. 0. 0. 1. ]] SLAMing on 225.499072329 meters Centerline goodness [0,1] 0.13463451019393335 Centerline is valid? [False, False] Translation: X:-13.59, Y:-5.52, Z:17.04 [[ 0.782213 -0.2506076 -0.57038466 -13.58761839] [ 0.11848929 0.95866045 -0.25870916 -5.52029922] [ 0.6116397 0.13478119 0.77957098 17.04178086] [ 0. 0. 0. 1. ]] SLAMing on 225.529072329 meters Centerline goodness [0,1] 0.13686326235789215 Centerline is valid? [False, False] Translation: X:-13.60, Y:-5.51, Z:17.03 [[ 0.78772134 -0.24483175 -0.56528975 -13.59830642] [ 0.11164816 0.95917385 -0.25984652 -5.51104043] [ 0.60582983 0.14157309 0.78289672 17.03384127] [ 0. 0. 0. 1. ]] SLAMing on 225.559072329 meters Centerline goodness [0,1] 0.13989390360147536 Centerline is valid? [False, False] Translation: X:-13.61, Y:-5.49, Z:17.02 [[ 0.79511847 -0.23363559 -0.55964366 -13.61280248] [ 0.09998291 0.96068632 -0.25900814 -5.49370556] [ 0.59815553 0.14998735 0.787219 17.02435845] [ 0. 0. 0. 1. ]] SLAMing on 225.589072329 meters Centerline goodness [0,1] 0.14070195770042626 Centerline is valid? [False, False] Translation: X:-13.62, Y:-5.48, Z:17.02 [[ 0.7991105 -0.22825551 -0.55616708 -13.62137519] [ 0.09399103 0.96117799 -0.25942735 -5.48429381] [ 0.59379129 0.1550364 0.7895414 17.01835507] [ 0. 0. 0. 1. ]] SLAMing on 225.619072329 meters Centerline goodness [0,1] 0.1433116413593637 Centerline is valid? [False, False] Translation: X:-13.63, Y:-5.48, Z:17.01 [[ 0.80150662 -0.22323959 -0.5547533 -13.62672589] [ 0.08926017 0.96197335 -0.25814703 -5.47631852] [ 0.59128653 0.15738918 0.79095441 17.01480228] [ 0. 0. 0. 1. ]] SLAMing on 225.649072329 meters Centerline goodness [0,1] 0.14890069169960474 Centerline is valid? [False, False] Translation: X:-13.64, Y:-5.46, Z:17.01 [[ 0.80843501 -0.21267927 -0.54881723 -13.640288 ] [ 0.07767224 0.96282898 -0.25870326 -5.45888243] [ 0.58343796 0.16651691 0.79490394 17.00529005] [ 0. 0. 0. 1. ]] SLAMing on 225.679072329 meters Centerline goodness [0,1] 0.15235222412760063 Centerline is valid? [False, False] Translation: X:-13.65, Y:-5.45, Z:17.00 [[ 0.81183814 -0.20719879 -0.54588231 -13.64754054] [ 0.0717611 0.96323752 -0.25888961 -5.44993653] [ 0.57945594 0.17100334 0.79686177 16.9990153 ] [ 0. 0. 0. 1. ]] SLAMing on 225.709072329 meters Centerline goodness [0,1] 0.15698590381426203 Centerline is valid? [False, False] Translation: X:-13.65, Y:-5.44, Z:16.99 [[ 0.81453394 -0.20196345 -0.54382463 -13.65367236] [ 0.0666328 0.96380863 -0.25813366 -5.44161579] [ 0.57627644 0.17402207 0.79851223 16.99427997] [ 0. 0. 0. 1. ]] SLAMing on 225.739072329 meters Centerline goodness [0,1] 0.16101483605535472 Centerline is valid? [False, False] Translation: X:-13.66, Y:-5.43, Z:16.99 [[ 0.81725805 -0.19653181 -0.54172366 -13.65996803] [ 0.06135432 0.9643801 -0.25730655 -5.43347699] [ 0.57299644 0.17704876 0.80020548 16.98968951] [ 0. 0. 0. 1. ]] SLAMing on 225.769072329 meters Centerline goodness [0,1] 0.16595037890584452 Centerline is valid? [False, False] Translation: X:-13.67, Y:-5.42, Z:16.98 [[ 0.82437868 -0.1842034 -0.53522789 -13.67407499] [ 0.04940866 0.96537575 -0.25614145 -5.416675 ] [ 0.56387815 0.18471266 0.80493644 16.98025429] [ 0. 0. 0. 1. ]] SLAMing on 225.799072329 meters Centerline goodness [0,1] 0.1677242006489883 Centerline is valid? [False, False] Translation: X:-13.68, Y:-5.41, Z:16.98 [[ 0.82516758 -0.18005089 -0.53542519 -13.67713611] [ 0.04605379 0.96613046 -0.25391138 -5.40975936] [ 0.56300756 0.18486108 0.80551156 16.98154977] [ 0. 0. 0. 1. ]] SLAMing on 225.829072329 meters Centerline goodness [0,1] 0.17672413793103448 Centerline is valid? [False, False] Translation: X:-13.69, Y:-5.39, Z:16.97 [[ 0.83254939 -0.16727252 -0.52809224 -13.69194836] [ 0.03403052 0.96696317 -0.25263442 -5.39336417] [ 0.55290454 0.19235938 0.81073697 16.97077304] [ 0. 0. 0. 1. ]] SLAMing on 225.859072329 meters Centerline goodness [0,1] 0.17488258032337167 Centerline is valid? [False, False] Translation: X:-13.70, Y:-5.39, Z:16.97 [[ 0.8337756 -0.16260485 -0.52761531 -13.69573771] [ 0.03025461 0.96766629 -0.25041289 -5.38654637] [ 0.5512739 0.19282536 0.81173608 16.97062055] [ 0. 0. 0. 1. ]] SLAMing on 225.88907232900002 meters Centerline goodness [0,1] 0.1818707771142839 Centerline is valid? [False, False] Translation: X:-13.70, Y:-5.38, Z:16.97 [[ 0.8344618 -0.15859096 -0.52775222 -13.69843479] [ 0.02705915 0.96833055 -0.24820103 -5.37974401] [ 0.55040104 0.19283375 0.81232619 16.97177762] [ 0. 0. 0. 1. ]] SLAMing on 225.91907232900002 meters Centerline goodness [0,1] 0.18768170113796823 Centerline is valid? [False, False] Translation: X:-13.71, Y:-5.36, Z:16.96 [[ 8.40902323e-01 -1.47284365e-01 -5.20759636e-01 -1.37117098e+01] [ 1.59388473e-02 9.68577312e-01 -2.48201418e-01 -5.36293566e+00] [ 5.40952157e-01 2.00412841e-01 8.16826455e-01 1.69628710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.949072329 meters Centerline goodness [0,1] 0.18768170113796823 Centerline is valid? [False, False] Translation: X:-13.71, Y:-5.36, Z:16.95 [[ 0.84861406 -0.14752066 -0.5080274 -13.70630001] [ 0.02081556 0.96889941 -0.24657785 -5.36010482] [ 0.52860278 0.19867456 0.82529239 16.95467186] [ 0. 0. 0. 1. ]] SLAMing on 225.979072329 meters Centerline goodness [0,1] 0.18553596278065088 Centerline is valid? [False, False] Translation: X:-13.71, Y:-5.35, Z:16.95 [[ 8.49805794e-01 -1.42634949e-01 -5.07430176e-01 -1.37098925e+01] [ 1.68851727e-02 9.69562980e-01 -2.44259121e-01 -5.35321574e+00] [ 5.26825401e-01 1.99004770e-01 8.26348654e-01 1.69544445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.009072329 meters Centerline goodness [0,1] 0.19025522041763343 Centerline is valid? [False, False] Translation: X:-13.71, Y:-5.35, Z:16.95 [[ 8.50738614e-01 -1.38037359e-01 -5.07138539e-01 -1.37129746e+01] [ 1.32307491e-02 9.70214364e-01 -2.41886408e-01 -5.34644851e+00] [ 5.25422457e-01 1.99072285e-01 8.27225161e-01 1.69549295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.039072329 meters Centerline goodness [0,1] 0.19472304298972076 Centerline is valid? [False, False] Translation: X:-13.73, Y:-5.33, Z:16.94 [[ 8.57260171e-01 -1.24440919e-01 -4.99619312e-01 -1.37258120e+01] [ 1.14337617e-03 9.70811831e-01 -2.39839700e-01 -5.33006363e+00] [ 5.14882212e-01 2.05033769e-01 8.32380599e-01 1.69441933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.069072329 meters Centerline goodness [0,1] 0.1975600647329765 Centerline is valid? [False, False] Translation: X:-13.73, Y:-5.32, Z:16.94 [[ 8.59106532e-01 -1.18889157e-01 -4.97796480e-01 -1.37308790e+01] [-3.69902086e-03 9.71176975e-01 -2.38330863e-01 -5.32255569e+00] [ 5.11783435e-01 2.06592961e-01 8.33904710e-01 1.69413156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.099072329 meters Centerline goodness [0,1] 0.19954672100469917 Centerline is valid? [False, False] Translation: X:-13.74, Y:-5.31, Z:16.94 [[ 8.61250122e-01 -1.13085118e-01 -4.95439182e-01 -1.37361120e+01] [-8.81908731e-03 9.71453241e-01 -2.37067130e-01 -5.31478368e+00] [ 5.08104764e-01 2.08543416e-01 8.35666915e-01 1.69368284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.129072329 meters Centerline goodness [0,1] 0.2030493757919445 Centerline is valid? [False, False] Translation: X:-13.75, Y:-5.30, Z:16.93 [[ 0.86640144 -0.10220612 -0.48877648 -13.74671692] [ -0.01934741 0.97122327 -0.23738374 -5.29743209] [ 0.49897316 0.21512617 0.83949182 16.92885113] [ 0. 0. 0. 1. ]] SLAMing on 226.159072329 meters Centerline goodness [0,1] 0.20668306512132073 Centerline is valid? [False, False] Translation: X:-13.75, Y:-5.29, Z:16.92 [[ 0.86937379 -0.09575734 -0.48478835 -13.75403685] [ -0.02562853 0.97098745 -0.23775313 -5.28846957] [ 0.49349001 0.21912075 0.84169692 16.92368696] [ 0. 0. 0. 1. ]] SLAMing on 226.189072329 meters Centerline goodness [0,1] 0.2061613346091442 Centerline is valid? [False, False] Translation: X:-13.77, Y:-5.27, Z:16.92 [[ 0.87439329 -0.08357179 -0.47796666 -13.76519554] [ -0.03701031 0.97069885 -0.23743206 -5.27115346] [ 0.4838043 0.22529869 0.84567955 16.91589995] [ 0. 0. 0. 1. ]] SLAMing on 226.219072329 meters Centerline goodness [0,1] 0.21303268600988712 Centerline is valid? [False, False] Translation: X:-13.77, Y:-5.26, Z:16.91 [[ 0.87909895 -0.07595673 -0.47054821 -13.77158886] [ -0.0438583 0.9701418 -0.23854003 -5.26225873] [ 0.47461721 0.23033773 0.8495193 16.91018531] [ 0. 0. 0. 1. ]] SLAMing on 226.249072329 meters Centerline goodness [0,1] 0.21125820911080995 Centerline is valid? [False, False] Translation: X:-13.77, Y:-5.25, Z:16.90 [[ 0.88659399 -0.0701595 -0.45719662 -13.77050095] [ -0.04495415 0.97068069 -0.23613157 -5.25178735] [ 0.4603588 0.22990572 0.8574457 16.89985544] [ 0. 0. 0. 1. ]] SLAMing on 226.279072329 meters Centerline goodness [0,1] 0.21162006989515725 Centerline is valid? [False, False] Translation: X:-13.77, Y:-5.24, Z:16.89 [[ 0.89395041 -0.06459277 -0.44348667 -13.76912047] [ -0.04561834 0.97130472 -0.23342258 -5.24116939] [ 0.44583811 0.22889934 0.86535165 16.88927304] [ 0. 0. 0. 1. ]] SLAMing on 226.309072329 meters Centerline goodness [0,1] 0.21796180201195514 Centerline is valid? [False, False] Translation: X:-13.78, Y:-5.22, Z:16.88 [[ 0.89846692 -0.05062531 -0.43611269 -13.78033843] [ -0.0581456 0.97085909 -0.23249023 -5.22471671] [ 0.43517386 0.23424281 0.86934114 16.88119623] [ 0. 0. 0. 1. ]] SLAMing on 226.339072329 meters Centerline goodness [0,1] 0.21724406301928867 Centerline is valid? [False, False] Translation: X:-13.78, Y:-5.21, Z:16.87 [[ 0.90462557 -0.04442734 -0.42388535 -13.77891915] [ -0.0605951 0.97104299 -0.23109251 -5.21424633] [ 0.42187772 0.23473757 0.87573824 16.87304605] [ 0. 0. 0. 1. ]] SLAMing on 226.369072329 meters Centerline goodness [0,1] 0.21292678783760832 Centerline is valid? [False, False] Translation: X:-13.78, Y:-5.20, Z:16.87 [[ 0.91005608 -0.03707242 -0.4128239 -13.77858304] [ -0.06505136 0.97087414 -0.23058994 -5.20445483] [ 0.40934858 0.23670453 0.8811383 16.86544267] [ 0. 0. 0. 1. ]] SLAMing on 226.399072329 meters Centerline goodness [0,1] 0.21280590444127934 Centerline is valid? [False, False] Translation: X:-13.79, Y:-5.19, Z:16.86 [[ 0.91284044 -0.0236833 -0.40762903 -13.78678645] [ -0.0764428 0.97075283 -0.2275861 -5.18841231] [ 0.40109703 0.2389101 0.88433203 16.85578848] [ 0. 0. 0. 1. ]] SLAMing on 226.429072329 meters Centerline goodness [0,1] 0.2100412953705716 Centerline is valid? [False, False] Translation: X:-13.79, Y:-5.18, Z:16.85 [[ 9.16196730e-01 -1.58109565e-02 -4.00416739e-01 -1.37909580e+01] [-8.31381757e-02 9.69980451e-01 -2.28530015e-01 -5.17959679e+00] [ 3.92009688e-01 2.42668370e-01 8.87378424e-01 1.68514012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.459072329 meters Centerline goodness [0,1] 0.2101523730406838 Centerline is valid? [False, False] Translation: X:-13.79, Y:-5.17, Z:16.85 [[ 9.19770180e-01 -7.77725795e-03 -3.92380340e-01 -1.37935958e+01] [-8.96610414e-02 9.69197856e-01 -2.29382680e-01 -5.17094044e+00] [ 3.82078152e-01 2.46160579e-01 8.90741969e-01 1.68464243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.489072329 meters Centerline goodness [0,1] 0.21521483812351805 Centerline is valid? [False, False] Translation: X:-13.80, Y:-5.16, Z:16.84 [[ 9.21920786e-01 5.71849719e-03 -3.87336241e-01 -1.38011676e+01] [-1.00996158e-01 9.68858279e-01 -2.26082754e-01 -5.15558987e+00] [ 3.73981070e-01 2.47549862e-01 8.93788132e-01 1.68366600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.519072329 meters Centerline goodness [0,1] 0.21514166072701357 Centerline is valid? [False, False] Translation: X:-13.80, Y:-5.15, Z:16.83 [[ 9.26767354e-01 1.27394345e-02 -3.75419737e-01 -1.38004265e+01] [-1.04698185e-01 9.68579642e-01 -2.25592037e-01 -5.14570473e+00] [ 3.60749999e-01 2.48377100e-01 8.98981787e-01 1.68281316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.549072329 meters Centerline goodness [0,1] 0.21654337592468054 Centerline is valid? [False, False] Translation: X:-13.80, Y:-5.14, Z:16.82 [[ 0.93106037 0.02035909 -0.3642967 -13.8008206 ] [ -0.10944618 0.96804824 -0.22561944 -5.13660603] [ 0.34806338 0.2499362 0.90353958 16.82036264] [ 0. 0. 0. 1. ]] SLAMing on 226.579072329 meters Centerline goodness [0,1] 0.2137166843447451 Centerline is valid? [False, False] Translation: X:-13.80, Y:-5.13, Z:16.81 [[ 0.93530992 0.02744814 -0.35276332 -13.80126952] [ -0.11352139 0.96755917 -0.22570368 -5.12756369] [ 0.33512424 0.25114907 0.90808363 16.81220995] [ 0. 0. 0. 1. ]] SLAMing on 226.609072329 meters Centerline goodness [0,1] 0.21332272365579175 Centerline is valid? [False, False] Translation: X:-13.81, Y:-5.11, Z:16.80 [[ 0.93692942 0.03798125 -0.34744882 -13.80869864] [ -0.12142764 0.96753037 -0.22167615 -5.11431524] [ 0.32774774 0.24988479 0.91111964 16.80176937] [ 0. 0. 0. 1. ]] SLAMing on 226.63907232900002 meters Centerline goodness [0,1] 0.2126289836544608 Centerline is valid? [False, False] Translation: X:-13.81, Y:-5.11, Z:16.80 [[ 0.94006135 0.04551622 -0.33795404 -13.81266243] [ -0.12689106 0.96657446 -0.22278345 -5.10649855] [ 0.31651749 0.25231345 0.9144149 16.79501052] [ 0. 0. 0. 1. ]] SLAMing on 226.66907232900002 meters Centerline goodness [0,1] 0.21467472482018524 Centerline is valid? [False, False] Translation: X:-13.81, Y:-5.10, Z:16.79 [[ 0.94392806 0.05241682 -0.32596363 -13.81443719] [ -0.13053759 0.9661185 -0.22265438 -5.0983125 ] [ 0.30324866 0.25272023 0.91878873 16.78580163] [ 0. 0. 0. 1. ]] SLAMing on 226.699072329 meters Centerline goodness [0,1] 0.21188535002425113 Centerline is valid? [False, False] Translation: X:-13.82, Y:-5.09, Z:16.77 [[ 0.94841758 0.05770011 -0.31172871 -13.81560221] [ -0.13152452 0.96629641 -0.2212974 -5.08868261] [ 0.28845345 0.25088232 0.92404149 16.77359692] [ 0. 0. 0. 1. ]] SLAMing on 226.729072329 meters Centerline goodness [0,1] 0.20325731387606427 Centerline is valid? [False, False] Translation: X:-13.83, Y:-5.08, Z:16.76 [[ 0.9498771 0.06780618 -0.3051816 -13.82556999] [ -0.13814788 0.96675167 -0.21518916 -5.07799655] [ 0.28044367 0.24656345 0.92766255 16.7599378 ] [ 0. 0. 0. 1. ]] SLAMing on 226.759072329 meters Centerline goodness [0,1] 0.20234569916291645 Centerline is valid? [False, False] Translation: X:-13.83, Y:-5.07, Z:16.74 [[ 0.9543521 0.07291332 -0.28964758 -13.82860582] [ -0.13859544 0.9671287 -0.21319798 -5.06920875] [ 0.26458151 0.24360977 0.93308676 16.74486067] [ 0. 0. 0. 1. ]] SLAMing on 226.789072329 meters Centerline goodness [0,1] 0.19341880940703893 Centerline is valid? [False, False] Translation: X:-13.83, Y:-5.06, Z:16.73 [[ 0.95830565 0.07797298 -0.2749009 -13.83211593] [ -0.1394647 0.96730945 -0.21180657 -5.06034739] [ 0.24939905 0.24131441 0.93785259 16.73105277] [ 0. 0. 0. 1. ]] SLAMing on 226.819072329 meters Centerline goodness [0,1] 0.18020498345788127 Centerline is valid? [False, False] Translation: X:-13.84, Y:-5.05, Z:16.71 [[ 0.95974227 0.08727222 -0.26698003 -13.84481717] [ -0.14536675 0.96763964 -0.20625722 -5.04918245] [ 0.24033994 0.23676379 0.94137114 16.71420633] [ 0. 0. 0. 1. ]] SLAMing on 226.849072329 meters Centerline goodness [0,1] 0.18009125616910326 Centerline is valid? [False, False] Translation: X:-13.84, Y:-5.04, Z:16.72 [[ 0.95956764 0.08685887 -0.26774143 -13.84300123] [ -0.14522493 0.96759279 -0.20657664 -5.04387676] [ 0.24112166 0.23710699 0.94108481 16.71662854] [ 0. 0. 0. 1. ]] SLAMing on 226.879072329 meters Centerline goodness [0,1] 0.17886121992165638 Centerline is valid? [False, False] Translation: X:-13.83, Y:-5.03, Z:16.71 [[ 0.96140863 0.08074008 -0.26301042 -13.83352897] [ -0.13630121 0.9701857 -0.20040381 -5.03492498] [ 0.23898833 0.22851859 0.94374988 16.7123172 ] [ 0. 0. 0. 1. ]] SLAMing on 226.909072329 meters Centerline goodness [0,1] 0.1752995521373133 Centerline is valid? [False, False] Translation: X:-13.84, Y:-5.02, Z:16.70 [[ 0.96221066 0.08762872 -0.25782135 -13.84426246] [ -0.14024714 0.97104996 -0.19337198 -5.02378933] [ 0.23341247 0.22222329 0.9466443 16.70294185] [ 0. 0. 0. 1. ]] SLAMing on 226.939072329 meters Centerline goodness [0,1] 0.17373999057936884 Centerline is valid? [False, False] Translation: X:-13.84, Y:-5.01, Z:16.70 [[ 0.96431974 0.08126574 -0.25195894 -13.83711501] [ -0.13080539 0.97369302 -0.18657933 -5.01378317] [ 0.23016816 0.21287972 0.9495814 16.69562062] [ 0. 0. 0. 1. ]] SLAMing on 226.969072329 meters Centerline goodness [0,1] 0.16837132396362353 Centerline is valid? [False, False] Translation: X:-13.83, Y:-5.00, Z:16.69 [[ 0.96630736 0.07500891 -0.2462189 -13.83073854] [ -0.12152444 0.97621659 -0.17953545 -5.00338676] [ 0.22689622 0.20340804 0.95244069 16.68788813] [ 0. 0. 0. 1. ]] SLAMing on 226.999072329 meters Centerline goodness [0,1] 0.16037242886323688 Centerline is valid? [False, False] Translation: X:-13.85, Y:-4.99, Z:16.67 [[ 0.96785857 0.08218706 -0.23768694 -13.8473673 ] [ -0.12525452 0.9770688 -0.17218554 -4.98962286] [ 0.21808507 0.19642262 0.95595871 16.66980159] [ 0. 0. 0. 1. ]] SLAMing on 227.029072329 meters Centerline goodness [0,1] 0.16131877562696673 Centerline is valid? [False, False] Translation: X:-13.85, Y:-4.98, Z:16.66 [[ 0.96841041 0.08529723 -0.23431957 -13.85405109] [ -0.12676111 0.97759966 -0.16801943 -4.98241281] [ 0.21473914 0.19241438 0.95753006 16.66293131] [ 0. 0. 0. 1. ]] SLAMing on 227.059072329 meters Centerline goodness [0,1] 0.15760503797711756 Centerline is valid? [False, False] Translation: X:-13.88, Y:-4.96, Z:16.64 [[ 0.9702512 0.09603446 -0.22223858 -13.87803625] [ -0.13339476 0.97810932 -0.15971225 -4.96342748] [ 0.20203575 0.18460646 0.96182223 16.6387138 ] [ 0. 0. 0. 1. ]] SLAMing on 227.089072329 meters Centerline goodness [0,1] 0.1520235254417046 Centerline is valid? [False, False] Translation: X:-13.89, Y:-4.96, Z:16.63 [[ 0.97076365 0.09925489 -0.21855527 -13.88507629] [ -0.13496207 0.97864899 -0.15502062 -4.95530886] [ 0.19850234 0.17998505 0.96343251 16.63090961] [ 0. 0. 0. 1. ]] SLAMing on 227.119072329 meters Centerline goodness [0,1] 0.14840792156101346 Centerline is valid? [False, False] Translation: X:-13.89, Y:-4.95, Z:16.62 [[ 0.97117142 0.10258208 -0.21518129 -13.89181744] [ -0.13674701 0.97912122 -0.15040573 -4.94704365] [ 0.19525963 0.17549514 0.96492234 16.62408436] [ 0. 0. 0. 1. ]] SLAMing on 227.149072329 meters Centerline goodness [0,1] 0.14383111349192823 Centerline is valid? [False, False] Translation: X:-13.90, Y:-4.94, Z:16.61 [[ 0.97169434 0.10900755 -0.20958882 -13.90283747] [ -0.14080401 0.97961236 -0.14329636 -4.93694384] [ 0.18969541 0.16875121 0.96723249 16.61430202] [ 0. 0. 0. 1. ]] SLAMing on 227.179072329 meters Centerline goodness [0,1] 0.18821991465851073 Centerline is valid? [False, False] Translation: X:-13.94, Y:-4.91, Z:16.59 [[ 0.97046748 0.1352179 -0.19977234 -13.94375541] [ -0.1635159 0.97758162 -0.13265265 -4.91265678] [ 0.17735676 0.16140104 0.97082145 16.59057138] [ 0. 0. 0. 1. ]] SLAMing on 227.209072329 meters Centerline goodness [0,1] 0.18544513302969212 Centerline is valid? [False, False] Translation: X:-13.95, Y:-4.90, Z:16.58 [[ 0.97058067 0.14313353 -0.1936129 -13.95238168] [ -0.16899183 0.97774401 -0.1243319 -4.90330702] [ 0.17150779 0.15339314 0.97316783 16.57844592] [ 0. 0. 0. 1. ]] SLAMing on 227.239072329 meters Centerline goodness [0,1] 0.17954687695581428 Centerline is valid? [False, False] Translation: X:-13.96, Y:-4.90, Z:16.57 [[ 0.97047388 0.1519436 -0.18733285 -13.95952018] [ -0.1754308 0.97765128 -0.11585344 -4.89572673] [ 0.16554302 0.14529669 0.97544061 16.56567536] [ 0. 0. 0. 1. ]] SLAMing on 227.269072329 meters Centerline goodness [0,1] 0.17427116613418525 Centerline is valid? [False, False] Translation: X:-14.01, Y:-4.88, Z:16.54 [[ 0.96449679 0.1916412 -0.18171296 -14.00652438] [ -0.21265899 0.97156499 -0.10410394 -4.88071391] [ 0.15659534 0.13905081 0.97782553 16.54117296] [ 0. 0. 0. 1. ]] SLAMing on 227.299072329 meters Centerline goodness [0,1] 0.17645737111471727 Centerline is valid? [False, False] Translation: X:-14.01, Y:-4.89, Z:16.53 [[ 0.96276427 0.20577034 -0.17533831 -14.00634376] [ -0.22441393 0.96995652 -0.09392946 -4.89209139] [ 0.15074264 0.12978029 0.98001721 16.52518047] [ 0. 0. 0. 1. ]] SLAMing on 227.329072329 meters Centerline goodness [0,1] 0.31187336395515386 Centerline is valid? [False, False] Translation: X:-14.04, Y:-4.90, Z:16.50 [[ 0.95243193 0.252171 -0.17112339 -14.03902523] [ -0.26956535 0.95903684 -0.08707967 -4.89813633] [ 0.14215467 0.1290664 0.98139386 16.49997225] [ 0. 0. 0. 1. ]] SLAMing on 227.359072329 meters Centerline goodness [0,1] 0.3057834947389172 Centerline is valid? [False, False] Translation: X:-14.03, Y:-4.91, Z:16.49 [[ 0.95057184 0.26125226 -0.16781069 -14.03175343] [ -0.27758411 0.95717553 -0.08223175 -4.91157218] [ 0.13914105 0.12474877 0.98238359 16.48631299] [ 0. 0. 0. 1. ]] SLAMing on 227.38907232900002 meters Centerline goodness [0,1] 0.2855395155370688 Centerline is valid? [False, False] Translation: X:-14.02, Y:-4.93, Z:16.48 [[ 0.94728968 0.27304507 -0.1675967 -14.02069302] [ -0.28929037 0.95378828 -0.08123427 -4.93089562] [ 0.13767115 0.1254365 0.9825031 16.48199396] [ 0. 0. 0. 1. ]] SLAMing on 227.41907232900002 meters Centerline goodness [0,1] 0.27316395201404464 Centerline is valid? [False, False] Translation: X:-14.02, Y:-4.94, Z:16.48 [[ 0.94201151 0.2922232 -0.1649846 -14.02104521] [ -0.30853011 0.94756229 -0.08327587 -4.94256292] [ 0.13199804 0.12934955 0.98277424 16.47708236] [ 0. 0. 0. 1. ]] SLAMing on 227.449072329 meters Centerline goodness [0,1] 0.21709685971127657 Centerline is valid? [False, False] Translation: X:-14.05, Y:-4.94, Z:16.46 [[ 0.92564269 0.34393911 -0.15777037 -14.05399717] [ -0.35873429 0.93028446 -0.0766846 -4.94184503] [ 0.12039649 0.12758018 0.98449377 16.46452328] [ 0. 0. 0. 1. ]] SLAMing on 227.479072329 meters Centerline goodness [0,1] 0.20888042980702048 Centerline is valid? [False, False] Translation: X:-14.05, Y:-4.95, Z:16.45 [[ 0.92021373 0.36158845 -0.14986826 -14.05408373] [ -0.37395255 0.92525374 -0.06375739 -4.95112088] [ 0.11561223 0.11471404 0.98664811 16.45331879] [ 0. 0. 0. 1. ]] SLAMing on 227.509072329 meters Centerline goodness [0,1] 0.2210994628108952 Centerline is valid? [False, False] Translation: X:-14.08, Y:-4.96, Z:16.44 [[ 0.90334334 0.4026281 -0.14785608 -14.08063303] [ -0.41334224 0.90923371 -0.04941914 -4.95568526] [ 0.1145382 0.10575761 0.98777342 16.44106644] [ 0. 0. 0. 1. ]] SLAMing on 227.539072329 meters Centerline goodness [0,1] 0.22668935687442393 Centerline is valid? [False, False] Translation: X:-14.08, Y:-4.97, Z:16.43 [[ 0.89830609 0.41597361 -0.14146426 -14.08259744] [ -0.42505288 0.90428045 -0.04008642 -4.96636199] [ 0.11124847 0.09613966 0.98913141 16.43281477] [ 0. 0. 0. 1. ]] SLAMing on 227.569072329 meters Centerline goodness [0,1] 0.23165978376873464 Centerline is valid? [False, False] Translation: X:-14.08, Y:-4.98, Z:16.43 [[ 0.89377732 0.42724071 -0.13648252 -14.08364726] [ -0.4350453 0.89983446 -0.03214852 -4.9782827 ] [ 0.10907652 0.08810969 0.9901207 16.42558689] [ 0. 0. 0. 1. ]] SLAMing on 227.599072329 meters Centerline goodness [0,1] 0.2548130322102925 Centerline is valid? [False, False] Translation: X:-14.09, Y:-4.99, Z:16.42 [[ 0.89023508 0.43615484 -0.13134101 -14.08728662] [ -0.44276289 0.89629984 -0.02464993 -4.9906129 ] [ 0.10696974 0.08009716 0.99103074 16.41762848] [ 0. 0. 0. 1. ]] SLAMing on 227.629072329 meters Centerline goodness [0,1] 0.2578803054680595 Centerline is valid? [False, False] Translation: X:-14.15, Y:-4.96, Z:16.41 [[ 0.88361729 0.45235761 -0.12080184 -14.14914839] [ -0.45799496 0.88867516 -0.02229512 -4.96018558] [ 0.09726823 0.07502699 0.99242624 16.41172721] [ 0. 0. 0. 1. ]] SLAMing on 227.659072329 meters Centerline goodness [0,1] 0.2607726597325408 Centerline is valid? [False, False] Translation: X:-14.19, Y:-4.93, Z:16.41 [[ 0.88202071 0.45793444 -0.11106537 -14.19424431] [ -0.46265701 0.88631639 -0.01979246 -4.9322579 ] [ 0.08937541 0.06884253 0.99361599 16.40970876] [ 0. 0. 0. 1. ]] SLAMing on 227.689072329 meters Centerline goodness [0,1] 0.2768220206443541 Centerline is valid? [False, False] Translation: X:-14.23, Y:-4.91, Z:16.41 [[ 8.83433527e-01 4.58771396e-01 -9.52575916e-02 -1.42336111e+01] [-4.61952970e-01 8.86805170e-01 -1.32681843e-02 -4.90978814e+00] [ 7.83878612e-02 5.57260862e-02 9.95364228e-01 1.64093794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.719072329 meters Centerline goodness [0,1] 0.32193775869998464 Centerline is valid? [False, False] Translation: X:-14.31, Y:-4.86, Z:16.41 [[ 8.84790392e-01 4.60213539e-01 -7.31400145e-02 -1.43096933e+01] [-4.62358223e-01 8.86570652e-01 -1.47429069e-02 -4.86351536e+00] [ 5.80589049e-02 4.68612695e-02 9.97212708e-01 1.64095863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.749072329 meters Centerline goodness [0,1] 0.34062980863006875 Centerline is valid? [False, False] Translation: X:-14.35, Y:-4.84, Z:16.41 [[ 8.80930305e-01 4.69023238e-01 -6.30793086e-02 -1.43498807e+01] [-4.70355087e-01 8.82446858e-01 -7.32360158e-03 -4.83686984e+00] [ 5.22291984e-02 3.61212563e-02 9.97981646e-01 1.64059648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.779072329 meters Centerline goodness [0,1] 0.3988793103448276 Centerline is valid? [False, False] Translation: X:-14.39, Y:-4.81, Z:16.40 [[ 8.77622128e-01 4.76265817e-01 -5.43164044e-02 -1.43890052e+01] [-4.77010222e-01 8.78897338e-01 -8.46288577e-04 -4.80853440e+00] [ 4.73354849e-02 2.66522017e-02 9.98523416e-01 1.64035341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.809072329 meters Centerline goodness [0,1] 0.3843635049222853 Centerline is valid? [False, False] Translation: X:-14.44, Y:-4.77, Z:16.40 [[ 8.71529283e-01 4.87743792e-01 -5.04252080e-02 -1.44425740e+01] [-4.88118536e-01 8.72760444e-01 5.43161962e-03 -4.77242126e+00] [ 4.66583657e-02 1.98796632e-02 9.98713070e-01 1.64031041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.839072329 meters Centerline goodness [0,1] 0.3843635049222853 Centerline is valid? [False, False] Translation: X:-14.46, Y:-4.75, Z:16.40 [[ 8.72990084e-01 4.85703263e-01 -4.45045318e-02 -1.44635183e+01] [-4.85552122e-01 8.74081197e-01 1.48726920e-02 -4.75383628e+00] [ 4.61242895e-02 8.62555725e-03 9.98898468e-01 1.64022207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.869072329 meters Centerline goodness [0,1] 0.3982452794201793 Centerline is valid? [False, False] Translation: X:-14.50, Y:-4.73, Z:16.41 [[ 8.70917858e-01 4.88934725e-01 -4.94461370e-02 -1.44960007e+01] [-4.88464636e-01 8.72306124e-01 2.20073935e-02 -4.72759136e+00] [ 5.38923470e-02 4.98605729e-03 9.98534303e-01 1.64062030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.899072329 meters Centerline goodness [0,1] 0.3651011530176965 Centerline is valid? [False, False] Translation: X:-14.53, Y:-4.70, Z:16.41 [[ 8.68622143e-01 4.92393380e-01 -5.51754683e-02 -1.45282254e+01] [-4.91571702e-01 8.70369623e-01 2.85303471e-02 -4.70107523e+00] [ 6.20712056e-02 2.34060763e-03 9.98068979e-01 1.64100714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.929072329 meters Centerline goodness [0,1] 0.38039141573222457 Centerline is valid? [False, False] Translation: X:-14.56, Y:-4.68, Z:16.41 [[ 8.60559754e-01 5.05913958e-01 -5.90590914e-02 -1.45592278e+01] [-5.05167204e-01 8.62565199e-01 2.80601912e-02 -4.67661411e+00] [ 6.51383594e-02 5.68724482e-03 9.97860035e-01 1.64103479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.959072329 meters Centerline goodness [0,1] 0.38560168155543884 Centerline is valid? [False, False] Translation: X:-14.58, Y:-4.65, Z:16.41 [[ 8.57413728e-01 5.10949517e-01 -6.14189771e-02 -1.45795913e+01] [-5.10124081e-01 8.59590294e-01 2.96301842e-02 -4.65240140e+00] [ 6.79346849e-02 5.92597260e-03 9.97672171e-01 1.64133201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.989072329 meters Centerline goodness [0,1] 0.3783339653646821 Centerline is valid? [False, False] Translation: X:-14.60, Y:-4.63, Z:16.42 [[ 8.54113910e-01 5.16281962e-01 -6.27882548e-02 -1.46011422e+01] [-5.15339979e-01 8.56401999e-01 3.16278762e-02 -4.62577817e+00] [ 7.01008889e-02 5.34348890e-03 9.97525595e-01 1.64163568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.019072329 meters Centerline goodness [0,1] 0.3785611935266352 Centerline is valid? [False, False] Translation: X:-14.61, Y:-4.61, Z:16.42 [[ 8.46164483e-01 5.28955083e-01 -6.49013615e-02 -1.46118026e+01] [-5.27687058e-01 8.48643940e-01 3.67400454e-02 -4.60706986e+00] [ 7.45119810e-02 3.15948697e-03 9.97215113e-01 1.64202802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.049072329 meters Centerline goodness [0,1] 0.4011048092938919 Centerline is valid? [False, False] Translation: X:-14.63, Y:-4.59, Z:16.42 [[ 8.41613589e-01 5.35766749e-01 -6.81216399e-02 -1.46257904e+01] [-5.34373983e-01 8.44357669e-01 3.87888166e-02 -4.58700957e+00] [ 7.83007873e-02 3.75723687e-03 9.96922700e-01 1.64211666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.079072329 meters Centerline goodness [0,1] 0.42988855759267486 Centerline is valid? [False, False] Translation: X:-14.64, Y:-4.57, Z:16.42 [[ 8.36808148e-01 5.42628306e-01 -7.28467277e-02 -1.46371680e+01] [-5.41191716e-01 8.39951341e-01 3.99158072e-02 -4.56807915e+00] [ 8.28471534e-02 6.02217283e-03 9.96544070e-01 1.64237360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.109072329 meters Centerline goodness [0,1] 0.4125299772915384 Centerline is valid? [False, False] Translation: X:-14.65, Y:-4.55, Z:16.42 [[ 8.32585823e-01 5.48692469e-01 -7.57457678e-02 -1.46522811e+01] [-5.47138276e-01 8.35997887e-01 4.17999964e-02 -4.54514933e+00] [ 8.62586451e-02 6.64132439e-03 9.96250641e-01 1.64246674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13907232900002 meters Centerline goodness [0,1] 0.43254451783920134 Centerline is valid? [False, False] Translation: X:-14.68, Y:-4.50, Z:16.43 [[ 8.23783177e-01 5.61279091e-01 -7.96684363e-02 -1.46775175e+01] [-5.60078042e-01 8.27529999e-01 3.88160837e-02 -4.50248784e+00] [ 8.77146772e-02 1.26445051e-02 9.96065385e-01 1.64277678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16907232900002 meters Centerline goodness [0,1] 0.45126873041088833 Centerline is valid? [False, False] Translation: X:-14.70, Y:-4.47, Z:16.43 [[ 8.21184328e-01 5.64862823e-01 -8.11559664e-02 -1.46976090e+01] [-5.63583124e-01 8.25085423e-01 4.01012097e-02 -4.47053617e+00] [ 8.96122874e-02 1.28076481e-02 9.95894373e-01 1.64290988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199072329 meters Centerline goodness [0,1] 0.48651168842433967 Centerline is valid? [False, False] Translation: X:-14.71, Y:-4.44, Z:16.43 [[ 8.17209466e-01 5.70178773e-01 -8.40526930e-02 -1.47125639e+01] [-5.68858402e-01 8.21399736e-01 4.12624848e-02 -4.44483234e+00] [ 9.25678528e-02 1.40939874e-02 9.95606625e-01 1.64307742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.229072329 meters Centerline goodness [0,1] 0.506878677194287 Centerline is valid? [False, False] Translation: X:-14.72, Y:-4.41, Z:16.44 [[ 0.80663587 0.58327919 -0.09551945 -14.72494926] [ -0.58226712 0.8119601 0.04105847 -4.40811437] [ 0.10150654 0.0224986 0.99458043 16.43589859] [ 0. 0. 0. 1. ]] SLAMing on 228.259072329 meters Centerline goodness [0,1] 0.5273355031667839 Centerline is valid? [False, False] Translation: X:-14.76, Y:-4.37, Z:16.43 [[ 0.80062895 0.59099179 -0.09860012 -14.7559554 ] [ -0.59043473 0.80619556 0.03788859 -4.36563765] [ 0.10188283 0.02788223 0.99440559 16.43402326] [ 0. 0. 0. 1. ]] SLAMing on 228.289072329 meters Centerline goodness [0,1] 0.542301465859446 Centerline is valid? [False, False] Translation: X:-14.77, Y:-4.34, Z:16.44 [[ 0.79563206 0.5973493 -0.10071464 -14.76974497] [ -0.59672617 0.80146984 0.03954713 -4.33932766] [ 0.1043432 0.0286341 0.99412906 16.43556423] [ 0. 0. 0. 1. ]] SLAMing on 228.319072329 meters Centerline goodness [0,1] 0.5690935771531775 Centerline is valid? [False, False] Translation: X:-14.78, Y:-4.30, Z:16.44 [[ 0.78235156 0.61309002 -0.10975736 -14.78246661] [ -0.61297412 0.78914973 0.03879984 -4.29994717] [ 0.11040278 0.0369233 0.99320083 16.44377021] [ 0. 0. 0. 1. ]] SLAMing on 228.349072329 meters Centerline goodness [0,1] 0.5958299189656742 Centerline is valid? [False, False] Translation: X:-14.81, Y:-4.26, Z:16.44 [[ 0.77429885 0.62203653 -0.11632652 -14.8073605 ] [ -0.62256579 0.78172928 0.03621008 -4.26231123] [ 0.11345983 0.04438349 0.99255074 16.44471173] [ 0. 0. 0. 1. ]] SLAMing on 228.379072329 meters Centerline goodness [0,1] 0.6158587066507222 Centerline is valid? [False, False] Translation: X:-14.83, Y:-4.22, Z:16.45 [[ 0.76550173 0.63193889 -0.12107993 -14.83402616] [ -0.63301567 0.7733786 0.03430315 -4.2235676 ] [ 0.11531812 0.05038637 0.99204987 16.44579763] [ 0. 0. 0. 1. ]] SLAMing on 228.409072329 meters Centerline goodness [0,1] 0.6764172495819496 Centerline is valid? [False, False] Translation: X:-14.86, Y:-4.18, Z:16.45 [[ 0.74361967 0.65646621 -0.1268144 -14.86088582] [ -0.65744072 0.75244529 0.03997229 -4.1752856 ] [ 0.12166136 0.05364877 0.99112074 16.44666829] [ 0. 0. 0. 1. ]] SLAMing on 228.439072329 meters Centerline goodness [0,1] 0.771959097084833 Centerline is valid? [False, False] Translation: X:-14.88, Y:-4.14, Z:16.45 [[ 0.73262719 0.66732443 -0.13392351 -14.88293584] [ -0.66838255 0.74253877 0.04359975 -4.14126279] [ 0.12853857 0.05756978 0.9900321 16.44607474] [ 0. 0. 0. 1. ]] SLAMing on 228.469072329 meters Centerline goodness [0,1] 0.7935689917979241 Centerline is valid? [False, False] Translation: X:-14.89, Y:-4.12, Z:16.45 [[ 0.71018214 0.6900456 -0.13956506 -14.88664108] [ -0.69097202 0.72117521 0.04963849 -4.12403941] [ 0.13490368 0.06118318 0.98896795 16.44962607] [ 0. 0. 0. 1. ]] SLAMing on 228.499072329 meters Centerline goodness [0,1] 0.7330602491892815 Centerline is valid? [False, False] Translation: X:-14.88, Y:-4.12, Z:16.45 [[ 0.70694932 0.69353598 -0.13867409 -14.87797642] [ -0.69409729 0.7179789 0.05229953 -4.12225363] [ 0.13583668 0.05928019 0.98895614 16.45239321] [ 0. 0. 0. 1. ]] SLAMing on 228.529072329 meters Centerline goodness [0,1] 0.7003648115956222 Centerline is valid? [False, False] Translation: X:-14.93, Y:-4.07, Z:16.45 [[ 0.69656247 0.70260477 -0.14542095 -14.92890129] [ -0.70462122 0.70808898 0.04603189 -4.0701748 ] [ 0.1353132 0.0704026 0.98829844 16.45486205] [ 0. 0. 0. 1. ]] SLAMing on 228.559072329 meters Centerline goodness [0,1] 0.6916114790286976 Centerline is valid? [False, False] Translation: X:-14.87, Y:-4.11, Z:16.47 [[ 0.69799046 0.70097744 -0.14642387 -14.87234993] [ -0.70295085 0.70970524 0.04667528 -4.10827282] [ 0.13663611 0.07034988 0.98812017 16.4664501 ] [ 0. 0. 0. 1. ]] SLAMing on 228.589072329 meters Centerline goodness [0,1] 0.6494847896121781 Centerline is valid? [False, False] Translation: X:-14.89, Y:-4.10, Z:16.47 [[ 0.67949367 0.71761573 -0.15269581 -14.88591249] [ -0.72025461 0.69208603 0.04743661 -4.09514117] [ 0.1397199 0.07774698 0.98713411 16.47124025] [ 0. 0. 0. 1. ]] SLAMing on 228.619072329 meters Centerline goodness [0,1] 0.6415854227548439 Centerline is valid? [False, False] Translation: X:-14.86, Y:-4.11, Z:16.48 [[ 0.67901752 0.71708919 -0.15722057 -14.85626111] [ -0.71935273 0.6926616 0.05245521 -4.1111187 ] [ 0.14651572 0.07747904 0.98616943 16.47982487] [ 0. 0. 0. 1. ]] SLAMing on 228.649072329 meters Centerline goodness [0,1] 0.5255711667684789 Centerline is valid? [False, False] Translation: X:-14.89, Y:-4.08, Z:16.48 [[ 0.66054481 0.73353842 -0.16000606 -14.89274707] [ -0.73685918 0.67425697 0.04915364 -4.08391063] [ 0.14394128 0.08543375 0.98589147 16.47888502] [ 0. 0. 0. 1. ]] SLAMing on 228.679072329 meters Centerline goodness [0,1] 0.5344395513491156 Centerline is valid? [False, False] Translation: X:-14.82, Y:-4.13, Z:16.49 [[ 0.66820871 0.72692788 -0.1583445 -14.82159267] [ -0.72948545 0.68198299 0.0524421 -4.13281803] [ 0.14610988 0.08046774 0.98599029 16.48788388] [ 0. 0. 0. 1. ]] SLAMing on 228.709072329 meters Centerline goodness [0,1] 0.5291401774275424 Centerline is valid? [False, False] Translation: X:-14.74, Y:-4.19, Z:16.50 [[ 0.68084098 0.71617899 -0.15343799 -14.73888696] [ -0.71743065 0.69427987 0.05717273 -4.18736665] [ 0.14747481 0.07115558 0.98650295 16.49570536] [ 0. 0. 0. 1. ]] SLAMing on 228.739072329 meters Centerline goodness [0,1] 0.4890218139523843 Centerline is valid? [False, False] Translation: X:-14.75, Y:-4.19, Z:16.50 [[ 0.67273158 0.72291965 -0.15754178 -14.74705919] [ -0.72499769 0.68657845 0.0546662 -4.18898721] [ 0.14768406 0.07744175 0.98599807 16.49876731] [ 0. 0. 0. 1. ]] SLAMing on 228.769072329 meters Centerline goodness [0,1] 0.4919301867317256 Centerline is valid? [False, False] Translation: X:-14.72, Y:-4.20, Z:16.51 [[ 0.67710588 0.71746132 -0.16363642 -14.72375885] [ -0.71879209 0.6924684 0.06185018 -4.20280712] [ 0.15768816 0.07574144 0.98457995 16.50647604] [ 0. 0. 0. 1. ]] SLAMing on 228.799072329 meters Centerline goodness [0,1] 0.4463754067714464 Centerline is valid? [False, False] Translation: X:-14.70, Y:-4.22, Z:16.51 [[ 0.68307273 0.71217921 -0.1619025 -14.69875606] [ -0.71318378 0.698202 0.06231258 -4.21730359] [ 0.15741837 0.07290221 0.98483741 16.50806664] [ 0. 0. 0. 1. ]] SLAMing on 228.829072329 meters Centerline goodness [0,1] 0.46137061029662463 Centerline is valid? [False, False] Translation: X:-14.72, Y:-4.21, Z:16.51 [[ 0.68123057 0.71328623 -0.16476548 -14.71890121] [ -0.71491773 0.69663463 0.05994017 -4.20779422] [ 0.15753584 0.07696069 0.98450978 16.50732947] [ 0. 0. 0. 1. ]] SLAMing on 228.859072329 meters Centerline goodness [0,1] 0.4460171894382421 Centerline is valid? [False, False] Translation: X:-14.83, Y:-4.15, Z:16.51 [[ 0.66297251 0.72735862 -0.17724809 -14.83211918] [ -0.73239641 0.67920169 0.04775522 -4.15470025] [ 0.15512237 0.09815546 0.98300689 16.50622016] [ 0. 0. 0. 1. ]] SLAMing on 228.88907232900002 meters Centerline goodness [0,1] 0.46025660574640037 Centerline is valid? [False, False] Translation: X:-14.85, Y:-4.15, Z:16.50 [[ 0.66694446 0.72556582 -0.16952674 -14.85041956] [ -0.73056091 0.68151149 0.04269469 -4.14709181] [ 0.14651223 0.09537463 0.98460035 16.49541339] [ 0. 0. 0. 1. ]] SLAMing on 228.91907232900002 meters Centerline goodness [0,1] 0.4573246497279232 Centerline is valid? [False, False] Translation: X:-14.99, Y:-4.07, Z:16.46 [[ 0.66426869 0.72935383 -0.16367679 -14.9891689 ] [ -0.73486332 0.67727938 0.03561663 -4.06753584] [ 0.13683204 0.09662106 0.98587087 16.46435336] [ 0. 0. 0. 1. ]] SLAMing on 228.949072329 meters Centerline goodness [0,1] 0.45422916180495154 Centerline is valid? [False, False] Translation: X:-15.14, Y:-4.00, Z:16.43 [[ 0.6561421 0.73867712 -0.15438152 -15.1388239 ] [ -0.74364221 0.66770203 0.0342091 -4.00044695] [ 0.12835033 0.09235858 0.9874189 16.43320762] [ 0. 0. 0. 1. ]] SLAMing on 228.979072329 meters Centerline goodness [0,1] 0.46694109658801564 Centerline is valid? [False, False] Translation: X:-15.27, Y:-3.93, Z:16.40 [[ 0.65566493 0.7410867 -0.14454761 -15.27120063] [ -0.74527539 0.66591267 0.03353975 -3.92881996] [ 0.12111195 0.08573694 0.98892926 16.40356438] [ 0. 0. 0. 1. ]] SLAMing on 229.009072329 meters Centerline goodness [0,1] 0.47114834057894184 Centerline is valid? [False, False] Translation: X:-15.41, Y:-3.86, Z:16.37 [[ 0.6554698 0.74315747 -0.13444822 -15.4069123 ] [ -0.74671079 0.66438169 0.03193681 -3.85540503] [ 0.11305901 0.07946032 0.99040583 16.37491966] [ 0. 0. 0. 1. ]] SLAMing on 229.039072329 meters Centerline goodness [0,1] 0.47574563633282496 Centerline is valid? [False, False] Translation: X:-15.53, Y:-3.79, Z:16.35 [[ 0.65481367 0.74568827 -0.12315868 -15.53054033] [ -0.74858937 0.66234648 0.03018418 -3.79145955] [ 0.10408171 0.07243026 0.99192785 16.34550491] [ 0. 0. 0. 1. ]] SLAMing on 229.069072329 meters Centerline goodness [0,1] 0.46744146661586006 Centerline is valid? [False, False] Translation: X:-15.66, Y:-3.75, Z:16.32 [[ 0.6474094 0.75401891 -0.11097994 -15.65524236] [ -0.75638291 0.65353649 0.02783808 -3.7452681 ] [ 0.09351988 0.06592069 0.99343268 16.31531698] [ 0. 0. 0. 1. ]] SLAMing on 229.099072329 meters Centerline goodness [0,1] 0.48638066414104 Centerline is valid? [False, False] Translation: X:-15.80, Y:-3.67, Z:16.29 [[ 0.64662793 0.75635067 -0.09902514 -15.80194734] [ -0.75825965 0.65148669 0.02464543 -3.67178642] [ 0.08315415 0.05915034 0.99477969 16.28547251] [ 0. 0. 0. 1. ]] SLAMing on 229.129072329 meters Centerline goodness [0,1] 0.4885501025521748 Centerline is valid? [False, False] Translation: X:-15.96, Y:-3.60, Z:16.26 [[ 0.64670335 0.75786722 -0.08609328 -15.95609888] [ -0.75927551 0.65039893 0.02195298 -3.59567065] [ 0.07263242 0.05117146 0.99604519 16.25737406] [ 0. 0. 0. 1. ]] SLAMing on 229.159072329 meters Centerline goodness [0,1] 0.47903989181879647 Centerline is valid? [False, False] Translation: X:-16.15, Y:-3.50, Z:16.23 [[ 0.64361797 0.76156154 -0.07602591 -16.14828786] [ -0.76280458 0.64639718 0.01731633 -3.50153538] [ 0.06233038 0.04684781 0.99695547 16.23224264] [ 0. 0. 0. 1. ]] SLAMing on 229.189072329 meters Centerline goodness [0,1] 0.48801485482781903 Centerline is valid? [False, False] Translation: X:-16.35, Y:-3.42, Z:16.21 [[ 6.36356332e-01 7.68699275e-01 -6.44363594e-02 -1.63461690e+01] [-7.69624580e-01 6.38333243e-01 1.44456679e-02 -3.42398961e+00] [ 5.22362447e-02 4.03992137e-02 9.97817257e-01 1.62095513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.219072329 meters Centerline goodness [0,1] 0.46843615494978474 Centerline is valid? [False, False] Translation: X:-16.57, Y:-3.32, Z:16.19 [[ 6.35202519e-01 7.70342657e-01 -5.55873230e-02 -1.65670953e+01] [-7.71068009e-01 6.36645214e-01 1.17045476e-02 -3.31718962e+00] [ 4.44059155e-02 3.54268484e-02 9.98385223e-01 1.61860216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.249072329 meters Centerline goodness [0,1] 0.48301058011108056 Centerline is valid? [False, False] Translation: X:-16.80, Y:-3.21, Z:16.16 [[ 6.35923982e-01 7.70387080e-01 -4.58741398e-02 -1.67974280e+01] [-7.70876812e-01 6.36909464e-01 9.76085101e-03 -3.20594382e+00] [ 3.67373073e-02 2.91561515e-02 9.98899539e-01 1.61631422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.279072329 meters Centerline goodness [0,1] 0.46836805775441703 Centerline is valid? [False, False] Translation: X:-17.05, Y:-3.10, Z:16.14 [[ 6.31574336e-01 7.74386784e-01 -3.79337004e-02 -1.70496133e+01] [-7.74681689e-01 6.32280070e-01 9.49701021e-03 -3.10376163e+00] [ 3.13390820e-02 2.33884752e-02 9.99235128e-01 1.61440277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.309072329 meters Centerline goodness [0,1] 0.5013932868904369 Centerline is valid? [False, False] Translation: X:-17.31, Y:-2.98, Z:16.13 [[ 6.34983696e-01 7.72062701e-01 -2.67374497e-02 -1.73074571e+01] [-7.72211355e-01 6.35332164e-01 6.53189607e-03 -2.98116086e+00] [ 2.20301951e-02 1.64993147e-02 9.99621150e-01 1.61250947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.339072329 meters Centerline goodness [0,1] 0.49205412468912024 Centerline is valid? [False, False] Translation: X:-17.58, Y:-2.85, Z:16.11 [[ 6.38285528e-01 7.69664283e-01 -1.44387321e-02 -1.75812782e+01] [-7.69746964e-01 6.38349074e-01 -2.67662936e-04 -2.85257990e+00] [ 9.01094065e-03 1.12850156e-02 9.99895720e-01 1.61084891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.369072329 meters Centerline goodness [0,1] 0.5045348372298563 Centerline is valid? [False, False] Translation: X:-17.90, Y:-2.72, Z:16.09 [[ 6.38692800e-01 7.69439569e-01 5.85283405e-03 -1.78966594e+01] [-7.69397170e-01 6.38719261e-01 -8.10559187e-03 -2.72285319e+00] [-9.97508096e-03 6.73829219e-04 9.99950021e-01 1.60908514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.399072329 meters Centerline goodness [0,1] 0.49894882899550097 Centerline is valid? [False, False] Translation: X:-18.22, Y:-2.57, Z:16.08 [[ 6.45579101e-01 7.63328066e-01 2.36196663e-02 -1.82209847e+01] [-7.63255296e-01 6.45947554e-01 -1.38964192e-02 -2.57353588e+00] [-2.58645924e-02 -9.05659759e-03 9.99624430e-01 1.60811792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.429072329 meters Centerline goodness [0,1] 0.5094089695338617 Centerline is valid? [False, False] Translation: X:-18.55, Y:-2.43, Z:16.08 [[ 6.52536423e-01 7.56630903e-01 4.13024568e-02 -1.85511513e+01] [-7.56695953e-01 6.53537650e-01 -1.73140163e-02 -2.42967499e+00] [-4.00930304e-02 -1.99553757e-02 9.98996663e-01 1.60769264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.459072329 meters Centerline goodness [0,1] 0.4882919241602556 Centerline is valid? [False, False] Translation: X:-18.89, Y:-2.29, Z:16.08 [[ 0.65947015 0.74962683 0.05620262 -18.89169745] [ -0.74986711 0.66125537 -0.02099175 -2.28773381] [ -0.05290027 -0.02830106 0.99819868 16.07999843] [ 0. 0. 0. 1. ]] SLAMing on 229.489072329 meters Centerline goodness [0,1] 0.5090005684569552 Centerline is valid? [False, False] Translation: X:-19.25, Y:-2.17, Z:16.09 [[ 0.66653033 0.74180886 0.07387107 -19.24503443] [ -0.74265795 0.66935181 -0.02067186 -2.16511328] [ -0.06478031 -0.04108252 0.99705353 16.08652803] [ 0. 0. 0. 1. ]] SLAMing on 229.519072329 meters Centerline goodness [0,1] 0.510262077676034 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.03, Z:16.10 [[ 0.67483781 0.73206111 0.09316899 -19.59731346] [ -0.73330696 0.67937587 -0.02663323 -2.02875079] [ -0.08279391 -0.05034836 0.99529403 16.10040644] [ 0. 0. 0. 1. ]] SLAMing on 229.549072329 meters Centerline goodness [0,1] 0.4911283702721475 Centerline is valid? [False, False] Translation: X:-19.98, Y:-1.91, Z:16.12 [[ 0.68068359 0.72377895 0.11319841 -19.97838067] [ -0.72560055 0.68737852 -0.03185302 -1.90546247] [ -0.1008647 -0.060455 0.99306168 16.12207678] [ 0. 0. 0. 1. ]] SLAMing on 229.579072329 meters Centerline goodness [0,1] 0.502743267957369 Centerline is valid? [False, False] Translation: X:-20.36, Y:-1.77, Z:16.15 [[ 0.68918957 0.71173949 0.13581105 -20.35655136] [ -0.71480674 0.69852577 -0.03336268 -1.77138599] [ -0.11861306 -0.07408544 0.99017286 16.15145561] [ 0. 0. 0. 1. ]] SLAMing on 229.609072329 meters Centerline goodness [0,1] 0.4927713125276205 Centerline is valid? [False, False] Translation: X:-20.74, Y:-1.64, Z:16.19 [[ 0.69771115 0.6988365 0.15756491 -20.73978007] [ -0.70365282 0.70980823 -0.03232626 -1.64312942] [ -0.13443164 -0.0883166 0.98697939 16.19080741] [ 0. 0. 0. 1. ]] SLAMing on 229.63907232900002 meters Centerline goodness [0,1] 0.4794027210311276 Centerline is valid? [False, False] Translation: X:-21.12, Y:-1.54, Z:16.24 [[ 0.70781876 0.6824728 0.18227311 -21.12204226] [ -0.69007338 0.72319532 -0.02805821 -1.5372863 ] [ -0.15096803 -0.10592169 0.98284752 16.23775913] [ 0. 0. 0. 1. ]] SLAMing on 229.66907232900002 meters Centerline goodness [0,1] 0.49040385952345844 Centerline is valid? [False, False] Translation: X:-21.52, Y:-1.42, Z:16.29 [[ 0.71751754 0.66384317 0.21090478 -21.51566254] [ -0.67490174 0.73747711 -0.02520238 -1.41805173] [ -0.17226788 -0.12425686 0.97718167 16.29266854] [ 0. 0. 0. 1. ]] SLAMing on 229.699072329 meters Centerline goodness [0,1] 0.49470821386405806 Centerline is valid? [False, False] Translation: X:-21.92, Y:-1.30, Z:16.36 [[ 7.26707703e-01 6.43912586e-01 2.39316728e-01 -2.19189504e+01] [-6.59039402e-01 7.51798843e-01 -2.15769580e-02 -1.30278899e+00] [-1.93811714e-01 -1.42039012e-01 9.70701776e-01 1.63613508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.729072329 meters Centerline goodness [0,1] 0.4771960172137373 Centerline is valid? [False, False] Translation: X:-22.31, Y:-1.20, Z:16.44 [[ 7.35417700e-01 6.21856811e-01 2.69174503e-01 -2.23097939e+01] [-6.41024401e-01 7.67229723e-01 -2.11250965e-02 -1.19635304e+00] [-2.19655465e-01 -1.57011655e-01 9.62859708e-01 1.64351984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.759072329 meters Centerline goodness [0,1] 0.4771960172137373 Centerline is valid? [False, False] Translation: X:-22.70, Y:-1.08, Z:16.52 [[ 7.40580130e-01 6.02219620e-01 2.98115081e-01 -2.26991754e+01] [-6.25893423e-01 7.79649223e-01 -2.01124555e-02 -1.08435979e+00] [-2.44537306e-01 -1.71693383e-01 9.54318022e-01 1.65188329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.789072329 meters Centerline goodness [0,1] 0.4697078442962087 Centerline is valid? [False, False] Translation: X:-23.09, Y:-1.01, Z:16.61 [[ 7.50996215e-01 5.76170338e-01 3.22540581e-01 -2.30922846e+01] [-6.02306856e-01 7.97933504e-01 -2.29907437e-02 -1.00661769e+00] [-2.70612520e-01 -1.77002442e-01 9.46276386e-01 1.66135358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.819072329 meters Centerline goodness [0,1] 0.47592498732894073 Centerline is valid? [False, False] Translation: X:-23.48, Y:-0.93, Z:16.72 [[ 7.56998969e-01 5.52667540e-01 3.48584497e-01 -2.34848616e+01] [-5.83536735e-01 8.11842500e-01 -1.99156608e-02 -9.25703419e-01] [-2.94002449e-01 -1.88335725e-01 9.37065747e-01 1.67203894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.849072329 meters Centerline goodness [0,1] 0.48151588725852423 Centerline is valid? [False, False] Translation: X:-23.88, Y:-0.85, Z:16.84 [[ 7.62610111e-01 5.25878062e-01 3.76667071e-01 -2.38785369e+01] [-5.62436285e-01 8.26696158e-01 -1.54560239e-02 -8.48833383e-01] [-3.19517204e-01 -2.00064308e-01 9.26219752e-01 1.68390649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.879072329 meters Centerline goodness [0,1] 0.45617517261766505 Centerline is valid? [False, False] Translation: X:-24.27, Y:-0.79, Z:16.97 [[ 7.68642415e-01 4.90241815e-01 4.10915808e-01 -2.42723289e+01] [-5.36295400e-01 8.44021869e-01 -3.78525737e-03 -7.87785079e-01] [-3.48677620e-01 -2.17462748e-01 9.11665438e-01 1.69744281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.909072329 meters Centerline goodness [0,1] 0.4609728267759794 Centerline is valid? [False, False] Translation: X:-24.66, Y:-0.72, Z:17.13 [[ 7.69961235e-01 4.57901214e-01 4.44394165e-01 -2.46633948e+01] [-5.15158549e-01 8.57042511e-01 9.47651159e-03 -7.22960280e-01] [-3.76525385e-01 -2.36230000e-01 8.95781235e-01 1.71254679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.939072329 meters Centerline goodness [0,1] 0.45625844024307904 Centerline is valid? [False, False] Translation: X:-25.06, Y:-0.66, Z:17.29 [[ 7.69528669e-01 4.23441760e-01 4.78040483e-01 -2.50564873e+01] [-4.92693532e-01 8.69910370e-01 2.25617295e-02 -6.64716093e-01] [-4.06298795e-01 -2.52889351e-01 8.78047986e-01 1.72891887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.969072329 meters Centerline goodness [0,1] 0.46834160244906575 Centerline is valid? [False, False] Translation: X:-25.43, Y:-0.63, Z:17.46 [[ 0.77053012 0.39046722 0.50380421 -25.43268713] [ -0.46541923 0.88470414 0.02614422 -0.62829018] [ -0.43550921 -0.25462507 0.86342215 17.45922318] [ 0. 0. 0. 1. ]] SLAMing on 229.999072329 meters Centerline goodness [0,1] 0.47788022331246827 Centerline is valid? [False, False] Translation: X:-25.81, Y:-0.59, Z:17.64 [[ 0.76956193 0.36090535 0.52680334 -25.81213666] [ -0.44356715 0.89557994 0.03442043 -0.5936893 ] [ -0.45937199 -0.2601613 0.84928998 17.64404654] [ 0. 0. 0. 1. ]] SLAMing on 230.029072329 meters Centerline goodness [0,1] 0.47931595746929634 Centerline is valid? [False, False] Translation: X:-26.18, Y:-0.57, Z:17.84 [[ 0.76742992 0.32899539 0.55028478 -26.18112938] [ -0.42203043 0.90534736 0.04729128 -0.56725309] [ -0.48264027 -0.26852966 0.83363673 17.83785239] [ 0. 0. 0. 1. ]] SLAMing on 230.059072329 meters Centerline goodness [0,1] 0.46750364593240756 Centerline is valid? [False, False] Translation: X:-26.55, Y:-0.55, Z:18.06 [[ 0.76513067 0.28919215 0.57527642 -26.55081058] [ -0.39944804 0.91393687 0.07183777 -0.55117956] [ -0.50499141 -0.28475832 0.81479836 18.05576709] [ 0. 0. 0. 1. ]] SLAMing on 230.089072329 meters Centerline goodness [0,1] 0.465186807632366 Centerline is valid? [False, False] Translation: X:-26.91, Y:-0.53, Z:18.29 [[ 0.75910162 0.25032056 0.60091958 -26.91284454] [ -0.38157963 0.91899699 0.09920441 -0.53130891] [ -0.52741038 -0.3046049 0.79312934 18.28524614] [ 0. 0. 0. 1. ]] SLAMing on 230.119072329 meters Centerline goodness [0,1] 0.4720964991684735 Centerline is valid? [False, False] Translation: X:-27.27, Y:-0.52, Z:18.53 [[ 0.75500403 0.21442373 0.61967037 -27.26697059] [ -0.36698396 0.92133367 0.12832397 -0.52094884] [ -0.54340747 -0.32429421 0.77430071 18.53100425] [ 0. 0. 0. 1. ]] SLAMing on 230.149072329 meters Centerline goodness [0,1] 0.4903763044165701 Centerline is valid? [False, False] Translation: X:-27.61, Y:-0.52, Z:18.78 [[ 0.75307143 0.1870706 0.63078365 -27.61107317] [ -0.35083755 0.92522663 0.14446004 -0.52161121] [ -0.5565936 -0.33009131 0.76239313 18.7847079 ] [ 0. 0. 0. 1. ]] SLAMing on 230.179072329 meters Centerline goodness [0,1] 0.46688679046877957 Centerline is valid? [False, False] Translation: X:-27.97, Y:-0.52, Z:19.06 [[ 0.75382967 0.16967841 0.63478348 -27.96569619] [ -0.33796991 0.92861558 0.15313212 -0.52407209] [ -0.56348661 -0.32997325 0.75736418 19.05748307] [ 0. 0. 0. 1. ]] SLAMing on 230.209072329 meters Centerline goodness [0,1] 0.45406807541439964 Centerline is valid? [False, False] Translation: X:-28.30, Y:-0.53, Z:19.31 [[ 0.75155936 0.14769074 0.64291988 -28.29901636] [ -0.32670288 0.93002826 0.16826365 -0.5325 ] [ -0.57308268 -0.3365039 0.74722244 19.31493093] [ 0. 0. 0. 1. ]] SLAMing on 230.239072329 meters Centerline goodness [0,1] 0.4667676257782265 Centerline is valid? [False, False] Translation: X:-28.61, Y:-0.54, Z:19.57 [[ 0.74882713 0.12305613 0.65124121 -28.61318299] [ -0.31885282 0.92831432 0.19122081 -0.54434541] [ -0.58102565 -0.35084142 0.73438375 19.56578672] [ 0. 0. 0. 1. ]] SLAMing on 230.269072329 meters Centerline goodness [0,1] 0.46594921809315626 Centerline is valid? [False, False] Translation: X:-28.93, Y:-0.56, Z:19.84 [[ 0.74875541 0.09863528 0.65546656 -28.92708726] [ -0.31223321 0.92476984 0.21751129 -0.55593616] [ -0.58470142 -0.36752119 0.72322363 19.83778518] [ 0. 0. 0. 1. ]] SLAMing on 230.299072329 meters Centerline goodness [0,1] 0.47571422542937924 Centerline is valid? [False, False] Translation: X:-29.24, Y:-0.57, Z:20.12 [[ 0.74984529 0.07667438 0.65715529 -29.24356669] [ -0.30621126 0.92069604 0.24197823 -0.56974703] [ -0.58648674 -0.38267459 0.71385815 20.12198942] [ 0. 0. 0. 1. ]] SLAMing on 230.329072329 meters Centerline goodness [0,1] 0.4837825298409887 Centerline is valid? [False, False] Translation: X:-29.54, Y:-0.59, Z:20.40 [[ 0.75238113 0.06217487 0.65578725 -29.54286879] [ -0.30472559 0.91546181 0.26281552 -0.58759671] [ -0.58400766 -0.3975726 0.70772246 20.39666406] [ 0. 0. 0. 1. ]] SLAMing on 230.359072329 meters Centerline goodness [0,1] 0.4654412849644822 Centerline is valid? [False, False] Translation: X:-29.84, Y:-0.61, Z:20.67 [[ 0.75564419 0.05196838 0.65291742 -29.83666148] [ -0.29959525 0.91387669 0.27399286 -0.6096714 ] [ -0.58244704 -0.40265206 0.70613509 20.66735755] [ 0. 0. 0. 1. ]] SLAMing on 230.38907232900002 meters Centerline goodness [0,1] 0.46514278477806625 Centerline is valid? [False, False] Translation: X:-30.12, Y:-0.63, Z:20.93 [[ 0.75926982 0.04307829 0.6493486 -30.11852495] [ -0.29577127 0.91164077 0.28536025 -0.63469496] [ -0.57967983 -0.40872408 0.70492264 20.93089857] [ 0. 0. 0. 1. ]] SLAMing on 230.419072329 meters Centerline goodness [0,1] 0.43548353018234065 Centerline is valid? [False, False] Translation: X:-30.40, Y:-0.66, Z:21.19 [[ 0.76133585 0.03248701 0.64754329 -30.39598442] [ -0.29310786 0.90810411 0.29905635 -0.66102269] [ -0.57832128 -0.41748235 0.70089442 21.19132677] [ 0. 0. 0. 1. ]] SLAMing on 230.449072329 meters Centerline goodness [0,1] 0.470858636977058 Centerline is valid? [False, False] Translation: X:-30.67, Y:-0.68, Z:21.46 [[ 7.61020255e-01 2.49295087e-02 6.48248943e-01 -3.06718066e+01] [-3.02886559e-01 8.97314820e-01 3.21069846e-01 -6.84299804e-01] [-5.73679270e-01 -4.40686547e-01 6.90425566e-01 2.14569591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.479072329 meters Centerline goodness [0,1] 0.47708741546046396 Centerline is valid? [False, False] Translation: X:-30.94, Y:-0.71, Z:21.72 [[ 7.61560200e-01 1.97419553e-02 6.47793421e-01 -3.09373345e+01] [-3.06975491e-01 8.91287826e-01 3.33724525e-01 -7.07263747e-01] [-5.70782016e-01 -4.53008020e-01 6.84829632e-01 2.17225910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.509072329 meters Centerline goodness [0,1] 0.47681058642560636 Centerline is valid? [False, False] Translation: X:-31.20, Y:-0.73, Z:21.99 [[ 7.61990030e-01 1.57432990e-02 6.47397360e-01 -3.12018946e+01] [-3.10939026e-01 8.85822254e-01 3.44435561e-01 -7.32804640e-01] [-5.68056437e-01 -4.63757569e-01 6.79882933e-01 2.19872590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.539072329 meters Centerline goodness [0,1] 0.4765764441551351 Centerline is valid? [False, False] Translation: X:-31.47, Y:-0.76, Z:22.25 [[ 7.63275384e-01 1.09419358e-02 6.45980620e-01 -3.14652724e+01] [-3.12854219e-01 8.81069691e-01 3.54737138e-01 -7.62863659e-01] [-5.65272434e-01 -4.72859888e-01 6.75922038e-01 2.22469826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.569072329 meters Centerline goodness [0,1] 0.47683986783677423 Centerline is valid? [False, False] Translation: X:-31.73, Y:-0.80, Z:22.50 [[ 7.67180703e-01 2.15275488e-02 6.41069680e-01 -3.17327322e+01] [-3.22468297e-01 8.76899308e-01 3.56457292e-01 -7.97994538e-01] [-5.54479907e-01 -4.80191803e-01 6.79682179e-01 2.25040755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.599072329 meters Centerline goodness [0,1] 0.4435460220369517 Centerline is valid? [False, False] Translation: X:-31.99, Y:-0.84, Z:22.75 [[ 7.69407913e-01 1.73614839e-02 6.38521764e-01 -3.19916778e+01] [-3.21453389e-01 8.74347135e-01 3.63572286e-01 -8.35319546e-01] [-5.51977520e-01 -4.84990378e-01 6.78310512e-01 2.27464335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.629072329 meters Centerline goodness [0,1] 0.43633801632034996 Centerline is valid? [False, False] Translation: X:-32.25, Y:-0.87, Z:23.00 [[ 7.71505863e-01 1.36005131e-02 6.36076826e-01 -3.22519315e+01] [-3.21854976e-01 8.70747375e-01 3.71763881e-01 -8.73822080e-01] [-5.48806048e-01 -4.91542505e-01 6.76164098e-01 2.29965699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.659072329 meters Centerline goodness [0,1] 0.4493161030460686 Centerline is valid? [False, False] Translation: X:-32.50, Y:-0.91, Z:23.24 [[ 7.76014792e-01 9.66267115e-03 6.30640686e-01 -3.25047486e+01] [-3.26710573e-01 8.61438240e-01 3.88824331e-01 -9.09753247e-01] [-5.39500921e-01 -5.07770412e-01 6.71645714e-01 2.32368000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.689072329 meters Centerline goodness [0,1] 0.4622595697063109 Centerline is valid? [False, False] Translation: X:-32.76, Y:-0.95, Z:23.50 [[ 7.79177979e-01 5.84678971e-03 6.26775472e-01 -3.27594240e+01] [-3.24747572e-01 8.59047440e-01 3.95697499e-01 -9.50603664e-01] [-5.36116305e-01 -5.11862590e-01 6.71249578e-01 2.34999001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.719072329 meters Centerline goodness [0,1] 0.46015104210615143 Centerline is valid? [False, False] Translation: X:-33.01, Y:-0.99, Z:23.76 [[ 7.82198311e-01 3.41191858e-04 6.23029442e-01 -3.30077095e+01] [-3.20016857e-01 8.58221883e-01 4.01303389e-01 -9.94384317e-01] [-5.34560580e-01 -5.13278757e-01 6.71408895e-01 2.37550568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.749072329 meters Centerline goodness [0,1] 0.4470328282828283 Centerline is valid? [False, False] Translation: X:-33.25, Y:-1.04, Z:23.99 [[ 7.85095276e-01 5.88661109e-03 6.19347040e-01 -3.32468835e+01] [-3.20674491e-01 8.59363263e-01 3.98324808e-01 -1.03623345e+00] [-5.29899310e-01 -5.11331722e-01 6.76569724e-01 2.39946995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.779072329 meters Centerline goodness [0,1] 0.41225533341715914 Centerline is valid? [False, False] Translation: X:-33.51, Y:-1.07, Z:24.26 [[ 7.79746831e-01 1.49857454e-02 6.25915575e-01 -3.35096055e+01] [-3.40187138e-01 8.49408098e-01 4.03458293e-01 -1.07074825e+00] [-5.25611635e-01 -5.27523753e-01 6.67421231e-01 2.42602467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.809072329 meters Centerline goodness [0,1] 0.4377025036818851 Centerline is valid? [False, False] Translation: X:-33.79, Y:-1.11, Z:24.54 [[ 7.78664169e-01 3.34921633e-02 6.26546397e-01 -3.37903424e+01] [-3.63187152e-01 8.38338471e-01 4.06550981e-01 -1.10814275e+00] [-5.11641677e-01 -5.44120283e-01 6.64948052e-01 2.45443100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.839072329 meters Centerline goodness [0,1] 0.32717066961584207 Centerline is valid? [False, False] Translation: X:-34.10, Y:-1.12, Z:24.81 [[ 0.78036406 0.06370822 0.6220717 -34.09517154] [ -0.41052267 0.80259952 0.43278765 -1.12437302] [ -0.47170232 -0.59310646 0.65247349 24.80719465] [ 0. 0. 0. 1. ]] SLAMing on 230.869072329 meters Centerline goodness [0,1] 0.39165556295802795 Centerline is valid? [False, False] Translation: X:-34.38, Y:-1.17, Z:25.11 [[ 0.78495096 0.05404549 0.61719614 -34.37651353] [ -0.42157259 0.77660135 0.46815265 -1.17224216] [ -0.45401381 -0.62766984 0.63237807 25.10677306] [ 0. 0. 0. 1. ]] SLAMing on 230.899072329 meters Centerline goodness [0,1] 0.3466951313035007 Centerline is valid? [False, False] Translation: X:-34.66, Y:-1.20, Z:25.41 [[ 0.79007396 0.05572158 0.61047378 -34.65534058] [ -0.44402799 0.73860938 0.50724287 -1.19984585] [ -0.42263729 -0.67182683 0.60829798 25.41160314] [ 0. 0. 0. 1. ]] SLAMing on 230.929072329 meters Centerline goodness [0,1] 0.3885937532298406 Centerline is valid? [False, False] Translation: X:-34.91, Y:-1.26, Z:25.73 [[ 0.79458112 0.037885 0.60597489 -34.91304218] [ -0.44355899 0.71774951 0.53674115 -1.25831204] [ -0.41460375 -0.69526999 0.58711444 25.72694112] [ 0. 0. 0. 1. ]] SLAMing on 230.959072329 meters Centerline goodness [0,1] 0.4381321993311589 Centerline is valid? [False, False] Translation: X:-35.16, Y:-1.32, Z:26.06 [[ 7.98582378e-01 2.52569468e-02 6.01355363e-01 -3.51621472e+01] [-4.42367385e-01 7.02132599e-01 5.57961387e-01 -1.31982293e+00] [-4.08138803e-01 -7.11598131e-01 5.71883570e-01 2.60597269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.989072329 meters Centerline goodness [0,1] 0.4231878682985124 Centerline is valid? [False, False] Translation: X:-35.40, Y:-1.38, Z:26.41 [[ 8.01342809e-01 1.45376174e-02 5.98028729e-01 -3.54039375e+01] [-4.39290983e-01 6.92873519e-01 5.71795172e-01 -1.38476212e+00] [-4.06045731e-01 -7.20912577e-01 5.61615456e-01 2.64054361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.019072329 meters Centerline goodness [0,1] 0.3949846489872453 Centerline is valid? [False, False] Translation: X:-35.64, Y:-1.46, Z:26.75 [[ 8.02151135e-01 7.71205010e-03 5.97071253e-01 -3.56404338e+01] [-4.38103331e-01 6.87025940e-01 5.79707537e-01 -1.46083973e+00] [-4.05732706e-01 -7.26591964e-01 5.54477312e-01 2.67477685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.049072329 meters Centerline goodness [0,1] 0.44059436590651124 Centerline is valid? [False, False] Translation: X:-35.88, Y:-1.54, Z:27.11 [[ 8.03738442e-01 1.67016439e-03 5.94980444e-01 -3.58776223e+01] [-4.35727918e-01 6.82591945e-01 5.86693632e-01 -1.54436183e+00] [-4.05148983e-01 -7.30797815e-01 5.49353123e-01 2.71095556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.079072329 meters Centerline goodness [0,1] 0.38626494618344964 Centerline is valid? [False, False] Translation: X:-36.12, Y:-1.63, Z:27.49 [[ 8.03524492e-01 -8.92098413e-03 5.95204844e-01 -3.61208670e+01] [-4.37611267e-01 6.68980717e-01 6.00800449e-01 -1.63437006e+00] [-4.03540295e-01 -7.43226221e-01 5.33638468e-01 2.74874137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.109072329 meters Centerline goodness [0,1] 0.4066128269938146 Centerline is valid? [False, False] Translation: X:-36.37, Y:-1.72, Z:27.90 [[ 8.02047411e-01 -1.81982282e-02 5.96983061e-01 -3.63659773e+01] [-4.45126875e-01 6.48227628e-01 6.17788805e-01 -1.72206857e+00] [-3.98223575e-01 -7.61229116e-01 5.11808770e-01 2.78956153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13907232900002 meters Centerline goodness [0,1] 0.4325632924377334 Centerline is valid? [False, False] Translation: X:-36.60, Y:-1.82, Z:28.28 [[ 8.09281929e-01 -1.89799771e-02 5.87113720e-01 -3.66030834e+01] [-4.50181811e-01 6.22023734e-01 6.40642499e-01 -1.81625316e+00] [-3.77358048e-01 -7.82768315e-01 4.94848127e-01 2.82838377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.169072329 meters Centerline goodness [0,1] 0.43981377033041413 Centerline is valid? [False, False] Translation: X:-36.83, Y:-1.90, Z:28.69 [[ 8.15870884e-01 -2.72346292e-02 5.77592396e-01 -3.68333574e+01] [-4.48514412e-01 6.00641140e-01 6.61864823e-01 -1.89941053e+00] [-3.64951398e-01 -7.99054752e-01 4.77830494e-01 2.86886015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199072329 meters Centerline goodness [0,1] 0.43564052755341987 Centerline is valid? [False, False] Translation: X:-37.06, Y:-1.97, Z:29.11 [[ 0.81855026 -0.03872598 0.57312806 -37.06355931] [ -0.45311145 0.56972962 0.68563705 -1.97407024] [ -0.35308 -0.82091928 0.44880514 29.11497646] [ 0. 0. 0. 1. ]] SLAMing on 231.229072329 meters Centerline goodness [0,1] 0.4148992468959902 Centerline is valid? [False, False] Translation: X:-37.30, Y:-2.04, Z:29.58 [[ 0.81614038 -0.04530963 0.57607457 -37.30298932] [ -0.4762755 0.51178937 0.7150058 -2.03765443] [ -0.32722549 -0.85791531 0.3961121 29.58318887] [ 0. 0. 0. 1. ]] SLAMing on 231.259072329 meters Centerline goodness [0,1] 0.393671323693897 Centerline is valid? [False, False] Translation: X:-37.54, Y:-2.11, Z:30.03 [[ 0.82032316 -0.04846889 0.56984268 -37.54231617] [ -0.47788296 0.48926005 0.72955636 -2.11471633] [ -0.31416204 -0.87079008 0.3781889 30.03449939] [ 0. 0. 0. 1. ]] SLAMing on 231.289072329 meters Centerline goodness [0,1] 0.3705818987418955 Centerline is valid? [False, False] Translation: X:-37.77, Y:-2.19, Z:30.47 [[ 0.82632902 -0.04628448 0.56128254 -37.77344671] [ -0.47677323 0.47299942 0.74091756 -2.19274517] [ -0.2997793 -0.87984618 0.36878595 30.47226461] [ 0. 0. 0. 1. ]] SLAMing on 231.319072329 meters Centerline goodness [0,1] 0.37985205056293947 Centerline is valid? [False, False] Translation: X:-38.00, Y:-2.27, Z:30.90 [[ 0.8324684 -0.04379724 0.55233881 -38.00098847] [ -0.47395422 0.46005726 0.75080937 -2.27255122] [ -0.28699086 -0.88680839 0.36222525 30.90150188] [ 0. 0. 0. 1. ]] SLAMing on 231.349072329 meters Centerline goodness [0,1] 0.31390618007241955 Centerline is valid? [False, False] Translation: X:-38.22, Y:-2.35, Z:31.31 [[ 8.40145314e-01 -2.98294531e-02 5.41540447e-01 -3.82243679e+01] [-4.71910537e-01 4.51917828e-01 7.57014347e-01 -2.35300610e+00] [-2.67313107e-01 -8.91560699e-01 3.65599813e-01 3.13110337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.379072329 meters Centerline goodness [0,1] 0.29769750223740954 Centerline is valid? [False, False] Translation: X:-38.44, Y:-2.43, Z:31.76 [[ 8.45196337e-01 -3.43398773e-02 5.33351596e-01 -3.84427515e+01] [-4.67074682e-01 4.37596496e-01 7.68342728e-01 -2.42717550e+00] [-2.59777585e-01 -8.98515486e-01 3.53815668e-01 3.17577419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.409072329 meters Centerline goodness [0,1] 0.26080507183061385 Centerline is valid? [False, False] Translation: X:-38.66, Y:-2.49, Z:32.23 [[ 0.84588163 -0.04260317 0.53166646 -38.66444631] [ -0.46968418 0.41285576 0.78035049 -2.48885892] [ -0.25274697 -0.90979948 0.32921707 32.23384513] [ 0. 0. 0. 1. ]] SLAMing on 231.439072329 meters Centerline goodness [0,1] 0.2700941787772997 Centerline is valid? [False, False] Translation: X:-38.88, Y:-2.55, Z:32.72 [[ 0.84877715 -0.05544334 0.5258359 -38.88276536] [ -0.4648089 0.39582731 0.79200595 -2.55468221] [ -0.25205166 -0.91664976 0.31019862 32.7213391 ] [ 0. 0. 0. 1. ]] SLAMing on 231.469072329 meters Centerline goodness [0,1] 0.28319573793159547 Centerline is valid? [False, False] Translation: X:-39.10, Y:-2.61, Z:33.21 [[ 0.85137159 -0.06353227 0.52070151 -39.09568258] [ -0.45946339 0.38862874 0.79866207 -2.61487646] [ -0.25310038 -0.91920148 0.30167672 33.21231559] [ 0. 0. 0. 1. ]] SLAMing on 231.499072329 meters Centerline goodness [0,1] 0.3389661623556206 Centerline is valid? [False, False] Translation: X:-39.30, Y:-2.67, Z:33.68 [[ 0.8560052 -0.07114864 0.51204781 -39.29929579] [ -0.445421 0.40124597 0.80037604 -2.66798355] [ -0.26240279 -0.9132029 0.31177754 33.68464799] [ 0. 0. 0. 1. ]] SLAMing on 231.529072329 meters Centerline goodness [0,1] 0.32268558996360386 Centerline is valid? [False, False] Translation: X:-39.50, Y:-2.71, Z:34.15 [[ 0.85671551 -0.07350338 0.51052502 -39.49752913] [ -0.44028645 0.41136872 0.79807494 -2.71390713] [ -0.26867523 -0.90850043 0.32006342 34.15359955] [ 0. 0. 0. 1. ]] SLAMing on 231.559072329 meters Centerline goodness [0,1] 0.37496694937661434 Centerline is valid? [False, False] Translation: X:-39.70, Y:-2.75, Z:34.62 [[ 0.85505665 -0.07475988 0.51311702 -39.69522826] [ -0.43878561 0.42297487 0.79281741 -2.75412251] [ -0.27630654 -0.90305217 0.32886392 34.62244153] [ 0. 0. 0. 1. ]] SLAMing on 231.589072329 meters Centerline goodness [0,1] 0.37294340159850314 Centerline is valid? [False, False] Translation: X:-39.89, Y:-2.79, Z:35.09 [[ 0.85193358 -0.07705286 0.51794984 -39.89486664] [ -0.43921556 0.43343181 0.7869095 -2.79331608] [ -0.28512957 -0.89788625 0.3354123 35.09076037] [ 0. 0. 0. 1. ]] SLAMing on 231.619072329 meters Centerline goodness [0,1] 0.4175061562569957 Centerline is valid? [False, False] Translation: X:-40.10, Y:-2.82, Z:35.57 [[ 0.84243197 -0.08574631 0.53193603 -40.0971628 ] [ -0.44174528 0.45534413 0.77299601 -2.82464165] [ -0.30849551 -0.88617678 0.34571842 35.57164852] [ 0. 0. 0. 1. ]] SLAMing on 231.649072329 meters Centerline goodness [0,1] 0.4023187578955948 Centerline is valid? [False, False] Translation: X:-40.31, Y:-2.87, Z:36.04 [[ 0.83607404 -0.08401963 0.54214472 -40.30603495] [ -0.44620684 0.47079653 0.7610848 -2.86643373] [ -0.31918592 -0.87823193 0.35613063 36.04485368] [ 0. 0. 0. 1. ]] SLAMing on 231.679072329 meters Centerline goodness [0,1] 0.4023187578955948 Centerline is valid? [False, False] Translation: X:-40.52, Y:-2.91, Z:36.51 [[ 0.83354053 -0.07417415 0.54745628 -40.52082968] [ -0.45260748 0.47654336 0.75369284 -2.91268472] [ -0.31679118 -0.87601634 0.36364643 36.51113888] [ 0. 0. 0. 1. ]] SLAMing on 231.709072329 meters Centerline goodness [0,1] 0.4499325897781591 Centerline is valid? [False, False] Translation: X:-40.73, Y:-2.96, Z:36.97 [[ 0.828639 -0.08120528 0.55386199 -40.73278132] [ -0.44577533 0.50273202 0.74063815 -2.9580511 ] [ -0.33858789 -0.86061967 0.38038405 36.96857541] [ 0. 0. 0. 1. ]] SLAMing on 231.739072329 meters Centerline goodness [0,1] 0.46458077709611456 Centerline is valid? [False, False] Translation: X:-40.95, Y:-3.00, Z:37.42 [[ 0.82637825 -0.07648283 0.55789727 -40.94724853] [ -0.44409745 0.52063597 0.72918834 -3.00079533] [ -0.34623178 -0.85034614 0.39627641 37.42412296] [ 0. 0. 0. 1. ]] SLAMing on 231.769072329 meters Centerline goodness [0,1] 0.4791406649616369 Centerline is valid? [False, False] Translation: X:-41.16, Y:-3.04, Z:37.86 [[ 0.82444444 -0.07391563 0.56109522 -41.16108433] [ -0.441577 0.5360947 0.71945273 -3.04307176] [ -0.35397897 -0.84091554 0.40934085 37.86267452] [ 0. 0. 0. 1. ]] SLAMing on 231.799072329 meters Centerline goodness [0,1] 0.4950586402033954 Centerline is valid? [False, False] Translation: X:-41.37, Y:-3.07, Z:38.30 [[ 0.8218204 -0.07706882 0.56451008 -41.36877677] [ -0.4320445 0.56160405 0.70564753 -3.07337119] [ -0.37141457 -0.82380901 0.4282405 38.29788388] [ 0. 0. 0. 1. ]] SLAMing on 231.829072329 meters Centerline goodness [0,1] 0.5116202811821126 Centerline is valid? [False, False] Translation: X:-41.57, Y:-3.11, Z:38.70 [[ 0.81907791 -0.06721094 0.56973157 -41.57394248] [ -0.4319351 0.58133291 0.68955356 -3.10931755] [ -0.37754925 -0.81088516 0.44712618 38.70428952] [ 0. 0. 0. 1. ]] SLAMing on 231.859072329 meters Centerline goodness [0,1] 0.5108084827105295 Centerline is valid? [False, False] Translation: X:-41.78, Y:-3.15, Z:39.10 [[ 0.81573595 -0.05809139 0.57550001 -41.78315922] [ -0.43182651 0.60079689 0.67273246 -3.14987869] [ -0.38483858 -0.79728821 0.46500622 39.09805276] [ 0. 0. 0. 1. ]] SLAMing on 231.88907232900002 meters Centerline goodness [0,1] 0.5129058775174682 Centerline is valid? [False, False] Translation: X:-41.99, Y:-3.19, Z:39.48 [[ 0.80947996 -0.05406803 0.58465276 -41.9937978 ] [ -0.42752842 0.62823382 0.65003209 -3.19230335] [ -0.40244459 -0.77614362 0.48542706 39.48432737] [ 0. 0. 0. 1. ]] SLAMing on 231.919072329 meters Centerline goodness [0,1] 0.5046790481479196 Centerline is valid? [False, False] Translation: X:-42.21, Y:-3.24, Z:39.85 [[ 0.80674965 -0.04424141 0.58923484 -42.20509647] [ -0.42672712 0.64614977 0.63276728 -3.23836583] [ -0.40872847 -0.76192727 0.50240209 39.85162514] [ 0. 0. 0. 1. ]] SLAMing on 231.949072329 meters Centerline goodness [0,1] 0.43407328162610326 Centerline is valid? [False, False] Translation: X:-42.42, Y:-3.29, Z:40.20 [[ 8.05264917e-01 -3.85384525e-02 5.91661390e-01 -4.24167789e+01] [-4.23810401e-01 6.60446618e-01 6.19834663e-01 -3.28856042e+00] [-4.14648233e-01 -7.49883359e-01 5.15501494e-01 4.02019183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.979072329 meters Centerline goodness [0,1] 0.4708552563705767 Centerline is valid? [False, False] Translation: X:-42.63, Y:-3.34, Z:40.55 [[ 8.03428320e-01 -3.80632426e-02 5.94183578e-01 -4.26264348e+01] [-4.16141824e-01 6.77832298e-01 6.06110022e-01 -3.33568504e+00] [-4.25827333e-01 -7.34230594e-01 5.28749957e-01 4.05492574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.009072329 meters Centerline goodness [0,1] 0.4241504603823444 Centerline is valid? [False, False] Translation: X:-42.84, Y:-3.38, Z:40.89 [[ 8.03149829e-01 -3.33635827e-02 5.94842184e-01 -4.28388870e+01] [-4.13549290e-01 6.87496247e-01 5.96930394e-01 -3.38392441e+00] [-4.28867506e-01 -7.25421107e-01 5.38365007e-01 4.08869759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.039072329 meters Centerline goodness [0,1] 0.44129604787947585 Centerline is valid? [False, False] Translation: X:-43.05, Y:-3.43, Z:41.21 [[ 8.02894015e-01 -2.70497532e-02 5.95507776e-01 -4.30499102e+01] [-4.11990761e-01 6.96818053e-01 5.87118568e-01 -3.43199832e+00] [-4.30841982e-01 -7.16737686e-01 5.48326796e-01 4.12139785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.069072329 meters Centerline goodness [0,1] 0.4696140582732773 Centerline is valid? [False, False] Translation: X:-43.25, Y:-3.48, Z:41.52 [[ 8.05479596e-01 -1.97136847e-02 5.92295526e-01 -4.32540824e+01] [-4.06549793e-01 7.08801459e-01 5.76470083e-01 -3.47860739e+00] [-4.31184283e-01 -7.05132514e-01 5.62910519e-01 4.15228386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.099072329 meters Centerline goodness [0,1] 0.4308299578407869 Centerline is valid? [False, False] Translation: X:-43.46, Y:-3.53, Z:41.82 [[ 8.06434619e-01 -7.02692575e-03 5.91281513e-01 -4.34588876e+01] [-4.06116397e-01 7.20220537e-01 5.62451642e-01 -3.52775457e+00] [-4.29805395e-01 -6.93709593e-01 5.77957025e-01 4.18235515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.129072329 meters Centerline goodness [0,1] 0.424951912138824 Centerline is valid? [False, False] Translation: X:-43.66, Y:-3.58, Z:42.11 [[ 8.06605867e-01 4.50689116e-03 5.91072469e-01 -4.36595466e+01] [-4.06384104e-01 7.30375628e-01 5.49002188e-01 -3.57759994e+00] [-4.29230633e-01 -6.83030841e-01 5.90956795e-01 4.21083757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.159072329 meters Centerline goodness [0,1] 0.44974562600818957 Centerline is valid? [False, False] Translation: X:-43.86, Y:-3.63, Z:42.38 [[ 8.05615637e-01 1.20867207e-02 5.92315251e-01 -4.38629146e+01] [-4.06908656e-01 7.37949087e-01 5.38383219e-01 -3.63142709e+00] [-4.30591211e-01 -6.74748143e-01 5.99421515e-01 4.23839603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.189072329 meters Centerline goodness [0,1] 0.46454818341786563 Centerline is valid? [False, False] Translation: X:-44.08, Y:-3.69, Z:42.66 [[ 8.02416770e-01 1.82943070e-02 5.96483567e-01 -4.40781227e+01] [-4.09525056e-01 7.43911365e-01 5.28095739e-01 -3.69203373e+00] [-4.34069759e-01 -6.68027843e-01 6.04418932e-01 4.26638823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.219072329 meters Centerline goodness [0,1] 0.48410449459118454 Centerline is valid? [False, False] Translation: X:-44.29, Y:-3.76, Z:42.95 [[ 8.01260436e-01 1.99629743e-02 5.97982603e-01 -4.42940433e+01] [-4.09758894e-01 7.46583724e-01 5.24128221e-01 -3.75542050e+00] [-4.35980921e-01 -6.64991896e-01 6.06388006e-01 4.29485981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.249072329 meters Centerline goodness [0,1] 0.4619291436121893 Centerline is valid? [False, False] Translation: X:-44.52, Y:-3.82, Z:43.24 [[ 7.98725597e-01 1.87228880e-02 6.01404086e-01 -4.45163632e+01] [-4.13051746e-01 7.43858467e-01 5.25416821e-01 -3.82174153e+00] [-4.37522201e-01 -6.68074872e-01 6.01872320e-01 4.32393699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.279072329 meters Centerline goodness [0,1] 0.4621748189713861 Centerline is valid? [False, False] Translation: X:-44.74, Y:-3.89, Z:43.53 [[ 7.99113552e-01 1.73480143e-02 6.00929761e-01 -4.47388413e+01] [-4.13037936e-01 7.42155110e-01 5.27830897e-01 -3.89205910e+00] [-4.36826275e-01 -6.70003611e-01 6.00231594e-01 4.35341791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.309072329 meters Centerline goodness [0,1] 0.48473597359735976 Centerline is valid? [False, False] Translation: X:-44.96, Y:-3.97, Z:43.83 [[ 7.99915584e-01 1.62134806e-02 5.99893475e-01 -4.49622062e+01] [-4.12998554e-01 7.40127608e-01 5.30700780e-01 -3.96527748e+00] [-4.35393216e-01 -6.72270962e-01 5.98735752e-01 4.38282981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.339072329 meters Centerline goodness [0,1] 0.4784344390484814 Centerline is valid? [False, False] Translation: X:-45.18, Y:-4.04, Z:44.12 [[ 8.02312269e-01 1.88651027e-02 5.96606345e-01 -4.51827154e+01] [-4.16041752e-01 7.34387853e-01 5.36268349e-01 -4.04266349e+00] [-4.28023695e-01 -6.78467825e-01 5.97057055e-01 4.41158921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.369072329 meters Centerline goodness [0,1] 0.4944491359601244 Centerline is valid? [False, False] Translation: X:-45.40, Y:-4.12, Z:44.40 [[ 8.05229798e-01 2.00305304e-02 5.92624460e-01 -4.54007359e+01] [-4.15288488e-01 7.32431287e-01 5.39518194e-01 -4.11951176e+00] [-4.23249861e-01 -6.80546242e-01 5.98093946e-01 4.44022286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.399072329 meters Centerline goodness [0,1] 0.5060811227954644 Centerline is valid? [False, False] Translation: X:-45.62, Y:-4.20, Z:44.68 [[ 8.06474165e-01 1.70975312e-02 5.91022077e-01 -4.56205927e+01] [-4.14622124e-01 7.28979771e-01 5.44680629e-01 -4.19933182e+00] [-4.21530444e-01 -6.84321685e-01 5.94992367e-01 4.46827489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.429072329 meters Centerline goodness [0,1] 0.4875718198480199 Centerline is valid? [False, False] Translation: X:-45.84, Y:-4.28, Z:44.97 [[ 8.07933180e-01 1.67470720e-02 5.89036087e-01 -4.58397329e+01] [-4.14978356e-01 7.25865293e-01 5.48554956e-01 -4.28024320e+00] [-4.18374163e-01 -6.87632977e-01 5.93400327e-01 4.49748956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.459072329 meters Centerline goodness [0,1] 0.48362239026795983 Centerline is valid? [False, False] Translation: X:-46.06, Y:-4.37, Z:45.27 [[ 8.07025934e-01 1.63073429e-02 5.90290786e-01 -4.60644214e+01] [-4.22244581e-01 7.14749134e-01 5.57533128e-01 -4.37157676e+00] [-4.12817944e-01 -6.99190779e-01 5.83706775e-01 4.52692439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.489072329 meters Centerline goodness [0,1] 0.4806929573991492 Centerline is valid? [False, False] Translation: X:-46.29, Y:-4.46, Z:45.58 [[ 8.06714609e-01 1.00501592e-02 5.90855763e-01 -4.62947458e+01] [-4.24212125e-01 7.05937344e-01 5.67182986e-01 -4.46325690e+00] [-4.11406869e-01 -7.08202980e-01 5.73753368e-01 4.55781425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.519072329 meters Centerline goodness [0,1] 0.49503976387636306 Centerline is valid? [False, False] Translation: X:-46.53, Y:-4.56, Z:45.89 [[ 8.07671995e-01 7.05174478e-03 5.89589875e-01 -4.65270970e+01] [-4.31631944e-01 6.88288153e-01 5.83055129e-01 -4.56419662e+00] [-4.01696170e-01 -7.25403124e-01 5.58954824e-01 4.58925449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.549072329 meters Centerline goodness [0,1] 0.4949265112846688 Centerline is valid? [False, False] Translation: X:-46.76, Y:-4.66, Z:46.23 [[ 8.10867073e-01 1.75281543e-03 5.85227749e-01 -4.67627632e+01] [-4.31190117e-01 6.77911295e-01 5.95408565e-01 -4.66347076e+00] [-3.95688860e-01 -7.35141622e-01 5.50451744e-01 4.62267394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.579072329 meters Centerline goodness [0,1] 0.48843830005120326 Centerline is valid? [False, False] Translation: X:-46.99, Y:-4.76, Z:46.55 [[ 8.15005351e-01 -3.38949080e-03 5.79443517e-01 -4.69895064e+01] [-4.29634374e-01 6.67464521e-01 6.08198502e-01 -4.76168594e+00] [-3.88819472e-01 -7.44633886e-01 5.42530914e-01 4.65540550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.609072329 meters Centerline goodness [0,1] 0.4538626829018725 Centerline is valid? [False, False] Translation: X:-47.21, Y:-4.86, Z:46.88 [[ 8.18648731e-01 -9.65465962e-03 5.74213412e-01 -4.72096446e+01] [-4.27975098e-01 6.56469679e-01 6.21196327e-01 -4.85900108e+00] [-3.82951133e-01 -7.54290626e-01 5.33286116e-01 4.68762189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63907232900002 meters Centerline goodness [0,1] 0.4798503342943017 Centerline is valid? [False, False] Translation: X:-47.43, Y:-4.96, Z:47.22 [[ 8.21520844e-01 -1.26271100e-02 5.70038647e-01 -4.74301314e+01] [-4.27541760e-01 6.47816637e-01 6.30509039e-01 -4.95584739e+00] [-3.77242026e-01 -7.61691644e-01 5.26796254e-01 4.72153797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.669072329 meters Centerline goodness [0,1] 0.470457238589466 Centerline is valid? [False, False] Translation: X:-47.65, Y:-5.06, Z:47.55 [[ 8.24108877e-01 -1.56668522e-02 5.66214720e-01 -4.76470975e+01] [-4.30983849e-01 6.31306185e-01 6.44752218e-01 -5.05844239e+00] [-3.67556092e-01 -7.75375426e-01 5.13512871e-01 4.75495852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699072329 meters Centerline goodness [0,1] 0.45780327935801357 Centerline is valid? [False, False] Translation: X:-47.87, Y:-5.17, Z:47.90 [[ 8.25452726e-01 -1.72050780e-02 5.64208989e-01 -4.78661965e+01] [-4.34893790e-01 6.17826619e-01 6.55101259e-01 -5.16518184e+00] [-3.59854400e-01 -7.86126106e-01 5.02504285e-01 4.78960288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.729072329 meters Centerline goodness [0,1] 0.44501879699248126 Centerline is valid? [False, False] Translation: X:-48.08, Y:-5.27, Z:48.25 [[ 8.28112642e-01 -2.31838043e-02 5.60082105e-01 -4.80839241e+01] [-4.32537224e-01 6.09119754e-01 6.64744067e-01 -5.26909422e+00] [-3.56568370e-01 -7.92739325e-01 4.94391910e-01 4.82520663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.759072329 meters Centerline goodness [0,1] 0.4469214437367304 Centerline is valid? [False, False] Translation: X:-48.30, Y:-5.37, Z:48.61 [[ 8.31201064e-01 -2.87422706e-02 5.55228488e-01 -4.82968078e+01] [-4.29783158e-01 6.00303010e-01 6.74479602e-01 -5.37170538e+00] [-3.52691408e-01 -7.99256016e-01 4.86619556e-01 4.86108933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.789072329 meters Centerline goodness [0,1] 0.43643635473207365 Centerline is valid? [False, False] Translation: X:-48.51, Y:-5.47, Z:48.97 [[ 8.33999949e-01 -3.47868641e-02 5.50666831e-01 -4.85057805e+01] [-4.27335342e-01 5.90606096e-01 6.84520960e-01 -5.47303078e+00] [-3.49039525e-01 -8.06209844e-01 4.77699798e-01 4.89729452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.819072329 meters Centerline goodness [0,1] 0.4191837816891354 Centerline is valid? [False, False] Translation: X:-48.71, Y:-5.58, Z:49.35 [[ 8.38153266e-01 -3.88076710e-02 5.44052449e-01 -4.87104555e+01] [-4.26955594e-01 5.74040270e-01 6.98703577e-01 -5.57853462e+00] [-3.39423073e-01 -8.17906922e-01 4.64564575e-01 4.93480302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.849072329 meters Centerline goodness [0,1] 0.42460398257116094 Centerline is valid? [False, False] Translation: X:-48.91, Y:-5.68, Z:49.72 [[ 8.40586741e-01 -4.49358254e-02 5.39809876e-01 -4.89111803e+01] [-4.24709283e-01 5.63866188e-01 7.08291569e-01 -5.67685266e+00] [-3.36208204e-01 -8.24642767e-01 4.54893779e-01 4.97185888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.879072329 meters Centerline goodness [0,1] 0.40272405228225905 Centerline is valid? [False, False] Translation: X:-49.11, Y:-5.77, Z:50.09 [[ 8.43218173e-01 -4.81272349e-02 5.35412815e-01 -4.91074512e+01] [-4.22758266e-01 5.55840947e-01 7.15762733e-01 -5.77462158e+00] [-3.32052047e-01 -8.29894337e-01 4.48349001e-01 5.00878243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.909072329 meters Centerline goodness [0,1] 0.3773811951866204 Centerline is valid? [False, False] Translation: X:-49.30, Y:-5.88, Z:50.46 [[ 8.47453825e-01 -4.65695825e-02 5.28822549e-01 -4.92998754e+01] [-4.21296654e-01 5.47099648e-01 7.23319503e-01 -5.88269632e+00] [-3.23003318e-01 -8.35771050e-01 4.44022081e-01 5.04578026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.939072329 meters Centerline goodness [0,1] 0.39993878800244853 Centerline is valid? [False, False] Translation: X:-49.48, Y:-5.98, Z:50.82 [[ 8.51781484e-01 -4.93377963e-02 5.21568870e-01 -4.94845130e+01] [-4.16079134e-01 5.41248285e-01 7.30704077e-01 -5.98077028e+00] [-3.18349585e-01 -8.39414126e-01 4.40496840e-01 5.08169502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.969072329 meters Centerline goodness [0,1] 0.3706038351693186 Centerline is valid? [False, False] Translation: X:-49.66, Y:-6.07, Z:51.17 [[ 0.85525564 -0.0517066 0.51562023 -49.66090652] [ -0.41212136 0.53534377 0.73726728 -6.07382057] [ -0.31415566 -0.8430501 0.43654638 51.16582598] [ 0. 0. 0. 1. ]] SLAMing on 232.999072329 meters Centerline goodness [0,1] 0.39431242854809734 Centerline is valid? [False, False] Translation: X:-49.83, Y:-6.17, Z:51.52 [[ 0.85870823 -0.05370634 0.50964282 -49.83395943] [ -0.41024292 0.52395221 0.74644144 -6.17012091] [ -0.30711712 -0.85005277 0.42788943 51.52416096] [ 0. 0. 0. 1. ]] SLAMing on 233.029072329 meters Centerline goodness [0,1] 0.38249214574238033 Centerline is valid? [False, False] Translation: X:-50.00, Y:-6.26, Z:51.88 [[ 0.85922827 -0.05691183 0.50841697 -50.0044466 ] [ -0.40993769 0.51796117 0.75077781 -6.25575814] [ -0.30606839 -0.8535088 0.42171657 51.87935435] [ 0. 0. 0. 1. ]] SLAMing on 233.059072329 meters Centerline goodness [0,1] 0.3572829417773238 Centerline is valid? [False, False] Translation: X:-50.17, Y:-6.35, Z:52.25 [[ 0.85910524 -0.06053561 0.50820628 -50.1726066 ] [ -0.41168235 0.50820331 0.75647012 -6.34852195] [ -0.30406549 -0.859107 0.41167869 52.24675685] [ 0. 0. 0. 1. ]] SLAMing on 233.089072329 meters Centerline goodness [0,1] 0.35001735083386065 Centerline is valid? [False, False] Translation: X:-50.34, Y:-6.44, Z:52.60 [[ 0.86003092 -0.06280141 0.50636232 -50.34019898] [ -0.40994635 0.50581824 0.75900718 -6.43825127] [ -0.30379401 -0.86035103 0.40927412 52.60379571] [ 0. 0. 0. 1. ]] SLAMing on 233.119072329 meters Centerline goodness [0,1] 0.3651453974468779 Centerline is valid? [False, False] Translation: X:-50.50, Y:-6.53, Z:52.95 [[ 0.8613926 -0.06463059 0.50381115 -50.50098026] [ -0.40750032 0.50418981 0.76140405 -6.52677919] [ -0.30322644 -0.86117102 0.40796839 52.94664104] [ 0. 0. 0. 1. ]] SLAMing on 233.149072329 meters Centerline goodness [0,1] 0.3387189019159279 Centerline is valid? [False, False] Translation: X:-50.66, Y:-6.61, Z:53.29 [[ 0.8629237 -0.06471791 0.5011729 -50.66004891] [ -0.40501628 0.50451918 0.76251046 -6.61363767] [ -0.30219943 -0.86097154 0.40914975 53.29162896] [ 0. 0. 0. 1. ]] SLAMing on 233.179072329 meters Centerline goodness [0,1] 0.36391094059304907 Centerline is valid? [False, False] Translation: X:-50.81, Y:-6.71, Z:53.63 [[ 0.86799079 -0.06647109 0.49211135 -50.81118294] [ -0.39821107 0.49890123 0.76975678 -6.70525363] [ -0.29668153 -0.86410599 0.40657215 53.62697751] [ 0. 0. 0. 1. ]] SLAMing on 233.209072329 meters Centerline goodness [0,1] 0.36005476428877947 Centerline is valid? [False, False] Translation: X:-50.96, Y:-6.79, Z:53.96 [[ 0.86904169 -0.068362 0.48999304 -50.96170518] [ -0.39655387 0.49595194 0.77251324 -6.78528325] [ -0.29582354 -0.86565485 0.4038937 53.96285272] [ 0. 0. 0. 1. ]] SLAMing on 233.239072329 meters Centerline goodness [0,1] 0.34075541846260704 Centerline is valid? [False, False] Translation: X:-51.11, Y:-6.87, Z:54.30 [[ 0.86967472 -0.071072 0.48848199 -51.11271092] [ -0.39547082 0.49190294 0.7756509 -6.86617196] [ -0.29541279 -0.86774435 0.39968865 54.30303427] [ 0. 0. 0. 1. ]] SLAMing on 233.269072329 meters Centerline goodness [0,1] 0.34060056749749934 Centerline is valid? [False, False] Translation: X:-51.26, Y:-6.95, Z:54.65 [[ 0.86969548 -0.07235665 0.48825638 -51.2618646 ] [ -0.39702144 0.48517934 0.77908599 -6.95178468] [ -0.29326396 -0.87141582 0.39323113 54.65198031] [ 0. 0. 0. 1. ]] SLAMing on 233.299072329 meters Centerline goodness [0,1] 0.32769076838257816 Centerline is valid? [False, False] Translation: X:-51.41, Y:-7.04, Z:54.99 [[ 0.86918201 -0.07296849 0.48907897 -51.41056663] [ -0.39788528 0.48406981 0.77933544 -7.03539601] [ -0.2936153 -0.87198166 0.39171168 54.99004831] [ 0. 0. 0. 1. ]] SLAMing on 233.329072329 meters Centerline goodness [0,1] 0.34798766667347314 Centerline is valid? [False, False] Translation: X:-51.56, Y:-7.12, Z:55.32 [[ 0.87019229 -0.07493258 0.48698099 -51.55757461] [ -0.39587745 0.48209474 0.78157898 -7.1226385 ] [ -0.2933367 -0.8729088 0.38985101 55.32453139] [ 0. 0. 0. 1. ]] SLAMing on 233.359072329 meters Centerline goodness [0,1] 0.33598774885145477 Centerline is valid? [False, False] Translation: X:-51.70, Y:-7.21, Z:55.66 [[ 0.8730781 -0.07419274 0.48190255 -51.69874576] [ -0.39245168 0.47957297 0.78485122 -7.21473177] [ -0.2893377 -0.87435988 0.3895876 55.65890748] [ 0. 0. 0. 1. ]] SLAMing on 233.38907232900002 meters Centerline goodness [0,1] 0.3399615793345868 Centerline is valid? [False, False] Translation: X:-51.84, Y:-7.30, Z:55.99 [[ 0.87417558 -0.07666304 0.47952042 -51.83902804] [ -0.39034856 0.47646431 0.78778789 -7.29528935] [ -0.28886858 -0.87584504 0.38658816 55.99303859] [ 0. 0. 0. 1. ]] SLAMing on 233.419072329 meters Centerline goodness [0,1] 0.3217009097413881 Centerline is valid? [False, False] Translation: X:-51.98, Y:-7.37, Z:56.33 [[ 0.87485011 -0.08055382 0.47764879 -51.97845352] [ -0.38858056 0.47203309 0.79132162 -7.37412458] [ -0.28921002 -0.87789284 0.38165655 56.32977697] [ 0. 0. 0. 1. ]] SLAMing on 233.449072329 meters Centerline goodness [0,1] 0.3497802759325498 Centerline is valid? [False, False] Translation: X:-52.12, Y:-7.45, Z:56.67 [[ 0.87460548 -0.08474714 0.4773711 -52.1164516 ] [ -0.38804036 0.46794032 0.79401293 -7.45144531] [ -0.29067151 -0.87968732 0.37637786 56.66760316] [ 0. 0. 0. 1. ]] SLAMing on 233.479072329 meters Centerline goodness [0,1] 0.34565150740929995 Centerline is valid? [False, False] Translation: X:-52.25, Y:-7.53, Z:57.01 [[ 0.87238128 -0.0881647 0.48080962 -52.25128273] [ -0.3907933 0.4650894 0.79433774 -7.52987605] [ -0.29365201 -0.88086255 0.37128111 57.01257937] [ 0. 0. 0. 1. ]] SLAMing on 233.509072329 meters Centerline goodness [0,1] 0.35215438023279555 Centerline is valid? [False, False] Translation: X:-52.39, Y:-7.61, Z:57.35 [[ 0.87177715 -0.08887426 0.48177378 -52.38548469] [ -0.39068854 0.46720909 0.79314446 -7.60966371] [ -0.29557921 -0.8796687 0.37258006 57.34767917] [ 0. 0. 0. 1. ]] SLAMing on 233.539072329 meters Centerline goodness [0,1] 0.3476803596975271 Centerline is valid? [False, False] Translation: X:-52.52, Y:-7.69, Z:57.68 [[ 0.87138502 -0.08846174 0.48255846 -52.51901558] [ -0.39040372 0.47064196 0.79125286 -7.69112783] [ -0.29710787 -0.8778785 0.37557456 57.68110051] [ 0. 0. 0. 1. ]] SLAMing on 233.569072329 meters Centerline goodness [0,1] 0.3476803596975271 Centerline is valid? [False, False] Translation: X:-52.65, Y:-7.77, Z:58.01 [[ 0.87161869 -0.09190007 0.48149272 -52.6535244 ] [ -0.38853342 0.46937148 0.79292635 -7.76853601] [ -0.29886893 -0.87820544 0.3734067 58.01154317] [ 0. 0. 0. 1. ]] SLAMing on 233.599072329 meters Centerline goodness [0,1] 0.34610908051375244 Centerline is valid? [False, False] Translation: X:-52.78, Y:-7.86, Z:58.34 [[ 0.8740186 -0.09093336 0.47730766 -52.78021979] [ -0.38450013 0.47115269 0.79383549 -7.85637469] [ -0.29707092 -0.87735185 0.37683233 58.3428387 ] [ 0. 0. 0. 1. ]] SLAMing on 233.629072329 meters Centerline goodness [0,1] 0.3447395822699524 Centerline is valid? [False, False] Translation: X:-52.91, Y:-7.94, Z:58.68 [[ 0.87465213 -0.09306004 0.47573468 -52.90904232] [ -0.38288862 0.46924445 0.79574239 -7.93574742] [ -0.29728768 -0.87815117 0.37479402 58.67764824] [ 0. 0. 0. 1. ]] SLAMing on 233.659072329 meters Centerline goodness [0,1] 0.3396137733728415 Centerline is valid? [False, False] Translation: X:-53.04, Y:-8.01, Z:59.02 [[ 0.87366347 -0.0970135 0.47676045 -53.03607429] [ -0.38420307 0.46363215 0.79839416 -8.0149361 ] [ -0.29849648 -0.88070064 0.36778558 59.01885314] [ 0. 0. 0. 1. ]] SLAMing on 233.689072329 meters Centerline goodness [0,1] 0.3333946867906007 Centerline is valid? [False, False] Translation: X:-53.17, Y:-8.09, Z:59.36 [[ 0.87304481 -0.09994866 0.47728716 -53.16521735] [ -0.3842158 0.4617279 0.79949081 -8.09359534] [ -0.30028483 -0.88137257 0.36470729 59.36143044] [ 0. 0. 0. 1. ]] SLAMing on 233.719072329 meters Centerline goodness [0,1] 0.3454675670145283 Centerline is valid? [False, False] Translation: X:-53.29, Y:-8.17, Z:59.70 [[ 0.87195715 -0.10117142 0.4790147 -53.29272392] [ -0.38503547 0.4626024 0.79859045 -8.172061 ] [ -0.30238788 -0.8807743 0.36441489 59.70063827] [ 0. 0. 0. 1. ]] SLAMing on 233.749072329 meters Centerline goodness [0,1] 0.3448233486943164 Centerline is valid? [False, False] Translation: X:-53.41, Y:-8.25, Z:60.04 [[ 0.87125564 -0.10087136 0.48035256 -53.41366121] [ -0.38392323 0.46968337 0.79498458 -8.25479169] [ -0.30580479 -0.8770533 0.37048743 60.03689461] [ 0. 0. 0. 1. ]] SLAMing on 233.779072329 meters Centerline goodness [0,1] 0.34459861045641793 Centerline is valid? [False, False] Translation: X:-53.54, Y:-8.33, Z:60.36 [[ 0.87100692 -0.10082234 0.48081368 -53.53646999] [ -0.3825515 0.47484849 0.79257382 -8.33346402] [ -0.3082228 -0.87427328 0.37502658 60.36370705] [ 0. 0. 0. 1. ]] SLAMing on 233.809072329 meters Centerline goodness [0,1] 0.34779667964746874 Centerline is valid? [False, False] Translation: X:-53.66, Y:-8.41, Z:60.69 [[ 0.87144312 -0.10320576 0.47951587 -53.65843424] [ -0.37959325 0.47723267 0.79256416 -8.41214541] [ -0.31063782 -0.87269557 0.37670492 60.68656591] [ 0. 0. 0. 1. ]] SLAMing on 233.839072329 meters Centerline goodness [0,1] 0.34042640342433494 Centerline is valid? [False, False] Translation: X:-53.78, Y:-8.49, Z:61.01 [[ 0.87076126 -0.10472782 0.48042367 -53.77965468] [ -0.37916077 0.47907707 0.79165793 -8.4878364 ] [ -0.31306857 -0.87150287 0.37745307 61.00960885] [ 0. 0. 0. 1. ]] SLAMing on 233.869072329 meters Centerline goodness [0,1] 0.3510647010647011 Centerline is valid? [False, False] Translation: X:-53.90, Y:-8.56, Z:61.35 [[ 0.86849172 -0.10981352 0.48338713 -53.90172691] [ -0.38019149 0.47817172 0.79171096 -8.56491593] [ -0.31808262 -0.87137409 0.37353801 61.34536644] [ 0. 0. 0. 1. ]] SLAMing on 233.899072329 meters Centerline goodness [0,1] 0.3556748560539311 Centerline is valid? [False, False] Translation: X:-54.03, Y:-8.64, Z:61.68 [[ 0.86626947 -0.11169312 0.48693106 -54.02505628] [ -0.38263167 0.47833215 0.79043745 -8.64062604] [ -0.32120121 -0.87104707 0.37162721 61.67639986] [ 0. 0. 0. 1. ]] SLAMing on 233.929072329 meters Centerline goodness [0,1] 0.35636936807844266 Centerline is valid? [False, False] Translation: X:-54.15, Y:-8.72, Z:62.01 [[ 0.86436208 -0.11482205 0.48958564 -54.15256847] [ -0.38386231 0.47827255 0.78987663 -8.7203328 ] [ -0.32485062 -0.87067288 0.3693248 62.01485434] [ 0. 0. 0. 1. ]] SLAMing on 233.959072329 meters Centerline goodness [0,1] 0.3585338854495511 Centerline is valid? [False, False] Translation: X:-54.27, Y:-8.80, Z:62.34 [[ 0.86261156 -0.11676349 0.49220685 -54.27227062] [ -0.38339111 0.48386579 0.78669254 -8.80104233] [ -0.33001902 -0.86731781 0.37262214 62.34318145] [ 0. 0. 0. 1. ]] SLAMing on 233.989072329 meters Centerline goodness [0,1] 0.3602891487313906 Centerline is valid? [False, False] Translation: X:-54.39, Y:-8.88, Z:62.66 [[ 0.86292334 -0.11658902 0.49170145 -54.39322281] [ -0.38106022 0.48894007 0.7846851 -8.87893776] [ -0.33189821 -0.86449095 0.37749036 62.66329566] [ 0. 0. 0. 1. ]] SLAMing on 234.019072329 meters Centerline goodness [0,1] 0.3625471852946004 Centerline is valid? [False, False] Translation: X:-54.51, Y:-8.95, Z:62.98 [[ 0.86347153 -0.11664262 0.49072539 -54.51152428] [ -0.37841174 0.49345629 0.7831382 -8.95497563] [ -0.33349882 -0.8619138 0.38194652 62.97647833] [ 0. 0. 0. 1. ]] SLAMing on 234.049072329 meters Centerline goodness [0,1] 0.36395723461451646 Centerline is valid? [False, False] Translation: X:-54.63, Y:-9.03, Z:63.29 [[ 0.86380989 -0.12029339 0.48924633 -54.62585216] [ -0.37491165 0.49522521 0.78370482 -9.03094181] [ -0.33656162 -0.86039613 0.38268104 63.28694791] [ 0. 0. 0. 1. ]] SLAMing on 234.079072329 meters Centerline goodness [0,1] 0.3668896458324784 Centerline is valid? [False, False] Translation: X:-54.75, Y:-9.11, Z:63.60 [[ 0.86238798 -0.12290191 0.49110294 -54.74536895] [ -0.37576517 0.49466987 0.78364677 -9.10542136] [ -0.33924551 -0.86034693 0.38041509 63.60153043] [ 0. 0. 0. 1. ]] SLAMing on 234.109072329 meters Centerline goodness [0,1] 0.36672137874435784 Centerline is valid? [False, False] Translation: X:-54.86, Y:-9.18, Z:63.92 [[ 0.86082821 -0.12415444 0.49351845 -54.86495566] [ -0.37723556 0.49523122 0.78258506 -9.17965687] [ -0.34156716 -0.85984401 0.37947353 63.91598287] [ 0. 0. 0. 1. ]] SLAMing on 234.13907232900002 meters Centerline goodness [0,1] 0.3742158415434296 Centerline is valid? [False, False] Translation: X:-54.99, Y:-9.26, Z:64.24 [[ 0.85926966 -0.12583427 0.49580378 -54.98546279] [ -0.37701806 0.49927196 0.78011851 -9.25850339] [ -0.34570656 -0.85725915 0.38156745 64.23810945] [ 0. 0. 0. 1. ]] SLAMing on 234.169072329 meters Centerline goodness [0,1] 0.37572159336031385 Centerline is valid? [False, False] Translation: X:-55.10, Y:-9.33, Z:64.55 [[ 0.85884017 -0.1256626 0.49659084 -55.10475729] [ -0.37610634 0.5034571 0.77786565 -9.33490731] [ -0.34776081 -0.85483324 0.38512668 64.5502446 ] [ 0. 0. 0. 1. ]] SLAMing on 234.199072329 meters Centerline goodness [0,1] 0.37660068652237366 Centerline is valid? [False, False] Translation: X:-55.22, Y:-9.41, Z:64.86 [[ 0.85788257 -0.12470341 0.49848425 -55.22194557] [ -0.37607336 0.50868732 0.77447146 -9.40970741] [ -0.35015186 -0.85187221 0.38949636 64.8588735 ] [ 0. 0. 0. 1. ]] SLAMing on 234.229072329 meters Centerline goodness [0,1] 0.3782306775691334 Centerline is valid? [False, False] Translation: X:-55.34, Y:-9.49, Z:65.17 [[ 0.85554887 -0.12883111 0.50143661 -55.33731906] [ -0.37575824 0.51175717 0.77259973 -9.48668494] [ -0.35614866 -0.84941576 0.38942392 65.17314546] [ 0. 0. 0. 1. ]] SLAMing on 234.259072329 meters Centerline goodness [0,1] 0.3855382087099425 Centerline is valid? [False, False] Translation: X:-55.45, Y:-9.56, Z:65.48 [[ 0.85422004 -0.13163147 0.50297244 -55.45206229] [ -0.37615601 0.51136046 0.77266884 -9.55986457] [ -0.35890775 -0.84922532 0.38730038 65.47828752] [ 0. 0. 0. 1. ]] SLAMing on 234.289072329 meters Centerline goodness [0,1] 0.3889904112682997 Centerline is valid? [False, False] Translation: X:-55.57, Y:-9.63, Z:65.78 [[ 0.85337787 -0.1341742 0.50372958 -55.56791145] [ -0.37592022 0.51106212 0.77298091 -9.6339037 ] [ -0.36115121 -0.84900694 0.38569031 65.78478059] [ 0. 0. 0. 1. ]] SLAMing on 234.319072329 meters Centerline goodness [0,1] 0.39006086026811415 Centerline is valid? [False, False] Translation: X:-55.68, Y:-9.71, Z:66.08 [[ 0.85337143 -0.13608191 0.50322849 -55.67891692] [ -0.37334914 0.51417208 0.77216416 -9.70911222] [ -0.36382362 -0.84682276 0.3879737 66.08450689] [ 0. 0. 0. 1. ]] SLAMing on 234.349072329 meters Centerline goodness [0,1] 0.3921959848609511 Centerline is valid? [False, False] Translation: X:-55.79, Y:-9.78, Z:66.38 [[ 0.85403676 -0.13628845 0.5020425 -55.79103576] [ -0.37100311 0.51693088 0.77145263 -9.78347685] [ -0.36466136 -0.84510823 0.39091453 66.37752526] [ 0. 0. 0. 1. ]] SLAMing on 234.379072329 meters Centerline goodness [0,1] 0.38103168239478613 Centerline is valid? [False, False] Translation: X:-55.90, Y:-9.86, Z:66.66 [[ 0.85424184 -0.13577762 0.50183197 -55.90085968] [ -0.36971762 0.51995972 0.77003296 -9.85691106] [ -0.36548565 -0.84333049 0.39397197 66.66497496] [ 0. 0. 0. 1. ]] SLAMing on 234.409072329 meters Centerline goodness [0,1] 0.3906491260576864 Centerline is valid? [False, False] Translation: X:-56.01, Y:-9.93, Z:66.96 [[ 0.85384781 -0.13474956 0.50277875 -56.01224442] [ -0.36969186 0.52298171 0.76799613 -9.93153865] [ -0.36643123 -0.84162503 0.39673097 66.95726637] [ 0. 0. 0. 1. ]] SLAMing on 234.439072329 meters Centerline goodness [0,1] 0.3903539494828794 Centerline is valid? [False, False] Translation: X:-56.12, Y:-10.01, Z:67.25 [[ 0.8547111 -0.13525406 0.5011739 -56.11966539] [ -0.36777724 0.5235723 0.76851282 -10.00984439] [ -0.36634525 -0.84117679 0.39775969 67.24861846] [ 0. 0. 0. 1. ]] SLAMing on 234.469072329 meters Centerline goodness [0,1] 0.3945680641768575 Centerline is valid? [False, False] Translation: X:-56.22, Y:-10.08, Z:67.51 [[ 0.85527765 -0.13485099 0.50031525 -56.21676683] [ -0.36733385 0.52321072 0.76897099 -10.07631824] [ -0.36546681 -0.84146643 0.3979551 67.5072566 ] [ 0. 0. 0. 1. ]] SLAMing on 234.499072329 meters Centerline goodness [0,1] 0.3916880979323115 Centerline is valid? [False, False] Translation: X:-56.31, Y:-10.14, Z:67.75 [[ 0.85643221 -0.13678935 0.49780773 -56.3073012 ] [ -0.36538149 0.52061153 0.77166055 -10.14254819] [ -0.36471939 -0.84276468 0.39588819 67.75448826] [ 0. 0. 0. 1. ]] SLAMing on 234.529072329 meters Centerline goodness [0,1] 0.392084259030692 Centerline is valid? [False, False] Translation: X:-56.40, Y:-10.20, Z:67.99 [[ 0.85680624 -0.13806247 0.49681165 -56.39695673] [ -0.36376884 0.52101729 0.77214844 -10.20391872] [ -0.36545219 -0.8423062 0.39618804 67.98862384] [ 0. 0. 0. 1. ]] SLAMing on 234.559072329 meters Centerline goodness [0,1] 0.37415959043526537 Centerline is valid? [False, False] Translation: X:-56.49, Y:-10.26, Z:68.22 [[ 0.85622411 -0.13750074 0.49796969 -56.48730941] [ -0.36381646 0.52385321 0.77020478 -10.26416602] [ -0.36676675 -0.84063747 0.39851072 68.22430253] [ 0. 0. 0. 1. ]] SLAMing on 234.589072329 meters Centerline goodness [0,1] 0.3763730612580738 Centerline is valid? [False, False] Translation: X:-56.57, Y:-10.32, Z:68.45 [[ 0.85604001 -0.13709576 0.49839769 -56.57203945] [ -0.36330429 0.52630051 0.7687768 -10.32376034] [ -0.367703 -0.83917371 0.40072682 68.45334852] [ 0. 0. 0. 1. ]] SLAMing on 234.619072329 meters Centerline goodness [0,1] 0.3882575757575758 Centerline is valid? [False, False] Translation: X:-56.66, Y:-10.38, Z:68.68 [[ 0.855703 -0.13655671 0.49912387 -56.65780108] [ -0.36341515 0.52806083 0.76751625 -10.38179648] [ -0.36837726 -0.83815513 0.40223646 68.67774921] [ 0. 0. 0. 1. ]] SLAMing on 234.649072329 meters Centerline goodness [0,1] 0.3840135073920027 Centerline is valid? [False, False] Translation: X:-56.74, Y:-10.44, Z:68.89 [[ 0.85611804 -0.13651773 0.49842232 -56.74037142] [ -0.36230251 0.52919881 0.76725844 -10.43940569] [ -0.36850888 -0.83744345 0.40359594 68.89468199] [ 0. 0. 0. 1. ]] SLAMing on 234.679072329 meters Centerline goodness [0,1] 0.3659863945578231 Centerline is valid? [False, False] Translation: X:-56.83, Y:-10.50, Z:69.12 [[ 0.8545666 -0.14125997 0.49976149 -56.82505827] [ -0.35981133 0.53288164 0.76588051 -10.49808416] [ -0.37450199 -0.83431575 0.40455591 69.11690269] [ 0. 0. 0. 1. ]] SLAMing on 234.709072329 meters Centerline goodness [0,1] 0.37338117627649925 Centerline is valid? [False, False] Translation: X:-56.91, Y:-10.55, Z:69.33 [[ 0.85245027 -0.14485627 0.50233972 -56.91121467] [ -0.35790402 0.53870729 0.76269205 -10.5534853 ] [ -0.3810948 -0.82994645 0.40737653 69.333507 ] [ 0. 0. 0. 1. ]] SLAMing on 234.739072329 meters Centerline goodness [0,1] 0.38025236072739266 Centerline is valid? [False, False] Translation: X:-57.00, Y:-10.61, Z:69.55 [[ 0.85112648 -0.14758421 0.50378826 -56.99665194] [ -0.35572154 0.54361573 0.76022636 -10.60994662] [ -0.38606463 -0.82625712 0.41018687 69.55201085] [ 0. 0. 0. 1. ]] SLAMing on 234.769072329 meters Centerline goodness [0,1] 0.39120489624332844 Centerline is valid? [False, False] Translation: X:-57.08, Y:-10.67, Z:69.78 [[ 0.84868152 -0.1536322 0.50609962 -57.08422663] [ -0.35245757 0.54917552 0.7577466 -10.66692495] [ -0.3943518 -0.82146418 0.41192628 69.77655204] [ 0. 0. 0. 1. ]] SLAMing on 234.799072329 meters Centerline goodness [0,1] 0.39221464339439904 Centerline is valid? [False, False] Translation: X:-57.17, Y:-10.72, Z:70.00 [[ 0.84852141 -0.15500545 0.50594933 -57.1703815 ] [ -0.34987344 0.55297347 0.75618048 -10.72489396] [ -0.39698865 -0.81865356 0.41497754 69.99942255] [ 0. 0. 0. 1. ]] SLAMing on 234.829072329 meters Centerline goodness [0,1] 0.3937668873625807 Centerline is valid? [False, False] Translation: X:-57.25, Y:-10.78, Z:70.22 [[ 0.84908842 -0.15468727 0.50509475 -57.25446301] [ -0.34627232 0.55910079 0.75332715 -10.78214936] [ -0.39892899 -0.81454169 0.42116209 70.21606173] [ 0. 0. 0. 1. ]] SLAMing on 234.859072329 meters Centerline goodness [0,1] 0.40113378684807255 Centerline is valid? [False, False] Translation: X:-57.34, Y:-10.84, Z:70.43 [[ 0.84934032 -0.15219087 0.50542948 -57.33682845] [ -0.34554993 0.56352392 0.75035727 -10.83876672] [ -0.39901913 -0.81195981 0.42603404 70.42613729] [ 0. 0. 0. 1. ]] SLAMing on 234.88907232900002 meters Centerline goodness [0,1] 0.40004947025600857 Centerline is valid? [False, False] Translation: X:-57.42, Y:-10.90, Z:70.63 [[ 0.84978157 -0.15046889 0.50520333 -57.41875164] [ -0.34466199 0.56655254 0.74848268 -10.89577876] [ -0.39884759 -0.81017117 0.429585 70.63279922] [ 0. 0. 0. 1. ]] SLAMing on 234.919072329 meters Centerline goodness [0,1] 0.4009740594754112 Centerline is valid? [False, False] Translation: X:-57.50, Y:-10.95, Z:70.84 [[ 0.84969137 -0.1482935 0.50599764 -57.50347678] [ -0.34592372 0.56747601 0.74719994 -10.95437683] [ -0.39794642 -0.80992593 0.43088123 70.84294633] [ 0. 0. 0. 1. ]] SLAMing on 234.949072329 meters Centerline goodness [0,1] 0.36602318194942873 Centerline is valid? [False, False] Translation: X:-57.59, Y:-11.01, Z:71.05 [[ 0.84952625 -0.14814148 0.50631932 -57.58602873] [ -0.34626708 0.56749764 0.74702446 -11.01262916] [ -0.39800033 -0.8099386 0.43080762 71.04852565] [ 0. 0. 0. 1. ]] SLAMing on 234.979072329 meters Centerline goodness [0,1] 0.37628313476522246 Centerline is valid? [False, False] Translation: X:-57.67, Y:-11.07, Z:71.26 [[ 0.84910144 -0.14857882 0.50690342 -57.66999126] [ -0.34643844 0.56777761 0.74673221 -11.07241606] [ -0.398757 -0.80966223 0.43062737 71.25685292] [ 0. 0. 0. 1. ]] SLAMing on 235.009072329 meters Centerline goodness [0,1] 0.38744557479210084 Centerline is valid? [False, False] Translation: X:-57.75, Y:-11.13, Z:71.46 [[ 0.8485837 -0.14870711 0.50773211 -57.7540067 ] [ -0.34645518 0.56909829 0.74571841 -11.13199019] [ -0.3998431 -0.80871091 0.43140719 71.46398389] [ 0. 0. 0. 1. ]] SLAMing on 235.039072329 meters Centerline goodness [0,1] 0.37940491164401924 Centerline is valid? [False, False] Translation: X:-57.84, Y:-11.19, Z:71.67 [[ 0.84876946 -0.1487699 0.50740312 -57.83710818] [ -0.34463608 0.5721252 0.74424373 -11.19087382] [ -0.40101918 -0.80656076 0.43433093 71.66892336] [ 0. 0. 0. 1. ]] SLAMing on 235.069072329 meters Centerline goodness [0,1] 0.37327141382868934 Centerline is valid? [False, False] Translation: X:-57.92, Y:-11.25, Z:71.87 [[ 0.84863248 -0.14842163 0.50773411 -57.92119699] [ -0.34410082 0.57411296 0.74295958 -11.25079908] [ -0.40176801 -0.80521136 0.4361389 71.87403 ] [ 0. 0. 0. 1. ]] SLAMing on 235.099072329 meters Centerline goodness [0,1] 0.36283569159688134 Centerline is valid? [False, False] Translation: X:-58.01, Y:-11.31, Z:72.08 [[ 0.8494494 -0.15009152 0.50587375 -58.00602877] [ -0.34047294 0.57652194 0.74276553 -11.31158104] [ -0.40313012 -0.80317806 0.43862412 72.08222816] [ 0. 0. 0. 1. ]] SLAMing on 235.129072329 meters Centerline goodness [0,1] 0.3652811836709461 Centerline is valid? [False, False] Translation: X:-58.09, Y:-11.37, Z:72.27 [[ 0.8498002 -0.1507015 0.50510265 -58.08561344] [ -0.33787566 0.57976134 0.74142891 -11.36761874] [ -0.40457343 -0.80072832 0.44176293 72.27348519] [ 0. 0. 0. 1. ]] SLAMing on 235.159072329 meters Centerline goodness [0,1] 0.3581708497189565 Centerline is valid? [False, False] Translation: X:-58.16, Y:-11.42, Z:72.46 [[ 0.8498062 -0.1508058 0.50506142 -58.16482524] [ -0.33607032 0.58315209 0.73958798 -11.42366539] [ -0.40606178 -0.7982426 0.44488491 72.46208323] [ 0. 0. 0. 1. ]] SLAMing on 235.189072329 meters Centerline goodness [0,1] 0.3811742393007339 Centerline is valid? [False, False] Translation: X:-58.25, Y:-11.48, Z:72.66 [[ 0.84942939 -0.15112871 0.50559849 -58.24851647] [ -0.33533595 0.58519992 0.73830269 -11.48293647] [ -0.40745493 -0.79668135 0.44640712 72.66106456] [ 0. 0. 0. 1. ]] SLAMing on 235.219072329 meters Centerline goodness [0,1] 0.39343485338663475 Centerline is valid? [False, False] Translation: X:-58.33, Y:-11.54, Z:72.86 [[ 0.8488355 -0.14954019 0.5070661 -58.33166874] [ -0.33671556 0.58650792 0.73663498 -11.54221159] [ -0.40755482 -0.79601896 0.44749623 72.8606722 ] [ 0. 0. 0. 1. ]] SLAMing on 235.249072329 meters Centerline goodness [0,1] 0.3605725600198003 Centerline is valid? [False, False] Translation: X:-58.42, Y:-11.60, Z:73.06 [[ 0.84830457 -0.14815722 0.50835893 -58.41714097] [ -0.3383444 0.58683471 0.73562768 -11.60338992] [ -0.40731122 -0.79603672 0.4476864 73.06447841] [ 0. 0. 0. 1. ]] SLAMing on 235.279072329 meters Centerline goodness [0,1] 0.3734100232956068 Centerline is valid? [False, False] Translation: X:-58.50, Y:-11.66, Z:73.26 [[ 0.84810555 -0.14670295 0.50911219 -58.50158291] [ -0.33942936 0.58737709 0.7346944 -11.66398186] [ -0.40682267 -0.79590603 0.44836248 73.26422805] [ 0. 0. 0. 1. ]] SLAMing on 235.309072329 meters Centerline goodness [0,1] 0.3929507418642564 Centerline is valid? [False, False] Translation: X:-58.59, Y:-11.73, Z:73.46 [[ 0.8499723 -0.14361159 0.50687553 -58.58797536] [ -0.33859192 0.58819027 0.7344302 -11.7252935 ] [ -0.40361194 -0.79586928 0.45131972 73.46413543] [ 0. 0. 0. 1. ]] SLAMing on 235.339072329 meters Centerline goodness [0,1] 0.38184783057424765 Centerline is valid? [False, False] Translation: X:-58.67, Y:-11.79, Z:73.66 [[ 0.85064902 -0.14264408 0.50601276 -58.67228151] [ -0.33741733 0.58997462 0.73353902 -11.78683512] [ -0.40316969 -0.79472172 0.45373075 73.6617245 ] [ 0. 0. 0. 1. ]] SLAMing on 235.369072329 meters Centerline goodness [0,1] 0.39015112360712 Centerline is valid? [False, False] Translation: X:-58.76, Y:-11.85, Z:73.86 [[ 0.85073363 -0.14216422 0.50600556 -58.75760459] [ -0.33753025 0.59020567 0.73330116 -11.84844879] [ -0.40289654 -0.79463614 0.45412308 73.86192477] [ 0. 0. 0. 1. ]] SLAMing on 235.399072329 meters Centerline goodness [0,1] 0.39548816262446806 Centerline is valid? [False, False] Translation: X:-58.84, Y:-11.91, Z:74.07 [[ 0.85018374 -0.14329707 0.50660986 -58.84319589] [ -0.33860289 0.58801977 0.73456166 -11.91216631] [ -0.40315715 -0.79605195 0.45140405 74.06661259] [ 0. 0. 0. 1. ]] SLAMing on 235.429072329 meters Centerline goodness [0,1] 0.3885147696756869 Centerline is valid? [False, False] Translation: X:-58.93, Y:-11.98, Z:74.27 [[ 0.8488243 -0.14367043 0.50877905 -58.93059665] [ -0.34132606 0.58598689 0.73492577 -11.97659398] [ -0.40372495 -0.7974824 0.44836145 74.27441831] [ 0. 0. 0. 1. ]] SLAMing on 235.459072329 meters Centerline goodness [0,1] 0.38445989150388815 Centerline is valid? [False, False] Translation: X:-59.02, Y:-12.04, Z:74.48 [[ 0.84987681 -0.14192582 0.50751007 -59.01674385] [ -0.3436076 0.58093747 0.73786548 -12.04213283] [ -0.39955378 -0.80147908 0.44495849 74.47881544] [ 0. 0. 0. 1. ]] SLAMing on 235.489072329 meters Centerline goodness [0,1] 0.38445989150388815 Centerline is valid? [False, False] Translation: X:-59.10, Y:-12.11, Z:74.68 [[ 0.84992472 -0.14423692 0.50677775 -59.10114643] [ -0.34205276 0.5805468 0.73889466 -12.10779874] [ -0.40078409 -0.80134956 0.44408444 74.68419345] [ 0. 0. 0. 1. ]] SLAMing on 235.519072329 meters Centerline goodness [0,1] 0.36391935350869964 Centerline is valid? [False, False] Translation: X:-59.18, Y:-12.17, Z:74.89 [[ 0.8522442 -0.14243458 0.50338079 -59.18392327] [ -0.34036716 0.57974826 0.74029869 -12.17353865] [ -0.39727827 -0.80224955 0.44560704 74.88601145] [ 0. 0. 0. 1. ]] SLAMing on 235.549072329 meters Centerline goodness [0,1] 0.33754743441676294 Centerline is valid? [False, False] Translation: X:-59.26, Y:-12.24, Z:75.08 [[ 0.85767196 -0.13662526 0.49571398 -59.2622597 ] [ -0.33642031 0.57998322 0.741917 -12.23875902] [ -0.38887039 -0.80308966 0.45147183 75.07666015] [ 0. 0. 0. 1. ]] SLAMing on 235.579072329 meters Centerline goodness [0,1] 0.35227670933564204 Centerline is valid? [False, False] Translation: X:-59.34, Y:-12.30, Z:75.27 [[ 0.85918563 -0.13637909 0.49315393 -59.3413333 ] [ -0.33466274 0.57928486 0.74325628 -12.30275424] [ -0.38704122 -0.80363536 0.45207223 75.27333792] [ 0. 0. 0. 1. ]] SLAMing on 235.609072329 meters Centerline goodness [0,1] 0.36066215881916386 Centerline is valid? [False, False] Translation: X:-59.42, Y:-12.37, Z:75.47 [[ 0.85985772 -0.13748437 0.49167342 -59.41848907] [ -0.33362251 0.57766572 0.74498211 -12.36553349] [ -0.38644627 -0.80461193 0.45084245 75.46817448] [ 0. 0. 0. 1. ]] SLAMing on 235.63907232900002 meters Centerline goodness [0,1] 0.3714951824877757 Centerline is valid? [False, False] Translation: X:-59.50, Y:-12.43, Z:75.67 [[ 0.8583885 -0.14066902 0.49333702 -59.4982871 ] [ -0.33332086 0.57807729 0.74479786 -12.42637201] [ -0.38995691 -0.80376544 0.44932698 75.66739163] [ 0. 0. 0. 1. ]] SLAMing on 235.669072329 meters Centerline goodness [0,1] 0.36802621545310277 Centerline is valid? [False, False] Translation: X:-59.59, Y:-12.49, Z:75.89 [[ 0.85445053 -0.14557204 0.49872144 -59.58533395] [ -0.33625655 0.57680345 0.74446579 -12.4897847 ] [ -0.39603765 -0.80380754 0.44390046 75.88546335] [ 0. 0. 0. 1. ]] SLAMing on 235.699072329 meters Centerline goodness [0,1] 0.37295816425319794 Centerline is valid? [False, False] Translation: X:-59.67, Y:-12.56, Z:76.10 [[ 0.85291305 -0.14557638 0.50134503 -59.67275372] [ -0.33777702 0.57834602 0.74257832 -12.55805187] [ -0.39805277 -0.80269757 0.44410651 76.10455809] [ 0. 0. 0. 1. ]] SLAMing on 235.729072329 meters Centerline goodness [0,1] 0.37784325037085875 Centerline is valid? [False, False] Translation: X:-59.76, Y:-12.63, Z:76.32 [[ 0.85263239 -0.14387236 0.5023134 -59.76038964] [ -0.33789193 0.58146655 0.74008492 -12.62820826] [ -0.3985562 -0.80074802 0.4471639 76.32434817] [ 0. 0. 0. 1. ]] SLAMing on 235.759072329 meters Centerline goodness [0,1] 0.37655058726560886 Centerline is valid? [False, False] Translation: X:-59.85, Y:-12.70, Z:76.54 [[ 0.85409732 -0.14033719 0.50082257 -59.84891315] [ -0.33533583 0.58747251 0.73649571 -12.70009728] [ -0.39757723 -0.79698276 0.4546986 76.54253551] [ 0. 0. 0. 1. ]] SLAMing on 235.789072329 meters Centerline goodness [0,1] 0.38187742308009565 Centerline is valid? [False, False] Translation: X:-59.94, Y:-12.77, Z:76.76 [[ 0.85470454 -0.13930402 0.50007453 -59.93665702] [ -0.33434816 0.58918165 0.73557888 -12.77013595] [ -0.39710383 -0.79590161 0.45700019 76.76016396] [ 0. 0. 0. 1. ]] SLAMing on 235.819072329 meters Centerline goodness [0,1] 0.38531769749180766 Centerline is valid? [False, False] Translation: X:-60.03, Y:-12.84, Z:76.98 [[ 0.85525031 -0.14052084 0.49879937 -60.02607216] [ -0.33527937 0.58388656 0.73936745 -12.83948829] [ -0.39513878 -0.79958138 0.45225542 76.98075972] [ 0. 0. 0. 1. ]] SLAMing on 235.849072329 meters Centerline goodness [0,1] 0.3857384418690972 Centerline is valid? [False, False] Translation: X:-60.12, Y:-12.91, Z:77.20 [[ 0.85492946 -0.14053094 0.49934624 -60.11536931] [ -0.33722846 0.58088258 0.74084572 -12.91062679] [ -0.39417328 -0.8017646 0.4492226 77.2044819 ] [ 0. 0. 0. 1. ]] SLAMing on 235.879072329 meters Centerline goodness [0,1] 0.384347144272037 Centerline is valid? [False, False] Translation: X:-60.21, Y:-12.98, Z:77.43 [[ 0.85434102 -0.13944102 0.50065719 -60.20615606] [ -0.3392585 0.58013852 0.74050184 -12.98385911] [ -0.39370685 -0.8024933 0.44832958 77.43138814] [ 0. 0. 0. 1. ]] SLAMing on 235.909072329 meters Centerline goodness [0,1] 0.38207508250825084 Centerline is valid? [False, False] Translation: X:-60.30, Y:-13.06, Z:77.66 [[ 0.85487434 -0.13804722 0.50013281 -60.29617823] [ -0.33928606 0.58053371 0.74017942 -13.05867025] [ -0.39252367 -0.80244849 0.44944587 77.65564221] [ 0. 0. 0. 1. ]] SLAMing on 235.939072329 meters Centerline goodness [0,1] 0.3666261160023918 Centerline is valid? [False, False] Translation: X:-60.38, Y:-13.13, Z:77.87 [[ 0.85792963 -0.13471139 0.49579189 -60.38248315] [ -0.33697291 0.5809063 0.74094341 -13.13212261] [ -0.38782215 -0.80274574 0.45298263 77.86887035] [ 0. 0. 0. 1. ]] SLAMing on 235.969072329 meters Centerline goodness [0,1] 0.35923811094390967 Centerline is valid? [False, False] Translation: X:-60.47, Y:-13.20, Z:78.08 [[ 0.85874803 -0.13336653 0.4947375 -60.46795306] [ -0.33676913 0.58080083 0.74111871 -13.20201482] [ -0.38618438 -0.80304655 0.45384784 78.08096556] [ 0. 0. 0. 1. ]] SLAMing on 235.999072329 meters Centerline goodness [0,1] 0.3680814660592443 Centerline is valid? [False, False] Translation: X:-60.57, Y:-13.28, Z:78.32 [[ 0.85900187 -0.13271054 0.49447315 -60.56589504] [ -0.3379205 0.57858889 0.7423238 -13.27917039] [ -0.38461087 -0.80475015 0.45216333 78.32030843] [ 0. 0. 0. 1. ]] SLAMing on 236.029072329 meters Centerline goodness [0,1] 0.37132027274787305 Centerline is valid? [False, False] Translation: X:-60.66, Y:-13.35, Z:78.55 [[ 0.85837385 -0.13278984 0.49554131 -60.65805032] [ -0.33950397 0.57712703 0.74273915 -13.35393418] [ -0.38461849 -0.80578611 0.45030807 78.55120213] [ 0. 0. 0. 1. ]] SLAMing on 236.059072329 meters Centerline goodness [0,1] 0.36808615790123966 Centerline is valid? [False, False] Translation: X:-60.75, Y:-13.43, Z:78.78 [[ 0.85800296 -0.13356625 0.49597477 -60.75088871] [ -0.34058293 0.57486631 0.74399731 -13.43046834] [ -0.38449212 -0.80727243 0.44774661 78.78371497] [ 0. 0. 0. 1. ]] SLAMing on 236.089072329 meters Centerline goodness [0,1] 0.3365965252158859 Centerline is valid? [False, False] Translation: X:-60.85, Y:-13.51, Z:79.03 [[ 0.85776225 -0.13100455 0.49707317 -60.84983068] [ -0.3437804 0.57272413 0.74417881 -13.5116967 ] [ -0.38217661 -0.80921251 0.44622434 79.02797449] [ 0. 0. 0. 1. ]] SLAMing on 236.119072329 meters Centerline goodness [0,1] 0.3478690753290625 Centerline is valid? [False, False] Translation: X:-60.95, Y:-13.59, Z:79.27 [[ 0.85858698 -0.13029763 0.49583357 -60.94571767] [ -0.34352818 0.57169373 0.74508702 -13.59183819] [ -0.38054802 -0.81005482 0.44608788 79.27079532] [ 0. 0. 0. 1. ]] SLAMing on 236.149072329 meters Centerline goodness [0,1] 0.350106117739177 Centerline is valid? [False, False] Translation: X:-61.04, Y:-13.67, Z:79.51 [[ 0.85974233 -0.13155498 0.49349408 -61.04069865] [ -0.34166522 0.57005357 0.7471973 -13.67144912] [ -0.37961559 -0.81100691 0.44515143 79.51003999] [ 0. 0. 0. 1. ]] SLAMing on 236.179072329 meters Centerline goodness [0,1] 0.3616083383113272 Centerline is valid? [False, False] Translation: X:-61.13, Y:-13.74, Z:79.74 [[ 0.86128752 -0.13076304 0.4910039 -61.12943593] [ -0.33988728 0.57003793 0.74801965 -13.74488443] [ -0.37770417 -0.81114597 0.44652186 79.73635885] [ 0. 0. 0. 1. ]] SLAMing on 236.209072329 meters Centerline goodness [0,1] 0.3664229065815223 Centerline is valid? [False, False] Translation: X:-61.22, Y:-13.82, Z:79.97 [[ 0.86151289 -0.13110346 0.4905175 -61.21992022] [ -0.33995844 0.56862645 0.74906089 -13.82109206] [ -0.3771257 -0.81208118 0.4453093 79.97213614] [ 0. 0. 0. 1. ]] SLAMing on 236.239072329 meters Centerline goodness [0,1] 0.37435844584149236 Centerline is valid? [False, False] Translation: X:-61.31, Y:-13.90, Z:80.21 [[ 0.86128237 -0.13107751 0.49092908 -61.31210304] [ -0.3411533 0.56684854 0.74986476 -13.89828282] [ -0.37657285 -0.81332737 0.44349913 80.21262922] [ 0. 0. 0. 1. ]] SLAMing on 236.269072329 meters Centerline goodness [0,1] 0.3727080032103389 Centerline is valid? [False, False] Translation: X:-61.40, Y:-13.98, Z:80.45 [[ 0.86214285 -0.12828065 0.4901569 -61.40416614] [ -0.34345242 0.56326223 0.75151587 -13.97510802] [ -0.37249181 -0.8162596 0.4415542 80.45083873] [ 0. 0. 0. 1. ]] SLAMing on 236.299072329 meters Centerline goodness [0,1] 0.3616776078859095 Centerline is valid? [False, False] Translation: X:-61.50, Y:-14.06, Z:80.70 [[ 0.86354394 -0.1268907 0.48804776 -61.50107547] [ -0.34260039 0.5625351 0.75244883 -14.0579555 ] [ -0.37002275 -0.81697798 0.44230097 80.70066338] [ 0. 0. 0. 1. ]] SLAMing on 236.329072329 meters Centerline goodness [0,1] 0.36725090924034764 Centerline is valid? [False, False] Translation: X:-61.59, Y:-14.14, Z:80.93 [[ 0.86734504 -0.12262245 0.48236533 -61.59159792] [ -0.33972331 0.56242559 0.75383389 -14.13559264] [ -0.36373157 -0.81770483 0.44615934 80.92806107] [ 0. 0. 0. 1. ]] SLAMing on 236.359072329 meters Centerline goodness [0,1] 0.3614863477725313 Centerline is valid? [False, False] Translation: X:-61.69, Y:-14.22, Z:81.17 [[ 0.86808325 -0.12140686 0.48134379 -61.6868888 ] [ -0.33917763 0.56295562 0.75368396 -14.21624001] [ -0.36247759 -0.81752147 0.44751385 81.17146219] [ 0. 0. 0. 1. ]] SLAMing on 236.38907232900002 meters Centerline goodness [0,1] 0.358451427397823 Centerline is valid? [False, False] Translation: X:-61.78, Y:-14.30, Z:81.42 [[ 0.86795744 -0.12107867 0.48165324 -61.78428826] [ -0.33996886 0.56212782 0.75394528 -14.29863671] [ -0.36203738 -0.81813952 0.44674004 81.42132548] [ 0. 0. 0. 1. ]] SLAMing on 236.419072329 meters Centerline goodness [0,1] 0.35533984567394516 Centerline is valid? [False, False] Translation: X:-61.88, Y:-14.38, Z:81.68 [[ 0.86718652 -0.12165586 0.4828948 -61.88464418] [ -0.34332149 0.5563557 0.75670251 -14.38284026] [ -0.36071856 -0.82199038 0.44069709 81.68252307] [ 0. 0. 0. 1. ]] SLAMing on 236.449072329 meters Centerline goodness [0,1] 0.35855371222076216 Centerline is valid? [False, False] Translation: X:-61.99, Y:-14.47, Z:81.95 [[ 0.86634518 -0.12255547 0.48417578 -61.9876326 ] [ -0.34493353 0.55427553 0.75749554 -14.4709931 ] [ -0.36120201 -0.82326107 0.43792045 81.95277379] [ 0. 0. 0. 1. ]] SLAMing on 236.479072329 meters Centerline goodness [0,1] 0.3582310187656551 Centerline is valid? [False, False] Translation: X:-62.09, Y:-14.56, Z:82.22 [[ 0.86661853 -0.12321781 0.48351805 -62.08736636] [ -0.34458502 0.55305597 0.75854483 -14.55844419] [ -0.36087878 -0.82398208 0.43682954 82.21699422] [ 0. 0. 0. 1. ]] SLAMing on 236.509072329 meters Centerline goodness [0,1] 0.35422477440525024 Centerline is valid? [False, False] Translation: X:-62.19, Y:-14.65, Z:82.49 [[ 0.86680365 -0.12251215 0.4833655 -62.1886305 ] [ -0.3443503 0.55403575 0.75793619 -14.64726256] [ -0.36065815 -0.82342891 0.43805311 82.4850678 ] [ 0. 0. 0. 1. ]] SLAMing on 236.539072329 meters Centerline goodness [0,1] 0.3612927024202307 Centerline is valid? [False, False] Translation: X:-62.29, Y:-14.74, Z:82.75 [[ 0.86821505 -0.11911331 0.48167899 -62.29118183] [ -0.34362421 0.55595925 0.75685647 -14.73608908] [ -0.35794557 -0.82263074 0.44176197 82.75268703] [ 0. 0. 0. 1. ]] SLAMing on 236.569072329 meters Centerline goodness [0,1] 0.3549518146401476 Centerline is valid? [False, False] Translation: X:-62.39, Y:-14.83, Z:83.02 [[ 0.86914494 -0.11795726 0.48028446 -62.39166679] [ -0.34285216 0.5561863 0.75703975 -14.82564811] [ -0.35642597 -0.82264384 0.44296461 83.02082106] [ 0. 0. 0. 1. ]] SLAMing on 236.599072329 meters Centerline goodness [0,1] 0.35931410756040527 Centerline is valid? [False, False] Translation: X:-62.49, Y:-14.91, Z:83.29 [[ 0.87001116 -0.11679039 0.47899957 -62.48996929] [ -0.34242812 0.55584504 0.7574822 -14.91430591] [ -0.35471617 -0.82304089 0.44359907 83.28613183] [ 0. 0. 0. 1. ]] SLAMing on 236.629072329 meters Centerline goodness [0,1] 0.3556585776118485 Centerline is valid? [False, False] Translation: X:-62.59, Y:-15.00, Z:83.55 [[ 0.87106469 -0.11623531 0.47721658 -62.5884756 ] [ -0.34183357 0.55421932 0.75894054 -15.0042403 ] [ -0.35269834 -0.82421496 0.44302775 83.55306689] [ 0. 0. 0. 1. ]] SLAMing on 236.659072329 meters Centerline goodness [0,1] 0.35194602797030716 Centerline is valid? [False, False] Translation: X:-62.69, Y:-15.09, Z:83.82 [[ 0.87279896 -0.11567816 0.47417354 -62.68918269] [ -0.34109461 0.55032541 0.7621 -15.0945034 ] [ -0.34910807 -0.82689812 0.44086625 83.81660083] [ 0. 0. 0. 1. ]] SLAMing on 236.689072329 meters Centerline goodness [0,1] 0.3492809223888559 Centerline is valid? [False, False] Translation: X:-62.79, Y:-15.19, Z:84.09 [[ 0.87392183 -0.11474367 0.47232883 -62.79059191] [ -0.34000926 0.55011232 0.76273858 -15.18737749] [ -0.34735333 -0.82717007 0.44174126 84.09126219] [ 0. 0. 0. 1. ]] SLAMing on 236.719072329 meters Centerline goodness [0,1] 0.3444688404161451 Centerline is valid? [False, False] Translation: X:-62.89, Y:-15.28, Z:84.36 [[ 0.87452624 -0.11378804 0.47144049 -62.89131635] [ -0.33952525 0.55048145 0.76268786 -15.2791789 ] [ -0.34630401 -0.8270565 0.44277656 84.36385565] [ 0. 0. 0. 1. ]] SLAMing on 236.749072329 meters Centerline goodness [0,1] 0.34282899597734173 Centerline is valid? [False, False] Translation: X:-62.99, Y:-15.37, Z:84.63 [[ 0.87496808 -0.11278834 0.47086053 -62.99392382] [ -0.34030417 0.54851838 0.76375432 -15.36965937] [ -0.34441824 -0.82849645 0.44155374 84.63367825] [ 0. 0. 0. 1. ]] SLAMing on 236.779072329 meters Centerline goodness [0,1] 0.34082105306306487 Centerline is valid? [False, False] Translation: X:-63.10, Y:-15.46, Z:84.91 [[ 0.87490293 -0.11265339 0.47101389 -63.09534742] [ -0.34098305 0.54735688 0.76428463 -15.46274934] [ -0.34391195 -0.82928261 0.44047124 84.90881481] [ 0. 0. 0. 1. ]] SLAMing on 236.809072329 meters Centerline goodness [0,1] 0.3408569085690857 Centerline is valid? [False, False] Translation: X:-63.20, Y:-15.56, Z:85.19 [[ 0.87456673 -0.11149103 0.47191395 -63.1980179 ] [ -0.34241448 0.54710055 0.76382806 -15.55804111] [ -0.34334436 -0.82960879 0.4402998 85.19196321] [ 0. 0. 0. 1. ]] SLAMing on 236.839072329 meters Centerline goodness [0,1] 0.33834094025665695 Centerline is valid? [False, False] Translation: X:-63.30, Y:-15.65, Z:85.46 [[ 0.87525548 -0.1107307 0.47081477 -63.30036897] [ -0.34249634 0.54542706 0.76498731 -15.65214 ] [ -0.3415027 -0.83081167 0.43946316 85.46441189] [ 0. 0. 0. 1. ]] SLAMing on 236.869072329 meters Centerline goodness [0,1] 0.3376841587607319 Centerline is valid? [False, False] Translation: X:-63.40, Y:-15.75, Z:85.74 [[ 0.87669354 -0.10891948 0.46855627 -63.40202952] [ -0.34095005 0.5464352 0.76495858 -15.74839503] [ -0.33935454 -0.83038853 0.44192011 85.74055014] [ 0. 0. 0. 1. ]] SLAMing on 236.899072329 meters Centerline goodness [0,1] 0.33593398042347544 Centerline is valid? [False, False] Translation: X:-63.50, Y:-15.84, Z:86.00 [[ 0.87971525 -0.10736153 0.46322196 -63.50016017] [ -0.33732326 0.54569212 0.76709395 -15.83955476] [ -0.33513295 -0.83107979 0.44383814 85.99691242] [ 0. 0. 0. 1. ]] SLAMing on 236.929072329 meters Centerline goodness [0,1] 0.3355315706473877 Centerline is valid? [False, False] Translation: X:-63.60, Y:-15.94, Z:86.28 [[ 0.87992053 -0.10621121 0.46309722 -63.60491353] [ -0.33819827 0.54457655 0.76750134 -15.93823375] [ -0.33370913 -0.83195887 0.44326364 86.28465283] [ 0. 0. 0. 1. ]] SLAMing on 236.959072329 meters Centerline goodness [0,1] 0.3331421666018065 Centerline is valid? [False, False] Translation: X:-63.71, Y:-16.03, Z:86.57 [[ 0.87977952 -0.10581405 0.46345592 -63.70669434] [ -0.339619 0.54226825 0.7685077 -16.03499776] [ -0.33263634 -0.83351577 0.44114004 86.56570647] [ 0. 0. 0. 1. ]] SLAMing on 236.989072329 meters Centerline goodness [0,1] 0.32821312114189616 Centerline is valid? [False, False] Translation: X:-63.81, Y:-16.14, Z:86.86 [[ 0.87908411 -0.10508477 0.46493904 -63.81147125] [ -0.34181994 0.54084223 0.7685368 -16.13535648] [ -0.33222018 -0.83453392 0.43952574 86.856388 ] [ 0. 0. 0. 1. ]] SLAMing on 237.019072329 meters Centerline goodness [0,1] 0.32167560266852213 Centerline is valid? [False, False] Translation: X:-63.91, Y:-16.23, Z:87.13 [[ 0.88123283 -0.10618705 0.4606007 -63.91048516] [ -0.33932817 0.53625914 0.77284056 -16.23390215] [ -0.32906699 -0.83734727 0.4365369 87.13024779] [ 0. 0. 0. 1. ]] SLAMing on 237.049072329 meters Centerline goodness [0,1] 0.3253451312932695 Centerline is valid? [False, False] Translation: X:-64.01, Y:-16.33, Z:87.42 [[ 0.88194722 -0.10408174 0.45971306 -64.01347515] [ -0.33897196 0.53764387 0.77203438 -16.33424074] [ -0.32751659 -0.83672341 0.43889272 87.41588254] [ 0. 0. 0. 1. ]] SLAMing on 237.079072329 meters Centerline goodness [0,1] 0.28508457201435167 Centerline is valid? [False, False] Translation: X:-64.12, Y:-16.44, Z:87.70 [[ 0.88392533 -0.10195001 0.45637945 -64.11554638] [ -0.33651949 0.53897517 0.77217899 -16.43538496] [ -0.32470085 -0.83612915 0.44210564 87.70058802] [ 0. 0. 0. 1. ]] SLAMing on 237.109072329 meters Centerline goodness [0,1] 0.28769199262748313 Centerline is valid? [False, False] Translation: X:-64.22, Y:-16.54, Z:87.98 [[ 0.88571644 -0.10150544 0.45299341 -64.21747132] [ -0.33377729 0.53895069 0.77338533 -16.53626438] [ -0.32264393 -0.83619902 0.44347727 87.98130144] [ 0. 0. 0. 1. ]] SLAMing on 237.13907232900002 meters Centerline goodness [0,1] 0.3245788213137909 Centerline is valid? [False, False] Translation: X:-64.32, Y:-16.64, Z:88.26 [[ 0.88688211 -0.09925462 0.45120798 -64.32000847] [ -0.33422187 0.53643601 0.77494009 -16.63598088] [ -0.3189606 -0.83808408 0.44258244 88.26416126] [ 0. 0. 0. 1. ]] SLAMing on 237.169072329 meters Centerline goodness [0,1] 0.2508796334178872 Centerline is valid? [False, False] Translation: X:-64.42, Y:-16.73, Z:88.54 [[ 0.88655842 -0.09891399 0.45191834 -64.41929616] [ -0.33563542 0.53476316 0.77548516 -16.73320025] [ -0.31837561 -0.8391927 0.44089975 88.54208125] [ 0. 0. 0. 1. ]] SLAMing on 237.199072329 meters Centerline goodness [0,1] 0.321538209651672 Centerline is valid? [False, False] Translation: X:-64.52, Y:-16.83, Z:88.83 [[ 0.88526264 -0.09846211 0.45454953 -64.52176538] [ -0.33902408 0.53244604 0.7756055 -16.83339299] [ -0.31839085 -0.8407178 0.43797356 88.83043765] [ 0. 0. 0. 1. ]] SLAMing on 237.229072329 meters Centerline goodness [0,1] 0.3223270762113365 Centerline is valid? [False, False] Translation: X:-64.62, Y:-16.93, Z:89.10 [[ 0.88604001 -0.09851456 0.45302095 -64.61851125] [ -0.33783873 0.53197538 0.77644522 -16.93084719] [ -0.31748715 -0.84100956 0.43806944 89.10034897] [ 0. 0. 0. 1. ]] SLAMing on 237.259072329 meters Centerline goodness [0,1] 0.32490125048607277 Centerline is valid? [False, False] Translation: X:-64.72, Y:-17.03, Z:89.36 [[ 0.88810414 -0.09538018 0.44963725 -64.7155293 ] [ -0.33622083 0.5322117 0.77698536 -17.02715501] [ -0.31341121 -0.84122133 0.44059061 89.36484213] [ 0. 0. 0. 1. ]] SLAMing on 237.289072329 meters Centerline goodness [0,1] 0.31591546125989733 Centerline is valid? [False, False] Translation: X:-64.81, Y:-17.12, Z:89.62 [[ 0.88992673 -0.09572246 0.44594576 -64.80891942] [ -0.33329431 0.53096976 0.77909307 -17.12118746] [ -0.31136042 -0.84196694 0.44062043 89.62317158] [ 0. 0. 0. 1. ]] SLAMing on 237.319072329 meters Centerline goodness [0,1] 0.30474826033565283 Centerline is valid? [False, False] Translation: X:-64.90, Y:-17.21, Z:89.88 [[ 0.89060928 -0.09625734 0.44446556 -64.90085896] [ -0.33227992 0.52954222 0.7804967 -17.21302687] [ -0.31049182 -0.84280458 0.43963083 89.88092821] [ 0. 0. 0. 1. ]] SLAMing on 237.349072329 meters Centerline goodness [0,1] 0.2999754219236441 Centerline is valid? [False, False] Translation: X:-65.00, Y:-17.30, Z:90.14 [[ 0.88970159 -0.09737699 0.44603677 -64.99537789] [ -0.33467691 0.52539167 0.7822755 -17.30447749] [ -0.31051963 -0.84526997 0.43485197 90.14447618] [ 0. 0. 0. 1. ]] SLAMing on 237.379072329 meters Centerline goodness [0,1] 0.2999754219236441 Centerline is valid? [False, False] Translation: X:-65.09, Y:-17.40, Z:90.41 [[ 0.89088862 -0.09917224 0.44326328 -65.08746508] [ -0.33188239 0.52414601 0.78429907 -17.40148149] [ -0.31011538 -0.84583439 0.4340422 90.4115679 ] [ 0. 0. 0. 1. ]] SLAMing on 237.409072329 meters Centerline goodness [0,1] 0.317648021604812 Centerline is valid? [False, False] Translation: X:-65.18, Y:-17.50, Z:90.68 [[ 0.89113209 -0.09935314 0.44273305 -65.18141136] [ -0.33212657 0.5219785 0.78564011 -17.49803461] [ -0.30915294 -0.84715253 0.43215397 90.68224043] [ 0. 0. 0. 1. ]] SLAMing on 237.439072329 meters Centerline goodness [0,1] 0.31795858230334784 Centerline is valid? [False, False] Translation: X:-65.27, Y:-17.59, Z:90.95 [[ 0.89172323 -0.09868693 0.44169057 -65.27277045] [ -0.33176914 0.52125829 0.78626906 -17.59319289] [ -0.30782935 -0.84767369 0.43207685 90.94564305] [ 0. 0. 0. 1. ]] SLAMing on 237.469072329 meters Centerline goodness [0,1] 0.29586513083863575 Centerline is valid? [False, False] Translation: X:-65.37, Y:-17.69, Z:91.21 [[ 0.89325962 -0.09578753 0.43921748 -65.36523029] [ -0.33060122 0.5220755 0.7862188 -17.68892786] [ -0.30461465 -0.84750334 0.43468149 91.20756008] [ 0. 0. 0. 1. ]] SLAMing on 237.499072329 meters Centerline goodness [0,1] 0.3142302187691679 Centerline is valid? [False, False] Translation: X:-65.45, Y:-17.78, Z:91.47 [[ 0.89448249 -0.09643226 0.43657976 -65.45431215] [ -0.32833602 0.52110465 0.78781051 -17.78256271] [ -0.3034741 -0.84802757 0.4344568 91.46754733] [ 0. 0. 0. 1. ]] SLAMing on 237.529072329 meters Centerline goodness [0,1] 0.3148621825697272 Centerline is valid? [False, False] Translation: X:-65.55, Y:-17.88, Z:91.73 [[ 0.89455536 -0.09753522 0.43618527 -65.54519352] [ -0.32765089 0.52065833 0.78839064 -17.87633623] [ -0.30399934 -0.84817556 0.4338002 91.73294387] [ 0. 0. 0. 1. ]] SLAMing on 237.559072329 meters Centerline goodness [0,1] 0.314447534145743 Centerline is valid? [False, False] Translation: X:-65.64, Y:-17.97, Z:92.00 [[ 0.89346945 -0.10047686 0.43774049 -65.63651015] [ -0.32752761 0.52112762 0.78813176 -17.96776223] [ -0.30730766 -0.84754375 0.43270266 91.99946851] [ 0. 0. 0. 1. ]] SLAMing on 237.589072329 meters Centerline goodness [0,1] 0.30989710926016656 Centerline is valid? [False, False] Translation: X:-65.73, Y:-18.06, Z:92.27 [[ 0.89270135 -0.10086018 0.43921695 -65.72784401] [ -0.32803667 0.52283158 0.78679037 -18.06263128] [ -0.30899231 -0.84644809 0.43364661 92.26880188] [ 0. 0. 0. 1. ]] SLAMing on 237.619072329 meters Centerline goodness [0,1] 0.3055311317861159 Centerline is valid? [False, False] Translation: X:-65.82, Y:-18.16, Z:92.54 [[ 0.89216242 -0.09989582 0.44053042 -65.81963253] [ -0.32860015 0.52564501 0.78467781 -18.15905061] [ -0.30994865 -0.84481841 0.43613494 92.53986009] [ 0. 0. 0. 1. ]] SLAMing on 237.649072329 meters Centerline goodness [0,1] 0.28858827610128335 Centerline is valid? [False, False] Translation: X:-65.91, Y:-18.25, Z:92.80 [[ 0.89302543 -0.09831085 0.43913616 -65.90956127] [ -0.32731643 0.52777508 0.78378404 -18.25447921] [ -0.30881959 -0.84367555 0.43913781 92.80359797] [ 0. 0. 0. 1. ]] SLAMing on 237.679072329 meters Centerline goodness [0,1] 0.3119807295813175 Centerline is valid? [False, False] Translation: X:-66.00, Y:-18.35, Z:93.08 [[ 0.89291218 -0.09861925 0.43929725 -66.00302828] [ -0.32770461 0.52671608 0.78433402 -18.35157569] [ -0.30873536 -0.84430114 0.43799322 93.07784929] [ 0. 0. 0. 1. ]] SLAMing on 237.709072329 meters Centerline goodness [0,1] 0.29977921334532664 Centerline is valid? [False, False] Translation: X:-66.09, Y:-18.45, Z:93.35 [[ 0.89265504 -0.09990394 0.43952951 -66.09423828] [ -0.32821613 0.52427831 0.78575214 -18.44651023] [ -0.30893552 -0.84566628 0.43520959 93.34877502] [ 0. 0. 0. 1. ]] SLAMing on 237.739072329 meters Centerline goodness [0,1] 0.2833227595522174 Centerline is valid? [False, False] Translation: X:-66.19, Y:-18.54, Z:93.62 [[ 0.89169316 -0.10316262 0.44072755 -66.18712573] [ -0.32912611 0.52066487 0.7877716 -18.54220343] [ -0.31073994 -0.8475055 0.43031979 93.62133774] [ 0. 0. 0. 1. ]] SLAMing on 237.769072329 meters Centerline goodness [0,1] 0.3129847539138443 Centerline is valid? [False, False] Translation: X:-66.28, Y:-18.64, Z:93.90 [[ 0.89180168 -0.102944 0.44055907 -66.28022547] [ -0.3286698 0.52177067 0.78723029 -18.64099413] [ -0.31091143 -0.84685176 0.43148138 93.89524311] [ 0. 0. 0. 1. ]] SLAMing on 237.799072329 meters Centerline goodness [0,1] 0.2584099734314327 Centerline is valid? [False, False] Translation: X:-66.37, Y:-18.74, Z:94.17 [[ 0.89223323 -0.10178036 0.43995526 -66.37150175] [ -0.32777774 0.52417928 0.78600117 -18.73872085] [ -0.31061491 -0.8455039 0.43432884 94.16528547] [ 0. 0. 0. 1. ]] SLAMing on 237.829072329 meters Centerline goodness [0,1] 0.31038293866022637 Centerline is valid? [False, False] Translation: X:-66.46, Y:-18.84, Z:94.44 [[ 0.89260617 -0.09914943 0.43979951 -66.46229281] [ -0.32759937 0.52754745 0.78381907 -18.83580458] [ -0.30973033 -0.84371979 0.43841082 94.43547488] [ 0. 0. 0. 1. ]] SLAMing on 237.859072329 meters Centerline goodness [0,1] 0.3086940497153856 Centerline is valid? [False, False] Translation: X:-66.55, Y:-18.93, Z:94.71 [[ 0.89239873 -0.09913738 0.44022299 -66.55366107] [ -0.32834654 0.52653972 0.78418395 -18.93104366] [ -0.30953683 -0.84435046 0.43733196 94.70663882] [ 0. 0. 0. 1. ]] SLAMing on 237.88907232900002 meters Centerline goodness [0,1] 0.3127022488018678 Centerline is valid? [False, False] Translation: X:-66.65, Y:-19.03, Z:94.98 [[ 0.89247229 -0.10074741 0.43970805 -66.64574509] [ -0.32806865 0.52406706 0.78595463 -19.02714393] [ -0.3096194 -0.84569715 0.43466326 94.97804146] [ 0. 0. 0. 1. ]] SLAMing on 237.919072329 meters Centerline goodness [0,1] 0.3116441164411644 Centerline is valid? [False, False] Translation: X:-66.74, Y:-19.12, Z:95.25 [[ 0.89161674 -0.10387806 0.44071413 -66.74098655] [ -0.3280953 0.52256148 0.78694534 -19.12277777] [ -0.31204658 -0.84624987 0.43184266 95.25050168] [ 0. 0. 0. 1. ]] SLAMing on 237.949072329 meters Centerline goodness [0,1] 0.31028619425153137 Centerline is valid? [False, False] Translation: X:-66.84, Y:-19.22, Z:95.52 [[ 0.89127973 -0.10310399 0.44157673 -66.83500755] [ -0.32813278 0.52546351 0.78499489 -19.22082071] [ -0.31296856 -0.84454584 0.43450317 95.52315126] [ 0. 0. 0. 1. ]] SLAMing on 237.979072329 meters Centerline goodness [0,1] 0.3056448475665936 Centerline is valid? [False, False] Translation: X:-66.93, Y:-19.32, Z:95.79 [[ 0.89109991 -0.10100367 0.44242425 -66.92723078] [ -0.32808217 0.53018036 0.78183814 -19.31840999] [ -0.31353317 -0.8418474 0.43930617 95.793841 ] [ 0. 0. 0. 1. ]] SLAMing on 238.009072329 meters Centerline goodness [0,1] 0.3115924244283552 Centerline is valid? [False, False] Translation: X:-67.02, Y:-19.42, Z:96.06 [[ 0.89035026 -0.09969077 0.4442276 -67.0191142 ] [ -0.32825955 0.53553992 0.77810196 -19.41535824] [ -0.3154712 -0.83860524 0.44409366 96.06401147] [ 0. 0. 0. 1. ]] SLAMing on 238.039072329 meters Centerline goodness [0,1] 0.2933079723483454 Centerline is valid? [False, False] Translation: X:-67.11, Y:-19.51, Z:96.34 [[ 0.88975936 -0.1005232 0.44522283 -67.11199064] [ -0.32914927 0.53446664 0.77846398 -19.51085173] [ -0.31621044 -0.83919038 0.44245956 96.33579076] [ 0. 0. 0. 1. ]] SLAMing on 238.069072329 meters Centerline goodness [0,1] 0.31522495599132105 Centerline is valid? [False, False] Translation: X:-67.21, Y:-19.61, Z:96.61 [[ 0.88947426 -0.10257603 0.44532426 -67.20808215] [ -0.32960184 0.53099634 0.7806443 -19.60914597] [ -0.31654095 -0.8411427 0.43849832 96.61368854] [ 0. 0. 0. 1. ]] SLAMing on 238.099072329 meters Centerline goodness [0,1] 0.31503399131788024 Centerline is valid? [False, False] Translation: X:-67.30, Y:-19.71, Z:96.89 [[ 0.88886234 -0.10553162 0.44585516 -67.30493197] [ -0.3301135 0.52730298 0.78292825 -19.70640412] [ -0.31772444 -0.84309824 0.43386235 96.89052961] [ 0. 0. 0. 1. ]] SLAMing on 238.129072329 meters Centerline goodness [0,1] 0.31049807487507164 Centerline is valid? [False, False] Translation: X:-67.40, Y:-19.81, Z:97.17 [[ 0.88936786 -0.10496866 0.44497908 -67.40094618] [ -0.3287846 0.52946089 0.7820306 -19.80695833] [ -0.31768773 -0.84181515 0.43637342 97.16904161] [ 0. 0. 0. 1. ]] SLAMing on 238.159072329 meters Centerline goodness [0,1] 0.3157981090670441 Centerline is valid? [False, False] Translation: X:-67.49, Y:-19.91, Z:97.44 [[ 0.88965047 -0.10332212 0.44479949 -67.49434196] [ -0.32760983 0.53414493 0.77933369 -19.90551238] [ -0.3181098 -0.83905526 0.44135294 97.44046376] [ 0. 0. 0. 1. ]] SLAMing on 238.189072329 meters Centerline goodness [0,1] 0.3205491258310761 Centerline is valid? [False, False] Translation: X:-67.59, Y:-20.01, Z:97.71 [[ 0.89024917 -0.1036267 0.44352894 -67.58800356] [ -0.32491036 0.53794917 0.77784571 -20.00636409] [ -0.31920161 -0.83658365 0.44523941 97.71421296] [ 0. 0. 0. 1. ]] SLAMing on 238.219072329 meters Centerline goodness [0,1] 0.3046323650090268 Centerline is valid? [False, False] Translation: X:-67.68, Y:-20.10, Z:97.98 [[ 0.88990578 -0.10496741 0.44390264 -67.68053306] [ -0.32537838 0.53594937 0.77902964 -20.10208072] [ -0.31968207 -0.8376993 0.44279031 97.98199899] [ 0. 0. 0. 1. ]] SLAMing on 238.249072329 meters Centerline goodness [0,1] 0.30874999999999997 Centerline is valid? [False, False] Translation: X:-67.78, Y:-20.20, Z:98.26 [[ 0.88938599 -0.10649909 0.44457902 -67.77537567] [ -0.32637908 0.53302927 0.7806129 -20.19910302] [ -0.32010819 -0.83936747 0.43930969 98.25569721] [ 0. 0. 0. 1. ]] SLAMing on 238.279072329 meters Centerline goodness [0,1] 0.28932866244647937 Centerline is valid? [False, False] Translation: X:-67.87, Y:-20.30, Z:98.53 [[ 0.88853133 -0.1103724 0.44534257 -67.87133368] [ -0.32606058 0.53098039 0.78214086 -20.29751412] [ -0.32279494 -0.84016531 0.43580463 98.5336056 ] [ 0. 0. 0. 1. ]] SLAMing on 238.309072329 meters Centerline goodness [0,1] 0.3203089784042945 Centerline is valid? [False, False] Translation: X:-67.96, Y:-20.39, Z:98.80 [[ 0.88738387 -0.11024951 0.4476549 -67.96426154] [ -0.32653259 0.53516549 0.7790856 -20.39365357] [ -0.32546326 -0.83752191 0.43889717 98.80182764] [ 0. 0. 0. 1. ]] SLAMing on 238.339072329 meters Centerline goodness [0,1] 0.3188791708486103 Centerline is valid? [False, False] Translation: X:-68.06, Y:-20.49, Z:99.07 [[ 0.88581353 -0.11079066 0.45062158 -68.05628508] [ -0.32495995 0.54511913 0.77281703 -20.49243838] [ -0.33126335 -0.83100576 0.44687137 99.07260936] [ 0. 0. 0. 1. ]] SLAMing on 238.369072329 meters Centerline goodness [0,1] 0.33421489636509005 Centerline is valid? [False, False] Translation: X:-68.15, Y:-20.59, Z:99.34 [[ 0.88438615 -0.11025039 0.45354822 -68.15090324] [ -0.3260151 0.54948053 0.76927583 -20.59054418] [ -0.33402888 -0.82820046 0.45000968 99.34451739] [ 0. 0. 0. 1. ]] SLAMing on 238.399072329 meters Centerline goodness [0,1] 0.3328006556033599 Centerline is valid? [False, False] Translation: X:-68.25, Y:-20.69, Z:99.61 [[ 0.88364341 -0.11150066 0.45468883 -68.2457427 ] [ -0.32606582 0.55034616 0.76863527 -20.68821597] [ -0.33593959 -0.82745798 0.44995321 99.61427116] [ 0. 0. 0. 1. ]] SLAMing on 238.429072329 meters Centerline goodness [0,1] 0.33437301212730597 Centerline is valid? [False, False] Translation: X:-68.34, Y:-20.79, Z:99.89 [[ 0.88248928 -0.11327659 0.45648776 -68.3412647 ] [ -0.32681036 0.5503013 0.76835114 -20.78557874] [ -0.338242 -0.82724658 0.44861503 99.88673513] [ 0. 0. 0. 1. ]] SLAMing on 238.459072329 meters Centerline goodness [0,1] 0.33797709532687303 Centerline is valid? [False, False] Translation: X:-68.43, Y:-20.88, Z:100.15 [[ 0.88100144 -0.1189046 0.45792812 -68.43449093] [ -0.32585703 0.54922804 0.76952307 -20.88117151] [ -0.3430068 -0.82717003 0.4451248 100.15498637] [ 0. 0. 0. 1. ]] SLAMing on 238.489072329 meters Centerline goodness [0,1] 0.3305565220950939 Centerline is valid? [False, False] Translation: X:-68.53, Y:-20.98, Z:100.42 [[ 0.8801836 -0.11974815 0.45927902 -68.52867845] [ -0.32547189 0.55202829 0.76768015 -20.97832836] [ -0.34546329 -0.82518189 0.44691159 100.42117939] [ 0. 0. 0. 1. ]] SLAMing on 238.519072329 meters Centerline goodness [0,1] 0.340626472456108 Centerline is valid? [False, False] Translation: X:-68.63, Y:-21.08, Z:100.70 [[ 0.87951876 -0.11863901 0.46083786 -68.62639202] [ -0.32500854 0.55760486 0.76383655 -21.08013516] [ -0.34758624 -0.82158482 0.45186524 100.69716482] [ 0. 0. 0. 1. ]] SLAMing on 238.549072329 meters Centerline goodness [0,1] 0.34345506770619616 Centerline is valid? [False, False] Translation: X:-68.72, Y:-21.18, Z:100.97 [[ 0.87897105 -0.11736697 0.46220653 -68.72231324] [ -0.3224962 0.56769766 0.75744014 -21.18176255] [ -0.35129202 -0.81482781 0.46113941 100.97002585] [ 0. 0. 0. 1. ]] SLAMing on 238.579072329 meters Centerline goodness [0,1] 0.3449724390893629 Centerline is valid? [False, False] Translation: X:-68.82, Y:-21.28, Z:101.24 [[ 0.87797005 -0.11903305 0.46368063 -68.81918682] [ -0.3225116 0.56871891 0.75666708 -21.28091051] [ -0.35377234 -0.81387341 0.46092863 101.23930052] [ 0. 0. 0. 1. ]] SLAMing on 238.609072329 meters Centerline goodness [0,1] 0.3452869693735118 Centerline is valid? [False, False] Translation: X:-68.92, Y:-21.38, Z:101.52 [[ 0.8759356 -0.1208551 0.46704483 -68.91963628] [ -0.32467398 0.56837837 0.75599791 -21.38155084] [ -0.35682438 -0.81384278 0.45862434 101.51917646] [ 0. 0. 0. 1. ]] SLAMing on 238.63907232900002 meters Centerline goodness [0,1] 0.3441169225716397 Centerline is valid? [False, False] Translation: X:-69.02, Y:-21.49, Z:101.81 [[ 0.8732177 -0.12485266 0.47106545 -69.02451917] [ -0.32760345 0.56523237 0.75709203 -21.48583034] [ -0.3607864 -0.81542883 0.45266875 101.81057091] [ 0. 0. 0. 1. ]] SLAMing on 238.669072329 meters Centerline goodness [0,1] 0.3467490353829735 Centerline is valid? [False, False] Translation: X:-69.13, Y:-21.59, Z:102.10 [[ 0.8723723 -0.12282667 0.47315978 -69.12791142] [ -0.32892912 0.56853631 0.7540372 -21.59060646] [ -0.36162439 -0.8134372 0.45557406 102.09504066] [ 0. 0. 0. 1. ]] SLAMing on 238.699072329 meters Centerline goodness [0,1] 0.345111147567878 Centerline is valid? [False, False] Translation: X:-69.23, Y:-21.70, Z:102.37 [[ 0.87365663 -0.11947168 0.4716467 -69.22797908] [ -0.32537914 0.57725067 0.7489393 -21.69619367] [ -0.36173541 -0.80777978 0.46544528 102.37027016] [ 0. 0. 0. 1. ]] SLAMing on 238.729072329 meters Centerline goodness [0,1] 0.3413278076402282 Centerline is valid? [False, False] Translation: X:-69.33, Y:-21.79, Z:102.64 [[ 0.8736752 -0.11827343 0.47191422 -69.32552519] [ -0.32505993 0.57979671 0.74710897 -21.79489306] [ -0.36197746 -0.80613099 0.46810805 102.63615972] [ 0. 0. 0. 1. ]] SLAMing on 238.759072329 meters Centerline goodness [0,1] 0.344075654385821 Centerline is valid? [False, False] Translation: X:-69.43, Y:-21.90, Z:102.91 [[ 0.87329737 -0.11843008 0.47257382 -69.42592628] [ -0.325913 0.5789804 0.74737034 -21.89544817] [ -0.3621221 -0.8066945 0.46702416 102.91041645] [ 0. 0. 0. 1. ]] SLAMing on 238.789072329 meters Centerline goodness [0,1] 0.3412365007479662 Centerline is valid? [False, False] Translation: X:-69.53, Y:-22.00, Z:103.19 [[ 0.87088418 -0.12174263 0.47617168 -69.52861296] [ -0.33085374 0.57122969 0.75115408 -21.99641929] [ -0.36345087 -0.81171139 0.45719589 103.19180752] [ 0. 0. 0. 1. ]] SLAMing on 238.819072329 meters Centerline goodness [0,1] 0.3392619306190193 Centerline is valid? [False, False] Translation: X:-69.63, Y:-22.10, Z:103.48 [[ 0.87029188 -0.121765 0.47724766 -69.63238286] [ -0.33257332 0.56943752 0.75175521 -22.10190767] [ -0.36330019 -0.8129663 0.45508106 103.47694789] [ 0. 0. 0. 1. ]] SLAMing on 238.849072329 meters Centerline goodness [0,1] 0.33967491688215734 Centerline is valid? [False, False] Translation: X:-69.73, Y:-22.21, Z:103.75 [[ 0.8720603 -0.11756487 0.47506772 -69.73355236] [ -0.33072457 0.5739532 0.74913215 -22.20974399] [ -0.36073827 -0.81040497 0.46164021 103.75296855] [ 0. 0. 0. 1. ]] SLAMing on 238.879072329 meters Centerline goodness [0,1] 0.3369139624033948 Centerline is valid? [False, False] Translation: X:-69.83, Y:-22.31, Z:104.01 [[ 0.87440569 -0.11518646 0.47132448 -69.82926229] [ -0.32741558 0.57681062 0.74839064 -22.3100628 ] [ -0.35806943 -0.80871601 0.46665264 104.01196865] [ 0. 0. 0. 1. ]] SLAMing on 238.909072329 meters Centerline goodness [0,1] 0.34318750256263064 Centerline is valid? [False, False] Translation: X:-69.93, Y:-22.41, Z:104.27 [[ 0.87520831 -0.11342764 0.47026012 -69.92711162] [ -0.32668479 0.57837391 0.74750296 -22.40955984] [ -0.35677368 -0.80784763 0.46914257 104.27475653] [ 0. 0. 0. 1. ]] SLAMing on 238.939072329 meters Centerline goodness [0,1] 0.34361287676850527 Centerline is valid? [False, False] Translation: X:-70.03, Y:-22.51, Z:104.54 [[ 0.87505809 -0.11422293 0.47034717 -70.02596596] [ -0.32724197 0.57638752 0.74879244 -22.50874105] [ -0.35663151 -0.80915422 0.46699402 104.54046738] [ 0. 0. 0. 1. ]] SLAMing on 238.969072329 meters Centerline goodness [0,1] 0.2999815622887345 Centerline is valid? [False, False] Translation: X:-70.13, Y:-22.61, Z:104.82 [[ 0.87410499 -0.1190913 0.47091159 -70.12720416] [ -0.32897048 0.56814364 0.75431507 -22.61135889] [ -0.35737779 -0.81426658 0.45743967 104.818213 ] [ 0. 0. 0. 1. ]] SLAMing on 238.999072329 meters Centerline goodness [0,1] 0.343492687722748 Centerline is valid? [False, False] Translation: X:-70.23, Y:-22.71, Z:105.10 [[ 0.87321838 -0.11889502 0.47260303 -70.23049601] [ -0.33075176 0.56762846 0.75392388 -22.71496838] [ -0.35790073 -0.81465447 0.45633887 105.09523579] [ 0. 0. 0. 1. ]] SLAMing on 239.029072329 meters Centerline goodness [0,1] 0.336618044743096 Centerline is valid? [False, False] Translation: X:-70.33, Y:-22.82, Z:105.37 [[ 0.87362984 -0.11485443 0.4728418 -70.3312669 ] [ -0.33062932 0.57284558 0.75002146 -22.82189226] [ -0.35700863 -0.81157649 0.46248075 105.37226312] [ 0. 0. 0. 1. ]] SLAMing on 239.059072329 meters Centerline goodness [0,1] 0.3496321495173884 Centerline is valid? [False, False] Translation: X:-70.43, Y:-22.92, Z:105.64 [[ 0.87413901 -0.1143455 0.47202341 -70.43167692] [ -0.3295384 0.57429619 0.74939197 -22.92454095] [ -0.35677085 -0.8106226 0.46433347 105.64087728] [ 0. 0. 0. 1. ]] SLAMing on 239.089072329 meters Centerline goodness [0,1] 0.3476363189278908 Centerline is valid? [False, False] Translation: X:-70.53, Y:-23.02, Z:105.90 [[ 0.87479355 -0.11600756 0.47040248 -70.52968825] [ -0.3280322 0.57270468 0.75126841 -23.02357848] [ -0.35655452 -0.81151192 0.46294414 105.90071091] [ 0. 0. 0. 1. ]] SLAMing on 239.119072329 meters Centerline goodness [0,1] 0.34867800778848124 Centerline is valid? [False, False] Translation: X:-70.63, Y:-23.13, Z:106.18 [[ 0.87400248 -0.11804924 0.47136402 -70.63403946] [ -0.32937847 0.56925515 0.75329834 -23.12696008] [ -0.3572527 -0.81364178 0.45864754 106.18242504] [ 0. 0. 0. 1. ]] SLAMing on 239.149072329 meters Centerline goodness [0,1] 0.34658438576349027 Centerline is valid? [False, False] Translation: X:-70.74, Y:-23.23, Z:106.46 [[ 0.87328993 -0.11837995 0.47260014 -70.73786727] [ -0.33040366 0.56898197 0.75305573 -23.23107298] [ -0.35804766 -0.8137848 0.45777305 106.46330032] [ 0. 0. 0. 1. ]] SLAMing on 239.179072329 meters Centerline goodness [0,1] 0.33716231461918733 Centerline is valid? [False, False] Translation: X:-70.84, Y:-23.34, Z:106.74 [[ 0.87277782 -0.11790624 0.47366339 -70.84131191] [ -0.33102723 0.57016862 0.75188345 -23.33544354] [ -0.35871975 -0.81302267 0.45860035 106.74178068] [ 0. 0. 0. 1. ]] SLAMing on 239.209072329 meters Centerline goodness [0,1] 0.3422050892985298 Centerline is valid? [False, False] Translation: X:-70.94, Y:-23.44, Z:107.02 [[ 0.87343137 -0.11461168 0.47326716 -70.94348671] [ -0.33164725 0.57163023 0.75049916 -23.44188538] [ -0.35654978 -0.81246726 0.46126912 107.0213002 ] [ 0. 0. 0. 1. ]] SLAMing on 239.239072329 meters Centerline goodness [0,1] 0.3481774732825993 Centerline is valid? [False, False] Translation: X:-71.05, Y:-23.55, Z:107.30 [[ 0.87398482 -0.11455572 0.47225789 -71.04565144] [ -0.33139016 0.57029835 0.75162514 -23.54551933] [ -0.35543086 -0.81341059 0.46046946 107.29503709] [ 0. 0. 0. 1. ]] SLAMing on 239.269072329 meters Centerline goodness [0,1] 0.3150286054093957 Centerline is valid? [False, False] Translation: X:-71.14, Y:-23.65, Z:107.56 [[ 0.87458066 -0.11521872 0.47099184 -71.14406605] [ -0.33073194 0.56857024 0.75322259 -23.64522434] [ -0.35457728 -0.81452596 0.45915402 107.5596143 ] [ 0. 0. 0. 1. ]] SLAMing on 239.299072329 meters Centerline goodness [0,1] 0.3150286054093957 Centerline is valid? [False, False] Translation: X:-71.25, Y:-23.75, Z:107.83 [[ 0.87426729 -0.11631641 0.47130372 -71.24543584] [ -0.33057768 0.56831855 0.75348021 -23.74712192] [ -0.35549276 -0.81454559 0.4584107 107.83113126] [ 0. 0. 0. 1. ]] SLAMing on 239.329072329 meters Centerline goodness [0,1] 0.3433757178014766 Centerline is valid? [False, False] Translation: X:-71.35, Y:-23.85, Z:108.10 [[ 0.87591437 -0.1157748 0.46836973 -71.34547964] [ -0.32840419 0.56810784 0.75458874 -23.84911831] [ -0.35344688 -0.81476971 0.45959289 108.10224222] [ 0. 0. 0. 1. ]] SLAMing on 239.359072329 meters Centerline goodness [0,1] 0.34498944390923814 Centerline is valid? [False, False] Translation: X:-71.45, Y:-23.95, Z:108.37 [[ 0.87615842 -0.11584045 0.4678968 -71.4460392 ] [ -0.32790652 0.56824239 0.75470385 -23.951693 ] [ -0.35330403 -0.81466654 0.45988551 108.37315446] [ 0. 0. 0. 1. ]] SLAMing on 239.38907232900002 meters Centerline goodness [0,1] 0.3392113842809982 Centerline is valid? [False, False] Translation: X:-71.55, Y:-24.05, Z:108.65 [[ 0.87530445 -0.11487916 0.46972853 -71.54694544] [ -0.32957971 0.56909815 0.75332896 -24.05414393] [ -0.35386344 -0.81420518 0.4602723 108.6480163 ] [ 0. 0. 0. 1. ]] SLAMing on 239.419072329 meters Centerline goodness [0,1] 0.3422244074324463 Centerline is valid? [False, False] Translation: X:-71.65, Y:-24.16, Z:108.93 [[ 0.87511369 -0.11566348 0.46989147 -71.65082919] [ -0.33075597 0.56583273 0.75527069 -24.15964758] [ -0.35323721 -0.81636712 0.45691158 108.93006875] [ 0. 0. 0. 1. ]] SLAMing on 239.449072329 meters Centerline goodness [0,1] 0.33843255309127396 Centerline is valid? [False, False] Translation: X:-71.75, Y:-24.26, Z:109.21 [[ 0.87538538 -0.11684819 0.46909161 -71.75228932] [ -0.33030787 0.56394929 0.75687377 -24.26255175] [ -0.35298321 -0.81750088 0.45507709 109.2055119 ] [ 0. 0. 0. 1. ]] SLAMing on 239.479072329 meters Centerline goodness [0,1] 0.342748950977382 Centerline is valid? [False, False] Translation: X:-71.86, Y:-24.37, Z:109.49 [[ 0.87524677 -0.11698344 0.46931649 -71.85570421] [ -0.33037813 0.56408604 0.75674119 -24.36735619] [ -0.35326107 -0.81738719 0.45506571 109.4882599 ] [ 0. 0. 0. 1. ]] SLAMing on 239.509072329 meters Centerline goodness [0,1] 0.3435464711424241 Centerline is valid? [False, False] Translation: X:-71.96, Y:-24.47, Z:109.77 [[ 0.87513216 -0.11624657 0.46971314 -71.95734303] [ -0.3304893 0.56544261 0.75567948 -24.47138469] [ -0.35344097 -0.81655459 0.45641876 109.76751252] [ 0. 0. 0. 1. ]] SLAMing on 239.539072329 meters Centerline goodness [0,1] 0.3388581952117864 Centerline is valid? [False, False] Translation: X:-72.06, Y:-24.58, Z:110.05 [[ 0.8749613 -0.11598816 0.47009517 -72.06102792] [ -0.33065265 0.56611504 0.75510436 -24.57878869] [ -0.35371111 -0.8161253 0.45697696 110.05476061] [ 0. 0. 0. 1. ]] SLAMing on 239.569072329 meters Centerline goodness [0,1] 0.33246550911215433 Centerline is valid? [False, False] Translation: X:-72.16, Y:-24.68, Z:110.34 [[ 0.874904 -0.11583961 0.47023842 -72.16258246] [ -0.33085975 0.56608805 0.75503387 -24.68438989] [ -0.35365918 -0.81616512 0.45694603 110.33643549] [ 0. 0. 0. 1. ]] SLAMing on 239.599072329 meters Centerline goodness [0,1] 0.3387549994872321 Centerline is valid? [False, False] Translation: X:-72.26, Y:-24.79, Z:110.61 [[ 0.87582931 -0.11431545 0.46888697 -72.26049678] [ -0.33122787 0.56423483 0.75625866 -24.78639228] [ -0.3510144 -0.81766193 0.45630894 110.60852606] [ 0. 0. 0. 1. ]] SLAMing on 239.629072329 meters Centerline goodness [0,1] 0.3390059870417452 Centerline is valid? [False, False] Translation: X:-72.36, Y:-24.89, Z:110.88 [[ 0.87714664 -0.11454393 0.46636194 -72.35884061] [ -0.32968163 0.56249298 0.7582293 -24.8899982 ] [ -0.34917589 -0.81882924 0.4556258 110.88180105] [ 0. 0. 0. 1. ]] SLAMing on 239.659072329 meters Centerline goodness [0,1] 0.3360746513535685 Centerline is valid? [False, False] Translation: X:-72.46, Y:-24.99, Z:111.16 [[ 0.87784448 -0.1139113 0.46520241 -72.4581049 ] [ -0.32900867 0.5624348 0.75856469 -24.99429379] [ -0.34805511 -0.81895745 0.45625248 111.15909703] [ 0. 0. 0. 1. ]] SLAMing on 239.689072329 meters Centerline goodness [0,1] 0.33469438003980545 Centerline is valid? [False, False] Translation: X:-72.56, Y:-25.10, Z:111.44 [[ 0.87858733 -0.11349432 0.46390015 -72.5568528 ] [ -0.32851829 0.56140976 0.75953592 -25.09819901] [ -0.34664108 -0.81971832 0.45596254 111.43507827] [ 0. 0. 0. 1. ]] SLAMing on 239.719072329 meters Centerline goodness [0,1] 0.3352197002316951 Centerline is valid? [False, False] Translation: X:-72.65, Y:-25.20, Z:111.71 [[ 0.87842511 -0.11395992 0.46409316 -72.65497949] [ -0.3290661 0.55997954 0.76035413 -25.20105204] [ -0.34653257 -0.82063149 0.45439975 111.71059323] [ 0. 0. 0. 1. ]] SLAMing on 239.749072329 meters Centerline goodness [0,1] 0.33232907033939996 Centerline is valid? [False, False] Translation: X:-72.75, Y:-25.31, Z:111.99 [[ 0.87791876 -0.11398919 0.46504314 -72.75439463] [ -0.330692 0.55804257 0.76107246 -25.306486 ] [ -0.3462679 -0.82194584 0.45222072 111.99059376] [ 0. 0. 0. 1. ]] SLAMing on 239.779072329 meters Centerline goodness [0,1] 0.3289667896678967 Centerline is valid? [False, False] Translation: X:-72.85, Y:-25.41, Z:112.27 [[ 0.87863464 -0.11296825 0.46393895 -72.85270839] [ -0.33016588 0.55817685 0.7612024 -25.41116777] [ -0.34495169 -0.82199561 0.45313525 112.26609891] [ 0. 0. 0. 1. ]] SLAMing on 239.809072329 meters Centerline goodness [0,1] 0.3278688524590164 Centerline is valid? [False, False] Translation: X:-72.95, Y:-25.51, Z:112.53 [[ 0.88016208 -0.11260458 0.46112355 -72.94710692] [ -0.32789678 0.55818741 0.76217486 -25.51212984] [ -0.34321774 -0.82203833 0.45437271 112.53046383] [ 0. 0. 0. 1. ]] SLAMing on 239.839072329 meters Centerline goodness [0,1] 0.3325 Centerline is valid? [False, False] Translation: X:-73.05, Y:-25.62, Z:112.81 [[ 8.80781679e-01 -1.10560758e-01 4.60434526e-01 -7.30469496e+01] [-3.27684338e-01 5.59618534e-01 7.61216179e-01 -2.56150577e+01] [-3.41828332e-01 -8.21342447e-01 4.56672723e-01 1.12807933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.869072329 meters Centerline goodness [0,1] 0.33348358808343237 Centerline is valid? [False, False] Translation: X:-73.14, Y:-25.72, Z:113.08 [[ 8.80796447e-01 -1.10845334e-01 4.60337845e-01 -7.31433075e+01] [-3.27769020e-01 5.58885569e-01 7.61718051e-01 -2.57161894e+01] [-3.41709070e-01 -8.21803037e-01 4.55932757e-01 1.13080013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.899072329 meters Centerline goodness [0,1] 0.33429051975222546 Centerline is valid? [False, False] Translation: X:-73.24, Y:-25.82, Z:113.36 [[ 8.80079871e-01 -1.11107079e-01 4.61643410e-01 -7.32416016e+01] [-3.29322629e-01 5.57564723e-01 7.62015869e-01 -2.58189654e+01] [-3.42061438e-01 -8.22664450e-01 4.54111414e-01 1.13356026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.929072329 meters Centerline goodness [0,1] 0.3326449660587225 Centerline is valid? [False, False] Translation: X:-73.34, Y:-25.92, Z:113.63 [[ 8.79880909e-01 -1.12568916e-01 4.61668523e-01 -7.33404440e+01] [-3.29663421e-01 5.55120253e-01 7.63651447e-01 -2.59234696e+01] [-3.42244963e-01 -8.24117554e-01 4.51329859e-01 1.13631008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.959072329 meters Centerline goodness [0,1] 0.3321386880747097 Centerline is valid? [False, False] Translation: X:-73.44, Y:-26.03, Z:113.91 [[ 8.80682832e-01 -1.09061644e-01 4.60980809e-01 -7.34396772e+01] [-3.30286771e-01 5.56209006e-01 7.62589136e-01 -2.60286444e+01] [-3.39570903e-01 -8.23855023e-01 4.53822105e-01 1.13906985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.989072329 meters Centerline goodness [0,1] 0.32932367742727386 Centerline is valid? [False, False] Translation: X:-73.54, Y:-26.13, Z:114.17 [[ 8.82615057e-01 -1.07273271e-01 4.57693245e-01 -7.35354709e+01] [-3.27834267e-01 5.57338088e-01 7.62823013e-01 -2.61299612e+01] [-3.36920398e-01 -8.23326607e-01 4.56747134e-01 1.14173319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.019072329 meters Centerline goodness [0,1] 0.32341078923124167 Centerline is valid? [False, False] Translation: X:-73.63, Y:-26.23, Z:114.45 [[ 8.82888442e-01 -1.07526133e-01 4.57106257e-01 -7.36318121e+01] [-3.27423377e-01 5.56805662e-01 7.63388097e-01 -2.62315389e+01] [-3.36603522e-01 -8.23653802e-01 4.56390713e-01 1.14445051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.049072329 meters Centerline goodness [0,1] 0.32709591565155083 Centerline is valid? [False, False] Translation: X:-73.73, Y:-26.33, Z:114.71 [[ 8.83064225e-01 -1.09452357e-01 4.56308839e-01 -7.37282958e+01] [-3.26659524e-01 5.54731711e-01 7.65223029e-01 -2.63332036e+01] [-3.36884447e-01 -8.24798709e-01 4.54110074e-01 1.14712646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.079072329 meters Centerline goodness [0,1] 0.3184648152699271 Centerline is valid? [False, False] Translation: X:-73.83, Y:-26.44, Z:114.99 [[ 8.83003481e-01 -1.09818582e-01 4.56338396e-01 -7.38258978e+01] [-3.26830906e-01 5.53947202e-01 7.65718000e-01 -2.64365929e+01] [-3.36877443e-01 -8.25277151e-01 4.53245201e-01 1.14986921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.109072329 meters Centerline goodness [0,1] 0.30638897972531065 Centerline is valid? [False, False] Translation: X:-73.92, Y:-26.54, Z:115.26 [[ 8.83496199e-01 -1.09388671e-01 4.55487196e-01 -7.39234313e+01] [-3.26182864e-01 5.54229075e-01 7.65790357e-01 -2.65390385e+01] [-3.36213037e-01 -8.25144988e-01 4.53978571e-01 1.15255025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13907232900002 meters Centerline goodness [0,1] 0.3303604303890685 Centerline is valid? [False, False] Translation: X:-74.02, Y:-26.65, Z:115.54 [[ 8.83865901e-01 -1.08933417e-01 4.54878643e-01 -7.40235002e+01] [-3.25577923e-01 5.54953289e-01 7.65523261e-01 -2.66471453e+01] [-3.35827464e-01 -8.24718351e-01 4.55037973e-01 1.15540005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.169072329 meters Centerline goodness [0,1] 0.3299002779140101 Centerline is valid? [False, False] Translation: X:-74.12, Y:-26.75, Z:115.82 [[ 8.84169598e-01 -1.09143290e-01 4.54237674e-01 -7.41237470e+01] [-3.25010520e-01 5.54736874e-01 7.65921121e-01 -2.67539677e+01] [-3.35577538e-01 -8.24836192e-01 4.55008761e-01 1.15824186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.199072329 meters Centerline goodness [0,1] 0.3236274409569574 Centerline is valid? [False, False] Translation: X:-74.22, Y:-26.86, Z:116.09 [[ 8.84317806e-01 -1.10187712e-01 4.53696689e-01 -7.42180348e+01] [-3.24413963e-01 5.53825040e-01 7.66833363e-01 -2.68554269e+01] [-3.35764200e-01 -8.25309938e-01 4.54010912e-01 1.16094540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.229072329 meters Centerline goodness [0,1] 0.32768881526474014 Centerline is valid? [False, False] Translation: X:-74.32, Y:-26.96, Z:116.38 [[ 8.84056195e-01 -1.10496268e-01 4.54131280e-01 -7.43192496e+01] [-3.24732257e-01 5.53607601e-01 7.66855648e-01 -2.69643131e+01] [-3.36145215e-01 -8.25414562e-01 4.53538526e-01 1.16384318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.259072329 meters Centerline goodness [0,1] 0.32920462688095 Centerline is valid? [False, False] Translation: X:-74.42, Y:-27.07, Z:116.66 [[ 8.84344319e-01 -1.10045567e-01 4.53679512e-01 -7.44173873e+01] [-3.24251192e-01 5.54355117e-01 7.66519125e-01 -2.70686446e+01] [-3.35851591e-01 -8.24972956e-01 4.54558392e-01 1.16663098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.289072329 meters Centerline goodness [0,1] 0.31867097671754163 Centerline is valid? [False, False] Translation: X:-74.51, Y:-27.17, Z:116.94 [[ 8.84494057e-01 -1.09233002e-01 4.53583965e-01 -7.45146049e+01] [-3.23940551e-01 5.55869145e-01 7.65553403e-01 -2.71735921e+01] [-3.35757028e-01 -8.24061676e-01 4.56277956e-01 1.16938767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.319072329 meters Centerline goodness [0,1] 0.32516503505078787 Centerline is valid? [False, False] Translation: X:-74.61, Y:-27.28, Z:117.21 [[ 8.85166642e-01 -1.09333101e-01 4.52245828e-01 -7.46117232e+01] [-3.22333426e-01 5.56854134e-01 7.65515928e-01 -2.72795777e+01] [-3.35531189e-01 -8.23383111e-01 4.57666991e-01 1.17214182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.349072329 meters Centerline goodness [0,1] 0.31094806973084543 Centerline is valid? [False, False] Translation: X:-74.71, Y:-27.38, Z:117.49 [[ 8.84992818e-01 -1.07862402e-01 4.52938643e-01 -7.47089631e+01] [-3.23034989e-01 5.58338825e-01 7.64137522e-01 -2.73821129e+01] [-3.35314938e-01 -8.22571249e-01 4.59282520e-01 1.17487428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.379072329 meters Centerline goodness [0,1] 0.32895730823414115 Centerline is valid? [False, False] Translation: X:-74.81, Y:-27.49, Z:117.77 [[ 8.85111493e-01 -1.07905904e-01 4.52696322e-01 -7.48082931e+01] [-3.23285434e-01 5.57158032e-01 7.64893101e-01 -2.74889705e+01] [-3.34759874e-01 -8.23365802e-01 4.58262570e-01 1.17765419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.409072329 meters Centerline goodness [0,1] 0.3301363980286701 Centerline is valid? [False, False] Translation: X:-74.91, Y:-27.59, Z:118.04 [[ 8.85283501e-01 -1.05575429e-01 4.52909431e-01 -7.49058869e+01] [-3.24238303e-01 5.58028487e-01 7.63854522e-01 -2.75919520e+01] [-3.33380633e-01 -8.23078390e-01 4.59781814e-01 1.18038023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.439072329 meters Centerline goodness [0,1] 0.32931965001226593 Centerline is valid? [False, False] Translation: X:-75.00, Y:-27.70, Z:118.31 [[ 8.86372107e-01 -1.05247691e-01 4.50851872e-01 -7.50025151e+01] [-3.22224492e-01 5.59011283e-01 7.63988064e-01 -2.76965977e+01] [-3.32439263e-01 -8.22453226e-01 4.61578625e-01 1.18306102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.469072329 meters Centerline goodness [0,1] 0.32767402376910015 Centerline is valid? [False, False] Translation: X:-75.10, Y:-27.80, Z:118.57 [[ 8.87005828e-01 -1.04851280e-01 4.49696419e-01 -7.50963005e+01] [-3.20873718e-01 5.60366120e-01 7.63563925e-01 -2.77981535e+01] [-3.32055293e-01 -8.21581414e-01 4.63403995e-01 1.18566930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.499072329 meters Centerline goodness [0,1] 0.3277365851665748 Centerline is valid? [False, False] Translation: X:-75.20, Y:-27.90, Z:118.85 [[ 8.86732315e-01 -1.04431948e-01 4.50332954e-01 -7.51964471e+01] [-3.21807095e-01 5.59915852e-01 7.63501429e-01 -2.79036015e+01] [-3.31882501e-01 -8.21941729e-01 4.62888538e-01 1.18846127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.529072329 meters Centerline goodness [0,1] 0.321900598533287 Centerline is valid? [False, False] Translation: X:-75.30, Y:-28.01, Z:119.13 [[ 8.86219889e-01 -1.03518949e-01 4.51550812e-01 -7.52982580e+01] [-3.23627850e-01 5.59098287e-01 7.63330938e-01 -2.80122261e+01] [-3.31480502e-01 -8.22613477e-01 4.61982407e-01 1.19131092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.559072329 meters Centerline goodness [0,1] 0.3246668435338055 Centerline is valid? [False, False] Translation: X:-75.40, Y:-28.12, Z:119.41 [[ 8.86498506e-01 -1.03350719e-01 4.51042157e-01 -7.53983001e+01] [-3.23976277e-01 5.57343174e-01 7.64465799e-01 -2.81194301e+01] [-3.30393358e-01 -8.23824748e-01 4.60600710e-01 1.19409684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.589072329 meters Centerline goodness [0,1] 0.31466557578236853 Centerline is valid? [False, False] Translation: X:-75.50, Y:-28.23, Z:119.69 [[ 8.86468358e-01 -1.02291433e-01 4.51342788e-01 -7.55001809e+01] [-3.24865585e-01 5.57044716e-01 7.64305918e-01 -2.82286846e+01] [-3.29600063e-01 -8.24158751e-01 4.60571549e-01 1.19692614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.619072329 meters Centerline goodness [0,1] 0.3204072037449661 Centerline is valid? [False, False] Translation: X:-75.60, Y:-28.34, Z:119.97 [[ 8.86355547e-01 -9.92700381e-02 4.52238106e-01 -7.56022192e+01] [-3.26149171e-01 5.59413405e-01 7.62025827e-01 -2.83355938e+01] [-3.28634392e-01 -8.22922901e-01 4.63462334e-01 1.19970544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.649072329 meters Centerline goodness [0,1] 0.3162898147769555 Centerline is valid? [False, False] Translation: X:-75.70, Y:-28.44, Z:120.25 [[ 8.87108097e-01 -9.76862286e-02 4.51106001e-01 -7.57026373e+01] [-3.25367919e-01 5.60861008e-01 7.61295374e-01 -2.84449627e+01] [-3.27375841e-01 -8.22126712e-01 4.65760377e-01 1.20248011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.679072329 meters Centerline goodness [0,1] 0.3239923853192229 Centerline is valid? [False, False] Translation: X:-75.81, Y:-28.55, Z:120.53 [[ 8.88021492e-01 -9.56124744e-02 4.49751137e-01 -7.58060358e+01] [-3.25352824e-01 5.60511310e-01 7.61559329e-01 -2.85532038e+01] [-3.24905171e-01 -8.22608854e-01 4.66638301e-01 1.20526114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.709072329 meters Centerline goodness [0,1] 0.3235643240145717 Centerline is valid? [False, False] Translation: X:-75.91, Y:-28.66, Z:120.80 [[ 8.88512314e-01 -9.48392296e-02 4.48944750e-01 -7.59088891e+01] [-3.25441717e-01 5.59483984e-01 7.62276433e-01 -2.86624257e+01] [-3.23471107e-01 -8.23397348e-01 4.66243767e-01 1.20804708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.739072329 meters Centerline goodness [0,1] 0.32074970363405964 Centerline is valid? [False, False] Translation: X:-76.01, Y:-28.77, Z:121.09 [[ 8.89437914e-01 -9.53537702e-02 4.46998719e-01 -7.60124789e+01] [-3.24371216e-01 5.57313582e-01 7.64319884e-01 -2.87744745e+01] [-3.21999240e-01 -8.24808602e-01 4.64765812e-01 1.21087878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.769072329 meters Centerline goodness [0,1] 0.3149150949179558 Centerline is valid? [False, False] Translation: X:-76.12, Y:-28.88, Z:121.37 [[ 8.89371808e-01 -9.57702469e-02 4.47041213e-01 -7.61155292e+01] [-3.24744108e-01 5.55935050e-01 7.65165004e-01 -2.88848101e+01] [-3.21805921e-01 -8.25690184e-01 4.63332138e-01 1.21368747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.799072329 meters Centerline goodness [0,1] 0.31448264577751417 Centerline is valid? [False, False] Translation: X:-76.21, Y:-28.99, Z:121.64 [[ 8.89891387e-01 -9.53170035e-02 4.46103115e-01 -7.62146597e+01] [-3.24128733e-01 5.56005253e-01 7.65374891e-01 -2.89930838e+01] [-3.20988916e-01 -8.25695360e-01 4.63889306e-01 1.21643134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.829072329 meters Centerline goodness [0,1] 0.31156415337160137 Centerline is valid? [False, False] Translation: X:-76.32, Y:-29.10, Z:121.92 [[ 8.90891988e-01 -9.45360610e-02 4.44268386e-01 -7.63165596e+01] [-3.23057838e-01 5.55671320e-01 7.66069852e-01 -2.91025776e+01] [-3.19288427e-01 -8.26009878e-01 4.64502511e-01 1.21918502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.859072329 meters Centerline goodness [0,1] 0.2722089387529888 Centerline is valid? [False, False] Translation: X:-76.42, Y:-29.21, Z:122.20 [[ 8.91334319e-01 -9.43557719e-02 4.43418674e-01 -7.64186857e+01] [-3.22635893e-01 5.55097003e-01 7.66663810e-01 -2.92137450e+01] [-3.18479533e-01 -8.26416545e-01 4.64334450e-01 1.22199694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88907232900002 meters Centerline goodness [0,1] 0.32187148840535296 Centerline is valid? [False, False] Translation: X:-76.52, Y:-29.33, Z:122.48 [[ 8.91806589e-01 -9.50905342e-02 4.42310749e-01 -7.65211275e+01] [-3.21877448e-01 5.53668394e-01 7.68014464e-01 -2.93253841e+01] [-3.17924388e-01 -8.27290215e-01 4.63157624e-01 1.22480589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919072329 meters Centerline goodness [0,1] 0.30817995910020446 Centerline is valid? [False, False] Translation: X:-76.62, Y:-29.44, Z:122.76 [[ 8.92238809e-01 -9.55530116e-02 4.41338340e-01 -7.66243589e+01] [-3.21282907e-01 5.52453921e-01 7.69137152e-01 -2.94361556e+01] [-3.17312468e-01 -8.28048481e-01 4.62221279e-01 1.22762273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.949072329 meters Centerline goodness [0,1] 0.27075090753354814 Centerline is valid? [False, False] Translation: X:-76.72, Y:-29.55, Z:123.04 [[ 8.93215013e-01 -9.67548006e-02 4.39096173e-01 -7.67241733e+01] [-3.19111357e-01 5.51564943e-01 7.70677660e-01 -2.95463518e+01] [-3.16756819e-01 -8.28501432e-01 4.61790532e-01 1.23037995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.979072329 meters Centerline goodness [0,1] 0.31735523681091904 Centerline is valid? [False, False] Translation: X:-76.83, Y:-29.66, Z:123.32 [[ 8.94386605e-01 -9.74196662e-02 4.36556994e-01 -7.68258404e+01] [-3.17049949e-01 5.50385124e-01 7.72370083e-01 -2.96596850e+01] [-3.15518511e-01 -8.29207829e-01 4.61370182e-01 1.23323296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.009072329 meters Centerline goodness [0,1] 0.3119547228408557 Centerline is valid? [False, False] Translation: X:-76.92, Y:-29.77, Z:123.60 [[ 8.94446185e-01 -9.83819914e-02 4.36218989e-01 -7.69237377e+01] [-3.16765245e-01 5.49151818e-01 7.73364119e-01 -2.97677876e+01] [-3.15635553e-01 -8.29911601e-01 4.60022753e-01 1.23596390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.039072329 meters Centerline goodness [0,1] 0.3157442806615828 Centerline is valid? [False, False] Translation: X:-77.02, Y:-29.88, Z:123.87 [[ 8.94523238e-01 -9.90460711e-02 4.35910601e-01 -7.70223883e+01] [-3.16556242e-01 5.48163583e-01 7.74150394e-01 -2.98773278e+01] [-3.15626872e-01 -8.30485739e-01 4.58991411e-01 1.23874629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.069072329 meters Centerline goodness [0,1] 0.3042989661231662 Centerline is valid? [False, False] Translation: X:-77.12, Y:-29.99, Z:124.15 [[ 8.94711376e-01 -9.91488972e-02 4.35500918e-01 -7.71203454e+01] [-3.16303185e-01 5.47766781e-01 7.74534602e-01 -2.99859236e+01] [-3.15347187e-01 -8.30735247e-01 4.58732058e-01 1.24151566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.099072329 meters Centerline goodness [0,1] 0.31489604798726867 Centerline is valid? [False, False] Translation: X:-77.22, Y:-30.10, Z:124.43 [[ 8.95190854e-01 -9.98594682e-02 4.34351726e-01 -7.72188136e+01] [-3.15360918e-01 5.46731934e-01 7.75649202e-01 -3.00950665e+01] [-3.14929876e-01 -8.31331630e-01 4.57937653e-01 1.24428703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.129072329 meters Centerline goodness [0,1] 0.31258432478842146 Centerline is valid? [False, False] Translation: X:-77.32, Y:-30.21, Z:124.71 [[ 8.95582180e-01 -9.92287708e-02 4.33689071e-01 -7.73202955e+01] [-3.15338758e-01 5.46067591e-01 7.76126056e-01 -3.02058788e+01] [-3.13837581e-01 -8.31843638e-01 4.57757726e-01 1.24713483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.159072329 meters Centerline goodness [0,1] 0.30672062791268084 Centerline is valid? [False, False] Translation: X:-77.42, Y:-30.32, Z:125.00 [[ 8.95495781e-01 -9.90499439e-02 4.33908303e-01 -7.74207518e+01] [-3.15527512e-01 5.46296860e-01 7.75887962e-01 -3.03169733e+01] [-3.13894403e-01 -8.31714404e-01 4.57953551e-01 1.24996412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.189072329 meters Centerline goodness [0,1] 0.30672062791268084 Centerline is valid? [False, False] Translation: X:-77.52, Y:-30.43, Z:125.28 [[ 8.95447358e-01 -9.99629820e-02 4.33798838e-01 -7.75189579e+01] [-3.15190055e-01 5.45786471e-01 7.76384156e-01 -3.04274250e+01] [-3.14371212e-01 -8.31940220e-01 4.57215715e-01 1.25276650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.219072329 meters Centerline goodness [0,1] 0.28559746499028926 Centerline is valid? [False, False] Translation: X:-77.62, Y:-30.54, Z:125.55 [[ 8.96253629e-01 -9.86043706e-02 4.32442610e-01 -7.76171080e+01] [-3.14319616e-01 5.46697814e-01 7.76095792e-01 -3.05366107e+01] [-3.12941867e-01 -8.31503865e-01 4.58986612e-01 1.25554838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.249072329 meters Centerline goodness [0,1] 0.31012852209803643 Centerline is valid? [False, False] Translation: X:-77.71, Y:-30.65, Z:125.83 [[ 8.96733624e-01 -9.90346858e-02 4.31347816e-01 -7.77143533e+01] [-3.13487143e-01 5.45842746e-01 7.77033788e-01 -3.06455068e+01] [-3.12401374e-01 -8.32014319e-01 4.58429444e-01 1.25833134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.279072329 meters Centerline goodness [0,1] 0.31253701472420203 Centerline is valid? [False, False] Translation: X:-77.81, Y:-30.75, Z:126.11 [[ 8.97272447e-01 -1.00526250e-01 4.29879783e-01 -7.78107094e+01] [-3.12521424e-01 5.43125916e-01 7.79323167e-01 -3.07536024e+01] [-3.11821287e-01 -8.33611848e-01 4.55915313e-01 1.26110357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.309072329 meters Centerline goodness [0,1] 0.30610370793624875 Centerline is valid? [False, False] Translation: X:-77.91, Y:-30.86, Z:126.40 [[ 8.96284130e-01 -1.02513823e-01 4.31469204e-01 -7.79104847e+01] [-3.14702279e-01 5.38481282e-01 7.81665136e-01 -3.08623951e+01] [-3.12469572e-01 -8.36378398e-01 4.50370894e-01 1.26400102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.339072329 meters Centerline goodness [0,1] 0.30893512851897187 Centerline is valid? [False, False] Translation: X:-78.01, Y:-30.97, Z:126.69 [[ 8.96679385e-01 -1.04493994e-01 4.30170997e-01 -7.80103252e+01] [-3.13612321e-01 5.35879528e-01 7.83888030e-01 -3.09746791e+01] [-3.12431422e-01 -8.37803161e-01 4.47741521e-01 1.26690634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.369072329 meters Centerline goodness [0,1] 0.28721366267221005 Centerline is valid? [False, False] Translation: X:-78.11, Y:-31.09, Z:126.97 [[ 8.97696503e-01 -1.05762073e-01 4.27732829e-01 -7.81081650e+01] [-3.11426435e-01 5.34432237e-01 7.85745353e-01 -3.10853406e+01] [-3.11696270e-01 -8.38568165e-01 4.46820844e-01 1.26973973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.399072329 meters Centerline goodness [0,1] 0.2846186795031309 Centerline is valid? [False, False] Translation: X:-78.20, Y:-31.19, Z:127.25 [[ 8.99513254e-01 -1.03541846e-01 4.24446690e-01 -7.82030836e+01] [-3.08536006e-01 5.37288448e-01 7.84937358e-01 -3.11926583e+01] [-3.09324166e-01 -8.37018644e-01 4.51351693e-01 1.27249608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.429072329 meters Centerline goodness [0,1] 0.2888004895960832 Centerline is valid? [False, False] Translation: X:-78.30, Y:-31.30, Z:127.54 [[ 8.99815583e-01 -1.02993489e-01 4.23938979e-01 -7.83010924e+01] [-3.08161170e-01 5.37803350e-01 7.84731960e-01 -3.13030644e+01] [-3.08818085e-01 -8.36755578e-01 4.52185242e-01 1.27537702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.459072329 meters Centerline goodness [0,1] 0.30808637439791 Centerline is valid? [False, False] Translation: X:-78.40, Y:-31.41, Z:127.83 [[ 8.99905007e-01 -1.03728706e-01 4.23569752e-01 -7.84000347e+01] [-3.08745879e-01 5.34401096e-01 7.86823646e-01 -3.14118927e+01] [-3.07972339e-01 -8.38841954e-01 4.48884412e-01 1.27828579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.489072329 meters Centerline goodness [0,1] 0.3030241236566814 Centerline is valid? [False, False] Translation: X:-78.50, Y:-31.52, Z:128.12 [[ 9.00159336e-01 -1.04824187e-01 4.22758868e-01 -7.84986666e+01] [-3.08858334e-01 5.30760423e-01 7.89240079e-01 -3.15229556e+01] [-3.07115125e-01 -8.41014425e-01 4.45393126e-01 1.28120073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.519072329 meters Centerline goodness [0,1] 0.3043957164711881 Centerline is valid? [False, False] Translation: X:-78.60, Y:-31.64, Z:128.42 [[ 9.00558550e-01 -1.05222627e-01 4.21808601e-01 -7.85985465e+01] [-3.08750016e-01 5.28261499e-01 7.90957152e-01 -3.16367965e+01] [-3.06051833e-01 -8.42536639e-01 4.43242922e-01 1.28418943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.549072329 meters Centerline goodness [0,1] 0.30643219975927705 Centerline is valid? [False, False] Translation: X:-78.69, Y:-31.74, Z:128.70 [[ 9.01418335e-01 -1.03935642e-01 4.20288433e-01 -7.86914163e+01] [-3.07565217e-01 5.29492753e-01 7.90595384e-01 -3.17430096e+01] [-3.04710719e-01 -8.41923278e-01 4.45327488e-01 1.28697743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.579072329 meters Centerline goodness [0,1] 0.3001527650473572 Centerline is valid? [False, False] Translation: X:-78.78, Y:-31.85, Z:128.97 [[ 9.02998707e-01 -1.04265221e-01 4.16799830e-01 -7.87833847e+01] [-3.04478473e-01 5.29143529e-01 7.92022717e-01 -3.18488874e+01] [-3.03127356e-01 -8.42102066e-01 4.46069408e-01 1.28971257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.609072329 meters Centerline goodness [0,1] 0.30170549594026685 Centerline is valid? [False, False] Translation: X:-78.88, Y:-31.96, Z:129.25 [[ 9.04215882e-01 -1.03881874e-01 4.14248953e-01 -7.88760821e+01] [-3.02634384e-01 5.28543779e-01 7.93129184e-01 -3.19550636e+01] [-3.01340454e-01 -8.42525982e-01 4.46479452e-01 1.29251758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63907232900002 meters Centerline goodness [0,1] 0.3007775034181581 Centerline is valid? [False, False] Translation: X:-78.97, Y:-32.06, Z:129.54 [[ 9.05026794e-01 -1.03806903e-01 4.12493186e-01 -7.89703129e+01] [-3.02442541e-01 5.24847558e-01 7.95652908e-01 -3.20603791e+01] [-2.99090306e-01 -8.44842688e-01 4.43605479e-01 1.29536859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.669072329 meters Centerline goodness [0,1] 0.2957953363118918 Centerline is valid? [False, False] Translation: X:-79.06, Y:-32.17, Z:129.82 [[ 9.04868572e-01 -1.04804868e-01 4.12587938e-01 -7.90646189e+01] [-3.03227528e-01 5.21563948e-01 7.97511200e-01 -3.21664533e+01] [-2.98774050e-01 -8.46750841e-01 4.40167104e-01 1.29822087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.699072329 meters Centerline goodness [0,1] 0.2931456548347613 Centerline is valid? [False, False] Translation: X:-79.16, Y:-32.27, Z:130.11 [[ 9.05251737e-01 -1.04302799e-01 4.11874034e-01 -7.91592963e+01] [-3.03804996e-01 5.18781775e-01 7.99104495e-01 -3.22730323e+01] [-2.97021578e-01 -8.48520121e-01 4.37940391e-01 1.30110091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.729072329 meters Centerline goodness [0,1] 0.29068914956011727 Centerline is valid? [False, False] Translation: X:-79.25, Y:-32.38, Z:130.39 [[ 9.06386476e-01 -1.03692366e-01 4.09525884e-01 -7.92499411e+01] [-3.02145943e-01 5.18393828e-01 7.99984793e-01 -3.23765877e+01] [-2.95248007e-01 -8.48831981e-01 4.38534927e-01 1.30386021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.759072329 meters Centerline goodness [0,1] 0.28312418513689697 Centerline is valid? [False, False] Translation: X:-79.34, Y:-32.48, Z:130.67 [[ 9.07155330e-01 -1.01893943e-01 4.08272986e-01 -7.93422934e+01] [-3.01448182e-01 5.19588247e-01 7.99472981e-01 -3.24810101e+01] [-2.93595299e-01 -8.48319326e-01 4.40631504e-01 1.30667577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.789072329 meters Centerline goodness [0,1] 0.29479109372771906 Centerline is valid? [False, False] Translation: X:-79.43, Y:-32.58, Z:130.94 [[ 9.08223512e-01 -9.80539474e-02 4.06835933e-01 -7.94345036e+01] [-3.01395974e-01 5.21185219e-01 7.98452525e-01 -3.25826632e+01] [-2.90328297e-01 -8.47792068e-01 4.43799605e-01 1.30942318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.819072329 meters Centerline goodness [0,1] 0.2828656886483407 Centerline is valid? [False, False] Translation: X:-79.53, Y:-32.69, Z:131.22 [[ 9.09207952e-01 -9.78845581e-02 4.04672105e-01 -7.95261241e+01] [-3.00330859e-01 5.18954910e-01 8.00304427e-01 -3.26864128e+01] [-2.88344021e-01 -8.49178671e-01 4.42440178e-01 1.31219963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.849072329 meters Centerline goodness [0,1] 0.28538268890110563 Centerline is valid? [False, False] Translation: X:-79.62, Y:-32.79, Z:131.50 [[ 9.09452049e-01 -9.79998782e-02 4.04095280e-01 -7.96178406e+01] [-3.00595446e-01 5.16517331e-01 8.01780659e-01 -3.27892065e+01] [-2.87296622e-01 -8.50650264e-01 4.40289427e-01 1.31497590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.879072329 meters Centerline goodness [0,1] 0.2905571966996028 Centerline is valid? [False, False] Translation: X:-79.71, Y:-32.89, Z:131.79 [[ 9.08116960e-01 -9.73524491e-02 4.07242051e-01 -7.97149706e+01] [-3.04524100e-01 5.13975465e-01 8.01931602e-01 -3.28925639e+01] [-2.87382428e-01 -8.52262707e-01 4.37103669e-01 1.31785158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.909072329 meters Centerline goodness [0,1] 0.27379812101326706 Centerline is valid? [False, False] Translation: X:-79.81, Y:-33.00, Z:132.06 [[ 9.09330864e-01 -9.69529024e-02 4.04620210e-01 -7.98060464e+01] [-3.02929902e-01 5.12363792e-01 8.03565069e-01 -3.29963473e+01] [-2.85220710e-01 -8.53278079e-01 4.36538276e-01 1.32063965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.939072329 meters Centerline goodness [0,1] 0.25836881889122065 Centerline is valid? [False, False] Translation: X:-79.90, Y:-33.10, Z:132.34 [[ 9.10020358e-01 -9.54909663e-02 4.03415944e-01 -7.98982282e+01] [-3.02365806e-01 5.12849893e-01 8.03467428e-01 -3.31005310e+01] [-2.83615704e-01 -8.53150903e-01 4.37830640e-01 1.32344852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.969072329 meters Centerline goodness [0,1] 0.2972229579674416 Centerline is valid? [False, False] Translation: X:-79.99, Y:-33.20, Z:132.61 [[ 9.12037043e-01 -9.26375324e-02 3.99508098e-01 -7.99867779e+01] [-3.00295842e-01 5.12595531e-01 8.04405513e-01 -3.32013453e+01] [-2.79304207e-01 -8.53618246e-01 4.39687446e-01 1.32613971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.999072329 meters Centerline goodness [0,1] 0.28933762162602283 Centerline is valid? [False, False] Translation: X:-80.07, Y:-33.30, Z:132.88 [[ 9.13219018e-01 -9.18026153e-02 3.96992828e-01 -8.00748390e+01] [-2.98841134e-01 5.11413663e-01 8.05698481e-01 -3.33012718e+01] [-2.76992784e-01 -8.54416962e-01 4.39598285e-01 1.32884869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.029072329 meters Centerline goodness [0,1] 0.2772756879986973 Centerline is valid? [False, False] Translation: X:-80.17, Y:-33.40, Z:133.17 [[ 9.14173007e-01 -9.06756033e-02 3.95051451e-01 -8.01667578e+01] [-2.98928444e-01 5.07398273e-01 8.08200952e-01 -3.34031439e+01] [-2.73732533e-01 -8.56927609e-01 4.36744287e-01 1.33166089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.059072329 meters Centerline goodness [0,1] 0.289936735897801 Centerline is valid? [False, False] Translation: X:-80.25, Y:-33.50, Z:133.44 [[ 9.14782473e-01 -9.02208143e-02 3.93742595e-01 -8.02547350e+01] [-2.98863345e-01 5.04603861e-01 8.09972620e-01 -3.35032692e+01] [-2.71760423e-01 -8.58623985e-01 4.34639073e-01 1.33439331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.089072329 meters Centerline goodness [0,1] 0.27609633064844197 Centerline is valid? [False, False] Translation: X:-80.34, Y:-33.60, Z:133.71 [[ 9.15257735e-01 -8.88350249e-02 3.92952436e-01 -8.03403275e+01] [-2.99279028e-01 5.03032396e-01 8.10796196e-01 -3.36013375e+01] [-2.69694906e-01 -8.59689913e-01 4.33817832e-01 1.33706405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.119072329 meters Centerline goodness [0,1] 0.2965079623339909 Centerline is valid? [False, False] Translation: X:-80.43, Y:-33.70, Z:133.97 [[ 9.16116682e-01 -8.73873535e-02 3.91271869e-01 -8.04253369e+01] [-2.98688619e-01 5.02227744e-01 8.11512416e-01 -3.37003569e+01] [-2.67423511e-01 -8.60308516e-01 4.33997607e-01 1.33971745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.149072329 meters Centerline goodness [0,1] 0.28431990564694876 Centerline is valid? [False, False] Translation: X:-80.51, Y:-33.80, Z:134.23 [[ 9.17847826e-01 -8.31557783e-02 3.88124315e-01 -8.05080029e+01] [-2.97083107e-01 5.04561807e-01 8.10653447e-01 -3.37972781e+01] [-2.63243224e-01 -8.59361681e-01 4.38406781e-01 1.34228235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.179072329 meters Centerline goodness [0,1] 0.2556792782541554 Centerline is valid? [False, False] Translation: X:-80.59, Y:-33.89, Z:134.48 [[ 9.19250980e-01 -8.18190213e-02 3.85075686e-01 -8.05880340e+01] [-2.95054596e-01 5.04362898e-01 8.11517623e-01 -3.38905711e+01] [-2.60615467e-01 -8.59606721e-01 4.39495010e-01 1.34479378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.209072329 meters Centerline goodness [0,1] 0.24410264745921129 Centerline is valid? [False, False] Translation: X:-80.67, Y:-33.98, Z:134.73 [[ 9.20194416e-01 -8.12356911e-02 3.82939943e-01 -8.06685180e+01] [-2.94082923e-01 5.02201690e-01 8.13208888e-01 -3.39835947e+01] [-2.58374673e-01 -8.60926376e-01 4.38233162e-01 1.34731373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.239072329 meters Centerline goodness [0,1] 0.24670417843141235 Centerline is valid? [False, False] Translation: X:-80.75, Y:-34.08, Z:134.99 [[ 9.20082706e-01 -7.85592548e-02 3.83765888e-01 -8.07514756e+01] [-2.97722510e-01 4.96442636e-01 8.15417694e-01 -3.40774779e+01] [-2.54576356e-01 -8.64507462e-01 4.33379426e-01 1.34988563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.269072329 meters Centerline goodness [0,1] 0.26686842425965795 Centerline is valid? [False, False] Translation: X:-80.83, Y:-34.18, Z:135.25 [[ 9.20792712e-01 -7.75294020e-02 3.82269503e-01 -8.08341757e+01] [-2.97603849e-01 4.93875050e-01 8.17018595e-01 -3.41752191e+01] [-2.52136333e-01 -8.66069643e-01 4.31683498e-01 1.35248892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.299072329 meters Centerline goodness [0,1] 0.2652463815254513 Centerline is valid? [False, False] Translation: X:-80.92, Y:-34.27, Z:135.51 [[ 9.21727056e-01 -7.56866427e-02 3.80382395e-01 -8.09159568e+01] [-2.96885748e-01 4.93388729e-01 8.17573492e-01 -3.42725974e+01] [-2.49555779e-01 -8.66509719e-01 4.32299455e-01 1.35506422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.329072329 meters Centerline goodness [0,1] 0.26967616106618997 Centerline is valid? [False, False] Translation: X:-80.99, Y:-34.37, Z:135.76 [[ 9.23978514e-01 -7.07842267e-02 3.75836799e-01 -8.09949032e+01] [-2.94592605e-01 4.94947966e-01 8.17460524e-01 -3.43684255e+01] [-2.43882970e-01 -8.66034701e-01 4.36468776e-01 1.35756226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.359072329 meters Centerline goodness [0,1] 0.26769556111348336 Centerline is valid? [False, False] Translation: X:-81.07, Y:-34.46, Z:136.01 [[ 9.25144812e-01 -6.99352609e-02 3.73116786e-01 -8.10728723e+01] [-2.92831248e-01 4.93995464e-01 8.18668640e-01 -3.44619393e+01] [-2.41571805e-01 -8.66647299e-01 4.36538111e-01 1.36006701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38907232900002 meters Centerline goodness [0,1] 0.2633259441540745 Centerline is valid? [False, False] Translation: X:-81.15, Y:-34.55, Z:136.26 [[ 9.25505927e-01 -6.86328461e-02 3.72462498e-01 -8.11506317e+01] [-2.93356940e-01 4.92101492e-01 8.19620538e-01 -3.45540872e+01] [-2.39542241e-01 -8.67828124e-01 4.35308926e-01 1.36257227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.419072329 meters Centerline goodness [0,1] 0.255182215003553 Centerline is valid? [False, False] Translation: X:-81.23, Y:-34.65, Z:136.51 [[ 9.26453451e-01 -6.66595133e-02 3.70459865e-01 -8.12290650e+01] [-2.94421514e-01 4.84867363e-01 8.23540899e-01 -3.46479337e+01] [-2.34520733e-01 -8.72043663e-01 4.29581047e-01 1.36509084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.449072329 meters Centerline goodness [0,1] 0.2571051295073642 Centerline is valid? [False, False] Translation: X:-81.31, Y:-34.75, Z:136.77 [[ 9.27313795e-01 -6.56756261e-02 3.68477731e-01 -8.13087346e+01] [-2.93639215e-01 4.82809107e-01 8.25028107e-01 -3.47451620e+01] [-2.32088642e-01 -8.73259456e-01 4.28430606e-01 1.36768593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.479072329 meters Centerline goodness [0,1] 0.20121852152721365 Centerline is valid? [False, False] Translation: X:-81.39, Y:-34.84, Z:137.02 [[ 9.29285376e-01 -6.19408022e-02 3.64131882e-01 -8.13861395e+01] [-2.91517694e-01 4.82387411e-01 8.26026525e-01 -3.48386946e+01] [-2.26817381e-01 -8.73765256e-01 4.30218726e-01 1.37018087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.509072329 meters Centerline goodness [0,1] 0.2326199951271014 Centerline is valid? [False, False] Translation: X:-81.46, Y:-34.93, Z:137.26 [[ 9.30012792e-01 -6.02465162e-02 3.62555603e-01 -8.14599730e+01] [-2.90767828e-01 4.82741780e-01 8.26083800e-01 -3.49277978e+01] [-2.24789408e-01 -8.73688006e-01 4.31438282e-01 1.37258883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.539072329 meters Centerline goodness [0,1] 0.2211764705882353 Centerline is valid? [False, False] Translation: X:-81.53, Y:-35.02, Z:137.50 [[ 9.30818968e-01 -5.95504144e-02 3.60596445e-01 -8.15332813e+01] [-2.89640519e-01 4.81538353e-01 8.27181470e-01 -3.50177197e+01] [-2.22900018e-01 -8.74399544e-01 4.30976820e-01 1.37500686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.569072329 meters Centerline goodness [0,1] 0.25318665259397577 Centerline is valid? [False, False] Translation: X:-81.60, Y:-35.11, Z:137.74 [[ 9.31796543e-01 -5.90222893e-02 3.58150208e-01 -8.16038644e+01] [-2.88333760e-01 4.79021359e-01 8.29097208e-01 -3.51063492e+01] [-2.20496815e-01 -8.75816709e-01 4.29332328e-01 1.37738085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.599072329 meters Centerline goodness [0,1] 0.23610942002516333 Centerline is valid? [False, False] Translation: X:-81.68, Y:-35.20, Z:137.98 [[ 9.32629072e-01 -5.62873162e-02 3.56419348e-01 -8.16763154e+01] [-2.89089629e-01 4.74562561e-01 8.31394950e-01 -3.51973156e+01] [-2.15940269e-01 -8.78420238e-01 4.26318761e-01 1.37981528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.629072329 meters Centerline goodness [0,1] 0.25995824126816813 Centerline is valid? [False, False] Translation: X:-81.74, Y:-35.28, Z:138.21 [[ 9.35022528e-01 -5.63030142e-02 3.50089764e-01 -8.17437081e+01] [-2.84353597e-01 4.70784641e-01 8.35167560e-01 -3.52843254e+01] [-2.11839334e-01 -8.80449767e-01 4.24184280e-01 1.38210906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.659072329 meters Centerline goodness [0,1] 0.2655177302091982 Centerline is valid? [False, False] Translation: X:-81.81, Y:-35.37, Z:138.44 [[ 9.38220710e-01 -5.46593105e-02 3.41693225e-01 -8.18115508e+01] [-2.78284235e-01 4.67711241e-01 8.38930319e-01 -3.53697932e+01] [-2.05669115e-01 -8.82189637e-01 4.23605548e-01 1.38436051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.689072329 meters Centerline goodness [0,1] 0.2617230980955657 Centerline is valid? [False, False] Translation: X:-81.88, Y:-35.45, Z:138.65 [[ 9.39330857e-01 -5.39310626e-02 3.38746191e-01 -8.18753745e+01] [-2.76088324e-01 4.67165508e-01 8.39959300e-01 -3.54498143e+01] [-2.03550434e-01 -8.82523557e-01 4.23933240e-01 1.38654422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.719072329 meters Centerline goodness [0,1] 0.25558322703435987 Centerline is valid? [False, False] Translation: X:-81.94, Y:-35.53, Z:138.88 [[ 9.39944264e-01 -5.37718103e-02 3.37065829e-01 -8.19420052e+01] [-2.74916353e-01 4.66022625e-01 8.40977950e-01 -3.55337462e+01] [-2.02301209e-01 -8.83137308e-01 4.23252544e-01 1.38882865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.749072329 meters Centerline goodness [0,1] 0.25835730783257016 Centerline is valid? [False, False] Translation: X:-82.01, Y:-35.62, Z:139.11 [[ 9.40112856e-01 -5.13970901e-02 3.36966107e-01 -8.20078959e+01] [-2.76582840e-01 4.62760472e-01 8.42231962e-01 -3.56178264e+01] [-1.99222866e-01 -8.84992138e-01 4.20831516e-01 1.39112361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.779072329 meters Centerline goodness [0,1] 0.2528342375900883 Centerline is valid? [False, False] Translation: X:-82.07, Y:-35.70, Z:139.33 [[ 9.41279098e-01 -5.04289787e-02 3.33842144e-01 -8.20700672e+01] [-2.74726427e-01 4.60377528e-01 8.44143307e-01 -3.56988878e+01] [-1.96262706e-01 -8.86289710e-01 4.19489571e-01 1.39329498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.809072329 meters Centerline goodness [0,1] 0.25170715892281814 Centerline is valid? [False, False] Translation: X:-82.13, Y:-35.78, Z:139.55 [[ 9.41625231e-01 -4.81703104e-02 3.33198959e-01 -8.21333187e+01] [-2.75267412e-01 4.59653559e-01 8.44361568e-01 -3.57789569e+01] [-1.93829246e-01 -8.86790971e-01 4.19561672e-01 1.39548424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.839072329 meters Centerline goodness [0,1] 0.25340456099880615 Centerline is valid? [False, False] Translation: X:-82.19, Y:-35.86, Z:139.76 [[ 9.43814043e-01 -4.43441017e-02 3.27488401e-01 -8.21945191e+01] [-2.72455281e-01 4.56436912e-01 8.47014442e-01 -3.58583549e+01] [-1.87037889e-01 -8.88650070e-01 4.18709783e-01 1.39758070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.869072329 meters Centerline goodness [0,1] 0.24820944442196413 Centerline is valid? [False, False] Translation: X:-82.25, Y:-35.94, Z:139.96 [[ 9.45607687e-01 -4.41922467e-02 3.22293574e-01 -8.22533010e+01] [-2.68376684e-01 4.53932779e-01 8.49658159e-01 -3.59356575e+01] [-1.83847921e-01 -8.89939367e-01 4.17382156e-01 1.39964468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.899072329 meters Centerline goodness [0,1] 0.24253263813103754 Centerline is valid? [False, False] Translation: X:-82.31, Y:-36.01, Z:140.17 [[ 9.46721090e-01 -4.32014425e-02 3.19143875e-01 -8.23121084e+01] [-2.66229802e-01 4.52632682e-01 8.51026056e-01 -3.60119118e+01] [-1.81220501e-01 -8.90649926e-01 4.17015395e-01 1.40172114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.929072329 meters Centerline goodness [0,1] 0.23141247045991642 Centerline is valid? [False, False] Translation: X:-82.37, Y:-36.09, Z:140.38 [[ 9.48073520e-01 -4.07427045e-02 3.15430868e-01 -8.23706034e+01] [-2.64518299e-01 4.49666429e-01 8.53129634e-01 -3.60888935e+01] [-1.76597481e-01 -8.92266852e-01 4.15539643e-01 1.40378994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.959072329 meters Centerline goodness [0,1] 0.22406169873412607 Centerline is valid? [False, False] Translation: X:-82.43, Y:-36.16, Z:140.58 [[ 9.48279979e-01 -3.95244214e-02 3.14964921e-01 -8.24258436e+01] [-2.64883593e-01 4.48270880e-01 8.53750491e-01 -3.61601498e+01] [-1.74933596e-01 -8.93023538e-01 4.14616930e-01 1.40575839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.989072329 meters Centerline goodness [0,1] 0.19808900470678548 Centerline is valid? [False, False] Translation: X:-82.48, Y:-36.23, Z:140.78 [[ 9.48736506e-01 -3.80791072e-02 3.13765873e-01 -8.24815631e+01] [-2.64692508e-01 4.46804804e-01 8.54577874e-01 -3.62330839e+01] [-1.72733662e-01 -8.93820703e-01 4.13820774e-01 1.40775436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.019072329 meters Centerline goodness [0,1] 0.1953199135859799 Centerline is valid? [False, False] Translation: X:-82.54, Y:-36.31, Z:140.97 [[ 9.50156427e-01 -3.47341462e-02 3.09832702e-01 -8.25366536e+01] [-2.62897602e-01 4.44942103e-01 8.56102433e-01 -3.63053841e+01] [-1.67593601e-01 -8.94885503e-01 4.13633075e-01 1.40969385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.049072329 meters Centerline goodness [0,1] 0.1821208757945717 Centerline is valid? [False, False] Translation: X:-82.59, Y:-36.38, Z:141.17 [[ 9.51149617e-01 -3.38600814e-02 3.06867887e-01 -8.25928281e+01] [-2.60712860e-01 4.44282130e-01 8.57112708e-01 -3.63778084e+01] [-1.65357825e-01 -8.95246828e-01 4.13751019e-01 1.41166837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.079072329 meters Centerline goodness [0,1] 0.18620383271743302 Centerline is valid? [False, False] Translation: X:-82.65, Y:-36.45, Z:141.36 [[ 9.52149163e-01 -3.32838541e-02 3.03815992e-01 -8.26475873e+01] [-2.58390810e-01 4.43253160e-01 8.58347730e-01 -3.64491880e+01] [-1.63236519e-01 -8.95778332e-01 4.13442883e-01 1.41362235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.109072329 meters Centerline goodness [0,1] 0.18620383271743302 Centerline is valid? [False, False] Translation: X:-82.70, Y:-36.52, Z:141.56 [[ 9.52105062e-01 -3.40490955e-02 3.03869395e-01 -8.27027815e+01] [-2.58058841e-01 4.43590565e-01 8.58273293e-01 -3.65207843e+01] [-1.64017026e-01 -8.95582531e-01 4.13558152e-01 1.41561256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13907232900002 meters Centerline goodness [0,1] 0.21927667123619066 Centerline is valid? [False, False] Translation: X:-82.76, Y:-36.59, Z:141.76 [[ 9.53257273e-01 -3.25929149e-02 3.00396861e-01 -8.27580614e+01] [-2.56073143e-01 4.40595629e-01 8.60408064e-01 -3.65927858e+01] [-1.60396751e-01 -8.97113813e-01 4.11654817e-01 1.41757272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.169072329 meters Centerline goodness [0,1] 0.21389997178898157 Centerline is valid? [False, False] Translation: X:-82.81, Y:-36.67, Z:141.96 [[ 9.53850763e-01 -3.27804591e-02 2.98486455e-01 -8.28141781e+01] [-2.54549731e-01 4.39027997e-01 8.61660521e-01 -3.66667909e+01] [-1.59289538e-01 -8.97875192e-01 4.10422933e-01 1.41959088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.199072329 meters Centerline goodness [0,1] 0.18954920097535422 Centerline is valid? [False, False] Translation: X:-82.87, Y:-36.74, Z:142.16 [[ 9.54957111e-01 -3.11243705e-02 2.95107080e-01 -8.28692594e+01] [-2.52312702e-01 4.38277118e-01 8.62700103e-01 -3.67407248e+01] [-1.56189678e-01 -8.98300864e-01 4.10682777e-01 1.42160231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.229072329 meters Centerline goodness [0,1] 0.18196135441274452 Centerline is valid? [False, False] Translation: X:-82.92, Y:-36.81, Z:142.36 [[ 9.55363588e-01 -3.10377607e-02 2.93797672e-01 -8.29245364e+01] [-2.51015091e-01 4.39145394e-01 8.62637089e-01 -3.68141735e+01] [-1.55794218e-01 -8.97879714e-01 4.11752573e-01 1.42363156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.259072329 meters Centerline goodness [0,1] 0.17986206340243605 Centerline is valid? [False, False] Translation: X:-82.98, Y:-36.89, Z:142.56 [[ 9.56141969e-01 -3.17592791e-02 2.91176721e-01 -8.29777780e+01] [-2.48358595e-01 4.39093189e-01 8.63432209e-01 -3.68851463e+01] [-1.55275700e-01 -8.97880014e-01 4.11947736e-01 1.42556398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.289072329 meters Centerline goodness [0,1] 0.19709531013615733 Centerline is valid? [False, False] Translation: X:-83.03, Y:-36.95, Z:142.75 [[ 9.56453018e-01 -3.19220210e-02 2.90135500e-01 -8.30324105e+01] [-2.47400837e-01 4.38803715e-01 8.63854227e-01 -3.69548195e+01] [-1.54888508e-01 -8.98015748e-01 4.11797603e-01 1.42749948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.319072329 meters Centerline goodness [0,1] 0.19639508861065746 Centerline is valid? [False, False] Translation: X:-83.09, Y:-37.03, Z:142.94 [[ 9.56582189e-01 -3.32732808e-02 2.89557255e-01 -8.30858587e+01] [-2.46430502e-01 4.38160373e-01 8.64457920e-01 -3.70253471e+01] [-1.55635866e-01 -8.98280789e-01 4.10936858e-01 1.42944990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.349072329 meters Centerline goodness [0,1] 0.19358355710795694 Centerline is valid? [False, False] Translation: X:-83.14, Y:-37.10, Z:143.14 [[ 9.56689423e-01 -3.54434102e-02 2.88944828e-01 -8.31401873e+01] [-2.45081976e-01 4.37577918e-01 8.65136053e-01 -3.70977374e+01] [-1.57099248e-01 -8.98481680e-01 4.09939625e-01 1.43144891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.379072329 meters Centerline goodness [0,1] 0.17945150231901597 Centerline is valid? [False, False] Translation: X:-83.19, Y:-37.17, Z:143.34 [[ 9.56993818e-01 -3.91323004e-02 2.87456945e-01 -8.31928724e+01] [-2.42032179e-01 4.38603533e-01 8.65475225e-01 -3.71671575e+01] [-1.59947668e-01 -8.97828271e-01 4.10269594e-01 1.43336412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.409072329 meters Centerline goodness [0,1] 0.1905309913183929 Centerline is valid? [False, False] Translation: X:-83.24, Y:-37.24, Z:143.53 [[ 9.56651554e-01 -4.07440424e-02 2.88370814e-01 -8.32446945e+01] [-2.41797816e-01 4.40791888e-01 8.64428324e-01 -3.72370269e+01] [-1.62331820e-01 -8.96684133e-01 4.11832424e-01 1.43532375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.439072329 meters Centerline goodness [0,1] 0.19481463532832566 Centerline is valid? [False, False] Translation: X:-83.30, Y:-37.31, Z:143.73 [[ 9.55907172e-01 -4.47817748e-02 2.90234511e-01 -8.32970592e+01] [-2.41419813e-01 4.42878920e-01 8.63466697e-01 -3.73071203e+01] [-1.67206318e-01 -8.95462369e-01 4.12539928e-01 1.43729913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.469072329 meters Centerline goodness [0,1] 0.20250227020482292 Centerline is valid? [False, False] Translation: X:-83.35, Y:-37.38, Z:143.93 [[ 9.55663151e-01 -4.73450774e-02 2.90631014e-01 -8.33493022e+01] [-2.40591508e-01 4.43514052e-01 8.63371885e-01 -3.73783822e+01] [-1.69775347e-01 -8.95016050e-01 4.12459213e-01 1.43929039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.499072329 meters Centerline goodness [0,1] 0.21277926900643807 Centerline is valid? [False, False] Translation: X:-83.40, Y:-37.45, Z:144.14 [[ 9.55568351e-01 -5.00964456e-02 2.90481448e-01 -8.34043009e+01] [-2.39213553e-01 4.44022358e-01 8.63493498e-01 -3.74538171e+01] [-1.72238213e-01 -8.94614158e-01 4.12309964e-01 1.44139356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.529072329 meters Centerline goodness [0,1] 0.20079249555232093 Centerline is valid? [False, False] Translation: X:-83.46, Y:-37.53, Z:144.34 [[ 9.55337229e-01 -5.51964741e-02 2.90317288e-01 -8.34585829e+01] [-2.36882726e-01 4.44326673e-01 8.63979387e-01 -3.75257178e+01] [-1.76684331e-01 -8.94162825e-01 4.11406721e-01 1.44342903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.559072329 meters Centerline goodness [0,1] 0.20215240831023806 Centerline is valid? [False, False] Translation: X:-83.51, Y:-37.60, Z:144.54 [[ 9.54618516e-01 -5.73819402e-02 2.92251266e-01 -8.35108826e+01] [-2.37401879e-01 4.45926618e-01 8.63012050e-01 -3.75965673e+01] [-1.79843924e-01 -8.93228282e-01 4.12067226e-01 1.44540689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.589072329 meters Centerline goodness [0,1] 0.1956328346138294 Centerline is valid? [False, False] Translation: X:-83.56, Y:-37.67, Z:144.74 [[ 9.54329649e-01 -5.97398182e-02 2.92721838e-01 -8.35643985e+01] [-2.36506005e-01 4.47583927e-01 8.62399871e-01 -3.76708238e+01] [-1.82537201e-01 -8.92244239e-01 4.13013786e-01 1.44744378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.619072329 meters Centerline goodness [0,1] 0.18765801662587733 Centerline is valid? [False, False] Translation: X:-83.62, Y:-37.75, Z:144.95 [[ 9.54398784e-01 -6.19962536e-02 2.92026412e-01 -8.36171141e+01] [-2.34546218e-01 4.49457251e-01 8.61960702e-01 -3.77461814e+01] [-1.84691723e-01 -8.91147936e-01 4.14420467e-01 1.44949441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.649072329 meters Centerline goodness [0,1] 0.21048480067957043 Centerline is valid? [False, False] Translation: X:-83.67, Y:-37.82, Z:145.15 [[ 9.54622152e-01 -6.58250555e-02 2.90454143e-01 -8.36687983e+01] [-2.30899926e-01 4.52387920e-01 8.61411861e-01 -3.78212343e+01] [-1.88100429e-01 -8.89388684e-01 4.16660530e-01 1.45152834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.679072329 meters Centerline goodness [0,1] 0.2114239416649787 Centerline is valid? [False, False] Translation: X:-83.72, Y:-37.89, Z:145.35 [[ 9.54099736e-01 -6.82734045e-02 2.91603218e-01 -8.37202068e+01] [-2.30669238e-01 4.53475139e-01 8.60901853e-01 -3.78929386e+01] [-1.91011510e-01 -8.88650123e-01 4.16911936e-01 1.45353497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.709072329 meters Centerline goodness [0,1] 0.2330374513618677 Centerline is valid? [False, False] Translation: X:-83.77, Y:-37.96, Z:145.55 [[ 9.53195142e-01 -7.43071336e-02 2.93082703e-01 -8.37727939e+01] [-2.29584457e-01 4.52885162e-01 8.61502181e-01 -3.79632930e+01] [-1.96748565e-01 -8.88466927e-01 4.14628173e-01 1.45551987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.739072329 meters Centerline goodness [0,1] 0.22478876664032577 Centerline is valid? [False, False] Translation: X:-83.82, Y:-38.03, Z:145.74 [[ 9.52546299e-01 -7.60231534e-02 2.94747398e-01 -8.38220731e+01] [-2.30027666e-01 4.54393529e-01 8.60589213e-01 -3.80302255e+01] [-1.99356016e-01 -8.87551126e-01 4.15343446e-01 1.45739972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.769072329 meters Centerline goodness [0,1] 0.2265629746643174 Centerline is valid? [False, False] Translation: X:-83.87, Y:-38.10, Z:145.92 [[ 9.51937903e-01 -7.71136545e-02 2.96424885e-01 -8.38692182e+01] [-2.30455043e-01 4.57156846e-01 8.59009949e-01 -3.80950128e+01] [-2.01754062e-01 -8.86036739e-01 4.17413699e-01 1.45920916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.799072329 meters Centerline goodness [0,1] 0.22007620282923268 Centerline is valid? [False, False] Translation: X:-83.92, Y:-38.16, Z:146.11 [[ 9.51194058e-01 -7.91341891e-02 2.98274444e-01 -8.39176545e+01] [-2.29848703e-01 4.63267436e-01 8.55893017e-01 -3.81632023e+01] [-2.05911237e-01 -8.82678346e-01 4.22468342e-01 1.46108656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.829072329 meters Centerline goodness [0,1] 0.22315738361624216 Centerline is valid? [False, False] Translation: X:-83.97, Y:-38.23, Z:146.30 [[ 9.50507373e-01 -7.99619944e-02 3.00236262e-01 -8.39681845e+01] [-2.30548525e-01 4.66276367e-01 8.54068924e-01 -3.82348099e+01] [-2.08286128e-01 -8.81017837e-01 4.24764005e-01 1.46304360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.859072329 meters Centerline goodness [0,1] 0.23600145754888857 Centerline is valid? [False, False] Translation: X:-84.02, Y:-38.30, Z:146.49 [[ 9.49560869e-01 -8.00238681e-02 3.03200159e-01 -8.40176427e+01] [-2.32665463e-01 4.68455586e-01 8.52300502e-01 -3.83030505e+01] [-2.10240191e-01 -8.79855411e-01 4.26208303e-01 1.46492627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88907232900002 meters Centerline goodness [0,1] 0.2472763355068649 Centerline is valid? [False, False] Translation: X:-84.07, Y:-38.37, Z:146.68 [[ 9.48623440e-01 -8.00701176e-02 3.06108388e-01 -8.40665672e+01] [-2.35007450e-01 4.69487805e-01 8.51089125e-01 -3.83692142e+01] [-2.11860961e-01 -8.79300846e-01 4.26550063e-01 1.46675186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.919072329 meters Centerline goodness [0,1] 0.24197535867715003 Centerline is valid? [False, False] Translation: X:-84.11, Y:-38.43, Z:146.85 [[ 9.48515612e-01 -8.16038663e-02 3.06037487e-01 -8.41141266e+01] [-2.34468411e-01 4.68695280e-01 8.51674409e-01 -3.84346129e+01] [-2.12938250e-01 -8.79582596e-01 4.25431261e-01 1.46851022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.949072329 meters Centerline goodness [0,1] 0.24646219252960821 Centerline is valid? [False, False] Translation: X:-84.16, Y:-38.51, Z:147.04 [[ 9.50143810e-01 -8.02439237e-02 3.01309897e-01 -8.41615896e+01] [-2.30772287e-01 4.68878773e-01 8.52582458e-01 -3.85069987e+01] [-2.09692376e-01 -8.79609919e-01 4.26984190e-01 1.47038495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.979072329 meters Centerline goodness [0,1] 0.24213276092503344 Centerline is valid? [False, False] Translation: X:-84.21, Y:-38.59, Z:147.25 [[ 9.50755554e-01 -7.74909500e-02 3.00098367e-01 -8.42133826e+01] [-2.30216707e-01 4.71716495e-01 8.51166151e-01 -3.85867972e+01] [-2.07519024e-01 -8.78338602e-01 4.30647366e-01 1.47246415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.009072329 meters Centerline goodness [0,1] 0.23919593925054095 Centerline is valid? [False, False] Translation: X:-84.27, Y:-38.67, Z:147.45 [[ 9.50906000e-01 -7.63755813e-02 2.99907570e-01 -8.42656832e+01] [-2.30205026e-01 4.73120970e-01 8.50389437e-01 -3.86656198e+01] [-2.06841548e-01 -8.77680647e-01 4.32311526e-01 1.47454866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.039072329 meters Centerline goodness [0,1] 0.24192471835116602 Centerline is valid? [False, False] Translation: X:-84.32, Y:-38.74, Z:147.66 [[ 9.50789336e-01 -7.50980434e-02 3.00599271e-01 -8.43175589e+01] [-2.31184789e-01 4.73978566e-01 8.49645757e-01 -3.87421379e+01] [-2.06284346e-01 -8.77328104e-01 4.33292241e-01 1.47658760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.069072329 meters Centerline goodness [0,1] 0.24808396190168047 Centerline is valid? [False, False] Translation: X:-84.37, Y:-38.82, Z:147.87 [[ 9.50775633e-01 -7.42284178e-02 3.00858502e-01 -8.43707580e+01] [-2.32346658e-01 4.71642156e-01 8.50628419e-01 -3.88211193e+01] [-2.05038354e-01 -8.78660241e-01 4.31179144e-01 1.47866596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.099072329 meters Centerline goodness [0,1] 0.23592959741047947 Centerline is valid? [False, False] Translation: X:-84.43, Y:-38.90, Z:148.08 [[ 9.50490328e-01 -7.29667623e-02 3.02066198e-01 -8.44251725e+01] [-2.33838960e-01 4.72251566e-01 8.49881050e-01 -3.89005119e+01] [-2.04664304e-01 -8.78438563e-01 4.31808074e-01 1.48075717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.129072329 meters Centerline goodness [0,1] 0.2039211723092471 Centerline is valid? [False, False] Translation: X:-84.47, Y:-38.98, Z:148.27 [[ 9.51290812e-01 -7.13816715e-02 2.99917403e-01 -8.44748135e+01] [-2.32215239e-01 4.73985482e-01 8.49360846e-01 -3.89771567e+01] [-2.02785292e-01 -8.77634560e-01 4.34322122e-01 1.48269796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.159072329 meters Centerline goodness [0,1] 0.22906892088658792 Centerline is valid? [False, False] Translation: X:-84.52, Y:-39.05, Z:148.46 [[ 9.50899154e-01 -6.93340519e-02 3.01634860e-01 -8.45236866e+01] [-2.34028941e-01 4.76692725e-01 8.47345562e-01 -3.90484992e+01] [-2.02537044e-01 -8.76331464e-01 4.37060534e-01 1.48458004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.189072329 meters Centerline goodness [0,1] 0.23919856048199595 Centerline is valid? [False, False] Translation: X:-84.57, Y:-39.12, Z:148.65 [[ 9.50404684e-01 -6.83530865e-02 3.03411919e-01 -8.45749405e+01] [-2.35752445e-01 4.77971091e-01 8.46146808e-01 -3.91227034e+01] [-2.02858872e-01 -8.75711991e-01 4.38151556e-01 1.48651103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.219072329 meters Centerline goodness [0,1] 0.23129361788206737 Centerline is valid? [False, False] Translation: X:-84.63, Y:-39.20, Z:148.84 [[ 9.50298508e-01 -6.80658681e-02 3.03808794e-01 -8.46253402e+01] [-2.36109072e-01 4.78509030e-01 8.45743232e-01 -3.91972726e+01] [-2.02941499e-01 -8.75440544e-01 4.38655448e-01 1.48844607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.249072329 meters Centerline goodness [0,1] 0.23463834092058677 Centerline is valid? [False, False] Translation: X:-84.68, Y:-39.27, Z:149.04 [[ 9.50877546e-01 -6.72381970e-02 3.02176962e-01 -8.46769349e+01] [-2.34774352e-01 4.79602333e-01 8.45495480e-01 -3.92747318e+01] [-2.01774368e-01 -8.74906068e-01 4.40257285e-01 1.49043522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.279072329 meters Centerline goodness [0,1] 0.22598195865863036 Centerline is valid? [False, False] Translation: X:-84.73, Y:-39.35, Z:149.24 [[ 9.50637618e-01 -6.67612545e-02 3.03036391e-01 -8.47278644e+01] [-2.35499002e-01 4.80697747e-01 8.44671473e-01 -3.93491057e+01] [-2.02060237e-01 -8.74341244e-01 4.41247152e-01 1.49236053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.309072329 meters Centerline goodness [0,1] 0.2451131166781335 Centerline is valid? [False, False] Translation: X:-84.78, Y:-39.43, Z:149.43 [[ 9.50658811e-01 -6.60691987e-02 3.03121570e-01 -8.47802559e+01] [-2.35798686e-01 4.81072243e-01 8.44374607e-01 -3.94266752e+01] [-2.01610527e-01 -8.74187827e-01 4.41756537e-01 1.49433312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.339072329 meters Centerline goodness [0,1] 0.20658803570707274 Centerline is valid? [False, False] Translation: X:-84.83, Y:-39.50, Z:149.63 [[ 9.51228151e-01 -6.36796332e-02 3.01844180e-01 -8.48310952e+01] [-2.35946663e-01 4.80152576e-01 8.44856601e-01 -3.95045134e+01] [-1.98731419e-01 -8.74870509e-01 4.41709650e-01 1.49626735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.369072329 meters Centerline goodness [0,1] 0.20354536818062374 Centerline is valid? [False, False] Translation: X:-84.88, Y:-39.58, Z:149.82 [[ 9.51500086e-01 -6.16394400e-02 3.01410295e-01 -8.48832649e+01] [-2.36356253e-01 4.80687295e-01 8.44437947e-01 -3.95818343e+01] [-1.96934782e-01 -8.74722987e-01 4.42805135e-01 1.49821678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.399072329 meters Centerline goodness [0,1] 0.19769297589947676 Centerline is valid? [False, False] Translation: X:-84.94, Y:-39.66, Z:150.01 [[ 9.52468436e-01 -5.92207649e-02 2.98825668e-01 -8.49353879e+01] [-2.35288924e-01 4.80062488e-01 8.45091196e-01 -3.96593414e+01] [-1.93501941e-01 -8.75233060e-01 4.43310377e-01 1.50013830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.429072329 meters Centerline goodness [0,1] 0.19008364650260634 Centerline is valid? [False, False] Translation: X:-84.99, Y:-39.74, Z:150.21 [[ 9.52631584e-01 -5.85575202e-02 2.98436061e-01 -8.49878887e+01] [-2.35267079e-01 4.79945779e-01 8.45163564e-01 -3.97367136e+01] [-1.92723810e-01 -8.75341685e-01 4.43434851e-01 1.50209837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.459072329 meters Centerline goodness [0,1] 0.17992156228520595 Centerline is valid? [False, False] Translation: X:-85.04, Y:-39.81, Z:150.41 [[ 9.52009359e-01 -5.81724080e-02 3.00489854e-01 -8.50419841e+01] [-2.37267685e-01 4.79920905e-01 8.44618240e-01 -3.98148858e+01] [-1.93344839e-01 -8.75381000e-01 4.43086761e-01 1.50408304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.489072329 meters Centerline goodness [0,1] 0.1724828548886327 Centerline is valid? [False, False] Translation: X:-85.10, Y:-39.89, Z:150.61 [[ 9.51571494e-01 -5.71754909e-02 3.02063991e-01 -8.50956428e+01] [-2.39090855e-01 4.80015487e-01 8.44050173e-01 -3.98933412e+01] [-1.93254377e-01 -8.75394822e-01 4.43098918e-01 1.50608018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.519072329 meters Centerline goodness [0,1] 0.17343718389641916 Centerline is valid? [False, False] Translation: X:-85.15, Y:-39.97, Z:150.80 [[ 9.51306684e-01 -5.52107172e-02 3.03261224e-01 -8.51495127e+01] [-2.40886291e-01 4.80691495e-01 8.43154482e-01 -3.99712972e+01] [-1.92326255e-01 -8.75149966e-01 4.43985528e-01 1.50803577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.549072329 meters Centerline goodness [0,1] 0.18507281553398058 Centerline is valid? [False, False] Translation: X:-85.20, Y:-40.05, Z:150.99 [[ 9.51322059e-01 -5.36107024e-02 3.03499972e-01 -8.52011161e+01] [-2.41359037e-01 4.82786609e-01 8.41821184e-01 -4.00453641e+01] [-1.91656347e-01 -8.74095523e-01 4.46346123e-01 1.50989549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.579072329 meters Centerline goodness [0,1] 0.17287594250945038 Centerline is valid? [False, False] Translation: X:-85.25, Y:-40.12, Z:151.18 [[ 9.51851815e-01 -5.17075824e-02 3.02166259e-01 -8.52546978e+01] [-2.40595099e-01 4.84833313e-01 8.40863043e-01 -4.01216940e+01] [-1.89979264e-01 -8.73076735e-01 4.49048878e-01 1.51179278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.609072329 meters Centerline goodness [0,1] 0.23253791708796767 Centerline is valid? [False, False] Translation: X:-85.31, Y:-40.20, Z:151.37 [[ 9.51446246e-01 -5.06095858e-02 3.03625939e-01 -8.53065755e+01] [-2.42114536e-01 4.86068340e-01 8.39713118e-01 -4.01956182e+01] [-1.90080489e-01 -8.72454147e-01 4.50214581e-01 1.51366029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63907232900002 meters Centerline goodness [0,1] 0.21213163164175486 Centerline is valid? [False, False] Translation: X:-85.36, Y:-40.27, Z:151.55 [[ 9.51344949e-01 -5.12320047e-02 3.03838886e-01 -8.53586224e+01] [-2.42084709e-01 4.85767907e-01 8.39895550e-01 -4.02711404e+01] [-1.90624713e-01 -8.72585137e-01 4.49730360e-01 1.51552323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.669072329 meters Centerline goodness [0,1] 0.20767923612234984 Centerline is valid? [False, False] Translation: X:-85.41, Y:-40.35, Z:151.75 [[ 9.51482838e-01 -5.15911820e-02 3.03345941e-01 -8.54132096e+01] [-2.41590722e-01 4.85288748e-01 8.40314676e-01 -4.03517686e+01] [-1.90563199e-01 -8.72830557e-01 4.49279964e-01 1.51750334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.699072329 meters Centerline goodness [0,1] 0.20409029363619824 Centerline is valid? [False, False] Translation: X:-85.47, Y:-40.43, Z:151.94 [[ 9.51151983e-01 -5.30160963e-02 3.04136809e-01 -8.54679625e+01] [-2.41681994e-01 4.85105995e-01 8.40393948e-01 -4.04306437e+01] [-1.92092996e-01 -8.72846761e-01 4.48596493e-01 1.51944730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.729072329 meters Centerline goodness [0,1] 0.21794664510913497 Centerline is valid? [False, False] Translation: X:-85.52, Y:-40.51, Z:152.14 [[ 9.51768844e-01 -5.43555395e-02 3.01962818e-01 -8.55222636e+01] [-2.39221195e-01 4.84794154e-01 8.41277510e-01 -4.05109062e+01] [-1.92117902e-01 -8.72937629e-01 4.48408974e-01 1.52139639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.759072329 meters Centerline goodness [0,1] 0.21334007074279937 Centerline is valid? [False, False] Translation: X:-85.58, Y:-40.59, Z:152.33 [[ 9.52735710e-01 -5.56673377e-02 2.98656682e-01 -8.55751528e+01] [-2.35723396e-01 4.84699919e-01 8.42318508e-01 -4.05892445e+01] [-1.91648498e-01 -8.72907289e-01 4.48668828e-01 1.52328414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.789072329 meters Centerline goodness [0,1] 0.19634592453364053 Centerline is valid? [False, False] Translation: X:-85.63, Y:-40.66, Z:152.51 [[ 9.53686474e-01 -5.63297928e-02 2.95481072e-01 -8.56258981e+01] [-2.31887977e-01 4.88014207e-01 8.41469013e-01 -4.06630655e+01] [-1.91598736e-01 -8.71016124e-01 4.52350347e-01 1.52508393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.819072329 meters Centerline goodness [0,1] 0.188743799979755 Centerline is valid? [False, False] Translation: X:-85.68, Y:-40.74, Z:152.69 [[ 9.53551737e-01 -5.55785575e-02 2.96057611e-01 -8.56769273e+01] [-2.32030958e-01 4.91237187e-01 8.39552060e-01 -4.07371323e+01] [-1.92095600e-01 -8.69250856e-01 4.55524127e-01 1.52689376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.849072329 meters Centerline goodness [0,1] 0.19365919699327128 Centerline is valid? [False, False] Translation: X:-85.73, Y:-40.81, Z:152.87 [[ 9.53698576e-01 -5.50740131e-02 2.95678676e-01 -8.57262607e+01] [-2.31566394e-01 4.92885813e-01 8.38713646e-01 -4.08102493e+01] [-1.91927151e-01 -8.68349255e-01 4.57311207e-01 1.52866345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.879072329 meters Centerline goodness [0,1] 0.19359601925644243 Centerline is valid? [False, False] Translation: X:-85.78, Y:-40.88, Z:153.04 [[ 9.52953283e-01 -5.26766017e-02 2.98504967e-01 -8.57755572e+01] [-2.34879667e-01 4.94163672e-01 8.37038713e-01 -4.08833066e+01] [-1.91602665e-01 -8.67771537e-01 4.58542231e-01 1.53044240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.909072329 meters Centerline goodness [0,1] 0.20972275585933553 Centerline is valid? [False, False] Translation: X:-85.83, Y:-40.96, Z:153.22 [[ 9.52682934e-01 -5.17225353e-02 2.99532981e-01 -8.58257779e+01] [-2.36233638e-01 4.94126013e-01 8.36679838e-01 -4.09568176e+01] [-1.91282240e-01 -8.67850369e-01 4.58526818e-01 1.53222295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.939072329 meters Centerline goodness [0,1] 0.18788662919985444 Centerline is valid? [False, False] Translation: X:-85.88, Y:-41.03, Z:153.41 [[ 9.52528898e-01 -5.02978870e-02 3.00264587e-01 -8.58781176e+01] [-2.37585806e-01 4.93904168e-01 8.36427915e-01 -4.10335977e+01] [-1.90372487e-01 -8.68060364e-01 4.58507928e-01 1.53408796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.969072329 meters Centerline goodness [0,1] 0.2179616752910737 Centerline is valid? [False, False] Translation: X:-85.93, Y:-41.11, Z:153.59 [[ 9.53092397e-01 -4.89581706e-02 2.98693790e-01 -8.59296340e+01] [-2.37356389e-01 4.91466024e-01 8.37927856e-01 -4.11096599e+01] [-1.87821264e-01 -8.69519548e-01 4.56791996e-01 1.53591117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.999072329 meters Centerline goodness [0,1] 0.2179616752910737 Centerline is valid? [False, False] Translation: X:-85.98, Y:-41.19, Z:153.77 [[ 9.53072100e-01 -4.94314962e-02 2.98680596e-01 -8.59806127e+01] [-2.36971363e-01 4.92180743e-01 8.37617269e-01 -4.11857822e+01] [-1.88409513e-01 -8.69088398e-01 4.57369885e-01 1.53773367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.029072329 meters Centerline goodness [0,1] 0.22752082154119835 Centerline is valid? [False, False] Translation: X:-86.03, Y:-41.26, Z:153.96 [[ 9.53359516e-01 -4.94773732e-02 2.97754301e-01 -8.60322181e+01] [-2.36256572e-01 4.91623345e-01 8.38146359e-01 -4.12637713e+01] [-1.87852246e-01 -8.69401217e-01 4.57004440e-01 1.53958529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.059072329 meters Centerline goodness [0,1] 0.20560520888098033 Centerline is valid? [False, False] Translation: X:-86.08, Y:-41.34, Z:154.14 [[ 9.53442858e-01 -4.95095702e-02 2.97481963e-01 -8.60832149e+01] [-2.36003949e-01 4.91615553e-01 8.38222097e-01 -4.13416316e+01] [-1.87746775e-01 -8.69403790e-01 4.57042884e-01 1.54143332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.089072329 meters Centerline goodness [0,1] 0.21867098209770408 Centerline is valid? [False, False] Translation: X:-86.13, Y:-41.42, Z:154.33 [[ 9.53938099e-01 -4.77416549e-02 2.96180415e-01 -8.61337339e+01] [-2.35779728e-01 4.91135944e-01 8.38566279e-01 -4.14219773e+01] [-1.85499390e-01 -8.69773660e-01 4.57256774e-01 1.54332234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.119072329 meters Centerline goodness [0,1] 0.20609699395556635 Centerline is valid? [False, False] Translation: X:-86.19, Y:-41.50, Z:154.52 [[ 9.54132581e-01 -4.75687577e-02 2.95581175e-01 -8.61853368e+01] [-2.35461411e-01 4.90531524e-01 8.39009385e-01 -4.15028440e+01] [-1.84902518e-01 -8.70124151e-01 4.56831502e-01 1.54523200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.149072329 meters Centerline goodness [0,1] 0.22429302015322106 Centerline is valid? [False, False] Translation: X:-86.24, Y:-41.58, Z:154.71 [[ 9.53809685e-01 -4.79009050e-02 2.96568018e-01 -8.62353896e+01] [-2.36327615e-01 4.89820051e-01 8.39181492e-01 -4.15803900e+01] [-1.85462515e-01 -8.70506646e-01 4.55874802e-01 1.54708244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.179072329 meters Centerline goodness [0,1] 0.2234958757884522 Centerline is valid? [False, False] Translation: X:-86.29, Y:-41.66, Z:154.90 [[ 9.53778759e-01 -4.93073817e-02 2.96436941e-01 -8.62850633e+01] [-2.36087735e-01 4.87372144e-01 8.40672930e-01 -4.16606506e+01] [-1.85926489e-01 -8.71801110e-01 4.53204331e-01 1.54895631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.209072329 meters Centerline goodness [0,1] 0.1870768235745902 Centerline is valid? [False, False] Translation: X:-86.33, Y:-41.74, Z:155.08 [[ 9.53698198e-01 -5.10721589e-02 2.96397337e-01 -8.63346809e+01] [-2.35106177e-01 4.88014530e-01 8.40575341e-01 -4.17390131e+01] [-1.87576204e-01 -8.71340033e-01 4.53411198e-01 1.55080256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.239072329 meters Centerline goodness [0,1] 0.2036789973721448 Centerline is valid? [False, False] Translation: X:-86.38, Y:-41.82, Z:155.26 [[ 9.53537943e-01 -5.33913891e-02 2.96504217e-01 -8.63840893e+01] [-2.33685637e-01 4.90084373e-01 8.39766831e-01 -4.18173990e+01] [-1.90148401e-01 -8.70038313e-01 4.54837244e-01 1.55264610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.269072329 meters Centerline goodness [0,1] 0.23672875083419276 Centerline is valid? [False, False] Translation: X:-86.43, Y:-41.90, Z:155.45 [[ 9.53172063e-01 -5.89490984e-02 2.96627751e-01 -8.64317236e+01] [-2.29956537e-01 4.95766880e-01 8.37457576e-01 -4.18950119e+01] [-1.96425584e-01 -8.66452655e-01 4.58995409e-01 1.55447823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.299072329 meters Centerline goodness [0,1] 0.22429490551531583 Centerline is valid? [False, False] Translation: X:-86.48, Y:-41.97, Z:155.63 [[ 9.52400226e-01 -6.17437269e-02 2.98532279e-01 -8.64793171e+01] [-2.29373955e-01 4.99899554e-01 8.35157485e-01 -4.19698510e+01] [-2.00801889e-01 -8.63879707e-01 4.61942045e-01 1.55628138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.329072329 meters Centerline goodness [0,1] 0.20848592760455653 Centerline is valid? [False, False] Translation: X:-86.53, Y:-42.05, Z:155.82 [[ 9.51527139e-01 -6.58553514e-02 3.00431649e-01 -8.65293436e+01] [-2.28376584e-01 5.02993382e-01 8.33571709e-01 -4.20487216e+01] [-2.06010289e-01 -8.61777657e-01 4.63572033e-01 1.55817234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.359072329 meters Centerline goodness [0,1] 0.23373757415018326 Centerline is valid? [False, False] Translation: X:-86.58, Y:-42.13, Z:156.01 [[ 9.49682156e-01 -7.65758530e-02 3.03710290e-01 -8.65779113e+01] [-2.25389896e-01 5.06238176e-01 8.32419548e-01 -4.21270719e+01] [-2.17492980e-01 -8.58987222e-01 4.63505939e-01 1.56006961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38907232900002 meters Centerline goodness [0,1] 0.18589990472908602 Centerline is valid? [False, False] Translation: X:-86.63, Y:-42.20, Z:156.20 [[ 9.47918644e-01 -8.15888680e-02 3.07885532e-01 -8.66280596e+01] [-2.25843047e-01 5.09456427e-01 8.30330697e-01 -4.22047083e+01] [-2.24600005e-01 -8.56619755e-01 4.64496967e-01 1.56195267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.419072329 meters Centerline goodness [0,1] 0.2109178626449364 Centerline is valid? [False, False] Translation: X:-86.68, Y:-42.28, Z:156.38 [[ 9.46335089e-01 -8.61262492e-02 3.11499868e-01 -8.66775115e+01] [-2.25923574e-01 5.12922522e-01 8.28172098e-01 -4.22820374e+01] [-2.31102654e-01 -8.54103480e-01 4.65938631e-01 1.56381501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.449072329 meters Centerline goodness [0,1] 0.18961881589618812 Centerline is valid? [False, False] Translation: X:-86.73, Y:-42.36, Z:156.57 [[ 9.44550823e-01 -9.59662713e-02 3.14029006e-01 -8.67273229e+01] [-2.21520331e-01 5.19713914e-01 8.25121924e-01 -4.23640428e+01] [-2.42389118e-01 -8.48933403e-01 4.69637725e-01 1.56572691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.479072329 meters Centerline goodness [0,1] 0.16136169867240469 Centerline is valid? [False, False] Translation: X:-86.78, Y:-42.45, Z:156.77 [[ 9.42854168e-01 -1.00025246e-01 3.17837959e-01 -8.67790475e+01] [-2.21237588e-01 5.25347834e-01 8.21622531e-01 -4.24451521e+01] [-2.49158479e-01 -8.44987931e-01 4.73197051e-01 1.56765391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.509072329 meters Centerline goodness [0,1] 0.24380576840992707 Centerline is valid? [False, False] Translation: X:-86.83, Y:-42.53, Z:156.96 [[ 9.40973022e-01 -1.04293649e-01 3.22013364e-01 -8.68321214e+01] [-2.21241607e-01 5.30483230e-01 8.18315156e-01 -4.25273480e+01] [-2.56167763e-01 -8.41255239e-01 4.76096313e-01 1.56962166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.539072329 meters Centerline goodness [0,1] 0.24781187173811503 Centerline is valid? [False, False] Translation: X:-86.89, Y:-42.61, Z:157.17 [[ 9.39253236e-01 -1.09251803e-01 3.25372713e-01 -8.68876880e+01] [-2.20598382e-01 5.34094942e-01 8.16136598e-01 -4.26134041e+01] [-2.62944315e-01 -8.38335635e-01 4.77549631e-01 1.57167037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.569072329 meters Centerline goodness [0,1] 0.23903700837118358 Centerline is valid? [False, False] Translation: X:-86.95, Y:-42.70, Z:157.39 [[ 9.35545665e-01 -1.21071360e-01 3.31807224e-01 -8.69470850e+01] [-2.18227715e-01 5.40525379e-01 8.12532448e-01 -4.27046396e+01] [-2.77724634e-01 -8.32570742e-01 4.79265049e-01 1.57388027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.599072329 meters Centerline goodness [0,1] 0.25532478110364487 Centerline is valid? [False, False] Translation: X:-87.01, Y:-42.79, Z:157.60 [[ 9.32864387e-01 -1.24274877e-01 3.38112099e-01 -8.70055679e+01] [-2.19575568e-01 5.47911049e-01 8.07205087e-01 -4.27927367e+01] [-2.85570668e-01 -8.27254034e-01 4.83838978e-01 1.57599122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.629072329 meters Centerline goodness [0,1] 0.26786878565607175 Centerline is valid? [False, False] Translation: X:-87.07, Y:-42.88, Z:157.81 [[ 9.29967872e-01 -1.27083712e-01 3.44977517e-01 -8.70666569e+01] [-2.21101264e-01 5.56361703e-01 8.00984323e-01 -4.28833015e+01] [-2.93724340e-01 -8.21164652e-01 4.89300140e-01 1.57814041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.659072329 meters Centerline goodness [0,1] 0.3033398580866161 Centerline is valid? [False, False] Translation: X:-87.13, Y:-42.98, Z:158.04 [[ 9.25840026e-01 -1.36187554e-01 3.52524038e-01 -8.71309714e+01] [-2.18748492e-01 5.67539543e-01 7.93755607e-01 -4.29796083e+01] [-3.08170966e-01 -8.12004814e-01 4.95660003e-01 1.58041918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.689072329 meters Centerline goodness [0,1] 0.29671382557997306 Centerline is valid? [False, False] Translation: X:-87.20, Y:-43.07, Z:158.27 [[ 9.22582495e-01 -1.38378940e-01 3.60128879e-01 -8.71973883e+01] [-2.21424527e-01 5.74488007e-01 7.87994105e-01 -4.30748352e+01] [-3.15931510e-01 -8.06730934e-01 4.99372087e-01 1.58266236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.719072329 meters Centerline goodness [0,1] 0.3126200106222168 Centerline is valid? [False, False] Translation: X:-87.27, Y:-43.18, Z:158.51 [[ 9.16802284e-01 -1.46966764e-01 3.71314343e-01 -8.72687444e+01] [-2.22151083e-01 5.84968732e-01 7.80038768e-01 -4.31768145e+01] [-3.31847054e-01 -7.97629208e-01 5.03651844e-01 1.58509076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.749072329 meters Centerline goodness [0,1] 0.3192201694396244 Centerline is valid? [False, False] Translation: X:-87.34, Y:-43.28, Z:158.74 [[ 9.13015440e-01 -1.46887376e-01 3.80561303e-01 -8.73404184e+01] [-2.26292471e-01 5.93833350e-01 7.72109882e-01 -4.32766773e+01] [-3.39403188e-01 -7.91066401e-01 5.08939510e-01 1.58742839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.779072329 meters Centerline goodness [0,1] 0.3008789860997547 Centerline is valid? [False, False] Translation: X:-87.42, Y:-43.38, Z:158.98 [[ 9.08610818e-01 -1.45740832e-01 3.91389819e-01 -8.74173822e+01] [-2.31640131e-01 6.03928675e-01 7.62635565e-01 -4.33811409e+01] [-3.47518677e-01 -7.83600514e-01 5.14976703e-01 1.58984399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.809072329 meters Centerline goodness [0,1] 0.3208834766973827 Centerline is valid? [False, False] Translation: X:-87.50, Y:-43.49, Z:159.23 [[ 9.03381396e-01 -1.49261665e-01 4.02023642e-01 -8.74961241e+01] [-2.32344371e-01 6.17593325e-01 7.51395088e-01 -4.34889708e+01] [-3.60441600e-01 -7.72204274e-01 5.23242213e-01 1.59228390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.839072329 meters Centerline goodness [0,1] 0.29336328364304676 Centerline is valid? [False, False] Translation: X:-87.58, Y:-43.60, Z:159.47 [[ 8.99174520e-01 -1.46164273e-01 4.12457498e-01 -8.75776091e+01] [-2.37530811e-01 6.28584608e-01 7.40581193e-01 -4.35958903e+01] [-3.67510946e-01 -7.63883103e-01 5.30488745e-01 1.59467954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.869072329 meters Centerline goodness [0,1] 0.35001021033285684 Centerline is valid? [False, False] Translation: X:-87.66, Y:-43.71, Z:159.72 [[ 8.95207998e-01 -1.42964136e-01 4.22094654e-01 -8.76635913e+01] [-2.42178295e-01 6.39023936e-01 7.30067177e-01 -4.37085117e+01] [-3.74102011e-01 -7.55784139e-01 5.37436527e-01 1.59717138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.899072329 meters Centerline goodness [0,1] 0.352517104053916 Centerline is valid? [False, False] Translation: X:-87.75, Y:-43.82, Z:159.97 [[ 8.90852837e-01 -1.39362678e-01 4.32387867e-01 -8.77542045e+01] [-2.47290841e-01 6.49654505e-01 7.18885432e-01 -4.38244145e+01] [-3.81088524e-01 -7.47346685e-01 5.44283445e-01 1.59971047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.929072329 meters Centerline goodness [0,1] 0.35509084956621373 Centerline is valid? [False, False] Translation: X:-87.85, Y:-43.95, Z:160.23 [[ 8.85071162e-01 -1.41298658e-01 4.43490392e-01 -8.78490131e+01] [-2.49122266e-01 6.61044126e-01 7.07784402e-01 -4.39461928e+01] [-3.93175705e-01 -7.36922894e-01 5.49870451e-01 1.60231883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.959072329 meters Centerline goodness [0,1] 0.3512640765190378 Centerline is valid? [False, False] Translation: X:-87.95, Y:-44.07, Z:160.49 [[ 8.80181117e-01 -1.37193116e-01 4.54377872e-01 -8.79479636e+01] [-2.55694982e-01 6.69468529e-01 6.97446747e-01 -4.40687729e+01] [-3.99876578e-01 -7.30061598e-01 5.54173966e-01 1.60491344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.989072329 meters Centerline goodness [0,1] 0.34142596876215425 Centerline is valid? [False, False] Translation: X:-88.05, Y:-44.20, Z:160.76 [[ 8.76438413e-01 -1.33804733e-01 4.62549459e-01 -8.80503713e+01] [-2.60590947e-01 6.75975047e-01 6.89311318e-01 -4.41969230e+01] [-4.04905010e-01 -7.24675119e-01 5.57582195e-01 1.60756092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.019072329 meters Centerline goodness [0,1] 0.3706845329563382 Centerline is valid? [False, False] Translation: X:-88.16, Y:-44.33, Z:161.02 [[ 8.72734017e-01 -1.32962032e-01 4.69740815e-01 -8.81559283e+01] [-2.62636339e-01 6.83223497e-01 6.81342650e-01 -4.43308166e+01] [-4.11530666e-01 -7.18001915e-01 5.61351726e-01 1.61024495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.049072329 meters Centerline goodness [0,1] 0.371477142388989 Centerline is valid? [False, False] Translation: X:-88.26, Y:-44.46, Z:161.29 [[ 8.70542783e-01 -1.28259572e-01 4.75083935e-01 -8.82643469e+01] [-2.65879836e-01 6.89790325e-01 6.73422022e-01 -4.44643150e+01] [-4.14081122e-01 -7.12557920e-01 5.66390356e-01 1.61290861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.079072329 meters Centerline goodness [0,1] 0.37195883039021094 Centerline is valid? [False, False] Translation: X:-88.37, Y:-44.60, Z:161.55 [[ 8.68835460e-01 -1.26552026e-01 4.78653870e-01 -8.83713971e+01] [-2.65350387e-01 6.97177589e-01 6.65982418e-01 -4.45985721e+01] [-4.17988176e-01 -7.05640130e-01 5.72151983e-01 1.61551278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.109072329 meters Centerline goodness [0,1] 0.3751815856777494 Centerline is valid? [False, False] Translation: X:-88.48, Y:-44.73, Z:161.81 [[ 8.67164249e-01 -1.22352015e-01 4.82758895e-01 -8.84791698e+01] [-2.68412026e-01 7.01698337e-01 6.59980627e-01 -4.47290429e+01] [-4.19501073e-01 -7.01889897e-01 5.75646959e-01 1.61807224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13907232900002 meters Centerline goodness [0,1] 0.3784712984753914 Centerline is valid? [False, False] Translation: X:-88.59, Y:-44.86, Z:162.07 [[ 8.65051756e-01 -1.18186446e-01 4.87562738e-01 -8.85910821e+01] [-2.72696430e-01 7.04971621e-01 6.54714954e-01 -4.48619733e+01] [-4.21096327e-01 -6.99318938e-01 5.77607917e-01 1.62067131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.169072329 meters Centerline goodness [0,1] 0.3742581146903524 Centerline is valid? [False, False] Translation: X:-88.71, Y:-45.00, Z:162.33 [[ 8.64043375e-01 -1.15781203e-01 4.89922198e-01 -8.87055075e+01] [-2.76279263e-01 7.04479331e-01 6.53742029e-01 -4.50003878e+01] [-4.20831101e-01 -7.00216813e-01 5.76712753e-01 1.62330582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.199072329 meters Centerline goodness [0,1] 0.3751918315565468 Centerline is valid? [False, False] Translation: X:-88.82, Y:-45.14, Z:162.59 [[ 8.63530236e-01 -1.10810416e-01 4.91972136e-01 -8.88214528e+01] [-2.79519519e-01 7.06819843e-01 6.49826553e-01 -4.51383734e+01] [-4.19743218e-01 -6.98660691e-01 5.79386632e-01 1.62592797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.229072329 meters Centerline goodness [0,1] 0.3722157452291833 Centerline is valid? [False, False] Translation: X:-88.93, Y:-45.27, Z:162.84 [[ 8.64156310e-01 -1.06662961e-01 4.91789473e-01 -8.89345629e+01] [-2.80870780e-01 7.08658645e-01 6.47236070e-01 -4.52738454e+01] [-4.17546977e-01 -6.97442427e-01 5.82433330e-01 1.62843976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.259072329 meters Centerline goodness [0,1] 0.35364755942882864 Centerline is valid? [False, False] Translation: X:-89.05, Y:-45.41, Z:163.09 [[ 8.65144864e-01 -1.02535464e-01 4.90928552e-01 -8.90474108e+01] [-2.82224459e-01 7.09640564e-01 6.45569226e-01 -4.54098712e+01] [-4.14576555e-01 -6.97062945e-01 5.85003873e-01 1.63092372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.289072329 meters Centerline goodness [0,1] 0.34907030498905645 Centerline is valid? [False, False] Translation: X:-89.16, Y:-45.55, Z:163.35 [[ 8.65541558e-01 -1.00596631e-01 4.90630339e-01 -8.91649170e+01] [-2.83818748e-01 7.08621830e-01 6.45989179e-01 -4.55484410e+01] [-4.12655704e-01 -6.98380569e-01 5.84790433e-01 1.63349761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.319072329 meters Centerline goodness [0,1] 0.37465993004275167 Centerline is valid? [False, False] Translation: X:-89.28, Y:-45.68, Z:163.60 [[ 8.65674158e-01 -9.93941926e-02 4.90641464e-01 -8.92813609e+01] [-2.85693584e-01 7.06725969e-01 6.47238427e-01 -4.56847417e+01] [-4.11080805e-01 -7.00470699e-01 5.83398125e-01 1.63603091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.349072329 meters Centerline goodness [0,1] 0.3719932149353171 Centerline is valid? [False, False] Translation: X:-89.40, Y:-45.82, Z:163.85 [[ 8.66766443e-01 -9.83393044e-02 4.88922606e-01 -8.93966571e+01] [-2.86452181e-01 7.04346066e-01 6.49493470e-01 -4.58205515e+01] [-4.08241450e-01 -7.03012092e-01 5.82334026e-01 1.63853383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.379072329 meters Centerline goodness [0,1] 0.357648551317728 Centerline is valid? [False, False] Translation: X:-89.51, Y:-45.96, Z:164.10 [[ 8.68173314e-01 -9.40912050e-02 4.87259624e-01 -8.95139562e+01] [-2.89128132e-01 7.02106135e-01 6.50731817e-01 -4.59583038e+01] [-4.03336112e-01 -7.05828464e-01 5.82345396e-01 1.64102145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.409072329 meters Centerline goodness [0,1] 0.33334695963208993 Centerline is valid? [False, False] Translation: X:-89.62, Y:-46.09, Z:164.33 [[ 8.70512370e-01 -9.28801619e-02 4.83302689e-01 -8.96227808e+01] [-2.88193991e-01 6.99839665e-01 6.53581415e-01 -4.60870872e+01] [-3.98939140e-01 -7.08235637e-01 5.82451581e-01 1.64330590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.439072329 meters Centerline goodness [0,1] 0.3634931030248455 Centerline is valid? [False, False] Translation: X:-89.73, Y:-46.21, Z:164.56 [[ 8.73531794e-01 -8.87932321e-02 4.78600007e-01 -8.97289786e+01] [-2.88977873e-01 6.96610992e-01 6.56677176e-01 -4.62144617e+01] [-3.91706515e-01 -7.11933204e-01 5.82852571e-01 1.64555559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.469072329 meters Centerline goodness [0,1] 0.32934291034849694 Centerline is valid? [False, False] Translation: X:-89.84, Y:-46.34, Z:164.78 [[ 8.74379110e-01 -8.87873202e-02 4.77051343e-01 -8.98356085e+01] [-2.89520446e-01 6.93495849e-01 6.59728292e-01 -4.63395559e+01] [-3.89408633e-01 -7.14968754e-01 5.80672538e-01 1.64783928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.499072329 meters Centerline goodness [0,1] 0.3569019439504507 Centerline is valid? [False, False] Translation: X:-89.94, Y:-46.46, Z:165.01 [[ 8.75183539e-01 -8.98621632e-02 4.75372027e-01 -8.99386503e+01] [-2.90262444e-01 6.88563900e-01 6.64550577e-01 -4.64611077e+01] [-3.87041969e-01 -7.19586373e-01 5.76536180e-01 1.65005466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.529072329 meters Centerline goodness [0,1] 0.3490807206986114 Centerline is valid? [False, False] Translation: X:-90.04, Y:-46.59, Z:165.23 [[ 8.76422921e-01 -8.65455676e-02 4.73701096e-01 -9.00443471e+01] [-2.94546907e-01 6.81879583e-01 6.69538912e-01 -4.65865176e+01] [-3.80952731e-01 -7.26326441e-01 5.72123167e-01 1.65232894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.559072329 meters Centerline goodness [0,1] 0.3469329354291437 Centerline is valid? [False, False] Translation: X:-90.14, Y:-46.71, Z:165.45 [[ 8.78402753e-01 -8.48334285e-02 4.70331683e-01 -9.01447997e+01] [-2.94455393e-01 6.79080929e-01 6.72417366e-01 -4.67075081e+01] [-3.76436747e-01 -7.29144966e-01 5.71526897e-01 1.65452691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.589072329 meters Centerline goodness [0,1] 0.3440631952807659 Centerline is valid? [False, False] Translation: X:-90.24, Y:-46.83, Z:165.67 [[ 8.80641038e-01 -8.41299861e-02 4.66254767e-01 -9.02438531e+01] [-2.93380207e-01 6.75900866e-01 6.76081410e-01 -4.68280137e+01] [-3.72020720e-01 -7.32174955e-01 5.70543968e-01 1.65669975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.619072329 meters Centerline goodness [0,1] 0.3319661259055199 Centerline is valid? [False, False] Translation: X:-90.34, Y:-46.95, Z:165.89 [[ 8.83220305e-01 -8.24759999e-02 4.61648787e-01 -9.03426411e+01] [-2.93706052e-01 6.70151368e-01 6.81640594e-01 -4.69491649e+01] [-3.65593556e-01 -7.37627856e-01 5.67667595e-01 1.65886905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.649072329 meters Centerline goodness [0,1] 0.33674553553185405 Centerline is valid? [False, False] Translation: X:-90.44, Y:-47.07, Z:166.10 [[ 8.84354676e-01 -8.28199166e-02 4.59410130e-01 -9.04392983e+01] [-2.93884360e-01 6.65858414e-01 6.85758380e-01 -4.70656670e+01] [-3.62696552e-01 -7.41467082e-01 5.64515524e-01 1.66103443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.679072329 meters Centerline goodness [0,1] 0.33289742541888023 Centerline is valid? [False, False] Translation: X:-90.54, Y:-47.18, Z:166.32 [[ 8.85195367e-01 -8.29820105e-02 4.57758832e-01 -9.05355133e+01] [-2.94761167e-01 6.61216121e-01 6.89861649e-01 -4.71818587e+01] [-3.59923626e-01 -7.45591864e-01 5.60845573e-01 1.66319881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.709072329 meters Centerline goodness [0,1] 0.32942354455728795 Centerline is valid? [False, False] Translation: X:-90.63, Y:-47.30, Z:166.55 [[ 8.86110909e-01 -8.21891497e-02 4.56127614e-01 -9.06342149e+01] [-2.95928958e-01 6.57089455e-01 6.93296113e-01 -4.73027350e+01] [-3.56698063e-01 -7.49318619e-01 5.57931985e-01 1.66547057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.739072329 meters Centerline goodness [0,1] 0.327164654696979 Centerline is valid? [False, False] Translation: X:-90.73, Y:-47.43, Z:166.77 [[ 8.87964526e-01 -7.72312556e-02 4.53381003e-01 -9.07324167e+01] [-2.98994474e-01 6.52108122e-01 6.96675894e-01 -4.74252379e+01] [-3.49458588e-01 -7.54181895e-01 5.55957161e-01 1.66772180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.769072329 meters Centerline goodness [0,1] 0.30998999571244823 Centerline is valid? [False, False] Translation: X:-90.83, Y:-47.55, Z:166.99 [[ 8.90398854e-01 -7.72746719e-02 4.48573858e-01 -9.08280081e+01] [-2.97008725e-01 6.48150178e-01 7.01204082e-01 -4.75456240e+01] [-3.44928541e-01 -7.57581660e-01 5.54160924e-01 1.66994742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.799072329 meters Centerline goodness [0,1] 0.292556555086388 Centerline is valid? [False, False] Translation: X:-90.92, Y:-47.66, Z:167.21 [[ 8.93224798e-01 -7.40820671e-02 4.43465115e-01 -9.09216890e+01] [-2.97436055e-01 6.42295373e-01 7.06391143e-01 -4.76622340e+01] [-3.37166507e-01 -7.62868600e-01 5.51679477e-01 1.67212833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.829072329 meters Centerline goodness [0,1] 0.3086298768910394 Centerline is valid? [False, False] Translation: X:-91.01, Y:-47.78, Z:167.43 [[ 8.94761176e-01 -7.42049816e-02 4.40336301e-01 -9.10141357e+01] [-2.96844146e-01 6.37830941e-01 7.10672388e-01 -4.77775982e+01] [-3.33595549e-01 -7.66593315e-01 5.48679049e-01 1.67431758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.859072329 meters Centerline goodness [0,1] 0.3198032733357822 Centerline is valid? [False, False] Translation: X:-91.11, Y:-47.89, Z:167.65 [[ 8.95826800e-01 -7.38572821e-02 4.38223056e-01 -9.11055523e+01] [-2.97472288e-01 6.32935967e-01 7.14774299e-01 -4.78917498e+01] [-3.30158421e-01 -7.70673188e-01 5.45030507e-01 1.67649167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88907232900002 meters Centerline goodness [0,1] 0.2493673985797078 Centerline is valid? [False, False] Translation: X:-91.20, Y:-48.01, Z:167.86 [[ 8.97826810e-01 -7.10883089e-02 4.34572747e-01 -9.11969445e+01] [-2.99295292e-01 6.25375567e-01 7.20643968e-01 -4.80063273e+01] [-3.23000539e-01 -7.77079052e-01 5.40202554e-01 1.67863527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.919072329 meters Centerline goodness [0,1] 0.2493673985797078 Centerline is valid? [False, False] Translation: X:-91.29, Y:-48.12, Z:168.08 [[ 8.99351628e-01 -7.43229908e-02 4.30862789e-01 -9.12855300e+01] [-2.95472671e-01 6.23053716e-01 7.24223700e-01 -4.81213679e+01] [-3.22277133e-01 -7.78639943e-01 5.38383961e-01 1.68084907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.949072329 meters Centerline goodness [0,1] 0.2944403654756078 Centerline is valid? [False, False] Translation: X:-91.37, Y:-48.23, Z:168.30 [[ 9.01309403e-01 -7.32283319e-02 4.26941415e-01 -9.13707516e+01] [-2.94164999e-01 6.20020780e-01 7.27352175e-01 -4.82315743e+01] [-3.17975335e-01 -7.81160575e-01 5.37289347e-01 1.68297191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.979072329 meters Centerline goodness [0,1] 0.23714834020660647 Centerline is valid? [False, False] Translation: X:-91.46, Y:-48.35, Z:168.52 [[ 9.02537766e-01 -7.13905768e-02 4.24651583e-01 -9.14603098e+01] [-2.93952145e-01 6.18497881e-01 7.28733496e-01 -4.83464289e+01] [-3.14670808e-01 -7.82536745e-01 5.37232282e-01 1.68521968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.009072329 meters Centerline goodness [0,1] 0.25397311136952483 Centerline is valid? [False, False] Translation: X:-91.55, Y:-48.46, Z:168.74 [[ 9.04498659e-01 -6.55417068e-02 4.21410086e-01 -9.15455844e+01] [-2.96046140e-01 6.14769501e-01 7.31037033e-01 -4.84557234e+01] [-3.06983483e-01 -7.85978845e-01 5.36654820e-01 1.68735230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.039072329 meters Centerline goodness [0,1] 0.3076185619581846 Centerline is valid? [False, False] Translation: X:-91.64, Y:-48.57, Z:168.96 [[ 9.05880840e-01 -6.61527084e-02 4.18334463e-01 -9.16351893e+01] [-2.95010556e-01 6.10148640e-01 7.35314497e-01 -4.85720385e+01] [-3.03889249e-01 -7.89520397e-01 5.33206215e-01 1.68960512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.069072329 meters Centerline goodness [0,1] 0.28896454710403463 Centerline is valid? [False, False] Translation: X:-91.72, Y:-48.69, Z:169.18 [[ 9.07534939e-01 -6.62915260e-02 4.14711669e-01 -9.17208868e+01] [-2.93816482e-01 6.05356779e-01 7.39739850e-01 -4.86850477e+01] [-3.00087003e-01 -7.93188883e-01 5.29904884e-01 1.69180609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.099072329 meters Centerline goodness [0,1] 0.288120061904374 Centerline is valid? [False, False] Translation: X:-91.81, Y:-48.80, Z:169.40 [[ 9.10189925e-01 -6.36960179e-02 4.09264118e-01 -9.18055891e+01] [-2.93051002e-01 5.99246532e-01 7.44999802e-01 -4.87964845e+01] [-2.92703624e-01 -7.98026573e-01 5.26761974e-01 1.69397964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.129072329 meters Centerline goodness [0,1] 0.26887282354139086 Centerline is valid? [False, False] Translation: X:-91.89, Y:-48.91, Z:169.62 [[ 9.11911427e-01 -6.36918185e-02 4.05414480e-01 -9.18880501e+01] [-2.90798692e-01 5.96778220e-01 7.47858193e-01 -4.89062187e+01] [-2.89574980e-01 -7.99874433e-01 5.25687381e-01 1.69615675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.159072329 meters Centerline goodness [0,1] 0.2675348458642792 Centerline is valid? [False, False] Translation: X:-91.97, Y:-49.02, Z:169.83 [[ 9.13947082e-01 -6.19738240e-02 4.01073530e-01 -9.19711829e+01] [-2.89792013e-01 5.92207126e-01 7.51871870e-01 -4.90168182e+01] [-2.84114978e-01 -8.03399007e-01 5.23286456e-01 1.69834585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.189072329 meters Centerline goodness [0,1] 0.27301742188611733 Centerline is valid? [False, False] Translation: X:-92.05, Y:-49.13, Z:170.05 [[ 9.15653694e-01 -6.34190533e-02 3.96933667e-01 -9.20515403e+01] [-2.87107422e-01 5.87936627e-01 7.56240604e-01 -4.91266000e+01] [-2.81331904e-01 -8.06417104e-01 5.20138264e-01 1.70051522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.219072329 meters Centerline goodness [0,1] 0.28928091808082046 Centerline is valid? [False, False] Translation: X:-92.13, Y:-49.23, Z:170.27 [[ 9.15957955e-01 -6.23302389e-02 3.96403792e-01 -9.21306278e+01] [-2.87816724e-01 5.86302555e-01 7.57238963e-01 -4.92330572e+01] [-2.79611441e-01 -8.07690693e-01 5.19088804e-01 1.70267412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.249072329 meters Centerline goodness [0,1] 0.27761503722690106 Centerline is valid? [False, False] Translation: X:-92.21, Y:-49.34, Z:170.49 [[ 9.17856395e-01 -6.24313522e-02 3.91971894e-01 -9.22104243e+01] [-2.85212659e-01 5.83047142e-01 7.60729761e-01 -4.93441849e+01] [-2.76031480e-01 -8.10036022e-01 5.17347336e-01 1.70488230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.279072329 meters Centerline goodness [0,1] 0.2711375005083574 Centerline is valid? [False, False] Translation: X:-92.29, Y:-49.45, Z:170.70 [[ 9.20293155e-01 -5.97934460e-02 3.86633228e-01 -9.22891421e+01] [-2.83466451e-01 5.79211751e-01 7.64303944e-01 -4.94521626e+01] [-2.69642876e-01 -8.12981237e-01 5.16095173e-01 1.70701571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.309072329 meters Centerline goodness [0,1] 0.2850314260724529 Centerline is valid? [False, False] Translation: X:-92.36, Y:-49.56, Z:170.91 [[ 9.21759683e-01 -6.03246488e-02 3.83040500e-01 -9.23624800e+01] [-2.81267696e-01 5.75969509e-01 7.67559515e-01 -4.95552348e+01] [-2.66922407e-01 -8.15242333e-01 5.13938096e-01 1.70908906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.339072329 meters Centerline goodness [0,1] 0.2682832635472987 Centerline is valid? [False, False] Translation: X:-92.44, Y:-49.66, Z:171.12 [[ 9.22887430e-01 -6.09268537e-02 3.80219293e-01 -9.24367690e+01] [-2.79652380e-01 5.72737221e-01 7.70562536e-01 -4.96598607e+01] [-2.64713692e-01 -8.17471708e-01 5.11533642e-01 1.71120856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.369072329 meters Centerline goodness [0,1] 0.2566990607083316 Centerline is valid? [False, False] Translation: X:-92.51, Y:-49.76, Z:171.33 [[ 9.24269135e-01 -6.02357040e-02 3.76959183e-01 -9.25101285e+01] [-2.78696111e-01 5.68342338e-01 7.74154677e-01 -4.97628605e+01] [-2.60873615e-01 -8.20584333e-01 5.08513825e-01 1.71330469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.399072329 meters Centerline goodness [0,1] 0.27355308079986995 Centerline is valid? [False, False] Translation: X:-92.58, Y:-49.87, Z:171.54 [[ 9.25988903e-01 -6.11243425e-02 3.72569949e-01 -9.25806029e+01] [-2.75238851e-01 5.66181527e-01 7.76969789e-01 -4.98657285e+01] [-2.58433990e-01 -8.22011127e-01 5.07454017e-01 1.71539384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.429072329 meters Centerline goodness [0,1] 0.26659765775639854 Centerline is valid? [False, False] Translation: X:-92.65, Y:-49.97, Z:171.74 [[ 9.27654287e-01 -6.00888664e-02 3.68574080e-01 -9.26496527e+01] [-2.72643152e-01 5.65475169e-01 7.78398064e-01 -4.99662588e+01] [-2.55192547e-01 -8.22573499e-01 5.08182646e-01 1.71743998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.459072329 meters Centerline goodness [0,1] 0.24824018663150416 Centerline is valid? [False, False] Translation: X:-92.72, Y:-50.07, Z:171.95 [[ 9.29043537e-01 -6.18476511e-02 3.64764272e-01 -9.27169747e+01] [-2.69274186e-01 5.63074839e-01 7.81305407e-01 -5.00655281e+01] [-2.53711488e-01 -8.24088341e-01 5.06467064e-01 1.71948522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.489072329 meters Centerline goodness [0,1] 0.26926044754903955 Centerline is valid? [False, False] Translation: X:-92.79, Y:-50.16, Z:172.15 [[ 9.29201550e-01 -6.32522994e-02 3.64120346e-01 -9.27850609e+01] [-2.68642887e-01 5.61009832e-01 7.83006365e-01 -5.01633041e+01] [-2.53802047e-01 -8.25389069e-01 5.04298925e-01 1.72154870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.519072329 meters Centerline goodness [0,1] 0.24266737081572964 Centerline is valid? [False, False] Translation: X:-92.85, Y:-50.26, Z:172.36 [[ 9.29544261e-01 -6.54044729e-02 3.62863229e-01 -9.28543377e+01] [-2.67563142e-01 5.57473149e-01 7.85896719e-01 -5.02615574e+01] [-2.53687668e-01 -8.27614610e-01 5.00696140e-01 1.72363612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.549072329 meters Centerline goodness [0,1] 0.24920725262216437 Centerline is valid? [False, False] Translation: X:-92.92, Y:-50.36, Z:172.57 [[ 9.30117136e-01 -6.65048409e-02 3.61191388e-01 -9.29224361e+01] [-2.65764166e-01 5.56893124e-01 7.86917694e-01 -5.03617252e+01] [-2.53478836e-01 -8.27917360e-01 5.00301234e-01 1.72573133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.579072329 meters Centerline goodness [0,1] 0.2472206979249233 Centerline is valid? [False, False] Translation: X:-92.99, Y:-50.46, Z:172.78 [[ 9.30880860e-01 -6.71046123e-02 3.59106942e-01 -9.29897313e+01] [-2.63670380e-01 5.56969816e-01 7.87567492e-01 -5.04620950e+01] [-2.52861138e-01 -8.27817368e-01 5.00779043e-01 1.72781296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.609072329 meters Centerline goodness [0,1] 0.2620096198729527 Centerline is valid? [False, False] Translation: X:-93.05, Y:-50.56, Z:172.98 [[ 9.31795353e-01 -6.69963072e-02 3.56747690e-01 -9.30522892e+01] [-2.61686256e-01 5.57113681e-01 7.88127306e-01 -5.05563262e+01] [-2.51550638e-01 -8.27729329e-01 5.01583926e-01 1.72975509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63907232900002 meters Centerline goodness [0,1] 0.23040042256668636 Centerline is valid? [False, False] Translation: X:-93.12, Y:-50.65, Z:173.18 [[ 9.32798966e-01 -6.66687803e-02 3.54177023e-01 -9.31167966e+01] [-2.59656106e-01 5.57193414e-01 7.88742167e-01 -5.06534799e+01] [-2.49929583e-01 -8.27702104e-01 5.02438485e-01 1.73177977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.669072329 meters Centerline goodness [0,1] 0.23954944697462588 Centerline is valid? [False, False] Translation: X:-93.18, Y:-50.75, Z:173.38 [[ 9.32985123e-01 -6.78774573e-02 3.53456379e-01 -9.31805935e+01] [-2.58819555e-01 5.55892187e-01 7.89934373e-01 -5.07482075e+01] [-2.50102376e-01 -8.28478441e-01 5.01071127e-01 1.73380926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.699072329 meters Centerline goodness [0,1] 0.21549287181468757 Centerline is valid? [False, False] Translation: X:-93.25, Y:-50.85, Z:173.59 [[ 9.32732442e-01 -7.09555754e-02 3.53518737e-01 -9.32471002e+01] [-2.58539980e-01 5.51798103e-01 7.92890870e-01 -5.08461837e+01] [-2.51330996e-01 -8.30953765e-01 4.96335139e-01 1.73591574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.729072329 meters Centerline goodness [0,1] 0.2255023466547471 Centerline is valid? [False, False] Translation: X:-93.31, Y:-50.94, Z:173.80 [[ 9.32722413e-01 -7.21102371e-02 3.53311497e-01 -9.33114649e+01] [-2.58051884e-01 5.50893204e-01 7.93678716e-01 -5.09429935e+01] [-2.51869263e-01 -8.31454624e-01 4.95222256e-01 1.73796686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.759072329 meters Centerline goodness [0,1] 0.2602594867206247 Centerline is valid? [False, False] Translation: X:-93.37, Y:-51.04, Z:174.00 [[ 9.33174091e-01 -7.19544018e-02 3.52148662e-01 -9.33736267e+01] [-2.56091476e-01 5.54357435e-01 7.91899609e-01 -5.10385708e+01] [-2.52196892e-01 -8.29162468e-01 4.98885087e-01 1.73995609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.789072329 meters Centerline goodness [0,1] 0.2745688865362298 Centerline is valid? [False, False] Translation: X:-93.44, Y:-51.13, Z:174.20 [[ 9.33247344e-01 -7.16343533e-02 3.52019763e-01 -9.34358285e+01] [-2.55261755e-01 5.57258317e-01 7.90129486e-01 -5.11322390e+01] [-2.52766356e-01 -8.27243427e-01 5.01774334e-01 1.74195209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.819072329 meters Centerline goodness [0,1] 0.2725720904712553 Centerline is valid? [False, False] Translation: X:-93.50, Y:-51.23, Z:174.39 [[ 9.33983741e-01 -7.33859497e-02 3.49698261e-01 -9.34969776e+01] [-2.52338322e-01 5.57446796e-01 7.90935168e-01 -5.12259503e+01] [-2.52981704e-01 -8.26962860e-01 5.02128157e-01 1.74394059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.849072329 meters Centerline goodness [0,1] 0.2627713466116005 Centerline is valid? [False, False] Translation: X:-93.56, Y:-51.32, Z:174.60 [[ 9.33253406e-01 -7.50182153e-02 3.51298089e-01 -9.35589118e+01] [-2.52747615e-01 5.57793371e-01 7.90560054e-01 -5.13179736e+01] [-2.55258149e-01 -8.26582617e-01 5.01601888e-01 1.74595071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.879072329 meters Centerline goodness [0,1] 0.25452028017592443 Centerline is valid? [False, False] Translation: X:-93.62, Y:-51.41, Z:174.80 [[ 9.31731333e-01 -7.95927567e-02 3.54318664e-01 -9.36227812e+01] [-2.53681561e-01 5.55497325e-01 7.91876498e-01 -5.14129911e+01] [-2.59850703e-01 -8.27700257e-01 4.97383049e-01 1.74803781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.909072329 meters Centerline goodness [0,1] 0.26452164009111623 Centerline is valid? [False, False] Translation: X:-93.68, Y:-51.51, Z:175.00 [[ 9.31432878e-01 -8.13784117e-02 3.54697545e-01 -9.36845492e+01] [-2.53179982e-01 5.55218377e-01 7.92232573e-01 -5.15062342e+01] [-2.61405224e-01 -8.27713784e-01 4.96545266e-01 1.75003773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.939072329 meters Centerline goodness [0,1] 0.26359330853507323 Centerline is valid? [False, False] Translation: X:-93.75, Y:-51.60, Z:175.20 [[ 9.31811469e-01 -8.31866331e-02 3.53280867e-01 -9.37450519e+01] [-2.49790084e-01 5.59186594e-01 7.90515823e-01 -5.16006398e+01] [-2.63310274e-01 -8.24857768e-01 5.00277286e-01 1.75203530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.969072329 meters Centerline goodness [0,1] 0.274289195775792 Centerline is valid? [False, False] Translation: X:-93.81, Y:-51.70, Z:175.41 [[ 9.31318426e-01 -8.38560080e-02 3.54420879e-01 -9.38078999e+01] [-2.49204921e-01 5.62940564e-01 7.88032251e-01 -5.16955845e+01] [-2.65599128e-01 -8.22232383e-01 5.03379590e-01 1.75408300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.999072329 meters Centerline goodness [0,1] 0.27747967479674795 Centerline is valid? [False, False] Translation: X:-93.87, Y:-51.79, Z:175.62 [[ 9.30584096e-01 -8.55301570e-02 3.55946390e-01 -9.38723314e+01] [-2.48800745e-01 5.65477850e-01 7.86341523e-01 -5.17916734e+01] [-2.68535713e-01 -8.20316642e-01 5.04944727e-01 1.75615501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.029072329 meters Centerline goodness [0,1] 0.26524923702950154 Centerline is valid? [False, False] Translation: X:-93.94, Y:-51.89, Z:175.82 [[ 9.28724415e-01 -9.02527318e-02 3.59618417e-01 -9.39359023e+01] [-2.48848162e-01 5.67281060e-01 7.85026618e-01 -5.18852482e+01] [-2.74855513e-01 -8.18563768e-01 5.04388545e-01 1.75819742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.059072329 meters Centerline goodness [0,1] 0.2923111364376425 Centerline is valid? [False, False] Translation: X:-94.00, Y:-51.98, Z:176.03 [[ 9.27378235e-01 -9.27520872e-02 3.62445388e-01 -9.40015559e+01] [-2.49459493e-01 5.68686197e-01 7.83815010e-01 -5.19821250e+01] [-2.78818168e-01 -8.17308424e-01 5.04249313e-01 1.76027015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.089072329 meters Centerline goodness [0,1] 0.2931652478514113 Centerline is valid? [False, False] Translation: X:-94.06, Y:-52.08, Z:176.23 [[ 9.26592371e-01 -9.54237926e-02 3.63759369e-01 -9.40642234e+01] [-2.48567613e-01 5.70453630e-01 7.82813386e-01 -5.20771594e+01] [-2.82206874e-01 -8.15767710e-01 5.04858717e-01 1.76228487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.119072329 meters Centerline goodness [0,1] 0.2838368426406266 Centerline is valid? [False, False] Translation: X:-94.13, Y:-52.18, Z:176.44 [[ 9.24840021e-01 -9.97389673e-02 3.67046419e-01 -9.41293756e+01] [-2.47017471e-01 5.76306965e-01 7.79007478e-01 -5.21755274e+01] [-2.89228809e-01 -8.11124171e-01 5.08354478e-01 1.76437440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.149072329 meters Centerline goodness [0,1] 0.30036838784523645 Centerline is valid? [False, False] Translation: X:-94.19, Y:-52.27, Z:176.64 [[ 9.23407670e-01 -1.00506261e-01 3.70427817e-01 -9.41938854e+01] [-2.47804082e-01 5.80895558e-01 7.75340884e-01 -5.22705297e+01] [-2.93106487e-01 -8.07749244e-01 5.11497552e-01 1.76641057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.179072329 meters Centerline goodness [0,1] 0.30317893194399215 Centerline is valid? [False, False] Translation: X:-94.26, Y:-52.37, Z:176.85 [[ 9.21851736e-01 -1.01699026e-01 3.73960806e-01 -9.42617502e+01] [-2.48452317e-01 5.85474342e-01 7.71680789e-01 -5.23707498e+01] [-2.97423641e-01 -8.04286704e-01 5.14453181e-01 1.76854926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.209072329 meters Centerline goodness [0,1] 0.3051168281364488 Centerline is valid? [False, False] Translation: X:-94.33, Y:-52.47, Z:177.07 [[ 9.19992718e-01 -1.03408375e-01 3.78047758e-01 -9.43300263e+01] [-2.49365795e-01 5.89717109e-01 7.68147402e-01 -5.24710056e+01] [-3.02374106e-01 -8.00962196e-01 5.16748934e-01 1.77069518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.239072329 meters Centerline goodness [0,1] 0.3084870548516342 Centerline is valid? [False, False] Translation: X:-94.40, Y:-52.58, Z:177.29 [[ 9.17811994e-01 -1.08225184e-01 3.81979651e-01 -9.44005693e+01] [-2.48372125e-01 5.94079642e-01 7.65101736e-01 -5.25762179e+01] [-3.09729610e-01 -7.97092648e-01 5.18373301e-01 1.77292551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.269072329 meters Centerline goodness [0,1] 0.30576278077040353 Centerline is valid? [False, False] Translation: X:-94.47, Y:-52.68, Z:177.52 [[ 9.15468540e-01 -1.08108321e-01 3.87595077e-01 -9.44738751e+01] [-2.51241600e-01 5.98838208e-01 7.60440963e-01 -5.26821746e+01] [-3.14316738e-01 -7.93539785e-01 5.21056233e-01 1.77515805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.299072329 meters Centerline goodness [0,1] 0.29058576980203055 Centerline is valid? [False, False] Translation: X:-94.55, Y:-52.79, Z:177.74 [[ 9.13325753e-01 -1.09423444e-01 3.92253207e-01 -9.45478256e+01] [-2.51737135e-01 6.05429941e-01 7.55038410e-01 -5.27917567e+01] [-3.20100739e-01 -7.88340724e-01 5.25408813e-01 1.77742367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.329072329 meters Centerline goodness [0,1] 0.3009327142391659 Centerline is valid? [False, False] Translation: X:-94.62, Y:-52.90, Z:177.97 [[ 9.11824623e-01 -1.08700978e-01 3.95929229e-01 -9.46226593e+01] [-2.53308443e-01 6.09981895e-01 7.50837480e-01 -5.29008900e+01] [-3.23126429e-01 -7.84924319e-01 5.28661636e-01 1.77967463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.359072329 meters Centerline goodness [0,1] 0.3095485792383167 Centerline is valid? [False, False] Translation: X:-94.70, Y:-53.01, Z:178.20 [[ 9.10417170e-01 -1.08000334e-01 3.99345096e-01 -9.47005034e+01] [-2.54799775e-01 6.14100297e-01 7.46965796e-01 -5.30140517e+01] [-3.25910497e-01 -7.81803526e-01 5.31568993e-01 1.78199507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38907232900002 meters Centerline goodness [0,1] 0.3083717514585288 Centerline is valid? [False, False] Translation: X:-94.78, Y:-53.13, Z:178.43 [[ 9.09035078e-01 -1.09431931e-01 4.02094367e-01 -9.47766661e+01] [-2.55268730e-01 6.16448632e-01 7.44868417e-01 -5.31258848e+01] [-3.29382912e-01 -7.79753638e-01 5.32438880e-01 1.78426342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.419072329 meters Centerline goodness [0,1] 0.3097893685133455 Centerline is valid? [False, False] Translation: X:-94.85, Y:-53.23, Z:178.63 [[ 9.08707947e-01 -1.10828892e-01 4.02451019e-01 -9.48459764e+01] [-2.54536266e-01 6.17021702e-01 7.44644552e-01 -5.32280929e+01] [-3.30849143e-01 -7.79102802e-01 5.32482552e-01 1.78628267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.449072329 meters Centerline goodness [0,1] 0.31212374752566174 Centerline is valid? [False, False] Translation: X:-94.93, Y:-53.35, Z:178.87 [[ 9.07110719e-01 -1.09130117e-01 4.06498167e-01 -9.49268721e+01] [-2.57004627e-01 6.21225444e-01 7.40288842e-01 -5.33460848e+01] [-3.33314813e-01 -7.75995854e-01 5.35473314e-01 1.78867377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.479072329 meters Centerline goodness [0,1] 0.2945434525508748 Centerline is valid? [False, False] Translation: X:-95.01, Y:-53.46, Z:179.10 [[ 9.05921404e-01 -1.07593510e-01 4.09548588e-01 -9.50077507e+01] [-2.58497709e-01 6.25531047e-01 7.36131675e-01 -5.34635450e+01] [-3.35388348e-01 -7.72744813e-01 5.38869289e-01 1.79101454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.509072329 meters Centerline goodness [0,1] 0.3112361382909328 Centerline is valid? [False, False] Translation: X:-95.09, Y:-53.58, Z:179.34 [[ 9.04848862e-01 -1.07657861e-01 4.11896008e-01 -9.50893572e+01] [-2.58260445e-01 6.30344495e-01 7.32097917e-01 -5.35831160e+01] [-3.38452477e-01 -7.68814413e-01 5.42562732e-01 1.79335274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.539072329 meters Centerline goodness [0,1] 0.287713714448933 Centerline is valid? [False, False] Translation: X:-95.17, Y:-53.70, Z:179.56 [[ 9.03842349e-01 -1.06845073e-01 4.14310437e-01 -9.51700929e+01] [-2.59617866e-01 6.32740247e-01 7.29546670e-01 -5.36997276e+01] [-3.40099356e-01 -7.66957567e-01 5.44158542e-01 1.79564978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.569072329 meters Centerline goodness [0,1] 0.31596450066306236 Centerline is valid? [False, False] Translation: X:-95.26, Y:-53.83, Z:179.81 [[ 9.01463729e-01 -1.08124761e-01 4.19132653e-01 -9.52560015e+01] [-2.62053968e-01 6.34356933e-01 7.27268175e-01 -5.38251331e+01] [-3.44515402e-01 -7.65441256e-01 5.43515244e-01 1.79810394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.599072329 meters Centerline goodness [0,1] 0.31528902854577734 Centerline is valid? [False, False] Translation: X:-95.34, Y:-53.94, Z:180.04 [[ 8.99991052e-01 -1.07251196e-01 4.22508329e-01 -9.53389719e+01] [-2.64124314e-01 6.36902015e-01 7.24288734e-01 -5.39442328e+01] [-3.46777239e-01 -7.63448102e-01 5.44878465e-01 1.80040438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.629072329 meters Centerline goodness [0,1] 0.32324099043883303 Centerline is valid? [False, False] Translation: X:-95.42, Y:-54.07, Z:180.27 [[ 8.99093180e-01 -1.06476709e-01 4.24610603e-01 -9.54213587e+01] [-2.63953646e-01 6.41944772e-01 7.19885673e-01 -5.40657489e+01] [-3.49227614e-01 -7.59321816e-01 5.49063251e-01 1.80269864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.659072329 meters Centerline goodness [0,1] 0.30446430397349644 Centerline is valid? [False, False] Translation: X:-95.51, Y:-54.19, Z:180.50 [[ 8.98603988e-01 -1.04819243e-01 4.26056098e-01 -9.55058376e+01] [-2.64292536e-01 6.45798386e-01 7.16305731e-01 -5.41870453e+01] [-3.50228965e-01 -7.56278634e-01 5.52614061e-01 1.80501098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.689072329 meters Centerline goodness [0,1] 0.32181769864469834 Centerline is valid? [False, False] Translation: X:-95.59, Y:-54.31, Z:180.73 [[ 8.97580140e-01 -1.03419162e-01 4.28549143e-01 -9.55906697e+01] [-2.65609627e-01 6.48989809e-01 7.12926191e-01 -5.43079885e+01] [-3.51854256e-01 -7.53735169e-01 5.55051239e-01 1.80732614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.719072329 meters Centerline goodness [0,1] 0.32293881891051857 Centerline is valid? [False, False] Translation: X:-95.68, Y:-54.43, Z:180.97 [[ 8.96042875e-01 -1.02582700e-01 4.31953651e-01 -9.56771399e+01] [-2.67795497e-01 6.51133319e-01 7.10148557e-01 -5.44300957e+01] [-3.54108371e-01 -7.51998797e-01 5.55972186e-01 1.80966320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.749072329 meters Centerline goodness [0,1] 0.3250265979212702 Centerline is valid? [False, False] Translation: X:-95.77, Y:-54.56, Z:181.21 [[ 8.93843098e-01 -1.04285759e-01 4.36083704e-01 -9.57656961e+01] [-2.69844506e-01 6.51615067e-01 7.08930001e-01 -5.45582720e+01] [-3.58090015e-01 -7.51346980e-01 5.54300691e-01 1.81207112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.779072329 meters Centerline goodness [0,1] 0.3275484517937908 Centerline is valid? [False, False] Translation: X:-95.86, Y:-54.69, Z:181.45 [[ 8.92866896e-01 -1.03302678e-01 4.38311834e-01 -9.58550874e+01] [-2.71013784e-01 6.54064735e-01 7.06222947e-01 -5.46859157e+01] [-3.59639035e-01 -7.49351639e-01 5.55996300e-01 1.81445806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.809072329 meters Centerline goodness [0,1] 0.3275484517937908 Centerline is valid? [False, False] Translation: X:-95.94, Y:-54.81, Z:181.68 [[ 8.91946743e-01 -1.01130085e-01 4.40685505e-01 -9.59444974e+01] [-2.73094252e-01 6.56290984e-01 7.03350321e-01 -5.48087141e+01] [-3.60347801e-01 -7.47699706e-01 5.57758560e-01 1.81676968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.839072329 meters Centerline goodness [0,1] 0.32490531272392265 Centerline is valid? [False, False] Translation: X:-96.03, Y:-54.93, Z:181.91 [[ 8.90958792e-01 -9.92929803e-02 4.43095175e-01 -9.60334883e+01] [-2.74486337e-01 6.59572170e-01 6.99729807e-01 -5.49343058e+01] [-3.61731504e-01 -7.45053996e-01 5.60397058e-01 1.81908170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.869072329 meters Centerline goodness [0,1] 0.31447454575216893 Centerline is valid? [False, False] Translation: X:-96.12, Y:-55.06, Z:182.14 [[ 8.91588907e-01 -9.77712078e-02 4.42165141e-01 -9.61218838e+01] [-2.73120149e-01 6.62738678e-01 6.97268119e-01 -5.50637589e+01] [-3.61212687e-01 -7.42440729e-01 5.64187167e-01 1.82138414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.899072329 meters Centerline goodness [0,1] 0.32311407637837175 Centerline is valid? [False, False] Translation: X:-96.21, Y:-55.19, Z:182.37 [[ 8.91714186e-01 -9.73461423e-02 4.42006266e-01 -9.62108850e+01] [-2.72915629e-01 6.63423230e-01 6.96696977e-01 -5.51901753e+01] [-3.61057988e-01 -7.41884996e-01 5.65016621e-01 1.82367706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.929072329 meters Centerline goodness [0,1] 0.313905658446741 Centerline is valid? [False, False] Translation: X:-96.30, Y:-55.32, Z:182.61 [[ 8.91426088e-01 -9.96992860e-02 4.42062871e-01 -9.63017513e+01] [-2.72998334e-01 6.60472480e-01 6.99462660e-01 -5.53223937e+01] [-3.61706289e-01 -7.44201690e-01 5.61544660e-01 1.82605570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.959072329 meters Centerline goodness [0,1] 0.31674097100085896 Centerline is valid? [False, False] Translation: X:-96.39, Y:-55.45, Z:182.83 [[ 8.91163733e-01 -1.00941148e-01 4.42309943e-01 -9.63908024e+01] [-2.73053954e-01 6.59246424e-01 7.00596667e-01 -5.54481270e+01] [-3.62310280e-01 -7.45120820e-01 5.59934125e-01 1.82832045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.989072329 meters Centerline goodness [0,1] 0.3123464876371377 Centerline is valid? [False, False] Translation: X:-96.48, Y:-55.57, Z:183.06 [[ 8.90931980e-01 -1.00886460e-01 4.42789035e-01 -9.64795548e+01] [-2.73355649e-01 6.59466798e-01 7.00271541e-01 -5.55741696e+01] [-3.62652584e-01 -7.44933195e-01 5.59962176e-01 1.83058656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.019072329 meters Centerline goodness [0,1] 0.3243187913280242 Centerline is valid? [False, False] Translation: X:-96.56, Y:-55.70, Z:183.28 [[ 8.91090344e-01 -9.95017967e-02 4.42783685e-01 -9.65621453e+01] [-2.73324920e-01 6.61203549e-01 6.98643940e-01 -5.56974264e+01] [-3.62286471e-01 -7.43578684e-01 5.61995777e-01 1.83275844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.049072329 meters Centerline goodness [0,1] 0.3348742074043771 Centerline is valid? [False, False] Translation: X:-96.65, Y:-55.82, Z:183.49 [[ 8.91708663e-01 -1.00565446e-01 4.41296103e-01 -9.66461996e+01] [-2.71873141e-01 6.60494028e-01 6.99880442e-01 -5.58187348e+01] [-3.61857230e-01 -7.44066012e-01 5.61627203e-01 1.83490762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.079072329 meters Centerline goodness [0,1] 0.33194265496860753 Centerline is valid? [False, False] Translation: X:-96.73, Y:-55.94, Z:183.71 [[ 8.91895859e-01 -1.01410552e-01 4.40724037e-01 -9.67327348e+01] [-2.71379737e-01 6.59555288e-01 7.00956389e-01 -5.59428303e+01] [-3.61766243e-01 -7.44783674e-01 5.60733862e-01 1.83714916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.109072329 meters Centerline goodness [0,1] 0.3247007883664883 Centerline is valid? [False, False] Translation: X:-96.82, Y:-56.07, Z:183.94 [[ 8.92468030e-01 -1.02123142e-01 4.39399225e-01 -9.68171260e+01] [-2.71351010e-01 6.56590469e-01 7.03745399e-01 -5.60675185e+01] [-3.60374034e-01 -7.47301693e-01 5.58274785e-01 1.83938740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13907232900002 meters Centerline goodness [0,1] 0.3214730947660992 Centerline is valid? [False, False] Translation: X:-96.90, Y:-56.18, Z:184.15 [[ 8.92631673e-01 -1.02285776e-01 4.39028833e-01 -9.68979255e+01] [-2.71500891e-01 6.55473625e-01 7.04728028e-01 -5.61835273e+01] [-3.59855474e-01 -7.48259278e-01 5.57325839e-01 1.84148314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.169072329 meters Centerline goodness [0,1] 0.32354203716195495 Centerline is valid? [False, False] Translation: X:-96.97, Y:-56.30, Z:184.36 [[ 8.93642630e-01 -1.00021126e-01 4.37491284e-01 -9.69742242e+01] [-2.72202216e-01 6.54251777e-01 7.05592351e-01 -5.63011003e+01] [-3.56803592e-01 -7.49633501e-01 5.57441307e-01 1.84355536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.199072329 meters Centerline goodness [0,1] 0.31880086704020283 Centerline is valid? [False, False] Translation: X:-97.05, Y:-56.41, Z:184.55 [[ 8.94709485e-01 -1.00153382e-01 4.35274899e-01 -9.70480228e+01] [-2.70958367e-01 6.53019443e-01 7.07210839e-01 -5.64102269e+01] [-3.55072530e-01 -7.50689621e-01 5.57125293e-01 1.84548690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.229072329 meters Centerline goodness [0,1] 0.3251104565537555 Centerline is valid? [False, False] Translation: X:-97.13, Y:-56.52, Z:184.75 [[ 8.95060541e-01 -9.97728635e-02 4.34640085e-01 -9.71259067e+01] [-2.70844412e-01 6.52670829e-01 7.07576210e-01 -5.65242536e+01] [-3.54273809e-01 -7.51043384e-01 5.57156983e-01 1.84754109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.259072329 meters Centerline goodness [0,1] 0.3202273610173997 Centerline is valid? [False, False] Translation: X:-97.20, Y:-56.64, Z:184.95 [[ 8.95990212e-01 -9.89004392e-02 4.32920598e-01 -9.71997447e+01] [-2.71085436e-01 6.50346788e-01 7.09620844e-01 -5.66354441e+01] [-3.51730333e-01 -7.53171799e-01 5.55893887e-01 1.84953702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.289072329 meters Centerline goodness [0,1] 0.3147909639169989 Centerline is valid? [False, False] Translation: X:-97.27, Y:-56.74, Z:185.15 [[ 8.96188989e-01 -9.99574555e-02 4.32265894e-01 -9.72734615e+01] [-2.70909155e-01 6.48288261e-01 7.11569084e-01 -5.67436277e+01] [-3.51359540e-01 -7.54805165e-01 5.53909411e-01 1.85149168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.319072329 meters Centerline goodness [0,1] 0.3166370343122228 Centerline is valid? [False, False] Translation: X:-97.35, Y:-56.85, Z:185.34 [[ 8.95809919e-01 -1.00137745e-01 4.33009261e-01 -9.73459884e+01] [-2.71947078e-01 6.47101502e-01 7.12253068e-01 -5.68500019e+01] [-3.51524360e-01 -7.55798966e-01 5.52447778e-01 1.85342579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.349072329 meters Centerline goodness [0,1] 0.31212951228486163 Centerline is valid? [False, False] Translation: X:-97.42, Y:-56.96, Z:185.54 [[ 8.95640249e-01 -9.99245396e-02 4.33409310e-01 -9.74180411e+01] [-2.72640361e-01 6.46560948e-01 7.12478894e-01 -5.69564349e+01] [-3.51419660e-01 -7.56289645e-01 5.51842546e-01 1.85535531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.379072329 meters Centerline goodness [0,1] 0.3106043562736476 Centerline is valid? [False, False] Translation: X:-97.49, Y:-57.07, Z:185.73 [[ 8.96677673e-01 -9.69945762e-02 4.31927312e-01 -9.74889365e+01] [-2.73333478e-01 6.46191618e-01 7.12548386e-01 -5.70663739e+01] [-3.48221137e-01 -7.56986423e-01 5.52913731e-01 1.85732142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.409072329 meters Centerline goodness [0,1] 0.3062350560971123 Centerline is valid? [False, False] Translation: X:-97.56, Y:-57.17, Z:185.93 [[ 8.96945240e-01 -9.76612278e-02 4.31220965e-01 -9.75607354e+01] [-2.72830514e-01 6.45222557e-01 7.13618499e-01 -5.71734838e+01] [-3.47926353e-01 -7.57726953e-01 5.52084339e-01 1.85925097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.439072329 meters Centerline goodness [0,1] 0.3082757492742364 Centerline is valid? [False, False] Translation: X:-97.63, Y:-57.28, Z:186.12 [[ 8.97008822e-01 -9.77281172e-02 4.31073531e-01 -9.76313860e+01] [-2.73083300e-01 6.44331165e-01 7.14326858e-01 -5.72798177e+01] [-3.47563930e-01 -7.58476476e-01 5.51282823e-01 1.86117859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.469072329 meters Centerline goodness [0,1] 0.3028558597178843 Centerline is valid? [False, False] Translation: X:-97.70, Y:-57.38, Z:186.30 [[ 8.98354349e-01 -9.84064136e-02 4.28107044e-01 -9.76996506e+01] [-2.72229672e-01 6.40147191e-01 7.18402798e-01 -5.73848569e+01] [-3.44746965e-01 -7.61923718e-01 5.48289867e-01 1.86304911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.499072329 meters Centerline goodness [0,1] 0.3055782590927667 Centerline is valid? [False, False] Translation: X:-97.77, Y:-57.50, Z:186.51 [[ 8.98160875e-01 -9.81942071e-02 4.28561477e-01 -9.77745091e+01] [-2.73199768e-01 6.39075286e-01 7.18988641e-01 -5.74982271e+01] [-3.44483568e-01 -7.62850363e-01 5.47165784e-01 1.86512956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.529072329 meters Centerline goodness [0,1] 0.30305568037910047 Centerline is valid? [False, False] Translation: X:-97.85, Y:-57.61, Z:186.72 [[ 8.98589886e-01 -9.79845555e-02 4.27709299e-01 -9.78492753e+01] [-2.73724472e-01 6.36658417e-01 7.20930630e-01 -5.76135396e+01] [-3.42944792e-01 -7.64895475e-01 5.45274043e-01 1.86721367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.559072329 meters Centerline goodness [0,1] 0.3042003759091281 Centerline is valid? [False, False] Translation: X:-97.92, Y:-57.73, Z:186.93 [[ 8.98425767e-01 -9.83633939e-02 4.27967035e-01 -9.79247105e+01] [-2.73913549e-01 6.36215105e-01 7.21250101e-01 -5.77291819e+01] [-3.43223700e-01 -7.65215645e-01 5.44648978e-01 1.86933463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.589072329 meters Centerline goodness [0,1] 0.2921222029222438 Centerline is valid? [False, False] Translation: X:-98.00, Y:-57.85, Z:187.15 [[ 8.98898503e-01 -9.91550411e-02 4.26790063e-01 -9.80000763e+01] [-2.72886695e-01 6.35387887e-01 7.22367693e-01 -5.78457629e+01] [-3.42803635e-01 -7.65800568e-01 5.44091130e-01 1.87145671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.619072329 meters Centerline goodness [0,1] 0.3068785229964872 Centerline is valid? [False, False] Translation: X:-98.07, Y:-57.96, Z:187.36 [[ 9.00831076e-01 -9.95173911e-02 4.22610531e-01 -9.80744423e+01] [-2.69687602e-01 6.34563537e-01 7.24291181e-01 -5.79643769e+01] [-3.40252802e-01 -7.66436825e-01 5.44795947e-01 1.87359755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.649072329 meters Centerline goodness [0,1] 0.30778658387123126 Centerline is valid? [False, False] Translation: X:-98.15, Y:-58.08, Z:187.57 [[ 9.01790729e-01 -1.00287088e-01 4.20376000e-01 -9.81479698e+01] [-2.67885807e-01 6.33580344e-01 7.25818946e-01 -5.80801398e+01] [-3.39132239e-01 -7.67149560e-01 5.44491393e-01 1.87572902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.679072329 meters Centerline goodness [0,1] 0.3060632670982498 Centerline is valid? [False, False] Translation: X:-98.22, Y:-58.19, Z:187.78 [[ 9.02601079e-01 -1.01207499e-01 4.18411681e-01 -9.82204514e+01] [-2.66381743e-01 6.32212115e-01 7.27563474e-01 -5.81945039e+01] [-3.38159813e-01 -7.68156809e-01 5.43675507e-01 1.87784145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.709072329 meters Centerline goodness [0,1] 0.30167323840071913 Centerline is valid? [False, False] Translation: X:-98.29, Y:-58.31, Z:187.99 [[ 9.02415421e-01 -1.02000341e-01 4.18619562e-01 -9.82915882e+01] [-2.66525492e-01 6.31240036e-01 7.28354432e-01 -5.83056350e+01] [-3.38541828e-01 -7.68851057e-01 5.42455052e-01 1.87991426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.739072329 meters Centerline goodness [0,1] 0.29861833914977853 Centerline is valid? [False, False] Translation: X:-98.36, Y:-58.41, Z:188.19 [[ 9.01922661e-01 -1.03736483e-01 4.19254404e-01 -9.83587844e+01] [-2.66531991e-01 6.30148906e-01 7.29296273e-01 -5.84112831e+01] [-3.39847335e-01 -7.69513546e-01 5.40696487e-01 1.88187427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.769072329 meters Centerline goodness [0,1] 0.30623903374546046 Centerline is valid? [False, False] Translation: X:-98.43, Y:-58.52, Z:188.39 [[ 9.01802148e-01 -1.04841246e-01 4.19238834e-01 -9.84300294e+01] [-2.65896300e-01 6.30138489e-01 7.29537279e-01 -5.85231422e+01] [-3.40664122e-01 -7.69372340e-01 5.40383344e-01 1.88394123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.799072329 meters Centerline goodness [0,1] 0.30801567219002535 Centerline is valid? [False, False] Translation: X:-98.50, Y:-58.63, Z:188.59 [[ 9.02266188e-01 -1.06623553e-01 4.17788396e-01 -9.84969117e+01] [-2.63944071e-01 6.29609074e-01 7.30702361e-01 -5.86296904e+01] [-3.40953448e-01 -7.69560804e-01 5.39932325e-01 1.88590947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.829072329 meters Centerline goodness [0,1] 0.3094270248187111 Centerline is valid? [False, False] Translation: X:-98.56, Y:-58.74, Z:188.80 [[ 9.01886594e-01 -1.07281096e-01 4.18439169e-01 -9.85646596e+01] [-2.63290524e-01 6.31422463e-01 7.29372177e-01 -5.87390548e+01] [-3.42459737e-01 -7.67982057e-01 5.41225359e-01 1.88795661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.859072329 meters Centerline goodness [0,1] 0.29498181520984024 Centerline is valid? [False, False] Translation: X:-98.63, Y:-58.85, Z:189.00 [[ 9.01894097e-01 -1.09095811e-01 4.17953517e-01 -9.86340390e+01] [-2.61818190e-01 6.31522900e-01 7.29815088e-01 -5.88503495e+01] [-3.43566986e-01 -7.67643753e-01 5.41003508e-01 1.89003176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88907232900002 meters Centerline goodness [0,1] 0.31267996814180976 Centerline is valid? [False, False] Translation: X:-98.70, Y:-58.96, Z:189.21 [[ 9.01608656e-01 -1.12553222e-01 4.17652492e-01 -9.87035407e+01] [-2.59114744e-01 6.32602518e-01 7.29844917e-01 -5.89618638e+01] [-3.46354415e-01 -7.66254414e-01 5.41195707e-01 1.89210104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.919072329 meters Centerline goodness [0,1] 0.3145189337370349 Centerline is valid? [False, False] Translation: X:-98.77, Y:-59.07, Z:189.42 [[ 9.00742632e-01 -1.13742351e-01 4.19196123e-01 -9.87732426e+01] [-2.58928026e-01 6.34265507e-01 7.28466570e-01 -5.90723218e+01] [-3.48739142e-01 -7.64702520e-01 5.41858900e-01 1.89417355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.949072329 meters Centerline goodness [0,1] 0.317736559029837 Centerline is valid? [False, False] Translation: X:-98.84, Y:-59.18, Z:189.63 [[ 8.99620778e-01 -1.14904162e-01 4.21283147e-01 -9.88430222e+01] [-2.59090558e-01 6.36136984e-01 7.26774945e-01 -5.91831636e+01] [-3.51503256e-01 -7.62972327e-01 5.42511465e-01 1.89626713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.979072329 meters Centerline goodness [0,1] 0.32112906524851703 Centerline is valid? [False, False] Translation: X:-98.91, Y:-59.29, Z:189.83 [[ 8.98420354e-01 -1.16085616e-01 4.23515049e-01 -9.89104573e+01] [-2.59415859e-01 6.37859523e-01 7.25147323e-01 -5.92904633e+01] [-3.54322281e-01 -7.61353636e-01 5.42951529e-01 1.89828512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.009072329 meters Centerline goodness [0,1] 0.3207126036654039 Centerline is valid? [False, False] Translation: X:-98.98, Y:-59.40, Z:190.04 [[ 8.96659709e-01 -1.18308643e-01 4.26619773e-01 -9.89804737e+01] [-2.59417545e-01 6.40462626e-01 7.22848644e-01 -5.94041970e+01] [-3.58753263e-01 -7.58821909e-01 5.43585694e-01 1.90042696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.039072329 meters Centerline goodness [0,1] 0.3284398034398034 Centerline is valid? [False, False] Translation: X:-99.05, Y:-59.52, Z:190.26 [[ 8.95495602e-01 -1.19139152e-01 4.28828042e-01 -9.90540011e+01] [-2.59718282e-01 6.42562921e-01 7.20873988e-01 -5.95201524e+01] [-3.61433314e-01 -7.56913968e-01 5.44469654e-01 1.90259829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.069072329 meters Centerline goodness [0,1] 0.3296266715815773 Centerline is valid? [False, False] Translation: X:-99.12, Y:-59.63, Z:190.47 [[ 8.94531401e-01 -1.23566445e-01 4.29586901e-01 -9.91243574e+01] [-2.56396778e-01 6.45389683e-01 7.19536552e-01 -5.96318431e+01] [-3.66161528e-01 -7.53792737e-01 5.45639299e-01 1.90466696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.099072329 meters Centerline goodness [0,1] 0.3320216428922774 Centerline is valid? [False, False] Translation: X:-99.20, Y:-59.74, Z:190.68 [[ 8.92642732e-01 -1.22935297e-01 4.33677144e-01 -9.91966924e+01] [-2.57959029e-01 6.49661029e-01 7.15120750e-01 -5.97439984e+01] [-3.69656721e-01 -7.50218275e-01 5.48202926e-01 1.90678875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.129072329 meters Centerline goodness [0,1] 0.33198131760078664 Centerline is valid? [False, False] Translation: X:-99.27, Y:-59.86, Z:190.89 [[ 8.91087908e-01 -1.22502582e-01 4.36984505e-01 -9.92686351e+01] [-2.59159562e-01 6.53088314e-01 7.11556024e-01 -5.98562873e+01] [-3.72556924e-01 -7.47307682e-01 5.50211384e-01 1.90888817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.159072329 meters Centerline goodness [0,1] 0.3332992327365729 Centerline is valid? [False, False] Translation: X:-99.34, Y:-59.98, Z:191.11 [[ 8.90041597e-01 -1.22564779e-01 4.39094330e-01 -9.93442499e+01] [-2.59704066e-01 6.55289646e-01 7.09330161e-01 -5.99758803e+01] [-3.74672862e-01 -7.45367932e-01 5.51404472e-01 1.91109613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.189072329 meters Centerline goodness [0,1] 0.3330468238375901 Centerline is valid? [False, False] Translation: X:-99.42, Y:-60.10, Z:191.33 [[ 8.88335007e-01 -1.23546879e-01 4.42263591e-01 -9.94192463e+01] [-2.60419046e-01 6.57719216e-01 7.06814936e-01 -6.00956105e+01] [-3.78210042e-01 -7.43062313e-01 5.52101044e-01 1.91330701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.219072329 meters Centerline goodness [0,1] 0.33399520992405474 Centerline is valid? [False, False] Translation: X:-99.49, Y:-60.21, Z:191.54 [[ 8.87520644e-01 -1.23989746e-01 4.43772069e-01 -9.94924949e+01] [-2.60584200e-01 6.59231537e-01 7.05343643e-01 -6.02100501e+01] [-3.80003922e-01 -7.41647034e-01 5.52771830e-01 1.91539352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.249072329 meters Centerline goodness [0,1] 0.3339394063208646 Centerline is valid? [False, False] Translation: X:-99.57, Y:-60.33, Z:191.76 [[ 8.87165317e-01 -1.25317269e-01 4.44109539e-01 -9.95699351e+01] [-2.59671348e-01 6.59998778e-01 7.04962697e-01 -6.03313266e+01] [-3.81455754e-01 -7.40740977e-01 5.52986720e-01 1.91758863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.279072329 meters Centerline goodness [0,1] 0.3379015077023927 Centerline is valid? [False, False] Translation: X:-99.65, Y:-60.45, Z:191.98 [[ 8.85628573e-01 -1.26460966e-01 4.46844106e-01 -9.96477021e+01] [-2.59314415e-01 6.63558766e-01 7.01744824e-01 -6.04521921e+01] [-3.85250651e-01 -7.37358385e-01 5.54873452e-01 1.91979151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.309072329 meters Centerline goodness [0,1] 0.3303741670937981 Centerline is valid? [False, False] Translation: X:-99.73, Y:-60.57, Z:192.20 [[ 8.84463030e-01 -1.25279200e-01 4.49477774e-01 -9.97268481e+01] [-2.60686039e-01 6.66262088e-01 6.98668462e-01 -6.05740028e+01] [-3.86998627e-01 -7.35119005e-01 5.56625647e-01 1.92201639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.339072329 meters Centerline goodness [0,1] 0.34133628827054097 Centerline is valid? [False, False] Translation: X:-99.81, Y:-60.70, Z:192.42 [[ 8.83303354e-01 -1.26145640e-01 4.51511309e-01 -9.98055149e+01] [-2.60823181e-01 6.68057447e-01 6.96900650e-01 -6.06973203e+01] [-3.89546471e-01 -7.33339297e-01 5.57195677e-01 1.92423374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.369072329 meters Centerline goodness [0,1] 0.3349527499333784 Centerline is valid? [False, False] Translation: X:-99.88, Y:-60.82, Z:192.65 [[ 8.82477021e-01 -1.24078199e-01 4.53694731e-01 -9.98844954e+01] [-2.62660697e-01 6.70167994e-01 6.94178808e-01 -6.08189981e+01] [-3.90184144e-01 -7.31764621e-01 5.58817389e-01 1.92645613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.399072329 meters Centerline goodness [0,1] 0.3399369007621077 Centerline is valid? [False, False] Translation: X:-99.96, Y:-60.94, Z:192.86 [[ 8.82158237e-01 -1.22662225e-01 4.54698607e-01 -9.99611541e+01] [-2.63484320e-01 6.71697877e-01 6.92385713e-01 -6.09372222e+01] [-3.90349662e-01 -7.30599713e-01 5.60224242e-01 1.92860014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.429072329 meters Centerline goodness [0,1] 0.34143243464721784 Centerline is valid? [False, False] Translation: X:-100.04, Y:-61.05, Z:193.07 [[ 8.81809740e-01 -1.21480493e-01 4.55690764e-01 -1.00037947e+02] [-2.64173562e-01 6.73194407e-01 6.90667517e-01 -6.10547802e+01] [-3.90671104e-01 -7.29418796e-01 5.61537450e-01 1.93072351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.459072329 meters Centerline goodness [0,1] 0.33975814867104537 Centerline is valid? [False, False] Translation: X:-100.12, Y:-61.17, Z:193.29 [[ 8.81731285e-01 -1.21115275e-01 4.55939723e-01 -1.00115149e+02] [-2.63578250e-01 6.75077828e-01 6.89054738e-01 -6.11744823e+01] [-3.91249852e-01 -7.27736914e-01 5.63313889e-01 1.93285460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.489072329 meters Centerline goodness [0,1] 0.34056665574844414 Centerline is valid? [False, False] Translation: X:-100.19, Y:-61.29, Z:193.50 [[ 8.81924995e-01 -1.20465750e-01 4.55737103e-01 -1.00192656e+02] [-2.63097670e-01 6.76408337e-01 6.87932684e-01 -6.12945743e+01] [-3.91136702e-01 -7.26608399e-01 5.64847161e-01 1.93500298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.519072329 meters Centerline goodness [0,1] 0.3413144192530032 Centerline is valid? [False, False] Translation: X:-100.27, Y:-61.41, Z:193.71 [[ 8.81861284e-01 -1.19345379e-01 4.56154970e-01 -1.00267434e+02] [-2.63348743e-01 6.77809121e-01 6.86456288e-01 -6.14106130e+01] [-3.91111386e-01 -7.25487061e-01 5.66304166e-01 1.93708374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.549072329 meters Centerline goodness [0,1] 0.3428524569999385 Centerline is valid? [False, False] Translation: X:-100.34, Y:-61.53, Z:193.92 [[ 8.81642033e-01 -1.18918501e-01 4.56689956e-01 -1.00343257e+02] [-2.63909968e-01 6.78021487e-01 6.86030897e-01 -6.15283881e+01] [-3.91227369e-01 -7.25358706e-01 5.66388465e-01 1.93917095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.579072329 meters Centerline goodness [0,1] 0.3369204279916369 Centerline is valid? [False, False] Translation: X:-100.42, Y:-61.64, Z:194.12 [[ 8.81709390e-01 -1.18070150e-01 4.56780025e-01 -1.00418214e+02] [-2.64198011e-01 6.78573459e-01 6.85373965e-01 -6.16427419e+01] [-3.90881008e-01 -7.24981035e-01 5.67110692e-01 1.94118881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.609072329 meters Centerline goodness [0,1] 0.33913061291379876 Centerline is valid? [False, False] Translation: X:-100.50, Y:-61.76, Z:194.33 [[ 8.81846567e-01 -1.17289997e-01 4.56716202e-01 -1.00495642e+02] [-2.64234373e-01 6.79294454e-01 6.84645339e-01 -6.17611673e+01] [-3.90546833e-01 -7.24432261e-01 5.68041433e-01 1.94326638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63907232900002 meters Centerline goodness [0,1] 0.34171585505820623 Centerline is valid? [False, False] Translation: X:-100.57, Y:-61.88, Z:194.53 [[ 8.82424400e-01 -1.17031488e-01 4.55665238e-01 -1.00571629e+02] [-2.63478673e-01 6.79475297e-01 6.84757117e-01 -6.18797429e+01] [-3.89751417e-01 -7.24304461e-01 5.68750280e-01 1.94531402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.669072329 meters Centerline goodness [0,1] 0.33192064369510477 Centerline is valid? [False, False] Translation: X:-100.64, Y:-61.98, Z:194.71 [[ 8.83265370e-01 -1.17460262e-01 4.53922210e-01 -1.00637728e+02] [-2.62314884e-01 6.78636225e-01 6.86034821e-01 -6.19818609e+01] [-3.88629886e-01 -7.25021352e-01 5.68604301e-01 1.94709313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.699072329 meters Centerline goodness [0,1] 0.33192064369510477 Centerline is valid? [False, False] Translation: X:-100.71, Y:-62.09, Z:194.89 [[ 8.83172164e-01 -1.17535761e-01 4.54083994e-01 -1.00707109e+02] [-2.62087708e-01 6.79208074e-01 6.85555559e-01 -6.20862000e+01] [-3.88994810e-01 -7.24473420e-01 5.69052986e-01 1.94893096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.729072329 meters Centerline goodness [0,1] 0.3344264311040971 Centerline is valid? [False, False] Translation: X:-100.78, Y:-62.19, Z:195.08 [[ 8.83438494e-01 -1.17691023e-01 4.53525357e-01 -1.00776006e+02] [-2.62273227e-01 6.77875828e-01 6.86802093e-01 -6.21938136e+01] [-3.88264319e-01 -7.25694966e-01 5.67994397e-01 1.95079759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.759072329 meters Centerline goodness [0,1] 0.33642791269597294 Centerline is valid? [False, False] Translation: X:-100.84, Y:-62.30, Z:195.26 [[ 8.84063159e-01 -1.17571432e-01 4.52337584e-01 -1.00842259e+02] [-2.61649800e-01 6.77450280e-01 6.87459453e-01 -6.22967541e+01] [-3.87261815e-01 -7.26111614e-01 5.68146293e-01 1.95258110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.789072329 meters Centerline goodness [0,1] 0.3313098582883862 Centerline is valid? [False, False] Translation: X:-100.91, Y:-62.40, Z:195.44 [[ 8.84346244e-01 -1.17200838e-01 4.51880165e-01 -1.00910095e+02] [-2.61366210e-01 6.77738340e-01 6.87283382e-01 -6.24013179e+01] [-3.86806701e-01 -7.25902684e-01 5.68723017e-01 1.95439153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.819072329 meters Centerline goodness [0,1] 0.3267271944746173 Centerline is valid? [False, False] Translation: X:-100.98, Y:-62.50, Z:195.62 [[ 8.84886006e-01 -1.15951249e-01 4.51145280e-01 -1.00975680e+02] [-2.61193786e-01 6.78420576e-01 6.86675563e-01 -6.25044546e+01] [-3.85687130e-01 -7.25465940e-01 5.70039128e-01 1.95616028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.849072329 meters Centerline goodness [0,1] 0.32167373619393047 Centerline is valid? [False, False] Translation: X:-101.04, Y:-62.61, Z:195.80 [[ 8.84652261e-01 -1.15560773e-01 4.51703537e-01 -1.01044099e+02] [-2.61455580e-01 6.79189954e-01 6.85814834e-01 -6.26102879e+01] [-3.86045797e-01 -7.24808053e-01 5.70632919e-01 1.95801387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.879072329 meters Centerline goodness [0,1] 0.3253170002253314 Centerline is valid? [False, False] Translation: X:-101.11, Y:-62.71, Z:195.98 [[ 8.84546993e-01 -1.16804574e-01 4.51589758e-01 -1.01110293e+02] [-2.60880063e-01 6.78680232e-01 6.86538225e-01 -6.27133202e+01] [-3.86675847e-01 -7.25086087e-01 5.69852574e-01 1.95979822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.909072329 meters Centerline goodness [0,1] 0.3234364740643467 Centerline is valid? [False, False] Translation: X:-101.18, Y:-62.82, Z:196.17 [[ 8.84244457e-01 -1.19108979e-01 4.51580327e-01 -1.01179035e+02] [-2.59909468e-01 6.77853199e-01 6.87722407e-01 -6.28224613e+01] [-3.88019083e-01 -7.25484729e-01 5.68430382e-01 1.96167527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.939072329 meters Centerline goodness [0,1] 0.3241830333347001 Centerline is valid? [False, False] Translation: X:-101.24, Y:-62.92, Z:196.34 [[ 8.84120436e-01 -1.19914417e-01 4.51609994e-01 -1.01243246e+02] [-2.59039496e-01 6.78603270e-01 6.87310804e-01 -6.29221748e+01] [-3.88882493e-01 -7.24650353e-01 5.68904449e-01 1.96339952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.969072329 meters Centerline goodness [0,1] 0.3247684616015081 Centerline is valid? [False, False] Translation: X:-101.31, Y:-63.03, Z:196.53 [[ 8.83870818e-01 -1.19955637e-01 4.52087406e-01 -1.01312930e+02] [-2.58484593e-01 6.80277458e-01 6.85863176e-01 -6.30303147e+01] [-3.89818025e-01 -7.23072075e-01 5.70270709e-01 1.96527587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.999072329 meters Centerline goodness [0,1] 0.32827557924953865 Centerline is valid? [False, False] Translation: X:-101.38, Y:-63.14, Z:196.71 [[ 8.83935565e-01 -1.21791728e-01 4.51469480e-01 -1.01380784e+02] [-2.56388696e-01 6.81186764e-01 6.85747351e-01 -6.31377672e+01] [-3.91053389e-01 -7.21908144e-01 5.70899185e-01 1.96711492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.029072329 meters Centerline goodness [0,1] 0.3304012630456624 Centerline is valid? [False, False] Translation: X:-101.45, Y:-63.24, Z:196.90 [[ 8.82840217e-01 -1.22210113e-01 4.53495137e-01 -1.01449649e+02] [-2.57225675e-01 6.82065321e-01 6.84559603e-01 -6.32443467e+01] [-3.92973412e-01 -7.21007341e-01 5.70719117e-01 1.96897957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.059072329 meters Centerline goodness [0,1] 0.33525928657774495 Centerline is valid? [False, False] Translation: X:-101.52, Y:-63.35, Z:197.09 [[ 8.82304370e-01 -1.23481575e-01 4.54193019e-01 -1.01519736e+02] [-2.56833361e-01 6.82345463e-01 6.84427713e-01 -6.33529848e+01] [-3.94430757e-01 -7.20525482e-01 5.70322196e-01 1.97087186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.089072329 meters Centerline goodness [0,1] 0.33643461688218534 Centerline is valid? [False, False] Translation: X:-101.59, Y:-63.47, Z:197.28 [[ 8.81622888e-01 -1.25349314e-01 4.55003993e-01 -1.01592299e+02] [-2.55944947e-01 6.83019281e-01 6.84088332e-01 -6.34664647e+01] [-3.96526503e-01 -7.19563903e-01 5.70082907e-01 1.97284049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.119072329 meters Centerline goodness [0,1] 0.33592324565899256 Centerline is valid? [False, False] Translation: X:-101.67, Y:-63.58, Z:197.49 [[ 8.80818608e-01 -1.25533822e-01 4.56508313e-01 -1.01667934e+02] [-2.56228527e-01 6.84411397e-01 6.82589175e-01 -6.35832238e+01] [-3.98127520e-01 -7.18207699e-01 5.70676948e-01 1.97485783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.149072329 meters Centerline goodness [0,1] 0.3366677599212856 Centerline is valid? [False, False] Translation: X:-101.74, Y:-63.70, Z:197.68 [[ 8.80275800e-01 -1.26015646e-01 4.57421657e-01 -1.01741434e+02] [-2.55891241e-01 6.85756501e-01 6.81364582e-01 -6.36970757e+01] [-3.99542473e-01 -7.16838948e-01 5.71408553e-01 1.97681323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.179072329 meters Centerline goodness [0,1] 0.33665416231064105 Centerline is valid? [False, False] Translation: X:-101.81, Y:-63.81, Z:197.87 [[ 8.79496007e-01 -1.25701878e-01 4.59005240e-01 -1.01812392e+02] [-2.56267138e-01 6.87621018e-01 6.79341217e-01 -6.38066739e+01] [-4.01016118e-01 -7.15105848e-01 5.72546679e-01 1.97871387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.209072329 meters Centerline goodness [0,1] 0.334515560293575 Centerline is valid? [False, False] Translation: X:-101.89, Y:-63.92, Z:198.07 [[ 8.78890550e-01 -1.27848234e-01 4.59571789e-01 -1.01886740e+02] [-2.55420926e-01 6.87543944e-01 6.79737799e-01 -6.39216022e+01] [-4.02879078e-01 -7.14799380e-01 5.71620761e-01 1.98069930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.239072329 meters Centerline goodness [0,1] 0.3382962142652065 Centerline is valid? [False, False] Translation: X:-101.96, Y:-64.03, Z:198.26 [[ 8.78846063e-01 -1.29447128e-01 4.59209144e-01 -1.01958426e+02] [-2.54447336e-01 6.87019468e-01 6.80632650e-01 -6.40321661e+01] [-4.03591564e-01 -7.15015868e-01 5.70846878e-01 1.98259277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.269072329 meters Centerline goodness [0,1] 0.33411320444937 Centerline is valid? [False, False] Translation: X:-102.03, Y:-64.14, Z:198.45 [[ 8.78792840e-01 -1.30548487e-01 4.58999168e-01 -1.02028286e+02] [-2.53018014e-01 6.88053677e-01 6.80120593e-01 -6.41407282e+01] [-4.04604780e-01 -7.13820166e-01 5.71625526e-01 1.98445279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.299072329 meters Centerline goodness [0,1] 0.3358983829926947 Centerline is valid? [False, False] Translation: X:-102.10, Y:-64.25, Z:198.64 [[ 8.78258684e-01 -1.30355979e-01 4.60074997e-01 -1.02100329e+02] [-2.52810992e-01 6.90090940e-01 6.78130590e-01 -6.42530980e+01] [-4.05891964e-01 -7.11886096e-01 5.73122936e-01 1.98637993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.329072329 meters Centerline goodness [0,1] 0.34224456298727945 Centerline is valid? [False, False] Translation: X:-102.17, Y:-64.36, Z:198.82 [[ 8.77884869e-01 -1.30515149e-01 4.60742827e-01 -1.02168484e+02] [-2.52526846e-01 6.91316883e-01 6.76986824e-01 -6.43591887e+01] [-4.06876331e-01 -7.10666422e-01 5.73938052e-01 1.98819273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.359072329 meters Centerline goodness [0,1] 0.3305041310453698 Centerline is valid? [False, False] Translation: X:-102.24, Y:-64.47, Z:199.01 [[ 8.78217519e-01 -1.32253014e-01 4.59611934e-01 -1.02238997e+02] [-2.50697107e-01 6.91097726e-01 6.77890031e-01 -6.44701359e+01] [-4.07289762e-01 -7.10558283e-01 5.73778683e-01 1.99007277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38907232900002 meters Centerline goodness [0,1] 0.3361998361998362 Centerline is valid? [False, False] Translation: X:-102.31, Y:-64.59, Z:199.20 [[ 8.77589617e-01 -1.32568067e-01 4.60719189e-01 -1.02313262e+02] [-2.50581923e-01 6.92442265e-01 6.76559243e-01 -6.45853414e+01] [-4.08711590e-01 -7.09189268e-01 5.74460981e-01 1.99204958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.419072329 meters Centerline goodness [0,1] 0.34309469200524245 Centerline is valid? [False, False] Translation: X:-102.39, Y:-64.71, Z:199.41 [[ 8.76224347e-01 -1.32334121e-01 4.63377356e-01 -1.02390624e+02] [-2.51035274e-01 6.95443776e-01 6.73304719e-01 -6.47054807e+01] [-4.11354087e-01 -7.06290050e-01 5.76144236e-01 1.99411804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.449072329 meters Centerline goodness [0,1] 0.32828696685377146 Centerline is valid? [False, False] Translation: X:-102.47, Y:-64.83, Z:199.62 [[ 8.75487085e-01 -1.32410791e-01 4.64746970e-01 -1.02467764e+02] [-2.51304164e-01 6.96702146e-01 6.71902029e-01 -6.48267970e+01] [-4.12757290e-01 -7.05034398e-01 5.76678348e-01 1.99618519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.479072329 meters Centerline goodness [0,1] 0.3358196721311475 Centerline is valid? [False, False] Translation: X:-102.54, Y:-64.95, Z:199.82 [[ 8.74509482e-01 -1.32395784e-01 4.66588171e-01 -1.02544186e+02] [-2.51964126e-01 6.97999283e-01 6.70306706e-01 -6.49472926e+01] [-4.14423991e-01 -7.03753051e-01 5.77048003e-01 1.99823647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.509072329 meters Centerline goodness [0,1] 0.3216738769401103 Centerline is valid? [False, False] Translation: X:-102.62, Y:-65.07, Z:200.03 [[ 8.74150063e-01 -1.33002448e-01 4.67088874e-01 -1.02621324e+02] [-2.51828243e-01 6.98233927e-01 6.70113363e-01 -6.50693113e+01] [-4.15264016e-01 -7.03405808e-01 5.76867459e-01 2.00029939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.539072329 meters Centerline goodness [0,1] 0.3193086055237744 Centerline is valid? [False, False] Translation: X:-102.70, Y:-65.19, Z:200.23 [[ 8.73500378e-01 -1.33034921e-01 4.68293497e-01 -1.02696241e+02] [-2.52121815e-01 6.99263234e-01 6.68928636e-01 -6.51863038e+01] [-4.16451294e-01 -7.02376423e-01 5.77265693e-01 2.00228283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.569072329 meters Centerline goodness [0,1] 0.34065145644999284 Centerline is valid? [False, False] Translation: X:-102.77, Y:-65.31, Z:200.43 [[ 8.73337481e-01 -1.34836619e-01 4.68081969e-01 -1.02773633e+02] [-2.49906464e-01 7.00805398e-01 6.68145608e-01 -6.53090357e+01] [-4.18124866e-01 -7.00493312e-01 5.78343078e-01 2.00434544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.599072329 meters Centerline goodness [0,1] 0.3423746896735673 Centerline is valid? [False, False] Translation: X:-102.85, Y:-65.43, Z:200.63 [[ 8.72923391e-01 -1.35612695e-01 4.68629865e-01 -1.02847855e+02] [-2.48858146e-01 7.02435952e-01 6.66823333e-01 -6.54261652e+01] [-4.19612174e-01 -6.98708044e-01 5.79424449e-01 2.00631204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.629072329 meters Centerline goodness [0,1] 0.34807333045923916 Centerline is valid? [False, False] Translation: X:-102.92, Y:-65.55, Z:200.84 [[ 8.71996307e-01 -1.38144712e-01 4.69615246e-01 -1.02924480e+02] [-2.47055291e-01 7.04008070e-01 6.65835055e-01 -6.55508118e+01] [-4.22594515e-01 -6.96626640e-01 5.79763055e-01 2.00839675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.659072329 meters Centerline goodness [0,1] 0.344849516853702 Centerline is valid? [False, False] Translation: X:-103.00, Y:-65.67, Z:201.03 [[ 8.71466066e-01 -1.38591772e-01 4.70467019e-01 -1.02996638e+02] [-2.46761681e-01 7.05092456e-01 6.64795684e-01 -6.56660418e+01] [-4.23857958e-01 -6.95440112e-01 5.80265010e-01 2.01032700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.689072329 meters Centerline goodness [0,1] 0.3490875538240722 Centerline is valid? [False, False] Translation: X:-103.07, Y:-65.78, Z:201.22 [[ 8.70803717e-01 -1.41053911e-01 4.70961443e-01 -1.03066234e+02] [-2.44898360e-01 7.06189430e-01 6.64320166e-01 -6.57796864e+01] [-4.26292951e-01 -6.93830155e-01 5.80408509e-01 2.01220888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.719072329 meters Centerline goodness [0,1] 0.31312219052115187 Centerline is valid? [False, False] Translation: X:-103.14, Y:-65.89, Z:201.41 [[ 8.70167116e-01 -1.41254971e-01 4.72076501e-01 -1.03136892e+02] [-2.44258670e-01 7.08396240e-01 6.62202741e-01 -6.58916782e+01] [-4.27956648e-01 -6.91535827e-01 5.81920361e-01 2.01407193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.749072329 meters Centerline goodness [0,1] 0.31849146421536445 Centerline is valid? [False, False] Translation: X:-103.21, Y:-66.01, Z:201.60 [[ 8.69578387e-01 -1.41207882e-01 4.73174135e-01 -1.03209679e+02] [-2.43367132e-01 7.11221634e-01 6.59496950e-01 -6.60069113e+01] [-4.29657849e-01 -6.88639326e-01 5.84097604e-01 2.01598588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.779072329 meters Centerline goodness [0,1] 0.3249203576199774 Centerline is valid? [False, False] Translation: X:-103.28, Y:-66.12, Z:201.79 [[ 8.68394284e-01 -1.42985022e-01 4.74812227e-01 -1.03283679e+02] [-2.41588739e-01 7.14204318e-01 6.56922426e-01 -6.61245363e+01] [-4.33043010e-01 -6.85176967e-01 5.85667376e-01 2.01792911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.809072329 meters Centerline goodness [0,1] 0.34366394015372603 Centerline is valid? [False, False] Translation: X:-103.36, Y:-66.24, Z:201.98 [[ 8.64027787e-01 -1.54379550e-01 4.79189877e-01 -1.03357143e+02] [-2.30932038e-01 7.24245321e-01 6.49722332e-01 -6.62360899e+01] [-4.47354868e-01 -6.72038443e-01 5.90116898e-01 2.01982796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.839072329 meters Centerline goodness [0,1] 0.3609661915129606 Centerline is valid? [False, False] Translation: X:-103.43, Y:-66.35, Z:202.17 [[ 8.60889396e-01 -1.56882789e-01 4.84001279e-01 -1.03433241e+02] [-2.29107509e-01 7.29842256e-01 6.44080764e-01 -6.63492795e+01] [-4.54289772e-01 -6.65370627e-01 5.92370435e-01 2.02174251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.869072329 meters Centerline goodness [0,1] 0.363216076271883 Centerline is valid? [False, False] Translation: X:-103.51, Y:-66.46, Z:202.36 [[ 8.58508211e-01 -1.58684744e-01 4.87629782e-01 -1.03509173e+02] [-2.27253222e-01 7.34709321e-01 6.39185565e-01 -6.64627727e+01] [-4.59695144e-01 -6.59561495e-01 5.94692365e-01 2.02364875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.899072329 meters Centerline goodness [0,1] 0.37859474105548374 Centerline is valid? [False, False] Translation: X:-103.59, Y:-66.58, Z:202.56 [[ 8.56089874e-01 -1.64288560e-01 4.90019793e-01 -1.03585345e+02] [-2.21116300e-01 7.40547313e-01 6.34584320e-01 -6.65798230e+01] [-4.67137785e-01 -6.51612573e-01 5.97648177e-01 2.02560177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.929072329 meters Centerline goodness [0,1] 0.3840607990140701 Centerline is valid? [False, False] Translation: X:-103.66, Y:-66.70, Z:202.76 [[ 8.54491333e-01 -1.63511024e-01 4.93060550e-01 -1.03664258e+02] [-2.19812344e-01 7.46189768e-01 6.28397456e-01 -6.66985734e+01] [-4.70666649e-01 -6.45340975e-01 6.01670949e-01 2.02757151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.959072329 meters Centerline goodness [0,1] 0.39052901900359527 Centerline is valid? [False, False] Translation: X:-103.74, Y:-66.81, Z:202.95 [[ 8.53870487e-01 -1.63752629e-01 4.94054925e-01 -1.03741240e+02] [-2.17055684e-01 7.50710593e-01 6.23955476e-01 -6.68143540e+01] [-4.73066615e-01 -6.40014595e-01 6.05466180e-01 2.02945706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.989072329 meters Centerline goodness [0,1] 0.38982354512027284 Centerline is valid? [False, False] Translation: X:-103.82, Y:-66.93, Z:203.14 [[ 8.52312864e-01 -1.66561393e-01 4.95802464e-01 -1.03819406e+02] [-2.12192069e-01 7.56308743e-01 6.18847001e-01 -6.69325102e+01] [-4.78055757e-01 -6.32656611e-01 6.09268664e-01 2.03138155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.019072329 meters Centerline goodness [0,1] 0.3987179223767747 Centerline is valid? [False, False] Translation: X:-103.90, Y:-67.05, Z:203.32 [[ 8.51131371e-01 -1.65737049e-01 4.98103021e-01 -1.03895902e+02] [-2.11697810e-01 7.59911577e-01 6.14588019e-01 -6.70468769e+01] [-4.80374257e-01 -6.28542461e-01 6.11698412e-01 2.03323155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.049072329 meters Centerline goodness [0,1] 0.40214802037128305 Centerline is valid? [False, False] Translation: X:-103.97, Y:-67.17, Z:203.51 [[ 8.49653561e-01 -1.66465280e-01 5.00377994e-01 -1.03973864e+02] [-2.10610914e-01 7.62790503e-01 6.11386695e-01 -6.71655821e+01] [-4.83458240e-01 -6.24851949e-01 6.13048262e-01 2.03513163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.079072329 meters Centerline goodness [0,1] 0.40830371633420304 Centerline is valid? [False, False] Translation: X:-104.05, Y:-67.28, Z:203.70 [[ 8.50049195e-01 -1.62997307e-01 5.00847525e-01 -1.04052768e+02] [-2.10768463e-01 7.66186483e-01 6.07070776e-01 -6.72848952e+01] [-4.82693506e-01 -6.21602888e-01 6.16941512e-01 2.03702471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.109072329 meters Centerline goodness [0,1] 0.3523594119461293 Centerline is valid? [False, False] Translation: X:-104.13, Y:-67.40, Z:203.88 [[ 8.50753857e-01 -1.60087722e-01 5.00589448e-01 -1.04130455e+02] [-2.10493612e-01 7.68961707e-01 6.03647523e-01 -6.74003086e+01] [-4.81570674e-01 -6.18926340e-01 6.20499695e-01 2.03883228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13907232900002 meters Centerline goodness [0,1] 0.4016420428824231 Centerline is valid? [False, False] Translation: X:-104.21, Y:-67.51, Z:204.06 [[ 8.51835196e-01 -1.57350708e-01 4.99617407e-01 -1.04206682e+02] [-2.10052649e-01 7.71150902e-01 6.01002638e-01 -6.75129246e+01] [-4.79848605e-01 -6.16901160e-01 6.23841547e-01 2.04057324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.169072329 meters Centerline goodness [0,1] 0.40223475183142643 Centerline is valid? [False, False] Translation: X:-104.28, Y:-67.62, Z:204.23 [[ 8.53319596e-01 -1.55840036e-01 4.97553564e-01 -1.04280918e+02] [-2.09318765e-01 7.71612063e-01 6.00666696e-01 -6.76239926e+01] [-4.77526252e-01 -6.16707960e-01 6.25811450e-01 2.04228001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.199072329 meters Centerline goodness [0,1] 0.37457037601103127 Centerline is valid? [False, False] Translation: X:-104.35, Y:-67.73, Z:204.39 [[ 8.53923984e-01 -1.54630491e-01 4.96893591e-01 -1.04354044e+02] [-2.09321458e-01 7.72125736e-01 6.00005313e-01 -6.77308977e+01] [-4.76443445e-01 -6.16369418e-01 6.26969205e-01 2.04392285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.229072329 meters Centerline goodness [0,1] 0.3731303363851456 Centerline is valid? [False, False] Translation: X:-104.43, Y:-67.84, Z:204.55 [[ 8.54826799e-01 -1.53464627e-01 4.95701272e-01 -1.04426298e+02] [-2.09124798e-01 7.72375770e-01 5.99752023e-01 -6.78375797e+01] [-4.74908372e-01 -6.16347530e-01 6.28154248e-01 2.04554535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.259072329 meters Centerline goodness [0,1] 0.39572864321608037 Centerline is valid? [False, False] Translation: X:-104.49, Y:-67.94, Z:204.71 [[ 8.55681645e-01 -1.50244044e-01 4.95212732e-01 -1.04494833e+02] [-2.10706716e-01 7.72867196e-01 5.98564097e-01 -6.79404990e+01] [-4.72664366e-01 -6.16524959e-01 6.29670844e-01 2.04710433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.289072329 meters Centerline goodness [0,1] 0.3979240892147373 Centerline is valid? [False, False] Translation: X:-104.56, Y:-68.04, Z:204.86 [[ 8.56856779e-01 -1.49020060e-01 4.93547851e-01 -1.04562928e+02] [-2.10422801e-01 7.72860064e-01 5.98673171e-01 -6.80413251e+01] [-4.70657736e-01 -6.16830887e-01 6.30873167e-01 2.04860447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.319072329 meters Centerline goodness [0,1] 0.3927408384517086 Centerline is valid? [False, False] Translation: X:-104.63, Y:-68.14, Z:205.00 [[ 8.57776963e-01 -1.45575064e-01 4.92977264e-01 -1.04628305e+02] [-2.12952004e-01 7.72242085e-01 5.98576316e-01 -6.81374395e+01] [-4.67835575e-01 -6.18425471e-01 6.31410969e-01 2.05004095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.349072329 meters Centerline goodness [0,1] 0.3855491329479769 Centerline is valid? [False, False] Translation: X:-104.69, Y:-68.23, Z:205.15 [[ 8.57133909e-01 -1.46449900e-01 4.93835893e-01 -1.04694497e+02] [-2.11091400e-01 7.74654974e-01 5.96112483e-01 -6.82321792e+01] [-4.69853044e-01 -6.15192732e-01 6.33068732e-01 2.05147264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.379072329 meters Centerline goodness [0,1] 0.4052069150472418 Centerline is valid? [False, False] Translation: X:-104.76, Y:-68.32, Z:205.29 [[ 8.56285922e-01 -1.48261998e-01 4.94765399e-01 -1.04760707e+02] [-2.07793448e-01 7.78089124e-01 5.92789337e-01 -6.83231735e+01] [-4.72859707e-01 -6.10406172e-01 6.35458891e-01 2.05287570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.409072329 meters Centerline goodness [0,1] 0.39903489235337786 Centerline is valid? [False, False] Translation: X:-104.83, Y:-68.41, Z:205.43 [[ 8.55196134e-01 -1.50867450e-01 4.95861458e-01 -1.04828946e+02] [-2.04310657e-01 7.81108419e-01 5.90022706e-01 -6.84146069e+01] [-4.76336781e-01 -6.05894917e-01 6.37177072e-01 2.05431367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.439072329 meters Centerline goodness [0,1] 0.3991004559615424 Centerline is valid? [False, False] Translation: X:-104.90, Y:-68.51, Z:205.58 [[ 8.54630324e-01 -1.51370635e-01 4.96682938e-01 -1.04900010e+02] [-2.03676033e-01 7.82168529e-01 5.88836536e-01 -6.85127415e+01] [-4.77622323e-01 -6.04399970e-01 6.37634373e-01 2.05580644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.469072329 meters Centerline goodness [0,1] 0.4016640515319184 Centerline is valid? [False, False] Translation: X:-104.97, Y:-68.61, Z:205.73 [[ 8.54854189e-01 -1.51796990e-01 4.96167300e-01 -1.04971195e+02] [-2.02793165e-01 7.82443760e-01 5.88775589e-01 -6.86114713e+01] [-4.77597370e-01 -6.03936616e-01 6.38091934e-01 2.05728685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.499072329 meters Centerline goodness [0,1] 0.39169823752264865 Centerline is valid? [False, False] Translation: X:-105.04, Y:-68.71, Z:205.87 [[ 8.56228207e-01 -1.50095763e-01 4.94312168e-01 -1.05039974e+02] [-2.02464389e-01 7.82812454e-01 5.88398532e-01 -6.87051375e+01] [-4.75269848e-01 -6.03884031e-01 6.39877057e-01 2.05869934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.529072329 meters Centerline goodness [0,1] 0.3671190623072178 Centerline is valid? [False, False] Translation: X:-105.11, Y:-68.80, Z:206.01 [[ 8.56205564e-01 -1.46887801e-01 4.95314047e-01 -1.05109231e+02] [-2.03928855e-01 7.84791845e-01 5.85247624e-01 -6.88012834e+01] [-4.74684162e-01 -6.02101099e-01 6.41988484e-01 2.06012681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.559072329 meters Centerline goodness [0,1] 0.3717508077960032 Centerline is valid? [False, False] Translation: X:-105.18, Y:-68.90, Z:206.16 [[ 8.56383648e-01 -1.44051185e-01 4.95838989e-01 -1.05179380e+02] [-2.05096375e-01 7.86387830e-01 5.82691735e-01 -6.88990640e+01] [-4.73859182e-01 -6.00702453e-01 6.43905303e-01 2.06157268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.589072329 meters Centerline goodness [0,1] 0.38804157661829786 Centerline is valid? [False, False] Translation: X:-105.25, Y:-69.00, Z:206.30 [[ 8.57618292e-01 -1.40385537e-01 4.94755259e-01 -1.05249800e+02] [-2.06945554e-01 7.86497068e-01 5.81889937e-01 -6.89962031e+01] [-4.70812492e-01 -6.01426856e-01 6.45462110e-01 2.06301337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.619072329 meters Centerline goodness [0,1] 0.3942598498096903 Centerline is valid? [False, False] Translation: X:-105.32, Y:-69.09, Z:206.44 [[ 8.58916003e-01 -1.40174151e-01 4.92559141e-01 -1.05318781e+02] [-2.06892226e-01 7.84848875e-01 5.84129994e-01 -6.90940268e+01] [-4.68464414e-01 -6.03625257e-01 6.45118317e-01 2.06444573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.649072329 meters Centerline goodness [0,1] 0.3942598498096903 Centerline is valid? [False, False] Translation: X:-105.39, Y:-69.19, Z:206.59 [[ 8.58682576e-01 -1.40294933e-01 4.92931604e-01 -1.05388124e+02] [-2.06737010e-01 7.85261602e-01 5.83630041e-01 -6.91927475e+01] [-4.68960598e-01 -6.03060153e-01 6.45286300e-01 2.06588278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.679072329 meters Centerline goodness [0,1] 0.3743899174200457 Centerline is valid? [False, False] Translation: X:-105.46, Y:-69.29, Z:206.74 [[ 8.58735831e-01 -1.39078090e-01 4.93183595e-01 -1.05460128e+02] [-2.08417332e-01 7.84456180e-01 5.84115329e-01 -6.92927548e+01] [-4.68118563e-01 -6.04388772e-01 6.44654345e-01 2.06735365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.709072329 meters Centerline goodness [0,1] 0.3884763334910415 Centerline is valid? [False, False] Translation: X:-105.53, Y:-69.39, Z:206.88 [[ 8.60287316e-01 -1.37301335e-01 4.90972584e-01 -1.05529906e+02] [-2.10591960e-01 7.81338551e-01 5.87504124e-01 -6.93887105e+01] [-4.64280907e-01 -6.08817225e-01 6.43261087e-01 2.06875107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.739072329 meters Centerline goodness [0,1] 0.39270214122631997 Centerline is valid? [False, False] Translation: X:-105.60, Y:-69.49, Z:207.02 [[ 8.60988102e-01 -1.36543180e-01 4.89954538e-01 -1.05598072e+02] [-2.11380636e-01 7.80104616e-01 5.88859078e-01 -6.94853561e+01] [-4.62620487e-01 -6.10567562e-01 6.42798208e-01 2.07015034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.769072329 meters Centerline goodness [0,1] 0.3782338666556986 Centerline is valid? [False, False] Translation: X:-105.67, Y:-69.58, Z:207.16 [[ 8.61538412e-01 -1.35670541e-01 4.89229055e-01 -1.05667142e+02] [-2.12342746e-01 7.79004782e-01 5.89967887e-01 -6.95829370e+01] [-4.61153036e-01 -6.12164238e-01 6.42333888e-01 2.07155716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.799072329 meters Centerline goodness [0,1] 0.37444743713633655 Centerline is valid? [False, False] Translation: X:-105.74, Y:-69.68, Z:207.30 [[ 8.63017369e-01 -1.31472082e-01 4.87766453e-01 -1.05737731e+02] [-2.15275874e-01 7.77770904e-01 5.90532573e-01 -6.96813656e+01] [-4.57009102e-01 -6.14644217e-01 6.42927031e-01 2.07300580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.829072329 meters Centerline goodness [0,1] 0.37826999012833173 Centerline is valid? [False, False] Translation: X:-105.81, Y:-69.78, Z:207.44 [[ 8.64309406e-01 -1.30514385e-01 4.85731660e-01 -1.05806327e+02] [-2.15748270e-01 7.76174687e-01 5.92457204e-01 -6.97802536e+01] [-4.54336807e-01 -6.16862100e-01 6.42696830e-01 2.07443222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.859072329 meters Centerline goodness [0,1] 0.35644703851370796 Centerline is valid? [False, False] Translation: X:-105.88, Y:-69.88, Z:207.59 [[ 8.65591332e-01 -1.29652265e-01 4.83675445e-01 -1.05875656e+02] [-2.16177640e-01 7.74503267e-01 5.94484581e-01 -6.98805162e+01] [-4.51684484e-01 -6.19140517e-01 6.42375394e-01 2.07589171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88907232900002 meters Centerline goodness [0,1] 0.35906701708278577 Centerline is valid? [False, False] Translation: X:-105.95, Y:-69.98, Z:207.74 [[ 8.66703318e-01 -1.27908061e-01 4.82146125e-01 -1.05946971e+02] [-2.18966223e-01 7.70908012e-01 5.98125932e-01 -6.99802385e+01] [-4.48195439e-01 -6.23971446e-01 6.40140987e-01 2.07735395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.919072329 meters Centerline goodness [0,1] 0.3642154143294499 Centerline is valid? [False, False] Translation: X:-106.02, Y:-70.09, Z:207.89 [[ 8.67197861e-01 -1.27513835e-01 4.81360667e-01 -1.06021059e+02] [-2.19887115e-01 7.69253053e-01 5.99916158e-01 -7.00865615e+01] [-4.46785773e-01 -6.26091018e-01 6.39055953e-01 2.07890049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.949072329 meters Centerline goodness [0,1] 0.3667611768573307 Centerline is valid? [False, False] Translation: X:-106.09, Y:-70.19, Z:208.04 [[ 8.67836766e-01 -1.26372393e-01 4.80509485e-01 -1.06091160e+02] [-2.20839326e-01 7.68218313e-01 6.00891517e-01 -7.01868830e+01] [-4.45072286e-01 -6.27591142e-01 6.38780103e-01 2.08035909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.979072329 meters Centerline goodness [0,1] 0.36313710971245217 Centerline is valid? [False, False] Translation: X:-106.16, Y:-70.28, Z:208.18 [[ 8.69607312e-01 -1.23049365e-01 4.78165219e-01 -1.06159717e+02] [-2.22748725e-01 7.66521251e-01 6.02352204e-01 -7.02846164e+01] [-4.40642858e-01 -6.30320574e-01 6.39163395e-01 2.08176512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.009072329 meters Centerline goodness [0,1] 0.3639502620491214 Centerline is valid? [False, False] Translation: X:-106.22, Y:-70.38, Z:208.32 [[ 8.70413061e-01 -1.22429268e-01 4.76856560e-01 -1.06224557e+02] [-2.23582227e-01 7.64644977e-01 6.04424559e-01 -7.03809778e+01] [-4.38625229e-01 -6.32715682e-01 6.38183966e-01 2.08316217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.039072329 meters Centerline goodness [0,1] 0.3645352534514944 Centerline is valid? [False, False] Translation: X:-106.29, Y:-70.48, Z:208.46 [[ 8.70658371e-01 -1.22332131e-01 4.76433469e-01 -1.06290504e+02] [-2.24862345e-01 7.62464452e-01 6.06699997e-01 -7.04787716e+01] [-4.37482487e-01 -6.35360378e-01 6.36338168e-01 2.08458691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.069072329 meters Centerline goodness [0,1] 0.36662631568148707 Centerline is valid? [False, False] Translation: X:-106.36, Y:-70.58, Z:208.62 [[ 8.71299691e-01 -1.20538031e-01 4.75717806e-01 -1.06363524e+02] [-2.27904835e-01 7.59110374e-01 6.09762927e-01 -7.05849420e+01] [-4.34621944e-01 -6.39704638e-01 6.33941434e-01 2.08615453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.099072329 meters Centerline goodness [0,1] 0.36675207543302246 Centerline is valid? [False, False] Translation: X:-106.43, Y:-70.69, Z:208.77 [[ 8.72622970e-01 -1.21807499e-01 4.72960977e-01 -1.06433083e+02] [-2.27239441e-01 7.55931588e-01 6.13945983e-01 -7.06887940e+01] [-4.32309367e-01 -6.43218755e-01 6.31963799e-01 2.08765806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.129072329 meters Centerline goodness [0,1] 0.36511875948640116 Centerline is valid? [False, False] Translation: X:-106.51, Y:-70.80, Z:208.92 [[ 8.73163143e-01 -1.21620838e-01 4.72011120e-01 -1.06505204e+02] [-2.27850046e-01 7.54213753e-01 6.15829499e-01 -7.07968416e+01] [-4.30894978e-01 -6.45267376e-01 6.30840337e-01 2.08923960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.159072329 meters Centerline goodness [0,1] 0.36087402544111613 Centerline is valid? [False, False] Translation: X:-106.58, Y:-70.91, Z:209.08 [[ 8.74806023e-01 -1.19188031e-01 4.69583469e-01 -1.06578620e+02] [-2.29002971e-01 7.52418671e-01 6.17595161e-01 -7.09085266e+01] [-4.26933321e-01 -6.47811976e-01 6.30925973e-01 2.09084915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.189072329 meters Centerline goodness [0,1] 0.36215628780577824 Centerline is valid? [False, False] Translation: X:-106.65, Y:-71.02, Z:209.24 [[ 8.75604926e-01 -1.18302390e-01 4.68316729e-01 -1.06649348e+02] [-2.29777695e-01 7.50801376e-01 6.19273368e-01 -7.10164761e+01] [-4.24874364e-01 -6.49847550e-01 6.30222133e-01 2.09242369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.219072329 meters Centerline goodness [0,1] 0.3599958970150785 Centerline is valid? [False, False] Translation: X:-106.72, Y:-71.13, Z:209.40 [[ 8.77044476e-01 -1.14791651e-01 4.66493155e-01 -1.06721316e+02] [-2.32734602e-01 7.47953259e-01 6.21611235e-01 -7.11267267e+01] [-4.20270855e-01 -6.53749799e-01 6.29272285e-01 2.09404700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.249072329 meters Centerline goodness [0,1] 0.3556321414651158 Centerline is valid? [False, False] Translation: X:-106.79, Y:-71.24, Z:209.57 [[ 8.78171338e-01 -1.14162838e-01 4.64523356e-01 -1.06792373e+02] [-2.33155042e-01 7.45780032e-01 6.24059989e-01 -7.12366529e+01] [-4.17676703e-01 -6.56337558e-01 6.28305007e-01 2.09566791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.279072329 meters Centerline goodness [0,1] 0.35350717026034506 Centerline is valid? [False, False] Translation: X:-106.86, Y:-71.34, Z:209.73 [[ 8.78934996e-01 -1.13371556e-01 4.63271154e-01 -1.06861821e+02] [-2.33870104e-01 7.44094872e-01 6.25801563e-01 -7.13436462e+01] [-4.15665787e-01 -6.58384167e-01 6.27496806e-01 2.09725199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.309072329 meters Centerline goodness [0,1] 0.3552626183935381 Centerline is valid? [False, False] Translation: X:-106.93, Y:-71.45, Z:209.88 [[ 8.80921340e-01 -1.11579616e-01 4.59921278e-01 -1.06930359e+02] [-2.34601703e-01 7.41049116e-01 6.29132933e-01 -7.14509696e+01] [-4.11022668e-01 -6.62114942e-01 6.26629213e-01 2.09881691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.339072329 meters Centerline goodness [0,1] 0.35475140953357254 Centerline is valid? [False, False] Translation: X:-107.00, Y:-71.56, Z:210.04 [[ 8.81343575e-01 -1.11145849e-01 4.59216836e-01 -1.06998069e+02] [-2.34919322e-01 7.40196870e-01 6.30017068e-01 -7.15557014e+01] [-4.09934647e-01 -6.63140403e-01 6.26257448e-01 2.10037536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.369072329 meters Centerline goodness [0,1] 0.35568872106386473 Centerline is valid? [False, False] Translation: X:-107.07, Y:-71.66, Z:210.20 [[ 8.82038161e-01 -1.10212467e-01 4.58106860e-01 -1.07067524e+02] [-2.35229204e-01 7.39428368e-01 6.30803385e-01 -7.16645486e+01] [-4.08259605e-01 -6.64152770e-01 6.26278846e-01 2.10199402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.399072329 meters Centerline goodness [0,1] 0.3478358974358975 Centerline is valid? [False, False] Translation: X:-107.13, Y:-71.77, Z:210.36 [[ 8.83060109e-01 -1.07780382e-01 4.56714607e-01 -1.07134655e+02] [-2.37491050e-01 7.36770951e-01 6.33061266e-01 -7.17706774e+01] [-4.04725641e-01 -6.67496783e-01 6.25016160e-01 2.10355035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.429072329 meters Centerline goodness [0,1] 0.3524848534468642 Centerline is valid? [False, False] Translation: X:-107.20, Y:-71.87, Z:210.50 [[ 8.83876212e-01 -1.07634369e-01 4.55167755e-01 -1.07196943e+02] [-2.37702827e-01 7.34743574e-01 6.35333965e-01 -7.18695877e+01] [-4.02815353e-01 -6.69751240e-01 6.23837373e-01 2.10500591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.459072329 meters Centerline goodness [0,1] 0.35493176749800515 Centerline is valid? [False, False] Translation: X:-107.26, Y:-71.97, Z:210.66 [[ 8.84323266e-01 -1.06894187e-01 4.54473315e-01 -1.07262118e+02] [-2.38410977e-01 7.33555565e-01 6.36440445e-01 -7.19735643e+01] [-4.01413213e-01 -6.71170520e-01 6.23215505e-01 2.10656413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.489072329 meters Centerline goodness [0,1] 0.35300620278818395 Centerline is valid? [False, False] Translation: X:-107.33, Y:-72.08, Z:210.81 [[ 8.85934497e-01 -1.05381991e-01 4.51679868e-01 -1.07326786e+02] [-2.39584151e-01 7.29879895e-01 6.40214631e-01 -7.20773486e+01] [-3.97139147e-01 -6.75403565e-01 6.21377922e-01 2.10808827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.519072329 meters Centerline goodness [0,1] 0.35202587883627134 Centerline is valid? [False, False] Translation: X:-107.39, Y:-72.18, Z:210.97 [[ 8.87218724e-01 -1.05905076e-01 4.49029009e-01 -1.07392476e+02] [-2.38747164e-01 7.27437400e-01 6.43299790e-01 -7.21840225e+01] [-3.94769208e-01 -6.77952022e-01 6.20111545e-01 2.10966149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.549072329 meters Centerline goodness [0,1] 0.34835436823695465 Centerline is valid? [False, False] Translation: X:-107.46, Y:-72.29, Z:211.12 [[ 8.88462139e-01 -1.04260247e-01 4.46950589e-01 -1.07457127e+02] [-2.39708245e-01 7.25051031e-01 6.45632217e-01 -7.22908582e+01] [-3.91375760e-01 -6.80757522e-01 6.19188349e-01 2.11121669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.579072329 meters Centerline goodness [0,1] 0.3457838722881703 Centerline is valid? [False, False] Translation: X:-107.52, Y:-72.40, Z:211.28 [[ 8.89033454e-01 -1.04735660e-01 4.45701648e-01 -1.07522589e+02] [-2.39190734e-01 7.23822234e-01 6.47201025e-01 -7.23993252e+01] [-3.90393789e-01 -6.81991067e-01 6.18450381e-01 2.11281301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.609072329 meters Centerline goodness [0,1] 0.3456416341059264 Centerline is valid? [False, False] Translation: X:-107.59, Y:-72.51, Z:211.44 [[ 8.89730254e-01 -1.05077557e-01 4.44228300e-01 -1.07585960e+02] [-2.38511761e-01 7.22736641e-01 6.48663154e-01 -7.25051235e+01] [-3.89220009e-01 -6.83088907e-01 6.17978422e-01 2.11437094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63907232900002 meters Centerline goodness [0,1] 0.3429782528566163 Centerline is valid? [False, False] Translation: X:-107.65, Y:-72.61, Z:211.59 [[ 8.90428049e-01 -1.05546445e-01 4.42716430e-01 -1.07649455e+02] [-2.37899656e-01 7.21328486e-01 6.50452896e-01 -7.26113098e+01] [-3.87996962e-01 -6.84503589e-01 6.17181654e-01 2.11594070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.669072329 meters Centerline goodness [0,1] 0.3375578395643094 Centerline is valid? [False, False] Translation: X:-107.71, Y:-72.71, Z:211.75 [[ 8.91789674e-01 -1.03807510e-01 4.40380721e-01 -1.07710604e+02] [-2.38833359e-01 7.18665591e-01 6.53053133e-01 -7.27141722e+01] [-3.84278291e-01 -6.87563647e-01 6.16105857e-01 2.11746038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.699072329 meters Centerline goodness [0,1] 0.33643080827721716 Centerline is valid? [False, False] Translation: X:-107.77, Y:-72.82, Z:211.90 [[ 8.92535472e-01 -1.03913159e-01 4.38842212e-01 -1.07772420e+02] [-2.38404021e-01 7.17288218e-01 6.54722181e-01 -7.28190143e+01] [-3.82810598e-01 -6.88984519e-01 6.15431863e-01 2.11902003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.729072329 meters Centerline goodness [0,1] 0.3320840501351684 Centerline is valid? [False, False] Translation: X:-107.83, Y:-72.92, Z:212.06 [[ 8.92721818e-01 -1.04344412e-01 4.38360581e-01 -1.07832883e+02] [-2.38139682e-01 7.16618831e-01 6.55550870e-01 -7.29225664e+01] [-3.82540517e-01 -6.89615614e-01 6.14892720e-01 2.12056891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.759072329 meters Centerline goodness [0,1] 0.3248472922559751 Centerline is valid? [False, False] Translation: X:-107.89, Y:-73.03, Z:212.22 [[ 8.92791827e-01 -1.03579897e-01 4.38399313e-01 -1.07894463e+02] [-2.39507924e-01 7.15100835e-01 6.56709030e-01 -7.30310097e+01] [-3.81521569e-01 -6.91304564e-01 6.13627975e-01 2.12218467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.789072329 meters Centerline goodness [0,1] 0.31636669263252837 Centerline is valid? [False, False] Translation: X:-107.96, Y:-73.14, Z:212.38 [[ 8.93011394e-01 -1.04346488e-01 4.37769872e-01 -1.07955609e+02] [-2.39175882e-01 7.13955127e-01 6.58075204e-01 -7.31373223e+01] [-3.81215881e-01 -6.92372651e-01 6.12612900e-01 2.12377365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.819072329 meters Centerline goodness [0,1] 0.32348781437678065 Centerline is valid? [False, False] Translation: X:-108.02, Y:-73.25, Z:212.54 [[ 8.93174425e-01 -1.04578890e-01 4.37381643e-01 -1.08017498e+02] [-2.38765883e-01 7.13904884e-01 6.58278565e-01 -7.32477185e+01] [-3.81090933e-01 -6.92389393e-01 6.12671714e-01 2.12541884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.849072329 meters Centerline goodness [0,1] 0.3244361595345884 Centerline is valid? [False, False] Translation: X:-108.08, Y:-73.35, Z:212.70 [[ 8.93537803e-01 -1.05939260e-01 4.36310747e-01 -1.08076340e+02] [-2.36795528e-01 7.14436958e-01 6.58413024e-01 -7.33515150e+01] [-3.81468311e-01 -6.91633361e-01 6.13290487e-01 2.12697014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.879072329 meters Centerline goodness [0,1] 0.32480173774052745 Centerline is valid? [False, False] Translation: X:-108.14, Y:-73.46, Z:212.85 [[ 8.93128569e-01 -1.06256567e-01 4.37070820e-01 -1.08135452e+02] [-2.36203524e-01 7.16143136e-01 6.56770054e-01 -7.34552825e+01] [-3.82791399e-01 -6.89817766e-01 6.14509718e-01 2.12854042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.909072329 meters Centerline goodness [0,1] 0.3254456054087277 Centerline is valid? [False, False] Translation: X:-108.19, Y:-73.56, Z:213.01 [[ 8.93331507e-01 -1.10003399e-01 4.35727060e-01 -1.08193164e+02] [-2.32632767e-01 7.16367173e-01 6.57799414e-01 -7.35600773e+01] [-3.84500733e-01 -6.88997334e-01 6.14362971e-01 2.13008863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.939072329 meters Centerline goodness [0,1] 0.32673510788713345 Centerline is valid? [False, False] Translation: X:-108.25, Y:-73.67, Z:213.17 [[ 8.92488803e-01 -1.11815182e-01 4.36990963e-01 -1.08253765e+02] [-2.31663992e-01 7.17630838e-01 6.56763104e-01 -7.36668031e+01] [-3.87034277e-01 -6.87388788e-01 6.14573936e-01 2.13168892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.969072329 meters Centerline goodness [0,1] 0.3278083959925424 Centerline is valid? [False, False] Translation: X:-108.31, Y:-73.77, Z:213.33 [[ 8.91457950e-01 -1.14113920e-01 4.38498275e-01 -1.08313937e+02] [-2.30321773e-01 7.19284671e-01 6.55424628e-01 -7.37724026e+01] [-3.90198162e-01 -6.85279195e-01 6.14929118e-01 2.13326205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.999072329 meters Centerline goodness [0,1] 0.3294587945879459 Centerline is valid? [False, False] Translation: X:-108.38, Y:-73.88, Z:213.49 [[ 8.90169533e-01 -1.16789939e-01 4.40406985e-01 -1.08376423e+02] [-2.28975969e-01 7.20995965e-01 6.54014391e-01 -7.38823612e+01] [-3.93913960e-01 -6.83026301e-01 6.15066553e-01 2.13489745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.029072329 meters Centerline goodness [0,1] 0.33442017840664406 Centerline is valid? [False, False] Translation: X:-108.44, Y:-73.99, Z:213.65 [[ 8.88422167e-01 -1.21912086e-01 4.42542084e-01 -1.08435895e+02] [-2.25444486e-01 7.23914399e-01 6.52014360e-01 -7.39908934e+01] [-3.99851018e-01 -6.79032684e-01 6.15657192e-01 2.13649817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.059072329 meters Centerline goodness [0,1] 0.33563246705259264 Centerline is valid? [False, False] Translation: X:-108.50, Y:-74.10, Z:213.81 [[ 8.86732836e-01 -1.23063417e-01 4.45601024e-01 -1.08496500e+02] [-2.25019784e-01 7.27113370e-01 6.48592510e-01 -7.40977245e+01] [-4.03820473e-01 -6.75397322e-01 6.17063597e-01 2.13811064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.089072329 meters Centerline goodness [0,1] 0.3414107781477371 Centerline is valid? [False, False] Translation: X:-108.56, Y:-74.21, Z:213.98 [[ 8.84652871e-01 -1.29212567e-01 4.47988181e-01 -1.08559850e+02] [-2.20431409e-01 7.30761214e-01 6.46063497e-01 -7.42115815e+01] [-4.10851910e-01 -6.70292593e-01 6.17987498e-01 2.13980980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.119072329 meters Centerline goodness [0,1] 0.34664884868421053 Centerline is valid? [False, False] Translation: X:-108.62, Y:-74.32, Z:214.14 [[ 8.83019505e-01 -1.31969220e-01 4.50400576e-01 -1.08619720e+02] [-2.18779208e-01 7.33274392e-01 6.43773504e-01 -7.43170562e+01] [-4.15225495e-01 -6.67002842e-01 6.18623469e-01 2.14139023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.149072329 meters Centerline goodness [0,1] 0.3464872637633525 Centerline is valid? [False, False] Translation: X:-108.68, Y:-74.43, Z:214.30 [[ 8.80690091e-01 -1.34733184e-01 4.54127662e-01 -1.08682685e+02] [-2.17934869e-01 7.35959473e-01 6.40989896e-01 -7.44265714e+01] [-4.20582164e-01 -6.63483702e-01 6.18789157e-01 2.14302088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.179072329 meters Centerline goodness [0,1] 0.3545695554779178 Centerline is valid? [False, False] Translation: X:-108.75, Y:-74.54, Z:214.48 [[ 8.77345836e-01 -1.41245606e-01 4.58600004e-01 -1.08748192e+02] [-2.13223892e-01 7.41415990e-01 6.36268734e-01 -7.45432850e+01] [-4.29883539e-01 -6.56012202e-01 6.20361293e-01 2.14475008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.209072329 meters Centerline goodness [0,1] 0.3526605806398553 Centerline is valid? [False, False] Translation: X:-108.81, Y:-74.66, Z:214.64 [[ 8.74999374e-01 -1.44111797e-01 4.62177331e-01 -1.08813372e+02] [-2.10783851e-01 7.46025619e-01 6.31677088e-01 -7.46557511e+01] [-4.35828250e-01 -6.50136574e-01 6.22395510e-01 2.14643009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.239072329 meters Centerline goodness [0,1] 0.3566243753984084 Centerline is valid? [False, False] Translation: X:-108.88, Y:-74.77, Z:214.82 [[ 8.72583627e-01 -1.46658733e-01 4.65928138e-01 -1.08880221e+02] [-2.08639456e-01 7.50567790e-01 6.26990885e-01 -7.47705176e+01] [-4.41664342e-01 -6.44312974e-01 6.24334367e-01 2.14815060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.269072329 meters Centerline goodness [0,1] 0.3636438361794382 Centerline is valid? [False, False] Translation: X:-108.95, Y:-74.89, Z:214.99 [[ 8.69510788e-01 -1.54918594e-01 4.68989572e-01 -1.08948025e+02] [-2.02009592e-01 7.54941770e-01 6.23903077e-01 -7.48880664e+01] [-4.50714004e-01 -6.37230848e-01 6.25134971e-01 2.14989104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.299072329 meters Centerline goodness [0,1] 0.3723305859864756 Centerline is valid? [False, False] Translation: X:-109.01, Y:-75.00, Z:215.15 [[ 8.67366547e-01 -1.57068795e-01 4.72233699e-01 -1.09011997e+02] [-2.00772535e-01 7.57809004e-01 6.20818735e-01 -7.49973631e+01] [-4.55374200e-01 -6.33288960e-01 6.25763080e-01 2.15152639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.329072329 meters Centerline goodness [0,1] 0.36504056690972575 Centerline is valid? [False, False] Translation: X:-109.08, Y:-75.11, Z:215.32 [[ 8.64282001e-01 -1.62864187e-01 4.75911629e-01 -1.09080325e+02] [-1.96580026e-01 7.61524581e-01 6.17605542e-01 -7.51144189e+01] [-4.63004229e-01 -6.27340074e-01 6.26156143e-01 2.15324836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.359072329 meters Centerline goodness [0,1] 0.34893853141248277 Centerline is valid? [False, False] Translation: X:-109.15, Y:-75.23, Z:215.50 [[ 8.63113870e-01 -1.62458677e-01 4.78164852e-01 -1.09149168e+02] [-1.95557678e-01 7.65452064e-01 6.13058181e-01 -7.52329183e+01] [-4.65608894e-01 -6.22647827e-01 6.28902251e-01 2.15498931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38907232900002 meters Centerline goodness [0,1] 0.3654142760194954 Centerline is valid? [False, False] Translation: X:-109.22, Y:-75.35, Z:215.67 [[ 8.62215037e-01 -1.61438679e-01 4.80127882e-01 -1.09215613e+02] [-1.94629424e-01 7.69508614e-01 6.08256427e-01 -7.53468232e+01] [-4.67658655e-01 -6.17894850e-01 6.32061181e-01 2.15665306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.419072329 meters Centerline goodness [0,1] 0.37321450623636443 Centerline is valid? [False, False] Translation: X:-109.28, Y:-75.46, Z:215.83 [[ 8.61594695e-01 -1.62316909e-01 4.80944697e-01 -1.09282285e+02] [-1.90621775e-01 7.74676747e-01 6.02942183e-01 -7.54644932e+01] [-4.70444385e-01 -6.11170319e-01 6.36516239e-01 2.15834680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.449072329 meters Centerline goodness [0,1] 0.3727068706376495 Centerline is valid? [False, False] Translation: X:-109.35, Y:-75.57, Z:215.99 [[ 8.60712832e-01 -1.61588838e-01 4.82765438e-01 -1.09346596e+02] [-1.90125839e-01 7.77648408e-01 5.99262145e-01 -7.55736084e+01] [-4.72255848e-01 -6.07578802e-01 6.38609750e-01 2.15994381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.479072329 meters Centerline goodness [0,1] 0.38392251218458884 Centerline is valid? [False, False] Translation: X:-109.41, Y:-75.68, Z:216.16 [[ 8.59604987e-01 -1.61273755e-01 4.84840224e-01 -1.09412335e+02] [-1.89945243e-01 7.80021768e-01 5.96227177e-01 -7.56835685e+01] [-4.74341724e-01 -6.04612949e-01 6.39877419e-01 2.16155462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.509072329 meters Centerline goodness [0,1] 0.38392251218458884 Centerline is valid? [False, False] Translation: X:-109.48, Y:-75.79, Z:216.32 [[ 8.59488975e-01 -1.57996726e-01 4.86123171e-01 -1.09479551e+02] [-1.91570037e-01 7.82147282e-01 5.92913611e-01 -7.57947407e+01] [-4.73898326e-01 -6.02729346e-01 6.41979526e-01 2.16317490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.539072329 meters Centerline goodness [0,1] 0.3788917011338149 Centerline is valid? [False, False] Translation: X:-109.55, Y:-75.91, Z:216.48 [[ 8.58520948e-01 -1.60172857e-01 4.87120557e-01 -1.09549458e+02] [-1.89419398e-01 7.83711785e-01 5.91537091e-01 -7.59116937e+01] [-4.76510307e-01 -6.00117067e-01 6.42493138e-01 2.16483580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.569072329 meters Centerline goodness [0,1] 0.3814356588508965 Centerline is valid? [False, False] Translation: X:-109.62, Y:-76.02, Z:216.65 [[ 8.57688581e-01 -1.58901943e-01 4.88999458e-01 -1.09618574e+02] [-1.89556264e-01 7.86337439e-01 5.87998176e-01 -7.60246400e+01] [-4.77952634e-01 -5.97012231e-01 6.44311784e-01 2.16645230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.599072329 meters Centerline goodness [0,1] 0.3846692046506842 Centerline is valid? [False, False] Translation: X:-109.69, Y:-76.14, Z:216.81 [[ 8.57857661e-01 -1.59171448e-01 4.88615067e-01 -1.09688362e+02] [-1.87074109e-01 7.88850820e-01 5.85420927e-01 -7.61415002e+01] [-4.78626693e-01 -5.93615055e-01 6.46944863e-01 2.16808466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.629072329 meters Centerline goodness [0,1] 0.386711674625391 Centerline is valid? [False, False] Translation: X:-109.76, Y:-76.25, Z:216.97 [[ 8.58234750e-01 -1.56802933e-01 4.88718686e-01 -1.09755836e+02] [-1.86898841e-01 7.91339497e-01 5.82108773e-01 -7.62527637e+01] [-4.78018762e-01 -5.90926934e-01 6.49848769e-01 2.16966761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.659072329 meters Centerline goodness [0,1] 0.3855367138623642 Centerline is valid? [False, False] Translation: X:-109.82, Y:-76.36, Z:217.12 [[ 8.58409945e-01 -1.54454704e-01 4.89158573e-01 -1.09823616e+02] [-1.87072506e-01 7.93656453e-01 5.78889724e-01 -7.63634151e+01] [-4.77636099e-01 -5.88432817e-01 6.52388364e-01 2.17124165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.689072329 meters Centerline goodness [0,1] 0.3857581439432963 Centerline is valid? [False, False] Translation: X:-109.89, Y:-76.48, Z:217.28 [[ 8.58651347e-01 -1.53713536e-01 4.88968315e-01 -1.09891865e+02] [-1.86357814e-01 7.95060755e-01 5.77190749e-01 -7.64760301e+01] [-4.77481549e-01 -5.86728681e-01 6.54034270e-01 2.17281804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.719072329 meters Centerline goodness [0,1] 0.39341863963239987 Centerline is valid? [False, False] Translation: X:-109.96, Y:-76.58, Z:217.43 [[ 8.57407864e-01 -1.54906249e-01 4.90770628e-01 -1.09958087e+02] [-1.84146673e-01 7.98139824e-01 5.73639978e-01 -7.65808678e+01] [-4.80564000e-01 -5.82217206e-01 6.55805891e-01 2.17432415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.749072329 meters Centerline goodness [0,1] 0.3976238520775851 Centerline is valid? [False, False] Translation: X:-110.03, Y:-76.69, Z:217.59 [[ 8.56235191e-01 -1.55994150e-01 4.92470429e-01 -1.10027356e+02] [-1.81452779e-01 8.01752452e-01 5.69445252e-01 -7.66888264e+01] [-4.83669502e-01 -5.76939192e-01 6.58183091e-01 2.17586018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.779072329 meters Centerline goodness [0,1] 0.38863018214786116 Centerline is valid? [False, False] Translation: X:-110.10, Y:-76.80, Z:217.74 [[ 8.55331214e-01 -1.55936441e-01 4.94057023e-01 -1.10099045e+02] [-1.79349624e-01 8.05540910e-01 5.64745567e-01 -7.68002948e+01] [-4.86047557e-01 -5.71653452e-01 6.61037142e-01 2.17742587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.809072329 meters Centerline goodness [0,1] 0.40153716181409815 Centerline is valid? [False, False] Translation: X:-110.17, Y:-76.91, Z:217.89 [[ 8.54837106e-01 -1.57371638e-01 4.94456964e-01 -1.10169936e+02] [-1.74729840e-01 8.09951344e-01 5.59864540e-01 -7.69072880e+01] [-4.88592882e-01 -5.64989370e-01 6.64878942e-01 2.17892204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.839072329 meters Centerline goodness [0,1] 0.4018728133360774 Centerline is valid? [False, False] Translation: X:-110.24, Y:-77.02, Z:218.05 [[ 8.54519502e-01 -1.56564270e-01 4.95261597e-01 -1.10243182e+02] [-1.73842981e-01 8.12296799e-01 5.56733804e-01 -7.70193700e+01] [-4.89464031e-01 -5.61837646e-01 6.66905857e-01 2.18048583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.869072329 meters Centerline goodness [0,1] 0.3925095174400659 Centerline is valid? [False, False] Translation: X:-110.32, Y:-77.13, Z:218.21 [[ 8.53392160e-01 -1.57764614e-01 4.96822049e-01 -1.10318092e+02] [-1.72394696e-01 8.14048393e-01 5.54621747e-01 -7.71318682e+01] [-4.91936877e-01 -5.58959337e-01 6.67504734e-01 2.18206598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.899072329 meters Centerline goodness [0,1] 0.40147651558772723 Centerline is valid? [False, False] Translation: X:-110.39, Y:-77.25, Z:218.37 [[ 8.52852242e-01 -1.55476156e-01 4.98467872e-01 -1.10394268e+02] [-1.72925916e-01 8.16666958e-01 5.50592143e-01 -7.72465565e+01] [-4.92686190e-01 -5.55771757e-01 6.69610389e-01 2.18365886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.929072329 meters Centerline goodness [0,1] 0.4136285079417332 Centerline is valid? [False, False] Translation: X:-110.47, Y:-77.36, Z:218.52 [[ 8.52830079e-01 -1.54313664e-01 4.98866866e-01 -1.10469920e+02] [-1.71845652e-01 8.19188286e-01 5.47174217e-01 -7.73612131e+01] [-4.93102351e-01 -5.52374733e-01 6.72110278e-01 2.18522217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.959072329 meters Centerline goodness [0,1] 0.40087634486021684 Centerline is valid? [False, False] Translation: X:-110.55, Y:-77.48, Z:218.68 [[ 8.52996130e-01 -1.52078561e-01 4.99269179e-01 -1.10548477e+02] [-1.71915456e-01 8.21350552e-01 5.43901045e-01 -7.74802870e+01] [-4.92790704e-01 -5.49777575e-01 6.74464187e-01 2.18683405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.989072329 meters Centerline goodness [0,1] 0.3996214459120273 Centerline is valid? [False, False] Translation: X:-110.63, Y:-77.60, Z:218.84 [[ 8.53192536e-01 -1.50578520e-01 4.99388231e-01 -1.10626540e+02] [-1.71821963e-01 8.22847429e-01 5.41663476e-01 -7.75978542e+01] [-4.92483207e-01 -5.47949101e-01 6.76174588e-01 2.18841765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.019072329 meters Centerline goodness [0,1] 0.4011077252511942 Centerline is valid? [False, False] Translation: X:-110.70, Y:-77.71, Z:218.99 [[ 8.54013819e-01 -1.49794437e-01 4.98218851e-01 -1.10702670e+02] [-1.71160672e-01 8.23442296e-01 5.40968400e-01 -7.77125487e+01] [-4.91288531e-01 -5.47269963e-01 6.77592183e-01 2.18994538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.049072329 meters Centerline goodness [0,1] 0.3527157339487349 Centerline is valid? [False, False] Translation: X:-110.78, Y:-77.83, Z:219.15 [[ 8.54520226e-01 -1.48173820e-01 4.97835015e-01 -1.10780393e+02] [-1.71843156e-01 8.23827400e-01 5.40165109e-01 -7.78279345e+01] [-4.90168454e-01 -5.47131551e-01 6.78514519e-01 2.19148449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.079072329 meters Centerline goodness [0,1] 0.33565439525349705 Centerline is valid? [False, False] Translation: X:-110.85, Y:-77.94, Z:219.30 [[ 8.55662084e-01 -1.46100160e-01 4.96484784e-01 -1.10853004e+02] [-1.71900490e-01 8.24628511e-01 5.38923038e-01 -7.79379081e+01] [-4.88152250e-01 -5.46481988e-01 6.80488661e-01 2.19295138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.109072329 meters Centerline goodness [0,1] 0.3561818818633208 Centerline is valid? [False, False] Translation: X:-110.93, Y:-78.05, Z:219.44 [[ 8.56252145e-01 -1.44508428e-01 4.95933038e-01 -1.10925624e+02] [-1.72062389e-01 8.25457019e-01 5.37601380e-01 -7.80456399e+01] [-4.87059338e-01 -5.45653758e-01 6.81934878e-01 2.19437989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13907232900002 meters Centerline goodness [0,1] 0.3704489728638246 Centerline is valid? [False, False] Translation: X:-111.00, Y:-78.16, Z:219.58 [[ 8.57831433e-01 -1.43879491e-01 4.93380101e-01 -1.10999573e+02] [-1.71928485e-01 8.24357711e-01 5.39328250e-01 -7.81550373e+01] [-4.84319965e-01 -5.47478819e-01 6.82422974e-01 2.19580557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.169072329 meters Centerline goodness [0,1] 0.3620138903200544 Centerline is valid? [False, False] Translation: X:-111.07, Y:-78.26, Z:219.72 [[ 8.58351795e-01 -1.42069293e-01 4.92999506e-01 -1.11073521e+02] [-1.72426334e-01 8.25128960e-01 5.37988251e-01 -7.82628420e+01] [-4.83219780e-01 -5.46789278e-01 6.83754436e-01 2.19721972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.199072329 meters Centerline goodness [0,1] 0.3887068521380732 Centerline is valid? [False, False] Translation: X:-111.15, Y:-78.37, Z:219.86 [[ 8.59142698e-01 -1.40520236e-01 4.92064922e-01 -1.11147203e+02] [-1.72480588e-01 8.25780387e-01 5.36970389e-01 -7.83709119e+01] [-4.81792768e-01 -5.46205836e-01 6.85226177e-01 2.19862328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.229072329 meters Centerline goodness [0,1] 0.3810848687193438 Centerline is valid? [False, False] Translation: X:-111.22, Y:-78.48, Z:220.00 [[ 8.60326647e-01 -1.38190800e-01 4.90654017e-01 -1.11221977e+02] [-1.73471566e-01 8.25727245e-01 5.36732832e-01 -7.84801154e+01] [-4.79317929e-01 -5.46880078e-01 6.86422977e-01 2.20002521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.259072329 meters Centerline goodness [0,1] 0.36592293759262307 Centerline is valid? [False, False] Translation: X:-111.29, Y:-78.59, Z:220.14 [[ 8.61076487e-01 -1.36962130e-01 4.89682201e-01 -1.11294404e+02] [-1.74217644e-01 8.25280119e-01 5.37178683e-01 -7.85875169e+01] [-4.77698122e-01 -5.47863213e-01 6.86768086e-01 2.20140937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.289072329 meters Centerline goodness [0,1] 0.37342475908080064 Centerline is valid? [False, False] Translation: X:-111.37, Y:-78.70, Z:220.28 [[ 8.61848913e-01 -1.35714542e-01 4.88669637e-01 -1.11368386e+02] [-1.75235378e-01 8.24503555e-01 5.38039450e-01 -7.86973913e+01] [-4.75929630e-01 -5.49340924e-01 6.86815504e-01 2.20282150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.319072329 meters Centerline goodness [0,1] 0.40028000247061 Centerline is valid? [False, False] Translation: X:-111.44, Y:-78.81, Z:220.42 [[ 8.63298661e-01 -1.32801190e-01 4.86907863e-01 -1.11443283e+02] [-1.78003256e-01 8.22643323e-01 5.39974817e-01 -7.88059849e+01] [-4.72260800e-01 -5.52830721e-01 6.86547835e-01 2.20421451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.349072329 meters Centerline goodness [0,1] 0.400510676852748 Centerline is valid? [False, False] Translation: X:-111.52, Y:-78.92, Z:220.56 [[ 8.64562486e-01 -1.32156735e-01 4.84836370e-01 -1.11517157e+02] [-1.78067573e-01 8.21631903e-01 5.41491417e-01 -7.89162626e+01] [-4.69918767e-01 -5.54486801e-01 6.86819292e-01 2.20560959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.379072329 meters Centerline goodness [0,1] 0.4014937964239419 Centerline is valid? [False, False] Translation: X:-111.59, Y:-79.02, Z:220.69 [[ 8.66651450e-01 -1.29920723e-01 4.81701017e-01 -1.11587492e+02] [-1.79525379e-01 8.19619232e-01 5.44054182e-01 -7.90221444e+01] [-4.65495331e-01 -5.57982903e-01 6.87000129e-01 2.20692821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.409072329 meters Centerline goodness [0,1] 0.3959092125028294 Centerline is valid? [False, False] Translation: X:-111.66, Y:-79.13, Z:220.83 [[ 8.67507001e-01 -1.29079511e-01 4.80385348e-01 -1.11658240e+02] [-1.79935514e-01 8.18914015e-01 5.44979859e-01 -7.91295402e+01] [-4.63740028e-01 -5.59212228e-01 6.87187653e-01 2.20828007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.439072329 meters Centerline goodness [0,1] 0.39170061309303383 Centerline is valid? [False, False] Translation: X:-111.73, Y:-79.24, Z:220.96 [[ 8.68374602e-01 -1.28912873e-01 4.78860127e-01 -1.11729284e+02] [-1.80019020e-01 8.17808157e-01 5.46610438e-01 -7.92386736e+01] [-4.62080840e-01 -5.60866552e-01 6.86957064e-01 2.20964622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.469072329 meters Centerline goodness [0,1] 0.39299899162430807 Centerline is valid? [False, False] Translation: X:-111.80, Y:-79.35, Z:221.10 [[ 8.68702143e-01 -1.28701063e-01 4.78322718e-01 -1.11799924e+02] [-1.80615077e-01 8.16869713e-01 5.47815722e-01 -7.93462731e+01] [-4.61231807e-01 -5.62280986e-01 6.86371119e-01 2.21099689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.499072329 meters Centerline goodness [0,1] 0.3926168281992716 Centerline is valid? [False, False] Translation: X:-111.87, Y:-79.45, Z:221.23 [[ 8.69953747e-01 -1.26647302e-01 4.76593054e-01 -1.11868086e+02] [-1.82270345e-01 8.15437492e-01 5.49398961e-01 -7.94520356e+01] [-4.58211741e-01 -5.64820465e-01 6.86308854e-01 2.21231538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.529072329 meters Centerline goodness [0,1] 0.3675586661177439 Centerline is valid? [False, False] Translation: X:-111.94, Y:-79.56, Z:221.36 [[ 8.70491677e-01 -1.26681854e-01 4.75600619e-01 -1.11935720e+02] [-1.81955990e-01 8.15018836e-01 5.50123909e-01 -7.95566741e+01] [-4.57314179e-01 -5.65416665e-01 6.86416591e-01 2.21362764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.559072329 meters Centerline goodness [0,1] 0.3728021412394482 Centerline is valid? [False, False] Translation: X:-112.00, Y:-79.66, Z:221.49 [[ 8.71297157e-01 -1.25586433e-01 4.74414705e-01 -1.11999967e+02] [-1.82756482e-01 8.14137269e-01 5.51162930e-01 -7.96586178e+01] [-4.55457279e-01 -5.66929057e-01 6.86403753e-01 2.21489642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.589072329 meters Centerline goodness [0,1] 0.3842592592592593 Centerline is valid? [False, False] Translation: X:-112.06, Y:-79.76, Z:221.62 [[ 8.71930877e-01 -1.25955474e-01 4.73150889e-01 -1.12063181e+02] [-1.82496241e-01 8.13110823e-01 5.52762074e-01 -7.97600658e+01] [-4.54347519e-01 -5.68318579e-01 6.85990033e-01 2.21616330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.619072329 meters Centerline goodness [0,1] 0.3873831198253491 Centerline is valid? [False, False] Translation: X:-112.13, Y:-79.86, Z:221.75 [[ 8.72218561e-01 -1.25746122e-01 4.72676100e-01 -1.12128057e+02] [-1.82753654e-01 8.12611797e-01 5.53410489e-01 -7.98638783e+01] [-4.53691398e-01 -5.69078184e-01 6.85794529e-01 2.21746395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.649072329 meters Centerline goodness [0,1] 0.38064064558629773 Centerline is valid? [False, False] Translation: X:-112.19, Y:-79.97, Z:221.88 [[ 8.72586218e-01 -1.26294545e-01 4.71850590e-01 -1.12193426e+02] [-1.82488775e-01 8.11759215e-01 5.54747531e-01 -7.99685822e+01] [-4.53090652e-01 -5.70172486e-01 6.85282567e-01 2.21876448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.679072329 meters Centerline goodness [0,1] 0.3740896185656092 Centerline is valid? [False, False] Translation: X:-112.26, Y:-80.07, Z:222.01 [[ 8.72961505e-01 -1.26000329e-01 4.71234685e-01 -1.12257544e+02] [-1.83259939e-01 8.10574944e-01 5.56223026e-01 -8.00741240e+01] [-4.52055313e-01 -5.71919729e-01 6.84509910e-01 2.22006957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.709072329 meters Centerline goodness [0,1] 0.3711408016443988 Centerline is valid? [False, False] Translation: X:-112.32, Y:-80.17, Z:222.13 [[ 8.73670088e-01 -1.26909845e-01 4.69674853e-01 -1.12318166e+02] [-1.82319973e-01 8.09625942e-01 5.57911517e-01 -8.01737742e+01] [-4.51065410e-01 -5.73061711e-01 6.84207769e-01 2.22130080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.739072329 meters Centerline goodness [0,1] 0.35649596575004117 Centerline is valid? [False, False] Translation: X:-112.38, Y:-80.28, Z:222.26 [[ 8.72702325e-01 -1.31427583e-01 4.70231265e-01 -1.12380398e+02] [-1.77385593e-01 8.11935880e-01 5.56142497e-01 -8.02768728e+01] [-4.54890100e-01 -5.68759102e-01 6.85264971e-01 2.22260711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.769072329 meters Centerline goodness [0,1] 0.3496810043218769 Centerline is valid? [False, False] Translation: X:-112.44, Y:-80.37, Z:222.39 [[ 8.69688664e-01 -1.37980170e-01 4.73923095e-01 -1.12444154e+02] [-1.70043573e-01 8.17611719e-01 5.50087502e-01 -8.03740623e+01] [-4.63386243e-01 -5.58992442e-01 6.87605003e-01 2.22388229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.799072329 meters Centerline goodness [0,1] 0.3767551986823142 Centerline is valid? [False, False] Translation: X:-112.51, Y:-80.48, Z:222.52 [[ 8.64396115e-01 -1.46708733e-01 4.80932327e-01 -1.12512320e+02] [-1.60679070e-01 8.25736851e-01 5.40685573e-01 -8.04779268e+01] [-4.76446841e-01 -5.44642268e-01 6.90190704e-01 2.22524796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.829072329 meters Centerline goodness [0,1] 0.3777096156617329 Centerline is valid? [False, False] Translation: X:-112.58, Y:-80.58, Z:222.66 [[ 8.62274819e-01 -1.48108057e-01 4.84299638e-01 -1.12580223e+02] [-1.58468856e-01 8.29354062e-01 5.35779303e-01 -8.05839126e+01] [-4.81009104e-01 -5.38735411e-01 6.91660610e-01 2.22662196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.859072329 meters Centerline goodness [0,1] 0.3952110589977783 Centerline is valid? [False, False] Translation: X:-112.65, Y:-80.69, Z:222.80 [[ 8.61297667e-01 -1.49428321e-01 4.85631039e-01 -1.12647452e+02] [-1.56091892e-01 8.31742824e-01 5.32765610e-01 -8.06892108e+01] [-4.83530403e-01 -5.34672845e-01 6.93053605e-01 2.22797586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88907232900002 meters Centerline goodness [0,1] 0.40675036015641075 Centerline is valid? [False, False] Translation: X:-112.72, Y:-80.80, Z:222.94 [[ 8.60057078e-01 -1.49540392e-01 4.87790421e-01 -1.12717829e+02] [-1.54818277e-01 8.34505350e-01 5.28802536e-01 -8.07978778e+01] [-4.86141054e-01 -5.30319236e-01 6.94570647e-01 2.22937078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.919072329 meters Centerline goodness [0,1] 0.3970113002490583 Centerline is valid? [False, False] Translation: X:-112.79, Y:-80.91, Z:223.08 [[ 8.59101270e-01 -1.51606287e-01 4.88835904e-01 -1.12792042e+02] [-1.50895628e-01 8.37636047e-01 5.24972725e-01 -8.09138307e+01] [-4.89055740e-01 -5.24767936e-01 6.96737466e-01 2.23083518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.949072329 meters Centerline goodness [0,1] 0.4087502573605106 Centerline is valid? [False, False] Translation: X:-112.86, Y:-81.03, Z:223.23 [[ 8.58489299e-01 -1.49384813e-01 4.90591786e-01 -1.12864484e+02] [-1.50473579e-01 8.41151121e-01 5.19444409e-01 -8.10284170e+01] [-4.90258937e-01 -5.19758568e-01 6.99640769e-01 2.23226313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.979072329 meters Centerline goodness [0,1] 0.40217346560737666 Centerline is valid? [False, False] Translation: X:-112.93, Y:-81.14, Z:223.37 [[ 8.58198910e-01 -1.48166319e-01 4.91468588e-01 -1.12934619e+02] [-1.48443611e-01 8.44892829e-01 5.13926650e-01 -8.11424718e+01] [-4.91384905e-01 -5.14006662e-01 7.03091762e-01 2.23365579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.009072329 meters Centerline goodness [0,1] 0.4045737104277304 Centerline is valid? [False, False] Translation: X:-113.00, Y:-81.25, Z:223.50 [[ 8.58268573e-01 -1.46339390e-01 4.91894134e-01 -1.13004530e+02] [-1.48663868e-01 8.46491601e-01 5.11225023e-01 -8.12525207e+01] [-4.91196610e-01 -5.11895256e-01 7.04761759e-01 2.23500281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03907232899996 meters Centerline goodness [0,1] 0.4120930040982762 Centerline is valid? [False, False] Translation: X:-113.07, Y:-81.36, Z:223.63 [[ 8.58320704e-01 -1.45003775e-01 4.92198613e-01 -1.13073909e+02] [-1.49424746e-01 8.47028583e-01 5.10112562e-01 -8.13606026e+01] [-4.90874541e-01 -5.11386826e-01 7.05355017e-01 2.23632043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.069072329 meters Centerline goodness [0,1] 0.4034921744853259 Centerline is valid? [False, False] Translation: X:-113.14, Y:-81.47, Z:223.77 [[ 8.59180426e-01 -1.43614782e-01 4.91104663e-01 -1.13144652e+02] [-1.51546302e-01 8.45314524e-01 5.12325164e-01 -8.14714591e+01] [-4.88715371e-01 -5.14604848e-01 7.04513404e-01 2.23765733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09907232899997 meters Centerline goodness [0,1] 0.4125365632595889 Centerline is valid? [False, False] Translation: X:-113.22, Y:-81.58, Z:223.90 [[ 8.60148340e-01 -1.42833505e-01 4.89636010e-01 -1.13216353e+02] [-1.51909856e-01 8.44678440e-01 5.13265748e-01 -8.15826066e+01] [-4.86896527e-01 -5.15865217e-01 7.04850941e-01 2.23897687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.129072329 meters Centerline goodness [0,1] 0.4067297797900803 Centerline is valid? [False, False] Translation: X:-113.29, Y:-81.69, Z:224.03 [[ 8.61063687e-01 -1.41003146e-01 4.88556485e-01 -1.13286754e+02] [-1.52291802e-01 8.45173909e-01 5.12336092e-01 -8.16915540e+01] [-4.85156195e-01 -5.15557152e-01 7.06274939e-01 2.24026986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15907232899997 meters Centerline goodness [0,1] 0.39466315269313124 Centerline is valid? [False, False] Translation: X:-113.35, Y:-81.80, Z:224.15 [[ 8.62824227e-01 -1.37173477e-01 4.86536526e-01 -1.13353183e+02] [-1.53318735e-01 8.46127872e-01 5.10451750e-01 -8.17965094e+01] [-4.81692557e-01 -5.15025301e-01 7.09028363e-01 2.24148295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.189072329 meters Centerline goodness [0,1] 0.37858760551780934 Centerline is valid? [False, False] Translation: X:-113.42, Y:-81.90, Z:224.27 [[ 8.63051455e-01 -1.35518651e-01 4.86597247e-01 -1.13419176e+02] [-1.54698629e-01 8.46130804e-01 5.10030387e-01 -8.18986922e+01] [-4.80843550e-01 -5.15458395e-01 7.09289873e-01 2.24268355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21907232899997 meters Centerline goodness [0,1] 0.4101270514589297 Centerline is valid? [False, False] Translation: X:-113.49, Y:-82.00, Z:224.39 [[ 8.63298533e-01 -1.34665108e-01 4.86395880e-01 -1.13486034e+02] [-1.56131596e-01 8.45207730e-01 5.11123095e-01 -8.20023948e+01] [-4.79936004e-01 -5.17193582e-01 7.08641115e-01 2.24390308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.249072329 meters Centerline goodness [0,1] 0.3906497786015858 Centerline is valid? [False, False] Translation: X:-113.55, Y:-82.11, Z:224.51 [[ 8.63907579e-01 -1.32549477e-01 4.85895391e-01 -1.13553967e+02] [-1.59716557e-01 8.42852775e-01 5.13896703e-01 -8.21086138e+01] [-4.77655018e-01 -5.21564795e-01 7.06976554e-01 2.24514254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.279072329 meters Centerline goodness [0,1] 0.3995795634879743 Centerline is valid? [False, False] Translation: X:-113.62, Y:-82.21, Z:224.63 [[ 8.64641964e-01 -1.32471738e-01 4.84608619e-01 -1.13619811e+02] [-1.60009766e-01 8.41760689e-01 5.15592686e-01 -8.22107170e+01] [-4.76225944e-01 -5.23345184e-01 7.06624843e-01 2.24633356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30907232899995 meters Centerline goodness [0,1] 0.3989937521908572 Centerline is valid? [False, False] Translation: X:-113.68, Y:-82.31, Z:224.75 [[ 8.65984404e-01 -1.32242394e-01 4.82268558e-01 -1.13683739e+02] [-1.59618299e-01 8.40855596e-01 5.17188423e-01 -8.23121464e+01] [-4.73912451e-01 -5.24855995e-01 7.07059526e-01 2.24751203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.339072329 meters Centerline goodness [0,1] 0.36099097985913753 Centerline is valid? [False, False] Translation: X:-113.75, Y:-82.41, Z:224.87 [[ 8.67203265e-01 -1.31925010e-01 4.80160691e-01 -1.13746804e+02] [-1.59455931e-01 8.39919200e-01 5.18757693e-01 -8.24120899e+01] [-4.71733297e-01 -5.26432835e-01 7.07344447e-01 2.24867268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36907232899995 meters Centerline goodness [0,1] 0.3716879748008153 Centerline is valid? [False, False] Translation: X:-113.81, Y:-82.51, Z:224.98 [[ 8.68566702e-01 -1.29981819e-01 4.78222344e-01 -1.13810131e+02] [-1.61554121e-01 8.38008146e-01 5.21193450e-01 -8.25125814e+01] [-4.68499893e-01 -5.29950067e-01 7.06866873e-01 2.24983455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.399072329 meters Centerline goodness [0,1] 0.3772435369669027 Centerline is valid? [False, False] Translation: X:-113.87, Y:-82.61, Z:225.10 [[ 8.69021158e-01 -1.30190167e-01 4.77339237e-01 -1.13872896e+02] [-1.61730833e-01 8.37017219e-01 5.22728718e-01 -8.26111719e+01] [-4.67595300e-01 -5.31462789e-01 7.06329909e-01 2.25098729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42907232899995 meters Centerline goodness [0,1] 0.3772435369669027 Centerline is valid? [False, False] Translation: X:-113.94, Y:-82.71, Z:225.21 [[ 8.69060052e-01 -1.31727378e-01 4.76846436e-01 -1.13936082e+02] [-1.60413291e-01 8.36780135e-01 5.23513688e-01 -8.27098489e+01] [-4.67976711e-01 -5.31457339e-01 7.06081366e-01 2.25214504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.459072329 meters Centerline goodness [0,1] 0.3927711339357388 Centerline is valid? [False, False] Translation: X:-114.00, Y:-82.81, Z:225.33 [[ 8.68590194e-01 -1.34143952e-01 4.77028799e-01 -1.13998930e+02] [-1.58846180e-01 8.36487232e-01 5.24458770e-01 -8.28085197e+01] [-4.69381472e-01 -5.31313947e-01 7.05256353e-01 2.25332044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48907232899995 meters Centerline goodness [0,1] 0.3831895042530843 Centerline is valid? [False, False] Translation: X:-114.06, Y:-82.90, Z:225.45 [[ 8.68003165e-01 -1.35886973e-01 4.77603639e-01 -1.14059825e+02] [-1.56850289e-01 8.37551118e-01 5.23360404e-01 -8.29028301e+01] [-4.71135323e-01 -5.29190756e-01 7.05683110e-01 2.25445418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.519072329 meters Centerline goodness [0,1] 0.4047839792323382 Centerline is valid? [False, False] Translation: X:-114.12, Y:-82.99, Z:225.56 [[ 8.67447424e-01 -1.37059912e-01 4.78277688e-01 -1.14119176e+02] [-1.55545986e-01 8.38409165e-01 5.22374883e-01 -8.29948363e+01] [-4.72589052e-01 -5.27526921e-01 7.05956752e-01 2.25555968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54907232899996 meters Centerline goodness [0,1] 0.4114567229402428 Centerline is valid? [False, False] Translation: X:-114.18, Y:-83.09, Z:225.68 [[ 8.66535944e-01 -1.38756434e-01 4.79439371e-01 -1.14184831e+02] [-1.53775119e-01 8.39631822e-01 5.20933409e-01 -8.30940521e+01] [-4.74835414e-01 -5.25133370e-01 7.06233866e-01 2.25676195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.579072329 meters Centerline goodness [0,1] 0.38998907824510065 Centerline is valid? [False, False] Translation: X:-114.25, Y:-83.19, Z:225.79 [[ 8.66618732e-01 -1.39260486e-01 4.79143497e-01 -1.14247259e+02] [-1.52644181e-01 8.40234134e-01 5.20294488e-01 -8.31902337e+01] [-4.75049185e-01 -5.24035416e-01 7.06905337e-01 2.25791005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60907232899996 meters Centerline goodness [0,1] 0.3777383921027142 Centerline is valid? [False, False] Translation: X:-114.31, Y:-83.29, Z:225.91 [[ 8.66610947e-01 -1.38943047e-01 4.79249723e-01 -1.14310774e+02] [-1.52286042e-01 8.40982331e-01 5.19189446e-01 -8.32874002e+01] [-4.75178313e-01 -5.22918301e-01 7.07645407e-01 2.25906844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.639072329 meters Centerline goodness [0,1] 0.39933612353875014 Centerline is valid? [False, False] Translation: X:-114.38, Y:-83.39, Z:226.02 [[ 8.66787589e-01 -1.37105177e-01 4.79459536e-01 -1.14375159e+02] [-1.53329351e-01 8.41611724e-01 5.17860808e-01 -8.33853054e+01] [-4.74520164e-01 -5.22390540e-01 7.08476349e-01 2.26023603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66907232899996 meters Centerline goodness [0,1] 0.40272052761747734 Centerline is valid? [False, False] Translation: X:-114.44, Y:-83.49, Z:226.14 [[ 8.67098867e-01 -1.36019438e-01 4.79205872e-01 -1.14438764e+02] [-1.54181690e-01 8.41474361e-01 5.17830963e-01 -8.34860230e+01] [-4.73674531e-01 -5.22895412e-01 7.08669758e-01 2.26142434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.699072329 meters Centerline goodness [0,1] 0.3780344678485391 Centerline is valid? [False, False] Translation: X:-114.50, Y:-83.59, Z:226.26 [[ 8.67703721e-01 -1.33580350e-01 4.78796974e-01 -1.14503796e+02] [-1.56251538e-01 8.41095142e-01 5.17826631e-01 -8.35886358e+01] [-4.71885272e-01 -5.24132858e-01 7.08949249e-01 2.26263224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72907232899996 meters Centerline goodness [0,1] 0.38760806916426516 Centerline is valid? [False, False] Translation: X:-114.57, Y:-83.69, Z:226.38 [[ 8.68339108e-01 -1.32507410e-01 4.77942445e-01 -1.14567346e+02] [-1.56429320e-01 8.41293810e-01 5.17450088e-01 -8.36898407e+01] [-4.70655991e-01 -5.24086359e-01 7.09800272e-01 2.26382761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.759072329 meters Centerline goodness [0,1] 0.376421243086539 Centerline is valid? [False, False] Translation: X:-114.63, Y:-83.79, Z:226.50 [[ 8.68996198e-01 -1.32193372e-01 4.76833850e-01 -1.14629567e+02] [-1.56220785e-01 8.41072221e-01 5.17873136e-01 -8.37889714e+01] [-4.69511102e-01 -5.24521144e-01 7.10237210e-01 2.26499882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78907232899996 meters Centerline goodness [0,1] 0.3550808076654193 Centerline is valid? [False, False] Translation: X:-114.69, Y:-83.89, Z:226.61 [[ 8.69424111e-01 -1.31598705e-01 4.76217909e-01 -1.14691215e+02] [-1.56567683e-01 8.40810084e-01 5.18193944e-01 -8.38858723e+01] [-4.68602472e-01 -5.25090643e-01 7.10416455e-01 2.26614202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.819072329 meters Centerline goodness [0,1] 0.3630995247011378 Centerline is valid? [False, False] Translation: X:-114.76, Y:-83.99, Z:226.74 [[ 8.69145260e-01 -1.30199770e-01 4.77110613e-01 -1.14759040e+02] [-1.59253154e-01 8.39656616e-01 5.19244836e-01 -8.39901479e+01] [-4.68214641e-01 -5.27280558e-01 7.09048844e-01 2.26737702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84907232899997 meters Centerline goodness [0,1] 0.3770204880057655 Centerline is valid? [False, False] Translation: X:-114.82, Y:-84.09, Z:226.85 [[ 8.69759853e-01 -1.30021910e-01 4.76037920e-01 -1.14821746e+02] [-1.59852156e-01 8.38415963e-01 5.21062339e-01 -8.40906891e+01] [-4.66867312e-01 -5.29294791e-01 7.08436262e-01 2.26854617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.879072329 meters Centerline goodness [0,1] 0.36059670781893005 Centerline is valid? [False, False] Translation: X:-114.89, Y:-84.19, Z:226.97 [[ 8.70679809e-01 -1.26921386e-01 4.75192205e-01 -1.14886073e+02] [-1.62540388e-01 8.37603451e-01 5.21537229e-01 -8.41911455e+01] [-4.64216859e-01 -5.31329860e-01 7.08654562e-01 2.26970852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90907232899997 meters Centerline goodness [0,1] 0.36856608196755025 Centerline is valid? [False, False] Translation: X:-114.95, Y:-84.29, Z:227.09 [[ 8.71491644e-01 -1.26110312e-01 4.73918246e-01 -1.14950108e+02] [-1.63187730e-01 8.36726597e-01 5.22741204e-01 -8.42933505e+01] [-4.62463057e-01 -5.32902234e-01 7.08620582e-01 2.27089093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.939072329 meters Centerline goodness [0,1] 0.37088883407334317 Centerline is valid? [False, False] Translation: X:-115.02, Y:-84.40, Z:227.21 [[ 8.72298708e-01 -1.25603145e-01 4.72566201e-01 -1.15015157e+02] [-1.63792439e-01 8.35555564e-01 5.24422479e-01 -8.43980749e+01] [-4.60724431e-01 -5.34855822e-01 7.08281193e-01 2.27210829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96907232899997 meters Centerline goodness [0,1] 0.38113742906489023 Centerline is valid? [False, False] Translation: X:-115.08, Y:-84.50, Z:227.34 [[ 8.73014233e-01 -1.25008860e-01 4.71401032e-01 -1.15082432e+02] [-1.65981113e-01 8.32728346e-01 5.28217543e-01 -8.45043579e+01] [-4.58580875e-01 -5.39385101e-01 7.06234589e-01 2.27335801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.999072329 meters Centerline goodness [0,1] 0.37645558161543846 Centerline is valid? [False, False] Translation: X:-115.15, Y:-84.61, Z:227.46 [[ 8.73210711e-01 -1.25443833e-01 4.70921330e-01 -1.15146331e+02] [-1.66081035e-01 8.31862545e-01 5.29548671e-01 -8.46072176e+01] [-4.58170431e-01 -5.40618674e-01 7.05557443e-01 2.27455755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.029072329 meters Centerline goodness [0,1] 0.37303481768046753 Centerline is valid? [False, False] Translation: X:-115.21, Y:-84.72, Z:227.58 [[ 8.74064508e-01 -1.23812262e-01 4.69767771e-01 -1.15214177e+02] [-1.66623221e-01 8.31921294e-01 5.29285993e-01 -8.47150300e+01] [-4.56341908e-01 -5.40904321e-01 7.06522879e-01 2.27580698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05907232899995 meters Centerline goodness [0,1] 0.37216429114991467 Centerline is valid? [False, False] Translation: X:-115.28, Y:-84.82, Z:227.70 [[ 8.74870913e-01 -1.23868407e-01 4.68249402e-01 -1.15276994e+02] [-1.65834033e-01 8.31713823e-01 5.29859594e-01 -8.48176210e+01] [-4.55082364e-01 -5.41210434e-01 7.07100635e-01 2.27699955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.089072329 meters Centerline goodness [0,1] 0.37151263270512713 Centerline is valid? [False, False] Translation: X:-115.34, Y:-84.92, Z:227.82 [[ 8.75090229e-01 -1.24305177e-01 4.67723544e-01 -1.15340116e+02] [-1.65443475e-01 8.31388117e-01 5.30492465e-01 -8.49207640e+01] [-4.54802757e-01 -5.41610582e-01 7.06974137e-01 2.27820244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11907232899995 meters Centerline goodness [0,1] 0.3732949285052978 Centerline is valid? [False, False] Translation: X:-115.40, Y:-85.02, Z:227.94 [[ 8.75197357e-01 -1.25035534e-01 4.67328259e-01 -1.15402873e+02] [-1.65100850e-01 8.30821943e-01 5.31485285e-01 -8.50242742e+01] [-4.54721119e-01 -5.42310809e-01 7.06489696e-01 2.27941616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.149072329 meters Centerline goodness [0,1] 0.3396214770623328 Centerline is valid? [False, False] Translation: X:-115.47, Y:-85.13, Z:228.07 [[ 8.74366005e-01 -1.26777657e-01 4.68413829e-01 -1.15468779e+02] [-1.65179834e-01 8.29873102e-01 5.32941138e-01 -8.51301587e+01] [-4.56289066e-01 -5.43358132e-01 7.04671717e-01 2.28067997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17907232899995 meters Centerline goodness [0,1] 0.3727057856335423 Centerline is valid? [False, False] Translation: X:-115.53, Y:-85.23, Z:228.19 [[ 8.73992018e-01 -1.27422311e-01 4.68936571e-01 -1.15532276e+02] [-1.65117322e-01 8.29720431e-01 5.33198158e-01 -8.52336601e+01] [-4.57027595e-01 -5.43440485e-01 7.04129404e-01 2.28190013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.209072329 meters Centerline goodness [0,1] 0.37748698640001643 Centerline is valid? [False, False] Translation: X:-115.60, Y:-85.34, Z:228.31 [[ 8.74217972e-01 -1.27183951e-01 4.68579960e-01 -1.15596614e+02] [-1.64419237e-01 8.30515599e-01 5.32174928e-01 -8.53390765e+01] [-4.56847076e-01 -5.42280446e-01 7.05140175e-01 2.28313397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23907232899995 meters Centerline goodness [0,1] 0.36191573403554966 Centerline is valid? [False, False] Translation: X:-115.66, Y:-85.44, Z:228.43 [[ 8.74172438e-01 -1.26948921e-01 4.68728621e-01 -1.15659484e+02] [-1.63564175e-01 8.31855809e-01 5.30342035e-01 -8.54428677e+01] [-4.57240975e-01 -5.40277600e-01 7.06421125e-01 2.28434411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.269072329 meters Centerline goodness [0,1] 0.36786734337436044 Centerline is valid? [False, False] Translation: X:-115.73, Y:-85.55, Z:228.56 [[ 8.74219284e-01 -1.26831400e-01 4.68673063e-01 -1.15725549e+02] [-1.62568600e-01 8.33100145e-01 5.28692348e-01 -8.55529590e+01] [-4.57506387e-01 -5.38384570e-01 7.07693409e-01 2.28562888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29907232899996 meters Centerline goodness [0,1] 0.37690175546658455 Centerline is valid? [False, False] Translation: X:-115.79, Y:-85.66, Z:228.69 [[ 8.74427142e-01 -1.28359725e-01 4.67868522e-01 -1.15792648e+02] [-1.60468384e-01 8.33567083e-01 5.28597972e-01 -8.56638523e+01] [-4.57850489e-01 -5.37298520e-01 7.08296004e-01 2.28693086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.329072329 meters Centerline goodness [0,1] 0.37895883428900257 Centerline is valid? [False, False] Translation: X:-115.86, Y:-85.78, Z:228.83 [[ 8.73577417e-01 -1.28449237e-01 4.69428685e-01 -1.15860339e+02] [-1.60975989e-01 8.33993198e-01 5.27770856e-01 -8.57756051e+01] [-4.59292094e-01 -5.36615448e-01 7.07880380e-01 2.28825471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35907232899996 meters Centerline goodness [0,1] 0.3825879742804905 Centerline is valid? [False, False] Translation: X:-115.93, Y:-85.89, Z:228.96 [[ 8.72969339e-01 -1.28918778e-01 4.70430104e-01 -1.15928719e+02] [-1.61140354e-01 8.34070825e-01 5.27597996e-01 -8.58883221e+01] [-4.60389313e-01 -5.36382147e-01 7.07344239e-01 2.28957410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.389072329 meters Centerline goodness [0,1] 0.38336897516038826 Centerline is valid? [False, False] Translation: X:-116.00, Y:-86.01, Z:229.09 [[ 8.73007233e-01 -1.28841188e-01 4.70381036e-01 -1.15999932e+02] [-1.60832660e-01 8.34466611e-01 5.27065774e-01 -8.60068533e+01] [-4.60425050e-01 -5.35784866e-01 7.07773517e-01 2.29094632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41907232899996 meters Centerline goodness [0,1] 0.38376823505239366 Centerline is valid? [False, False] Translation: X:-116.07, Y:-86.12, Z:229.22 [[ 8.74078689e-01 -1.28503411e-01 4.68479796e-01 -1.16068756e+02] [-1.59064207e-01 8.35504999e-01 5.25956247e-01 -8.61209105e+01] [-4.59004383e-01 -5.34245514e-01 7.09856821e-01 2.29224596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.449072329 meters Centerline goodness [0,1] 0.3815610999219039 Centerline is valid? [False, False] Translation: X:-116.14, Y:-86.24, Z:229.36 [[ 8.74067960e-01 -1.27761866e-01 4.68702579e-01 -1.16138164e+02] [-1.58861250e-01 8.36585852e-01 5.24296878e-01 -8.62359092e+01] [-4.59095094e-01 -5.32729780e-01 7.10936478e-01 2.29356732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47907232899996 meters Centerline goodness [0,1] 0.37712960302147047 Centerline is valid? [False, False] Translation: X:-116.21, Y:-86.35, Z:229.49 [[ 8.73523471e-01 -1.27839952e-01 4.69695319e-01 -1.16208175e+02] [-1.59173247e-01 8.36841793e-01 5.23793557e-01 -8.63509631e+01] [-4.60022416e-01 -5.32308895e-01 7.10652248e-01 2.29489284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.509072329 meters Centerline goodness [0,1] 0.38215854509626834 Centerline is valid? [False, False] Translation: X:-116.28, Y:-86.47, Z:229.62 [[ 8.72804349e-01 -1.27945405e-01 4.71001636e-01 -1.16278179e+02] [-1.59740940e-01 8.36993406e-01 5.23378324e-01 -8.64658086e+01] [-4.61189115e-01 -5.32045122e-01 7.10093366e-01 2.29622437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53907232899996 meters Centerline goodness [0,1] 0.37750657462195925 Centerline is valid? [False, False] Translation: X:-116.35, Y:-86.58, Z:229.75 [[ 8.72184309e-01 -1.28244953e-01 4.72067542e-01 -1.16348643e+02] [-1.60007186e-01 8.37146864e-01 5.23051460e-01 -8.65802452e+01] [-4.62268572e-01 -5.31731475e-01 7.09626244e-01 2.29754823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.569072329 meters Centerline goodness [0,1] 0.3787657570585453 Centerline is valid? [False, False] Translation: X:-116.42, Y:-86.69, Z:229.88 [[ 8.71683209e-01 -1.28214879e-01 4.73000346e-01 -1.16417433e+02] [-1.60231630e-01 8.37558948e-01 5.22322538e-01 -8.66922630e+01] [-4.63135194e-01 -5.31089402e-01 7.09541993e-01 2.29884603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59907232899997 meters Centerline goodness [0,1] 0.38262587189564 Centerline is valid? [False, False] Translation: X:-116.49, Y:-86.81, Z:230.02 [[ 8.71808346e-01 -1.28027882e-01 4.72820336e-01 -1.16486200e+02] [-1.59818574e-01 8.38080424e-01 5.21612142e-01 -8.68070136e+01] [-4.63042365e-01 -5.30311290e-01 7.10184275e-01 2.30015220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.629072329 meters Centerline goodness [0,1] 0.37958201341177433 Centerline is valid? [False, False] Translation: X:-116.55, Y:-86.92, Z:230.15 [[ 8.72010788e-01 -1.27575332e-01 4.72569275e-01 -1.16554589e+02] [-1.59630662e-01 8.38539022e-01 5.20932203e-01 -8.69213355e+01] [-4.62725877e-01 -5.29695047e-01 7.10850139e-01 2.30145202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65907232899997 meters Centerline goodness [0,1] 0.36011837481247044 Centerline is valid? [False, False] Translation: X:-116.62, Y:-87.03, Z:230.27 [[ 8.73234239e-01 -1.27114766e-01 4.70429379e-01 -1.16620626e+02] [-1.58824912e-01 8.38420901e-01 5.21368431e-01 -8.70326064e+01] [-4.60691450e-01 -5.29992669e-01 7.11948845e-01 2.30270637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.689072329 meters Centerline goodness [0,1] 0.376700226011917 Centerline is valid? [False, False] Translation: X:-116.69, Y:-87.15, Z:230.40 [[ 8.73573082e-01 -1.27074592e-01 4.69810727e-01 -1.16687712e+02] [-1.58244346e-01 8.38701163e-01 5.21094124e-01 -8.71451567e+01] [-4.60248627e-01 -5.29558690e-01 7.12557924e-01 2.30398597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71907232899997 meters Centerline goodness [0,1] 0.35474188441849464 Centerline is valid? [False, False] Translation: X:-116.75, Y:-87.26, Z:230.53 [[ 8.73759718e-01 -1.26800070e-01 4.69537750e-01 -1.16753695e+02] [-1.57880854e-01 8.39185603e-01 5.20424020e-01 -8.72564448e+01] [-4.60019121e-01 -5.28856565e-01 7.13227272e-01 2.30525574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.749072329 meters Centerline goodness [0,1] 0.37785036361395297 Centerline is valid? [False, False] Translation: X:-116.82, Y:-87.37, Z:230.65 [[ 8.74028015e-01 -1.27210808e-01 4.68926902e-01 -1.16818494e+02] [-1.57197855e-01 8.39173088e-01 5.20650904e-01 -8.73684373e+01] [-4.59743258e-01 -5.28777779e-01 7.13463522e-01 2.30652893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.779072329 meters Centerline goodness [0,1] 0.37044272172071313 Centerline is valid? [False, False] Translation: X:-116.89, Y:-87.48, Z:230.78 [[ 8.73868756e-01 -1.27335158e-01 4.69189893e-01 -1.16885862e+02] [-1.57032858e-01 8.39427816e-01 5.20289942e-01 -8.74834334e+01] [-4.60102249e-01 -5.28343354e-01 7.13553937e-01 2.30783416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80907232899995 meters Centerline goodness [0,1] 0.377159072215825 Centerline is valid? [False, False] Translation: X:-116.95, Y:-87.60, Z:230.91 [[ 8.73893842e-01 -1.28447590e-01 4.68839813e-01 -1.16952755e+02] [-1.56168804e-01 8.39153059e-01 5.20992752e-01 -8.75995114e+01] [-4.60348627e-01 -5.28510510e-01 7.13271184e-01 2.30913990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.839072329 meters Centerline goodness [0,1] 0.37579617834394907 Centerline is valid? [False, False] Translation: X:-117.02, Y:-87.71, Z:231.04 [[ 8.73741741e-01 -1.28426069e-01 4.69129102e-01 -1.17016997e+02] [-1.55919618e-01 8.39656325e-01 5.20256022e-01 -8.77088693e+01] [-4.60721654e-01 -5.27715833e-01 7.13618636e-01 2.31038204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86907232899995 meters Centerline goodness [0,1] 0.3754760091393755 Centerline is valid? [False, False] Translation: X:-117.08, Y:-87.82, Z:231.17 [[ 8.73472864e-01 -1.28314434e-01 4.69660050e-01 -1.17083061e+02] [-1.55622191e-01 8.40460279e-01 5.19045522e-01 -8.78209410e+01] [-4.61331649e-01 -5.26461704e-01 7.14150673e-01 2.31166057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.899072329 meters Centerline goodness [0,1] 0.37784868759650025 Centerline is valid? [False, False] Translation: X:-117.15, Y:-87.94, Z:231.30 [[ 8.73256539e-01 -1.29543669e-01 4.69724872e-01 -1.17148327e+02] [-1.54261918e-01 8.40923846e-01 5.18700633e-01 -8.79352789e+01] [-4.62197229e-01 -5.25419379e-01 7.14358592e-01 2.31296096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92907232899995 meters Centerline goodness [0,1] 0.38042470803896933 Centerline is valid? [False, False] Translation: X:-117.21, Y:-88.05, Z:231.42 [[ 8.72895165e-01 -1.30286814e-01 4.70190788e-01 -1.17213299e+02] [-1.53790326e-01 8.41091859e-01 5.18568241e-01 -8.80467872e+01] [-4.63036248e-01 -5.24966505e-01 7.14148165e-01 2.31422244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.959072329 meters Centerline goodness [0,1] 0.37770050615201023 Centerline is valid? [False, False] Translation: X:-117.28, Y:-88.15, Z:231.54 [[ 8.72374537e-01 -1.31303266e-01 4.70873783e-01 -1.17276640e+02] [-1.53213955e-01 8.41273353e-01 5.18444433e-01 -8.81548339e+01] [-4.64207013e-01 -5.24422157e-01 7.13787959e-01 2.31543602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98907232899995 meters Centerline goodness [0,1] 0.3809739244879493 Centerline is valid? [False, False] Translation: X:-117.34, Y:-88.26, Z:231.66 [[ 8.72292890e-01 -1.32016407e-01 4.70825639e-01 -1.17339152e+02] [-1.52456411e-01 8.41444703e-01 5.18389675e-01 -8.82631118e+01] [-4.64609682e-01 -5.23968015e-01 7.13859484e-01 2.31664900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.019072329 meters Centerline goodness [0,1] 0.3794928834785475 Centerline is valid? [False, False] Translation: X:-117.40, Y:-88.38, Z:231.79 [[ 8.72298416e-01 -1.31884981e-01 4.70852233e-01 -1.17404272e+02] [-1.51121136e-01 8.43083692e-01 5.16112672e-01 -8.83785166e+01] [-4.65035349e-01 -5.21359991e-01 7.15489961e-01 2.31793803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04907232899996 meters Centerline goodness [0,1] 0.37754514417341944 Centerline is valid? [False, False] Translation: X:-117.47, Y:-88.49, Z:231.92 [[ 8.72223169e-01 -1.31867270e-01 4.70996567e-01 -1.17469297e+02] [-1.50559866e-01 8.43823617e-01 5.15066432e-01 -8.84896982e+01] [-4.65358431e-01 -5.20166056e-01 7.16148591e-01 2.31918835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.079072329 meters Centerline goodness [0,1] 0.3826728186537035 Centerline is valid? [False, False] Translation: X:-117.53, Y:-88.60, Z:232.04 [[ 8.72381233e-01 -1.32524648e-01 4.70519077e-01 -1.17531785e+02] [-1.49495914e-01 8.44099803e-01 5.14923775e-01 -8.86002343e+01] [-4.65405153e-01 -5.19550517e-01 7.16564934e-01 2.32042091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10907232899996 meters Centerline goodness [0,1] 0.38202663483111376 Centerline is valid? [False, False] Translation: X:-117.59, Y:-88.71, Z:232.16 [[ 8.72060526e-01 -1.32909939e-01 4.71004658e-01 -1.17593487e+02] [-1.49229229e-01 8.44366834e-01 5.14563200e-01 -8.87054864e+01] [-4.66091276e-01 -5.19017917e-01 7.16504937e-01 2.32159955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.139072329 meters Centerline goodness [0,1] 0.3798349080878569 Centerline is valid? [False, False] Translation: X:-117.66, Y:-88.81, Z:232.28 [[ 8.71575937e-01 -1.33005874e-01 4.71873737e-01 -1.17657031e+02] [-1.49193538e-01 8.44889297e-01 5.13715255e-01 -8.88146468e+01] [-4.67008217e-01 -5.18142367e-01 7.16541564e-01 2.32282502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16907232899996 meters Centerline goodness [0,1] 0.38601948948268405 Centerline is valid? [False, False] Translation: X:-117.72, Y:-88.92, Z:232.40 [[ 8.71422685e-01 -1.34634173e-01 4.71694968e-01 -1.17718773e+02] [-1.47558100e-01 8.45112532e-01 5.13820411e-01 -8.89230433e+01] [-4.67813115e-01 -5.17357176e-01 7.16583869e-01 2.32401769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.199072329 meters Centerline goodness [0,1] 0.3873433893834487 Centerline is valid? [False, False] Translation: X:-117.78, Y:-89.03, Z:232.52 [[ 8.70895206e-01 -1.34624943e-01 4.72670779e-01 -1.17781158e+02] [-1.47327929e-01 8.46008765e-01 5.12409651e-01 -8.90298302e+01] [-4.68866742e-01 -5.15892715e-01 7.16950964e-01 2.32521041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22907232899996 meters Centerline goodness [0,1] 0.3876104736202386 Centerline is valid? [False, False] Translation: X:-117.84, Y:-89.13, Z:232.64 [[ 8.70990495e-01 -1.34884424e-01 4.72421156e-01 -1.17841530e+02] [-1.46566035e-01 8.46451605e-01 5.11896550e-01 -8.91341644e+01] [-4.68928517e-01 -5.15097926e-01 7.17481827e-01 2.32637168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.259072329 meters Centerline goodness [0,1] 0.3889014815883286 Centerline is valid? [False, False] Translation: X:-117.90, Y:-89.24, Z:232.75 [[ 8.71030654e-01 -1.34830184e-01 4.72362596e-01 -1.17901768e+02] [-1.46154508e-01 8.46914301e-01 5.11248498e-01 -8.92399823e+01] [-4.68982367e-01 -5.14351036e-01 7.17982278e-01 2.32754512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28907232899996 meters Centerline goodness [0,1] 0.38758572399448077 Centerline is valid? [False, False] Translation: X:-117.96, Y:-89.34, Z:232.87 [[ 8.70563648e-01 -1.34649518e-01 4.73274172e-01 -1.17963158e+02] [-1.46737402e-01 8.47024000e-01 5.10899676e-01 -8.93443886e+01] [-4.69666978e-01 -5.14217708e-01 7.17630183e-01 2.32872164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.319072329 meters Centerline goodness [0,1] 0.38758572399448077 Centerline is valid? [False, False] Translation: X:-118.02, Y:-89.45, Z:232.99 [[ 8.69950015e-01 -1.34155647e-01 4.74541078e-01 -1.18024662e+02] [-1.47311044e-01 8.47650983e-01 5.09693307e-01 -8.94470376e+01] [-4.70623446e-01 -5.13312841e-01 7.17651377e-01 2.32988506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34907232899997 meters Centerline goodness [0,1] 0.3883844934428592 Centerline is valid? [False, False] Translation: X:-118.09, Y:-89.55, Z:233.11 [[ 8.69501412e-01 -1.33599728e-01 4.75519093e-01 -1.18085988e+02] [-1.49345774e-01 8.46551643e-01 5.10926761e-01 -8.95532033e+01] [-4.70811146e-01 -5.15268307e-01 7.16125294e-01 2.33107456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.379072329 meters Centerline goodness [0,1] 0.38249237364992994 Centerline is valid? [False, False] Translation: X:-118.15, Y:-89.66, Z:233.23 [[ 8.69777478e-01 -1.33139884e-01 4.75143042e-01 -1.18147623e+02] [-1.50104340e-01 8.45888838e-01 5.11801486e-01 -8.96593929e+01] [-4.70059386e-01 -5.16474439e-01 7.15750186e-01 2.33226100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40907232899997 meters Centerline goodness [0,1] 0.37649726832285335 Centerline is valid? [False, False] Translation: X:-118.21, Y:-89.76, Z:233.34 [[ 8.70448915e-01 -1.32352469e-01 4.74132377e-01 -1.18208468e+02] [-1.50440484e-01 8.45570596e-01 5.12228492e-01 -8.97640543e+01] [-4.68707102e-01 -5.17197439e-01 7.16114838e-01 2.33342186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.439072329 meters Centerline goodness [0,1] 0.3874804188309011 Centerline is valid? [False, False] Translation: X:-118.27, Y:-89.87, Z:233.46 [[ 8.71547722e-01 -1.31804939e-01 4.72262667e-01 -1.18268835e+02] [-1.50168012e-01 8.45147975e-01 5.13005331e-01 -8.98682984e+01] [-4.66748473e-01 -5.18027373e-01 7.16793906e-01 2.33456966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46907232899997 meters Centerline goodness [0,1] 0.36185960210287604 Centerline is valid? [False, False] Translation: X:-118.33, Y:-89.97, Z:233.57 [[ 8.73121636e-01 -1.29650311e-01 4.69946174e-01 -1.18328526e+02] [-1.51312213e-01 8.44305364e-01 5.14055509e-01 -8.99724238e+01] [-4.63425532e-01 -5.19941582e-01 7.17563605e-01 2.33570685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.499072329 meters Centerline goodness [0,1] 0.36580639841688656 Centerline is valid? [False, False] Translation: X:-118.38, Y:-90.07, Z:233.67 [[ 8.73627705e-01 -1.29481398e-01 4.69051384e-01 -1.18383110e+02] [-1.52046602e-01 8.43039113e-01 5.15913640e-01 -9.00662102e+01] [-4.62229882e-01 -5.22034119e-01 7.16815119e-01 2.33674563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.529072329 meters Centerline goodness [0,1] 0.37876821001009664 Centerline is valid? [False, False] Translation: X:-118.44, Y:-90.17, Z:233.79 [[ 8.74307563e-01 -1.29557242e-01 4.67761913e-01 -1.18440409e+02] [-1.53919085e-01 8.39971056e-01 5.20343676e-01 -9.01682236e+01] [-4.60320759e-01 -5.26937896e-01 7.14451714e-01 2.33787152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55907232899995 meters Centerline goodness [0,1] 0.37474503986649366 Centerline is valid? [False, False] Translation: X:-118.50, Y:-90.27, Z:233.90 [[ 8.74464734e-01 -1.29718800e-01 4.67423216e-01 -1.18496912e+02] [-1.54425027e-01 8.39009886e-01 5.21742582e-01 -9.02663637e+01] [-4.59852520e-01 -5.28427331e-01 7.13652728e-01 2.33896762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.589072329 meters Centerline goodness [0,1] 0.3766372847845786 Centerline is valid? [False, False] Translation: X:-118.55, Y:-90.36, Z:234.01 [[ 8.74842613e-01 -1.29576475e-01 4.66755117e-01 -1.18553034e+02] [-1.54731783e-01 8.38329377e-01 5.22744613e-01 -9.03639259e+01] [-4.59029931e-01 -5.29541115e-01 7.13356664e-01 2.34005080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61907232899995 meters Centerline goodness [0,1] 0.3651930517823331 Centerline is valid? [False, False] Translation: X:-118.61, Y:-90.46, Z:234.11 [[ 8.76261598e-01 -1.28260658e-01 4.64451090e-01 -1.18608983e+02] [-1.54773543e-01 8.37913054e-01 5.23399335e-01 -9.04632900e+01] [-4.56301174e-01 -5.30519479e-01 7.14379676e-01 2.34111997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.649072329 meters Centerline goodness [0,1] 0.36910983991110746 Centerline is valid? [False, False] Translation: X:-118.66, Y:-90.56, Z:234.22 [[ 8.76526749e-01 -1.28077086e-01 4.64001204e-01 -1.18663943e+02] [-1.54603223e-01 8.37970412e-01 5.23357843e-01 -9.05577157e+01] [-4.55849428e-01 -5.30473231e-01 7.14702351e-01 2.34215174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67907232899995 meters Centerline goodness [0,1] 0.34125221111522486 Centerline is valid? [False, False] Translation: X:-118.72, Y:-90.65, Z:234.32 [[ 8.77570244e-01 -1.28561282e-01 4.61890099e-01 -1.18716080e+02] [-1.53408168e-01 8.37438776e-01 5.24559082e-01 -9.06515502e+01] [-4.54242668e-01 -5.31195155e-01 7.15189000e-01 2.34316650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.709072329 meters Centerline goodness [0,1] 0.3536224132965813 Centerline is valid? [False, False] Translation: X:-118.77, Y:-90.75, Z:234.42 [[ 8.77067844e-01 -1.29172515e-01 4.62673166e-01 -1.18770602e+02] [-1.53487491e-01 8.37318520e-01 5.24727820e-01 -9.07469479e+01] [-4.55185223e-01 -5.31236441e-01 7.14558784e-01 2.34424014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73907232899995 meters Centerline goodness [0,1] 0.3606513559635668 Centerline is valid? [False, False] Translation: X:-118.83, Y:-90.84, Z:234.53 [[ 8.76686154e-01 -1.30200763e-01 4.63108139e-01 -1.18825378e+02] [-1.53436345e-01 8.36716862e-01 5.25701608e-01 -9.08431516e+01] [-4.55937139e-01 -5.31932941e-01 7.13560559e-01 2.34532120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.769072329 meters Centerline goodness [0,1] 0.36851410245867944 Centerline is valid? [False, False] Translation: X:-118.88, Y:-90.94, Z:234.64 [[ 8.74731875e-01 -1.35983893e-01 4.65137107e-01 -1.18879131e+02] [-1.48516844e-01 8.38412669e-01 5.24411044e-01 -9.09363102e+01] [-4.61288299e-01 -5.27799751e-01 7.13190387e-01 2.34639576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79907232899996 meters Centerline goodness [0,1] 0.37664500740253326 Centerline is valid? [False, False] Translation: X:-118.94, Y:-91.04, Z:234.75 [[ 8.72089308e-01 -1.38362064e-01 4.69378502e-01 -1.18939111e+02] [-1.45400623e-01 8.42605993e-01 5.18530422e-01 -9.10362537e+01] [-4.67246078e-01 -5.20452764e-01 7.14709748e-01 2.34754957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.829072329 meters Centerline goodness [0,1] 0.3838410813697899 Centerline is valid? [False, False] Translation: X:-118.99, Y:-91.13, Z:234.86 [[ 8.70435439e-01 -1.40379296e-01 4.71842982e-01 -1.18993841e+02] [-1.41779149e-01 8.46382161e-01 5.13357488e-01 -9.11295793e+01] [-4.71424245e-01 -5.13742046e-01 7.16818171e-01 2.34862195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85907232899996 meters Centerline goodness [0,1] 0.3873110539845759 Centerline is valid? [False, False] Translation: X:-119.05, Y:-91.23, Z:234.98 [[ 8.68395738e-01 -1.44314513e-01 4.74407171e-01 -1.19054643e+02] [-1.35566213e-01 8.51171801e-01 5.07078265e-01 -9.12312891e+01] [-4.76980759e-01 -5.04658188e-01 7.19589792e-01 2.34979571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.889072329 meters Centerline goodness [0,1] 0.3820721721598157 Centerline is valid? [False, False] Translation: X:-119.11, Y:-91.33, Z:235.10 [[ 8.66971893e-01 -1.44142852e-01 4.77056155e-01 -1.19114650e+02] [-1.34946567e-01 8.53593649e-01 5.03157337e-01 -9.13318124e+01] [-4.79738638e-01 -5.00600359e-01 7.20590119e-01 2.35096536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91907232899996 meters Centerline goodness [0,1] 0.3952703398028279 Centerline is valid? [False, False] Translation: X:-119.18, Y:-91.44, Z:235.22 [[ 8.65373975e-01 -1.44270534e-01 4.79910301e-01 -1.19177949e+02] [-1.34840447e-01 8.55307742e-01 5.00266649e-01 -9.14375145e+01] [-4.82644732e-01 -4.97629058e-01 7.20707557e-01 2.35218586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.949072329 meters Centerline goodness [0,1] 0.39352195041594595 Centerline is valid? [False, False] Translation: X:-119.24, Y:-91.55, Z:235.34 [[ 8.63859454e-01 -1.46235056e-01 4.82039574e-01 -1.19243036e+02] [-1.32446123e-01 8.57327596e-01 4.97440869e-01 -9.15472475e+01] [-4.86009123e-01 -4.93563270e-01 7.21242283e-01 2.35343580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97907232899996 meters Centerline goodness [0,1] 0.3883878937615812 Centerline is valid? [False, False] Translation: X:-119.31, Y:-91.66, Z:235.47 [[ 8.63032267e-01 -1.45065863e-01 4.83871060e-01 -1.19307427e+02] [-1.32012757e-01 8.59821058e-01 4.93234609e-01 -9.16575972e+01] [-4.87594031e-01 -4.89554535e-01 7.22902772e-01 2.35468135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.009072329 meters Centerline goodness [0,1] 0.3937978434439049 Centerline is valid? [False, False] Translation: X:-119.37, Y:-91.77, Z:235.59 [[ 8.62783215e-01 -1.44249586e-01 4.84558749e-01 -1.19371371e+02] [-1.30915956e-01 8.61998586e-01 4.89713641e-01 -9.17687408e+01] [-4.88329947e-01 -4.85953181e-01 7.24833339e-01 2.35592374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03907232899996 meters Centerline goodness [0,1] 0.3740071607885098 Centerline is valid? [False, False] Translation: X:-119.44, Y:-91.88, Z:235.72 [[ 8.62157081e-01 -1.44699819e-01 4.85537980e-01 -1.19436235e+02] [-1.28369643e-01 8.64684547e-01 4.85635531e-01 -9.18820363e+01] [-4.90108562e-01 -4.81022448e-01 7.26918841e-01 2.35718376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.069072329 meters Centerline goodness [0,1] 0.3852396547817669 Centerline is valid? [False, False] Translation: X:-119.50, Y:-91.99, Z:235.84 [[ 8.61863963e-01 -1.44008633e-01 4.86263326e-01 -1.19501304e+02] [-1.27857970e-01 8.66160019e-01 4.83134723e-01 -9.19945243e+01] [-4.90757423e-01 -4.78569049e-01 7.28099456e-01 2.35844786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09907232899997 meters Centerline goodness [0,1] 0.39239123714527135 Centerline is valid? [False, False] Translation: X:-119.57, Y:-92.11, Z:235.97 [[ 8.61856970e-01 -1.44877197e-01 4.86017655e-01 -1.19565671e+02] [-1.26550011e-01 8.66577612e-01 4.82730086e-01 -9.21070762e+01] [-4.91108601e-01 -4.77549829e-01 7.28531744e-01 2.35968636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.129072329 meters Centerline goodness [0,1] 0.4030761618077605 Centerline is valid? [False, False] Translation: X:-119.63, Y:-92.22, Z:236.09 [[ 8.61696380e-01 -1.42895699e-01 4.86888250e-01 -1.19631285e+02] [-1.27016508e-01 8.68239246e-01 4.79611736e-01 -9.22185937e+01] [-4.91269942e-01 -4.75122542e-01 7.30008503e-01 2.36091383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15907232899997 meters Centerline goodness [0,1] 0.40286761979316876 Centerline is valid? [False, False] Translation: X:-119.70, Y:-92.33, Z:236.21 [[ 8.62603339e-01 -1.41974720e-01 4.85549853e-01 -1.19695642e+02] [-1.26512163e-01 8.68769926e-01 4.78783341e-01 -9.23296720e+01] [-4.89806240e-01 -4.74428071e-01 7.31442310e-01 2.36210730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.189072329 meters Centerline goodness [0,1] 0.40529342650423594 Centerline is valid? [False, False] Translation: X:-119.76, Y:-92.44, Z:236.33 [[ 8.63222111e-01 -1.39621531e-01 4.85132368e-01 -1.19761194e+02] [-1.27259872e-01 8.69772034e-01 4.76761506e-01 -9.24423503e+01] [-4.88520738e-01 -4.73288956e-01 7.33038234e-01 2.36331807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21907232899997 meters Centerline goodness [0,1] 0.39266444252234445 Centerline is valid? [False, False] Translation: X:-119.82, Y:-92.55, Z:236.45 [[ 8.65024474e-01 -1.37090797e-01 4.82637309e-01 -1.19822930e+02] [-1.28865341e-01 8.68970605e-01 4.77790553e-01 -9.25533418e+01] [-4.84898322e-01 -4.75495743e-01 7.34014588e-01 2.36447172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.249072329 meters Centerline goodness [0,1] 0.39441377605668615 Centerline is valid? [False, False] Translation: X:-119.88, Y:-92.66, Z:236.56 [[ 8.65945693e-01 -1.36810155e-01 4.81062407e-01 -1.19884069e+02] [-1.28842960e-01 8.68371814e-01 4.78883999e-01 -9.26600549e+01] [-4.83257229e-01 -4.76669040e-01 7.34335807e-01 2.36560466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.279072329 meters Centerline goodness [0,1] 0.3793763901474586 Centerline is valid? [False, False] Translation: X:-119.94, Y:-92.77, Z:236.67 [[ 8.66613026e-01 -1.36230726e-01 4.80024013e-01 -1.19944159e+02] [-1.29216337e-01 8.67922498e-01 4.79597410e-01 -9.27651522e+01] [-4.81959544e-01 -4.77652308e-01 7.34549706e-01 2.36672099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30907232899995 meters Centerline goodness [0,1] 0.39503274434696656 Centerline is valid? [False, False] Translation: X:-120.00, Y:-92.87, Z:236.78 [[ 8.68110449e-01 -1.34429683e-01 4.77821001e-01 -1.20002617e+02] [-1.30629625e-01 8.66822954e-01 4.81200444e-01 -9.28719479e+01] [-4.78873835e-01 -4.80152712e-01 7.34937565e-01 2.36782248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.339072329 meters Centerline goodness [0,1] 0.3911029684219194 Centerline is valid? [False, False] Translation: X:-120.06, Y:-92.97, Z:236.89 [[ 8.68250131e-01 -1.36147285e-01 4.77080315e-01 -1.20061354e+02] [-1.27356165e-01 8.68224165e-01 4.79548962e-01 -9.29723363e+01] [-4.79501947e-01 -4.77127569e-01 7.36496549e-01 2.36889300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36907232899995 meters Centerline goodness [0,1] 0.39038303130148266 Centerline is valid? [False, False] Translation: X:-120.12, Y:-93.07, Z:237.00 [[ 8.67830433e-01 -1.37985324e-01 4.77315818e-01 -1.20120591e+02] [-1.23840987e-01 8.70274300e-01 4.76745270e-01 -9.30704578e+01] [-4.81179540e-01 -4.72845316e-01 7.38162284e-01 2.36995383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.399072329 meters Centerline goodness [0,1] 0.410748876890739 Centerline is valid? [False, False] Translation: X:-120.18, Y:-93.17, Z:237.10 [[ 8.66848873e-01 -1.38898838e-01 4.78832063e-01 -1.20181015e+02] [-1.21496245e-01 8.72605371e-01 4.73073491e-01 -9.31709503e+01] [-4.83540788e-01 -4.68259521e-01 7.39541295e-01 2.37103106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42907232899995 meters Centerline goodness [0,1] 0.411211677628188 Centerline is valid? [False, False] Translation: X:-120.24, Y:-93.27, Z:237.21 [[ 8.66713399e-01 -1.38603859e-01 4.79162660e-01 -1.20243231e+02] [-1.21495763e-01 8.73026265e-01 4.72296433e-01 -9.32741345e+01] [-4.83783696e-01 -4.67561880e-01 7.39823779e-01 2.37212886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.459072329 meters Centerline goodness [0,1] 0.41046900136121767 Centerline is valid? [False, False] Translation: X:-120.30, Y:-93.38, Z:237.32 [[ 8.66907644e-01 -1.37219797e-01 4.79209625e-01 -1.20304752e+02] [-1.22460397e-01 8.73271603e-01 4.71593213e-01 -9.33757652e+01] [-4.83192082e-01 -4.67511962e-01 7.40241837e-01 2.37320142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48907232899995 meters Centerline goodness [0,1] 0.40280755277044855 Centerline is valid? [False, False] Translation: X:-120.36, Y:-93.48, Z:237.42 [[ 8.69253542e-01 -1.33669329e-01 4.75952509e-01 -1.20362977e+02] [-1.25461037e-01 8.71586241e-01 4.73916609e-01 -9.34759825e+01] [-4.78181773e-01 -4.71667187e-01 7.40859134e-01 2.37423287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.519072329 meters Centerline goodness [0,1] 0.40116614471732326 Centerline is valid? [False, False] Translation: X:-120.42, Y:-93.58, Z:237.53 [[ 8.70707971e-01 -1.31954112e-01 4.73767602e-01 -1.20420209e+02] [-1.26210538e-01 8.71117584e-01 4.74578818e-01 -9.35761572e+01] [-4.75329916e-01 -4.73014024e-01 7.41835025e-01 2.37526812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54907232899996 meters Centerline goodness [0,1] 0.4097573045755407 Centerline is valid? [False, False] Translation: X:-120.48, Y:-93.68, Z:237.64 [[ 8.69132436e-01 -1.35870030e-01 4.75550359e-01 -1.20482705e+02] [-1.21369970e-01 8.73529661e-01 4.71397139e-01 -9.36806498e+01] [-4.79456087e-01 -4.67424076e-01 7.42722420e-01 2.37637280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.579072329 meters Centerline goodness [0,1] 0.4050656389753313 Centerline is valid? [False, False] Translation: X:-120.54, Y:-93.78, Z:237.74 [[ 8.68524131e-01 -1.38431704e-01 4.75922785e-01 -1.20542489e+02] [-1.18348586e-01 8.74510123e-01 4.70346316e-01 -9.37803338e+01] [-4.81310135e-01 -4.64831914e-01 7.43149948e-01 2.37741600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60907232899996 meters Centerline goodness [0,1] 0.3955740542322591 Centerline is valid? [False, False] Translation: X:-120.60, Y:-93.88, Z:237.85 [[ 8.68301044e-01 -1.38757917e-01 4.76234751e-01 -1.20601510e+02] [-1.17576846e-01 8.75144207e-01 4.69359459e-01 -9.38796164e+01] [-4.81901424e-01 -4.63539488e-01 7.43573910e-01 2.37845554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.639072329 meters Centerline goodness [0,1] 0.380225709460851 Centerline is valid? [False, False] Translation: X:-120.66, Y:-93.98, Z:237.95 [[ 8.69874471e-01 -1.35745541e-01 4.74227323e-01 -1.20660583e+02] [-1.20703619e-01 8.73584646e-01 4.71466333e-01 -9.39785664e+01] [-4.78277160e-01 -4.67357481e-01 7.43524003e-01 2.37947186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66907232899996 meters Centerline goodness [0,1] 0.38618999567536394 Centerline is valid? [False, False] Translation: X:-120.72, Y:-94.08, Z:238.05 [[ 8.71111204e-01 -1.32960561e-01 4.72743862e-01 -1.20721599e+02] [-1.23530229e-01 8.72369416e-01 4.72981906e-01 -9.40818243e+01] [-4.75295227e-01 -4.70417995e-01 7.43506124e-01 2.38052742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.699072329 meters Centerline goodness [0,1] 0.38414621582081554 Centerline is valid? [False, False] Translation: X:-120.78, Y:-94.18, Z:238.16 [[ 8.73096052e-01 -1.29513189e-01 4.70031508e-01 -1.20780869e+02] [-1.26572578e-01 8.70805459e-01 4.75054982e-01 -9.41837260e+01] [-4.70831888e-01 -4.74261729e-01 7.43903990e-01 2.38155773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72907232899996 meters Centerline goodness [0,1] 0.37289742744063326 Centerline is valid? [False, False] Translation: X:-120.84, Y:-94.28, Z:238.26 [[ 8.75121108e-01 -1.29036147e-01 4.66382588e-01 -1.20837145e+02] [-1.26462990e-01 8.69311822e-01 4.77811750e-01 -9.42834046e+01] [-4.67086885e-01 -4.77123285e-01 7.44434828e-01 2.38255628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.759072329 meters Centerline goodness [0,1] 0.3486737701201542 Centerline is valid? [False, False] Translation: X:-120.89, Y:-94.37, Z:238.35 [[ 8.75435790e-01 -1.29736036e-01 4.65597186e-01 -1.20892073e+02] [-1.24007750e-01 8.70768101e-01 4.75799320e-01 -9.43739687e+01] [-4.67155494e-01 -4.74269413e-01 7.46213286e-01 2.38349759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78907232899996 meters Centerline goodness [0,1] 0.35472583566606286 Centerline is valid? [False, False] Translation: X:-120.94, Y:-94.46, Z:238.44 [[ 8.75847515e-01 -1.25686258e-01 4.65933573e-01 -1.20944029e+02] [-1.27556899e-01 8.70859202e-01 4.74693046e-01 -9.44626616e+01] [-4.65424932e-01 -4.75191767e-01 7.46707719e-01 2.38441453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.819072329 meters Centerline goodness [0,1] 0.36487764754266916 Centerline is valid? [False, False] Translation: X:-121.00, Y:-94.55, Z:238.53 [[ 8.77434210e-01 -1.24349690e-01 4.63299430e-01 -1.20995492e+02] [-1.29043632e-01 8.69026721e-01 4.77640346e-01 -9.45535371e+01] [-4.62014014e-01 -4.78883820e-01 7.46467238e-01 2.38533178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84907232899997 meters Centerline goodness [0,1] 0.3688452128862483 Centerline is valid? [False, False] Translation: X:-121.05, Y:-94.65, Z:238.63 [[ 8.79724056e-01 -1.22295794e-01 4.59488112e-01 -1.21049118e+02] [-1.32481883e-01 8.65046079e-01 4.83884110e-01 -9.46469935e+01] [-4.56655381e-01 -4.86558342e-01 7.44799868e-01 2.38628086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.879072329 meters Centerline goodness [0,1] 0.3706674894579862 Centerline is valid? [False, False] Translation: X:-121.10, Y:-94.74, Z:238.72 [[ 8.80182065e-01 -1.23442321e-01 4.58302876e-01 -1.21102039e+02] [-1.30913942e-01 8.64992541e-01 4.84406280e-01 -9.47384616e+01] [-4.56224805e-01 -4.86363956e-01 7.45190600e-01 2.38721079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90907232899997 meters Centerline goodness [0,1] 0.35364374550313493 Centerline is valid? [False, False] Translation: X:-121.16, Y:-94.83, Z:238.81 [[ 8.80415390e-01 -1.24280890e-01 4.57627579e-01 -1.21155332e+02] [-1.29059709e-01 8.65817228e-01 4.83429539e-01 -9.48280284e+01] [-4.56302895e-01 -4.84680088e-01 7.46239157e-01 2.38813020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.939072329 meters Centerline goodness [0,1] 0.35932712279186463 Centerline is valid? [False, False] Translation: X:-121.21, Y:-94.92, Z:238.91 [[ 8.82017189e-01 -1.20719080e-01 4.55491582e-01 -1.21211355e+02] [-1.32018778e-01 8.64609630e-01 4.84789883e-01 -9.49224806e+01] [-4.52345797e-01 -4.87726452e-01 7.46663370e-01 2.38907509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96907232899997 meters Centerline goodness [0,1] 0.36363636363636365 Centerline is valid? [False, False] Translation: X:-121.27, Y:-95.02, Z:239.01 [[ 8.83535035e-01 -1.19440470e-01 4.52879471e-01 -1.21266444e+02] [-1.33443285e-01 8.62665375e-01 4.87853810e-01 -9.50200124e+01] [-4.48952927e-01 -4.91469658e-01 7.46256554e-01 2.39005487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.999072329 meters Centerline goodness [0,1] 0.3627571762966614 Centerline is valid? [False, False] Translation: X:-121.32, Y:-95.11, Z:239.10 [[ 8.86593652e-01 -1.14652029e-01 4.48114503e-01 -1.21319706e+02] [-1.39354409e-01 8.57572477e-01 4.95126039e-01 -9.51125562e+01] [-4.41057869e-01 -5.01422335e-01 7.44341049e-01 2.39098186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.029072329 meters Centerline goodness [0,1] 0.3577262466652986 Centerline is valid? [False, False] Translation: X:-121.37, Y:-95.21, Z:239.19 [[ 8.88827374e-01 -1.13484259e-01 4.43967591e-01 -1.21372273e+02] [-1.40738657e-01 8.54418652e-01 5.00161371e-01 -9.52093430e+01] [-4.36094633e-01 -5.07040521e-01 7.43459065e-01 2.39193898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05907232899995 meters Centerline goodness [0,1] 0.35034907597535936 Centerline is valid? [False, False] Translation: X:-121.42, Y:-95.30, Z:239.29 [[ 8.89775487e-01 -1.12944048e-01 4.42202697e-01 -1.21423051e+02] [-1.41133905e-01 8.53316045e-01 5.01929226e-01 -9.53041792e+01] [-4.34028575e-01 -5.09014114e-01 7.43319465e-01 2.39288643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.089072329 meters Centerline goodness [0,1] 0.34940526326601884 Centerline is valid? [False, False] Translation: X:-121.48, Y:-95.40, Z:239.39 [[ 8.89177538e-01 -1.13467372e-01 4.43270191e-01 -1.21476363e+02] [-1.40426119e-01 8.54341878e-01 5.00380316e-01 -9.53983713e+01] [-4.35481127e-01 -5.07173650e-01 7.43727825e-01 2.39385517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11907232899995 meters Centerline goodness [0,1] 0.32918668144681196 Centerline is valid? [False, False] Translation: X:-121.53, Y:-95.49, Z:239.48 [[ 8.90071792e-01 -1.10695439e-01 4.42174993e-01 -1.21528648e+02] [-1.43163751e-01 8.53086591e-01 5.01744366e-01 -9.54903161e+01] [-4.32754370e-01 -5.09891938e-01 7.43460737e-01 2.39480180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.149072329 meters Centerline goodness [0,1] 0.33972951341145563 Centerline is valid? [False, False] Translation: X:-121.58, Y:-95.59, Z:239.58 [[ 8.91873479e-01 -1.10490543e-01 4.38581277e-01 -1.21583427e+02] [-1.43231265e-01 8.50792991e-01 5.05604679e-01 -9.55917959e+01] [-4.29006412e-01 -5.13753955e-01 7.42974005e-01 2.39581779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17907232899995 meters Centerline goodness [0,1] 0.34622645381048134 Centerline is valid? [False, False] Translation: X:-121.64, Y:-95.69, Z:239.68 [[ 8.93421124e-01 -1.09841355e-01 4.35584172e-01 -1.21636334e+02] [-1.43840902e-01 8.48643277e-01 5.09032792e-01 -9.56887089e+01] [-4.25568431e-01 -5.17435470e-01 7.42396151e-01 2.39679572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.209072329 meters Centerline goodness [0,1] 0.34664671027002647 Centerline is valid? [False, False] Translation: X:-121.69, Y:-95.79, Z:239.78 [[ 8.96256717e-01 -1.06091110e-01 4.30660624e-01 -1.21689932e+02] [-1.46861048e-01 8.45215784e-01 5.13850280e-01 -9.57869575e+01] [-4.18516104e-01 -5.23789036e-01 7.41949673e-01 2.39776715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23907232899995 meters Centerline goodness [0,1] 0.34664671027002647 Centerline is valid? [False, False] Translation: X:-121.74, Y:-95.88, Z:239.87 [[ 8.95844646e-01 -1.08055990e-01 4.31029318e-01 -1.21740041e+02] [-1.45738138e-01 8.44888539e-01 5.14707443e-01 -9.58812853e+01] [-4.19788953e-01 -5.23915317e-01 7.41140995e-01 2.39872039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.269072329 meters Centerline goodness [0,1] 0.3447985888916236 Centerline is valid? [False, False] Translation: X:-121.79, Y:-95.97, Z:239.97 [[ 8.96537143e-01 -1.07106010e-01 4.29824910e-01 -1.21789464e+02] [-1.46893134e-01 8.43538559e-01 5.16589883e-01 -9.59749983e+01] [-4.17903766e-01 -5.26280346e-01 7.40530512e-01 2.39965906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29907232899996 meters Centerline goodness [0,1] 0.3384024955875713 Centerline is valid? [False, False] Translation: X:-121.84, Y:-96.07, Z:240.06 [[ 8.97979572e-01 -1.04518078e-01 4.27444336e-01 -1.21839308e+02] [-1.49082340e-01 8.41673849e-01 5.18998640e-01 -9.60739642e+01] [-4.14013460e-01 -5.29774578e-01 7.40224123e-01 2.40064208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.329072329 meters Centerline goodness [0,1] 0.33731625195039827 Centerline is valid? [False, False] Translation: X:-121.89, Y:-96.17, Z:240.16 [[ 8.98667641e-01 -1.05016330e-01 4.25873269e-01 -1.21889714e+02] [-1.48853044e-01 8.40283535e-01 5.21312144e-01 -9.61741751e+01] [-4.12600584e-01 -5.31878888e-01 7.39503622e-01 2.40164448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35907232899996 meters Centerline goodness [0,1] 0.33511904761904765 Centerline is valid? [False, False] Translation: X:-121.94, Y:-96.27, Z:240.26 [[ 8.99481489e-01 -1.05754048e-01 4.23968316e-01 -1.21937283e+02] [-1.48399344e-01 8.38667513e-01 5.24036676e-01 -9.62707832e+01] [-4.10987452e-01 -5.34277909e-01 7.38672072e-01 2.40261113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.389072329 meters Centerline goodness [0,1] 0.3312045669226662 Centerline is valid? [False, False] Translation: X:-121.98, Y:-96.37, Z:240.36 [[ 8.99756014e-01 -1.05992332e-01 4.23325809e-01 -1.21984117e+02] [-1.48504047e-01 8.37793077e-01 5.25403947e-01 -9.63659426e+01] [-4.10348222e-01 -5.35600957e-01 7.38069070e-01 2.40357189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41907232899996 meters Centerline goodness [0,1] 0.3317920263049733 Centerline is valid? [False, False] Translation: X:-122.03, Y:-96.46, Z:240.45 [[ 9.00236186e-01 -1.07261938e-01 4.21983041e-01 -1.22028776e+02] [-1.46987807e-01 8.37413586e-01 5.26434299e-01 -9.64631301e+01] [-4.09840694e-01 -5.35941567e-01 7.38103816e-01 2.40453251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.449072329 meters Centerline goodness [0,1] 0.3367107859256824 Centerline is valid? [False, False] Translation: X:-122.07, Y:-96.55, Z:240.54 [[ 8.99206481e-01 -1.11538573e-01 4.23068376e-01 -1.22070285e+02] [-1.42434101e-01 8.39658887e-01 5.24104455e-01 -9.65470299e+01] [-4.13690985e-01 -5.31537486e-01 7.39139817e-01 2.40538246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47907232899996 meters Centerline goodness [0,1] 0.33902519212591953 Centerline is valid? [False, False] Translation: X:-122.11, Y:-96.63, Z:240.62 [[ 8.97719820e-01 -1.14972381e-01 4.25300455e-01 -1.22113418e+02] [-1.39170135e-01 8.41914581e-01 5.21355456e-01 -9.66309202e+01] [-4.18008132e-01 -5.27220248e-01 7.39802684e-01 2.40624594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.509072329 meters Centerline goodness [0,1] 0.3244743170746748 Centerline is valid? [False, False] Translation: X:-122.16, Y:-96.73, Z:240.72 [[ 8.96722922e-01 -1.16597162e-01 4.26957965e-01 -1.22161864e+02] [-1.36807121e-01 8.44412619e-01 5.17929667e-01 -9.67265286e+01] [-4.20917822e-01 -5.22850294e-01 7.41252829e-01 2.40722166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53907232899996 meters Centerline goodness [0,1] 0.32713311981604665 Centerline is valid? [False, False] Translation: X:-122.21, Y:-96.82, Z:240.82 [[ 8.96207932e-01 -1.15835774e-01 4.28244576e-01 -1.22207201e+02] [-1.37426195e-01 8.45337934e-01 5.16253637e-01 -9.68171043e+01] [-4.21812025e-01 -5.21522627e-01 7.41679692e-01 2.40815842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.569072329 meters Centerline goodness [0,1] 0.33236121665194795 Centerline is valid? [False, False] Translation: X:-122.25, Y:-96.91, Z:240.91 [[ 8.95947173e-01 -1.16338135e-01 4.28653825e-01 -1.22249538e+02] [-1.37267060e-01 8.45317363e-01 5.16329653e-01 -9.69052561e+01] [-4.22417350e-01 -5.21444143e-01 7.41390308e-01 2.40905487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59907232899997 meters Centerline goodness [0,1] 0.33997946611909646 Centerline is valid? [False, False] Translation: X:-122.30, Y:-97.00, Z:241.01 [[ 8.93938445e-01 -1.19179566e-01 4.32053569e-01 -1.22297466e+02] [-1.34335832e-01 8.48427597e-01 5.11980953e-01 -9.70015313e+01] [-4.27583840e-01 -5.15719733e-01 7.42431961e-01 2.41006115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.629072329 meters Centerline goodness [0,1] 0.3434779037292591 Centerline is valid? [False, False] Translation: X:-122.35, Y:-97.10, Z:241.11 [[ 8.93148211e-01 -1.19093773e-01 4.33708366e-01 -1.22345612e+02] [-1.35121252e-01 8.48707862e-01 5.11309312e-01 -9.70995170e+01] [-4.28985455e-01 -5.15278215e-01 7.41929808e-01 2.41107688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65907232899997 meters Centerline goodness [0,1] 0.3438193474151393 Centerline is valid? [False, False] Translation: X:-122.39, Y:-97.20, Z:241.21 [[ 8.93971262e-01 -1.15821854e-01 4.32898003e-01 -1.22392602e+02] [-1.37832261e-01 8.48125827e-01 5.11551414e-01 -9.71972112e+01] [-4.26400810e-01 -5.16979574e-01 7.42236128e-01 2.41207778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.689072329 meters Centerline goodness [0,1] 0.34447528009045125 Centerline is valid? [False, False] Translation: X:-122.44, Y:-97.29, Z:241.31 [[ 8.94805285e-01 -1.13780099e-01 4.31714710e-01 -1.22438903e+02] [-1.39605987e-01 8.47180403e-01 5.12635868e-01 -9.72943122e+01] [-4.24068002e-01 -5.18979242e-01 7.42177119e-01 2.41306679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71907232899997 meters Centerline goodness [0,1] 0.34435057861092266 Centerline is valid? [False, False] Translation: X:-122.48, Y:-97.39, Z:241.40 [[ 8.95038488e-01 -1.13994190e-01 4.31174478e-01 -1.22484590e+02] [-1.38982029e-01 8.47350603e-01 5.12524098e-01 -9.73892032e+01] [-4.23780723e-01 -5.18654297e-01 7.42568258e-01 2.41404450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.749072329 meters Centerline goodness [0,1] 0.3439380558236973 Centerline is valid? [False, False] Translation: X:-122.53, Y:-97.49, Z:241.51 [[ 8.95981194e-01 -1.12343743e-01 4.29647045e-01 -1.22533633e+02] [-1.40739467e-01 8.45771635e-01 5.14648174e-01 -9.74888320e+01] [-4.21200786e-01 -5.21583382e-01 7.41984281e-01 2.41507467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.779072329 meters Centerline goodness [0,1] 0.3407890138354953 Centerline is valid? [False, False] Translation: X:-122.58, Y:-97.60, Z:241.62 [[ 8.97778873e-01 -1.11395830e-01 4.26126816e-01 -1.22584112e+02] [-1.41286203e-01 8.43523374e-01 5.18176154e-01 -9.75957483e+01] [-4.17170592e-01 -5.25413444e-01 7.41558770e-01 2.41615198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80907232899995 meters Centerline goodness [0,1] 0.3351076948372246 Centerline is valid? [False, False] Translation: X:-122.63, Y:-97.70, Z:241.72 [[ 8.99209891e-01 -1.09814846e-01 4.23511832e-01 -1.22630908e+02] [-1.42225192e-01 8.42047584e-01 5.20315156e-01 -9.76962212e+01] [-4.13755444e-01 -5.28106586e-01 7.41559078e-01 2.41718354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.839072329 meters Centerline goodness [0,1] 0.33590781176180595 Centerline is valid? [False, False] Translation: X:-122.68, Y:-97.79, Z:241.82 [[ 8.99652076e-01 -1.09690781e-01 4.22603923e-01 -1.22676273e+02] [-1.41831895e-01 8.42007724e-01 5.20486989e-01 -9.77900477e+01] [-4.12928391e-01 -5.28195915e-01 7.41956346e-01 2.41816689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86907232899995 meters Centerline goodness [0,1] 0.3381555153707052 Centerline is valid? [False, False] Translation: X:-122.72, Y:-97.88, Z:241.91 [[ 9.00185011e-01 -1.08794217e-01 4.21699850e-01 -1.22721714e+02] [-1.42357406e-01 8.41596889e-01 5.21007721e-01 -9.78844035e+01] [-4.11583909e-01 -5.29035438e-01 7.42105242e-01 2.41914492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.899072329 meters Centerline goodness [0,1] 0.3369263935940868 Centerline is valid? [False, False] Translation: X:-122.77, Y:-97.98, Z:242.02 [[ 9.00391948e-01 -1.08332479e-01 4.21376808e-01 -1.22768439e+02] [-1.42941269e-01 8.41086722e-01 5.21671276e-01 -9.79828577e+01] [-4.10928380e-01 -5.29940752e-01 7.41822530e-01 2.42016739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92907232899995 meters Centerline goodness [0,1] 0.33431904057828155 Centerline is valid? [False, False] Translation: X:-122.81, Y:-98.08, Z:242.12 [[ 9.01997789e-01 -1.04679303e-01 4.18858249e-01 -1.22814140e+02] [-1.45807336e-01 8.39303147e-01 5.23746549e-01 -9.80810164e+01] [-4.06374470e-01 -5.33490835e-01 7.41786573e-01 2.42117326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.959072329 meters Centerline goodness [0,1] 0.33316926105949674 Centerline is valid? [False, False] Translation: X:-122.86, Y:-98.17, Z:242.21 [[ 9.02818095e-01 -1.05304902e-01 4.16929689e-01 -1.22856959e+02] [-1.45660056e-01 8.37350581e-01 5.26903362e-01 -9.81729745e+01] [-4.04601824e-01 -5.36427892e-01 7.40636538e-01 2.42212950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98907232899995 meters Centerline goodness [0,1] 0.3328886060879739 Centerline is valid? [False, False] Translation: X:-122.90, Y:-98.27, Z:242.32 [[ 9.03181510e-01 -1.05746206e-01 4.16029927e-01 -1.22901923e+02] [-1.47257971e-01 8.34041281e-01 5.31686216e-01 -9.82703293e+01] [-4.03209933e-01 -5.41472882e-01 7.37718691e-01 2.42315104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.019072329 meters Centerline goodness [0,1] 0.3308395507091908 Centerline is valid? [False, False] Translation: X:-122.95, Y:-98.37, Z:242.41 [[ 9.03676870e-01 -1.06058047e-01 4.14873240e-01 -1.22945726e+02] [-1.47126021e-01 8.32964139e-01 5.33408546e-01 -9.83661471e+01] [-4.02146799e-01 -5.43067614e-01 7.37126528e-01 2.42414278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04907232899996 meters Centerline goodness [0,1] 0.3321703437660338 Centerline is valid? [False, False] Translation: X:-122.99, Y:-98.46, Z:242.52 [[ 9.03949051e-01 -1.04749720e-01 4.14612601e-01 -1.22991769e+02] [-1.47946440e-01 8.33063787e-01 5.33025870e-01 -9.84644167e+01] [-4.01233054e-01 -5.43168687e-01 7.37549872e-01 2.42516426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.079072329 meters Centerline goodness [0,1] 0.325741253719093 Centerline is valid? [False, False] Translation: X:-123.04, Y:-98.56, Z:242.62 [[ 9.05074943e-01 -1.03226060e-01 4.12533305e-01 -1.23036240e+02] [-1.48283361e-01 8.32596676e-01 5.33661709e-01 -9.85603102e+01] [-3.98561654e-01 -5.44175666e-01 7.38255682e-01 2.42615820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10907232899996 meters Centerline goodness [0,1] 0.3291572688127947 Centerline is valid? [False, False] Translation: X:-123.08, Y:-98.66, Z:242.72 [[ 9.06272404e-01 -1.01783219e-01 4.10256635e-01 -1.23080984e+02] [-1.48731925e-01 8.31720691e-01 5.34901400e-01 -9.86570657e+01] [-3.95662918e-01 -5.45784636e-01 7.38627096e-01 2.42716986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.139072329 meters Centerline goodness [0,1] 0.32504411342279127 Centerline is valid? [False, False] Translation: X:-123.13, Y:-98.76, Z:242.82 [[ 9.07172553e-01 -9.80716276e-02 4.09169788e-01 -1.23127446e+02] [-1.52151537e-01 8.30187781e-01 5.36319082e-01 -9.87567754e+01] [-3.92285444e-01 -5.48789762e-01 7.38201820e-01 2.42822290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16907232899996 meters Centerline goodness [0,1] 0.3226316005415829 Centerline is valid? [False, False] Translation: X:-123.17, Y:-98.86, Z:242.93 [[ 9.07501845e-01 -9.84482497e-02 4.08348311e-01 -1.23173653e+02] [-1.52787754e-01 8.28190247e-01 5.39218709e-01 -9.88597066e+01] [-3.91275227e-01 -5.51732595e-01 7.36542491e-01 2.42930480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.199072329 meters Centerline goodness [0,1] 0.3160225525371604 Centerline is valid? [False, False] Translation: X:-123.22, Y:-98.96, Z:243.04 [[ 9.08276026e-01 -9.70487605e-02 4.06959701e-01 -1.23219187e+02] [-1.54185504e-01 8.26608813e-01 5.41243660e-01 -9.89628399e+01] [-3.88923502e-01 -5.54345928e-01 7.35825456e-01 2.43037640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22907232899996 meters Centerline goodness [0,1] 0.3161523309258043 Centerline is valid? [False, False] Translation: X:-123.26, Y:-99.06, Z:243.14 [[ 9.08952605e-01 -9.79229797e-02 4.05236044e-01 -1.23261784e+02] [-1.52839485e-01 8.26075426e-01 5.42438459e-01 -9.90593820e+01] [-3.87872728e-01 -5.54986919e-01 7.35896913e-01 2.43138219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.259072329 meters Centerline goodness [0,1] 0.31911357340720226 Centerline is valid? [False, False] Translation: X:-123.31, Y:-99.16, Z:243.24 [[ 9.09264346e-01 -9.97969449e-02 4.04077863e-01 -1.23305233e+02] [-1.50980624e-01 8.25622388e-01 5.43647425e-01 -9.91573113e+01] [-3.87870083e-01 -5.55327148e-01 7.35641596e-01 2.43240918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28907232899996 meters Centerline goodness [0,1] 0.31954254270696447 Centerline is valid? [False, False] Translation: X:-123.35, Y:-99.25, Z:243.34 [[ 9.08865017e-01 -1.02696885e-01 4.04249589e-01 -1.23347036e+02] [-1.47596401e-01 8.27309225e-01 5.42009915e-01 -9.92547746e+01] [-3.90102144e-01 -5.52279636e-01 7.36754722e-01 2.43342925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.319072329 meters Centerline goodness [0,1] 0.32028842598299023 Centerline is valid? [False, False] Translation: X:-123.39, Y:-99.35, Z:243.45 [[ 9.08438232e-01 -1.03099211e-01 4.05105580e-01 -1.23389560e+02] [-1.45970015e-01 8.29863894e-01 5.38533818e-01 -9.93538265e+01] [-3.91704905e-01 -5.48357977e-01 7.38830695e-01 2.43447687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34907232899997 meters Centerline goodness [0,1] 0.3240736941446801 Centerline is valid? [False, False] Translation: X:-123.43, Y:-99.45, Z:243.55 [[ 9.08603322e-01 -1.04777065e-01 4.04304056e-01 -1.23431590e+02] [-1.42704878e-01 8.31882276e-01 5.36290216e-01 -9.94521965e+01] [-3.92524293e-01 -5.44971233e-01 7.40898802e-01 2.43551818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.379072329 meters Centerline goodness [0,1] 0.3244058613471248 Centerline is valid? [False, False] Translation: X:-123.48, Y:-99.55, Z:243.66 [[ 9.07162525e-01 -1.09452379e-01 4.06295865e-01 -1.23475880e+02] [-1.39457659e-01 8.32797358e-01 5.35723923e-01 -9.95495928e+01] [-3.96998381e-01 -5.42649737e-01 7.40218582e-01 2.43658671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40907232899997 meters Centerline goodness [0,1] 0.32616193135161764 Centerline is valid? [False, False] Translation: X:-123.52, Y:-99.65, Z:243.77 [[ 9.05523804e-01 -1.13397138e-01 4.08861504e-01 -1.23521647e+02] [-1.38967235e-01 8.31209206e-01 5.38311587e-01 -9.96537785e+01] [-4.00892439e-01 -5.44272308e-01 7.36921235e-01 2.43771661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.439072329 meters Centerline goodness [0,1] 0.3224760380107957 Centerline is valid? [False, False] Translation: X:-123.57, Y:-99.76, Z:243.89 [[ 9.04379827e-01 -1.17759593e-01 4.10158270e-01 -1.23568257e+02] [-1.37625302e-01 8.29319362e-01 5.41561327e-01 -9.97629489e+01] [-4.03926237e-01 -5.46225295e-01 7.33813002e-01 2.43889703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46907232899997 meters Centerline goodness [0,1] 0.328121152425511 Centerline is valid? [False, False] Translation: X:-123.61, Y:-99.87, Z:244.01 [[ 9.03163323e-01 -1.21276064e-01 4.11810793e-01 -1.23614086e+02] [-1.35352773e-01 8.29896896e-01 5.41249266e-01 -9.98717543e+01] [-4.07401079e-01 -5.44576219e-01 7.33117387e-01 2.44006623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.499072329 meters Centerline goodness [0,1] 0.32702852566077256 Centerline is valid? [False, False] Translation: X:-123.66, Y:-99.98, Z:244.12 [[ 9.02693598e-01 -1.21002607e-01 4.12919650e-01 -1.23658527e+02] [-1.34673858e-01 8.31976524e-01 5.38217443e-01 -9.99763431e+01] [-4.08665169e-01 -5.41454922e-01 7.34723994e-01 2.44118462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.529072329 meters Centerline goodness [0,1] 0.32980078044773053 Centerline is valid? [False, False] Translation: X:-123.70, Y:-100.08, Z:244.23 [[ 9.03018608e-01 -1.22892341e-01 4.11648961e-01 -1.23703989e+02] [-1.30589917e-01 8.34343965e-01 5.35552445e-01 -1.00084261e+02] [-4.09272120e-01 -5.37371026e-01 7.37379625e-01 2.44234107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55907232899995 meters Centerline goodness [0,1] 0.33195063350925114 Centerline is valid? [False, False] Translation: X:-123.75, Y:-100.19, Z:244.35 [[ 9.02176032e-01 -1.26408556e-01 4.12430944e-01 -1.23748541e+02] [-1.27983373e-01 8.34612031e-01 5.35763954e-01 -1.00189569e+02] [-4.11944975e-01 -5.36137702e-01 7.36788777e-01 2.44347354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.589072329 meters Centerline goodness [0,1] 0.33378480986681447 Centerline is valid? [False, False] Translation: X:-123.79, Y:-100.30, Z:244.46 [[ 9.01023216e-01 -1.30006583e-01 4.13830221e-01 -1.23792405e+02] [-1.25719047e-01 8.34813800e-01 5.35985672e-01 -1.00296201e+02] [-4.15152845e-01 -5.34961875e-01 7.35842312e-01 2.44462086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61907232899995 meters Centerline goodness [0,1] 0.3353463150110919 Centerline is valid? [False, False] Translation: X:-123.84, Y:-100.41, Z:244.58 [[ 8.98931969e-01 -1.35114966e-01 4.16731641e-01 -1.23838010e+02] [-1.22918593e-01 8.35249297e-01 5.35956744e-01 -1.00408174e+02] [-4.20490588e-01 -5.33012718e-01 7.34224154e-01 2.44581734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.649072329 meters Centerline goodness [0,1] 0.3360763660302831 Centerline is valid? [False, False] Translation: X:-123.88, Y:-100.51, Z:244.69 [[ 8.97430080e-01 -1.35376823e-01 4.19871847e-01 -1.23884286e+02] [-1.22911431e-01 8.37338820e-01 5.32687976e-01 -1.00511605e+02] [-4.23688603e-01 -5.29657263e-01 7.34813685e-01 2.44694135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67907232899995 meters Centerline goodness [0,1] 0.3366725634590858 Centerline is valid? [False, False] Translation: X:-123.93, Y:-100.62, Z:244.82 [[ 8.97266132e-01 -1.34424846e-01 4.20527584e-01 -1.23931711e+02] [-1.22590705e-01 8.39200433e-01 5.29824643e-01 -1.00623751e+02] [-4.24128527e-01 -5.26946481e-01 7.36506890e-01 2.44815247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.709072329 meters Centerline goodness [0,1] 0.3366632337796086 Centerline is valid? [False, False] Translation: X:-123.98, Y:-100.74, Z:244.94 [[ 8.95686088e-01 -1.36527278e-01 4.23210035e-01 -1.23980977e+02] [-1.20714318e-01 8.41317684e-01 5.26889559e-01 -1.00737690e+02] [-4.27988884e-01 -5.23015159e-01 7.37075748e-01 2.44940541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73907232899995 meters Centerline goodness [0,1] 0.3379290476582435 Centerline is valid? [False, False] Translation: X:-124.03, Y:-100.85, Z:245.06 [[ 8.94044832e-01 -1.38281506e-01 4.26101001e-01 -1.24029848e+02] [-1.20364400e-01 8.42040513e-01 5.25813832e-01 -1.00848808e+02] [-4.31504634e-01 -5.21388530e-01 7.36177799e-01 2.45062525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.769072329 meters Centerline goodness [0,1] 0.33915997529339104 Centerline is valid? [False, False] Translation: X:-124.08, Y:-100.97, Z:245.19 [[ 8.93267580e-01 -1.38038520e-01 4.27806495e-01 -1.24080231e+02] [-1.21278071e-01 8.42391211e-01 5.25041595e-01 -1.00966623e+02] [-4.32856396e-01 -5.20886182e-01 7.35739713e-01 2.45188792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79907232899996 meters Centerline goodness [0,1] 0.3373513802608302 Centerline is valid? [False, False] Translation: X:-124.13, Y:-101.09, Z:245.32 [[ 8.94028977e-01 -1.35023037e-01 4.27177911e-01 -1.24131819e+02] [-1.22834865e-01 8.43086406e-01 5.23561752e-01 -1.01087159e+02] [-4.30840788e-01 -5.20551719e-01 7.37158140e-01 2.45317211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.829072329 meters Centerline goodness [0,1] 0.3361728395061728 Centerline is valid? [False, False] Translation: X:-124.18, Y:-101.21, Z:245.44 [[ 8.94824984e-01 -1.33758771e-01 4.25907079e-01 -1.24183296e+02] [-1.23166177e-01 8.43053622e-01 5.23536706e-01 -1.01206793e+02] [-4.29090132e-01 -5.20931072e-01 7.37910887e-01 2.45444462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85907232899996 meters Centerline goodness [0,1] 0.3351560251613699 Centerline is valid? [False, False] Translation: X:-124.23, Y:-101.32, Z:245.56 [[ 8.95627439e-01 -1.31344833e-01 4.24970616e-01 -1.24230307e+02] [-1.25023115e-01 8.42557891e-01 5.23894475e-01 -1.01318798e+02] [-4.26873178e-01 -5.22345417e-01 7.38196826e-01 2.45563604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.889072329 meters Centerline goodness [0,1] 0.3311224280257916 Centerline is valid? [False, False] Translation: X:-124.28, Y:-101.44, Z:245.69 [[ 8.96960363e-01 -1.28472374e-01 4.23033044e-01 -1.24278179e+02] [-1.29542348e-01 8.38480189e-01 5.29310640e-01 -1.01436758e+02] [-4.22706621e-01 -5.29571357e-01 7.35440882e-01 2.45687717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91907232899996 meters Centerline goodness [0,1] 0.3286789503989471 Centerline is valid? [False, False] Translation: X:-124.32, Y:-101.55, Z:245.80 [[ 8.97400949e-01 -1.27301246e-01 4.22452282e-01 -1.24324520e+02] [-1.30803736e-01 8.37668931e-01 5.30284023e-01 -1.01547383e+02] [-4.21380968e-01 -5.31135722e-01 7.35073414e-01 2.45804575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.949072329 meters Centerline goodness [0,1] 0.3260065735414954 Centerline is valid? [False, False] Translation: X:-124.37, Y:-101.66, Z:245.92 [[ 8.98097842e-01 -1.27230173e-01 4.20990200e-01 -1.24371171e+02] [-1.29981596e-01 8.37689781e-01 5.30453217e-01 -1.01659788e+02] [-4.20148843e-01 -5.31119868e-01 7.35789804e-01 2.45923279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97907232899996 meters Centerline goodness [0,1] 0.3294773892102175 Centerline is valid? [False, False] Translation: X:-124.42, Y:-101.78, Z:246.05 [[ 8.97245053e-01 -1.27940139e-01 4.22590388e-01 -1.24419164e+02] [-1.27107701e-01 8.41736319e-01 5.24712875e-01 -1.01778618e+02] [-4.22841516e-01 -5.24510524e-01 7.38981572e-01 2.46049199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.009072329 meters Centerline goodness [0,1] 0.3315297893350889 Centerline is valid? [False, False] Translation: X:-124.47, Y:-101.89, Z:246.17 [[ 8.96793569e-01 -1.27835386e-01 4.23579283e-01 -1.24466070e+02] [-1.26566282e-01 8.43225735e-01 5.22447448e-01 -1.01892089e+02] [-4.23960224e-01 -5.22138367e-01 7.40019766e-01 2.46169121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03907232899996 meters Centerline goodness [0,1] 0.3319087733716869 Centerline is valid? [False, False] Translation: X:-124.51, Y:-102.01, Z:246.29 [[ 8.96834397e-01 -1.28279070e-01 4.23358647e-01 -1.24514703e+02] [-1.25640545e-01 8.43755558e-01 5.21815113e-01 -1.02008860e+02] [-4.24149169e-01 -5.21172754e-01 7.40591955e-01 2.46292861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.069072329 meters Centerline goodness [0,1] 0.33235427022141883 Centerline is valid? [False, False] Translation: X:-124.56, Y:-102.13, Z:246.42 [[ 8.97207576e-01 -1.28278686e-01 4.22567325e-01 -1.24564192e+02] [-1.25331468e-01 8.43569688e-01 5.22189817e-01 -1.02125616e+02] [-4.23450810e-01 -5.21473643e-01 7.40779759e-01 2.46417112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09907232899997 meters Centerline goodness [0,1] 0.3327376917863084 Centerline is valid? [False, False] Translation: X:-124.61, Y:-102.24, Z:246.54 [[ 8.96999085e-01 -1.28434317e-01 4.22962489e-01 -1.24612325e+02] [-1.25548250e-01 8.43427637e-01 5.22367167e-01 -1.02236758e+02] [-4.23828124e-01 -5.21665071e-01 7.40429115e-01 2.46535801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.129072329 meters Centerline goodness [0,1] 0.3327376917863084 Centerline is valid? [False, False] Translation: X:-124.66, Y:-102.35, Z:246.65 [[ 8.96757981e-01 -1.28686022e-01 4.23397013e-01 -1.24660333e+02] [-1.25450000e-01 8.43603697e-01 5.22106406e-01 -1.02348759e+02] [-4.24367082e-01 -5.21318242e-01 7.40364687e-01 2.46654409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15907232899997 meters Centerline goodness [0,1] 0.3318628557358886 Centerline is valid? [False, False] Translation: X:-124.71, Y:-102.46, Z:246.77 [[ 8.96129707e-01 -1.30172769e-01 4.24271846e-01 -1.24709399e+02] [-1.25461497e-01 8.42707166e-01 5.23549468e-01 -1.02462470e+02] [-4.25688808e-01 -5.22398012e-01 7.38843255e-01 2.46774707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.189072329 meters Centerline goodness [0,1] 0.334749415096663 Centerline is valid? [False, False] Translation: X:-124.76, Y:-102.57, Z:246.89 [[ 8.95123251e-01 -1.31563062e-01 4.25964231e-01 -1.24756628e+02] [-1.24534295e-01 8.43641991e-01 5.22263727e-01 -1.02571803e+02] [-4.28071927e-01 -5.20537561e-01 7.38779448e-01 2.46890525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21907232899997 meters Centerline goodness [0,1] 0.3354042378111499 Centerline is valid? [False, False] Translation: X:-124.81, Y:-102.69, Z:247.02 [[ 8.94771405e-01 -1.31282154e-01 4.26789327e-01 -1.24806577e+02] [-1.24315582e-01 8.44772542e-01 5.20485339e-01 -1.02690364e+02] [-4.28870341e-01 -5.18771961e-01 7.39557897e-01 2.47016991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.249072329 meters Centerline goodness [0,1] 0.3334292408237083 Centerline is valid? [False, False] Translation: X:-124.86, Y:-102.81, Z:247.14 [[ 8.95465236e-01 -1.28782868e-01 4.26095041e-01 -1.24856405e+02] [-1.25627159e-01 8.45204736e-01 5.19467777e-01 -1.02810639e+02] [-4.27036096e-01 -5.18694445e-01 7.40672833e-01 2.47143471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.279072329 meters Centerline goodness [0,1] 0.33511535140025495 Centerline is valid? [False, False] Translation: X:-124.90, Y:-102.93, Z:247.27 [[ 8.96706562e-01 -1.28480379e-01 4.23568334e-01 -1.24904324e+02] [-1.25268458e-01 8.44157554e-01 5.21254101e-01 -1.02928190e+02] [-4.24529333e-01 -5.20471724e-01 7.40867079e-01 2.47266358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30907232899995 meters Centerline goodness [0,1] 0.3381811449612243 Centerline is valid? [False, False] Translation: X:-124.95, Y:-103.04, Z:247.39 [[ 8.95748311e-01 -1.32321392e-01 4.24412550e-01 -1.24953280e+02] [-1.21866233e-01 8.45020194e-01 5.20662552e-01 -1.03041335e+02] [-4.27531969e-01 -5.18104161e-01 7.40799902e-01 2.47388043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.339072329 meters Centerline goodness [0,1] 0.3387601366648829 Centerline is valid? [False, False] Translation: X:-125.00, Y:-103.16, Z:247.51 [[ 8.94753745e-01 -1.33653233e-01 4.26089837e-01 -1.25003271e+02] [-1.21194906e-01 8.45669756e-01 5.19763848e-01 -1.03159241e+02] [-4.29799407e-01 -5.16700567e-01 7.40468091e-01 2.47512540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36907232899995 meters Centerline goodness [0,1] 0.3379453547418845 Centerline is valid? [False, False] Translation: X:-125.05, Y:-103.27, Z:247.63 [[ 8.94799959e-01 -1.32985042e-01 4.26201844e-01 -1.25050449e+02] [-1.21601835e-01 8.45927398e-01 5.19249296e-01 -1.03272051e+02] [-4.29588206e-01 -5.16451175e-01 7.40764576e-01 2.47631416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.399072329 meters Centerline goodness [0,1] 0.3375449409347715 Centerline is valid? [False, False] Translation: X:-125.10, Y:-103.39, Z:247.76 [[ 8.94720218e-01 -1.34456566e-01 4.25907458e-01 -1.25101132e+02] [-1.19351260e-01 8.46950076e-01 5.18103122e-01 -1.03390786e+02] [-4.30384721e-01 -5.14389930e-01 7.41735797e-01 2.47756919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42907232899995 meters Centerline goodness [0,1] 0.3399901279256303 Centerline is valid? [False, False] Translation: X:-125.15, Y:-103.51, Z:247.88 [[ 8.94432156e-01 -1.36612522e-01 4.25826417e-01 -1.25149801e+02] [-1.16630444e-01 8.47986356e-01 5.17026575e-01 -1.03506147e+02] [-4.31727296e-01 -5.12109519e-01 7.42533086e-01 2.47878880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.459072329 meters Centerline goodness [0,1] 0.34101657276802233 Centerline is valid? [False, False] Translation: X:-125.20, Y:-103.61, Z:247.99 [[ 8.94163866e-01 -1.38801684e-01 4.25681892e-01 -1.25195679e+02] [-1.14599127e-01 8.48117599e-01 5.17265482e-01 -1.03614032e+02] [-4.32825625e-01 -5.11302876e-01 7.42449559e-01 2.47993290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48907232899995 meters Centerline goodness [0,1] 0.341986270399145 Centerline is valid? [False, False] Translation: X:-125.25, Y:-103.73, Z:248.12 [[ 8.93013143e-01 -1.40411893e-01 4.27565231e-01 -1.25246755e+02] [-1.13795169e-01 8.48751940e-01 5.16401785e-01 -1.03731814e+02] [-4.35405771e-01 -5.09808439e-01 7.41968442e-01 2.48119545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.519072329 meters Centerline goodness [0,1] 0.345207054427495 Centerline is valid? [False, False] Translation: X:-125.29, Y:-103.85, Z:248.24 [[ 8.92355858e-01 -1.42780429e-01 4.28152743e-01 -1.25294165e+02] [-1.11212361e-01 8.49829926e-01 5.15190167e-01 -1.03847611e+02] [-4.37416087e-01 -5.07348841e-01 7.42471764e-01 2.48241960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54907232899996 meters Centerline goodness [0,1] 0.34380593790506764 Centerline is valid? [False, False] Translation: X:-125.35, Y:-103.97, Z:248.37 [[ 8.91275341e-01 -1.41462017e-01 4.30832640e-01 -1.25345233e+02] [-1.11779866e-01 8.52239166e-01 5.11071096e-01 -1.03969054e+02] [-4.39469598e-01 -5.03663480e-01 7.43767149e-01 2.48370724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.579072329 meters Centerline goodness [0,1] 0.3441881501582994 Centerline is valid? [False, False] Translation: X:-125.39, Y:-104.08, Z:248.49 [[ 8.90724778e-01 -1.40016329e-01 4.32440512e-01 -1.25392956e+02] [-1.12382820e-01 8.53999377e-01 5.07991305e-01 -1.04082786e+02] [-4.40431006e-01 -5.01079327e-01 7.44942976e-01 2.48490512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60907232899996 meters Centerline goodness [0,1] 0.34788422373536854 Centerline is valid? [False, False] Translation: X:-125.44, Y:-104.20, Z:248.61 [[ 8.89590654e-01 -1.45365203e-01 4.33009730e-01 -1.25442373e+02] [-1.07334644e-01 8.54928890e-01 5.07519328e-01 -1.04198712e+02] [-4.43968177e-01 -4.97961396e-01 7.44934028e-01 2.48614702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.639072329 meters Centerline goodness [0,1] 0.3444778207554934 Centerline is valid? [False, False] Translation: X:-125.50, Y:-104.32, Z:248.74 [[ 8.87450854e-01 -1.47427849e-01 4.36687545e-01 -1.25495193e+02] [-1.06930367e-01 8.55753132e-01 5.06213862e-01 -1.04320481e+02] [-4.48326755e-01 -4.95935084e-01 7.43674333e-01 2.48744674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66907232899996 meters Centerline goodness [0,1] 0.35042295264165313 Centerline is valid? [False, False] Translation: X:-125.55, Y:-104.45, Z:248.88 [[ 8.86001019e-01 -1.49004348e-01 4.39089852e-01 -1.25548737e+02] [-1.06677523e-01 8.56055315e-01 5.05756071e-01 -1.04445154e+02] [-4.51245055e-01 -4.94941412e-01 7.42570467e-01 2.48875236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.699072329 meters Centerline goodness [0,1] 0.34412630452234416 Centerline is valid? [False, False] Translation: X:-125.60, Y:-104.57, Z:249.01 [[ 8.85505793e-01 -1.49650782e-01 4.39868315e-01 -1.25603284e+02] [-1.05369061e-01 8.57363854e-01 5.03810066e-01 -1.04571687e+02] [-4.52522764e-01 -4.92475244e-01 7.43432097e-01 2.49006069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72907232899996 meters Centerline goodness [0,1] 0.3501244932814783 Centerline is valid? [False, False] Translation: X:-125.66, Y:-104.69, Z:249.13 [[ 8.85924525e-01 -1.46882777e-01 4.39958163e-01 -1.25655147e+02] [-1.06040536e-01 8.59274126e-01 5.00403219e-01 -1.04693494e+02] [-4.51545281e-01 -4.89972883e-01 7.45676494e-01 2.49133322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.759072329 meters Centerline goodness [0,1] 0.35064427154089994 Centerline is valid? [False, False] Translation: X:-125.71, Y:-104.82, Z:249.26 [[ 8.86099075e-01 -1.44830453e-01 4.40286917e-01 -1.25708511e+02] [-1.06516793e-01 8.60870639e-01 4.97549912e-01 -1.04818220e+02] [-4.51090459e-01 -4.87776467e-01 7.47389802e-01 2.49263949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78907232899996 meters Centerline goodness [0,1] 0.348705717869112 Centerline is valid? [False, False] Translation: X:-125.76, Y:-104.94, Z:249.39 [[ 8.86467277e-01 -1.42149040e-01 4.40419591e-01 -1.25761414e+02] [-1.09474741e-01 8.60240215e-01 4.97998047e-01 -1.04937608e+02] [-4.49656588e-01 -4.89673793e-01 7.47013072e-01 2.49391297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.819072329 meters Centerline goodness [0,1] 0.3489874876522885 Centerline is valid? [False, False] Translation: X:-125.82, Y:-105.06, Z:249.52 [[ 8.87187630e-01 -1.40132156e-01 4.39614703e-01 -1.25815592e+02] [-1.11003667e-01 8.59962330e-01 4.98139516e-01 -1.05061947e+02] [-4.47857449e-01 -4.90742061e-01 7.47392759e-01 2.49519936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84907232899997 meters Centerline goodness [0,1] 0.34689309622571773 Centerline is valid? [False, False] Translation: X:-125.87, Y:-105.18, Z:249.64 [[ 8.88309088e-01 -1.37973930e-01 4.38029860e-01 -1.25865924e+02] [-1.11390896e-01 8.60587964e-01 4.96971252e-01 -1.05175989e+02] [-4.45532302e-01 -4.90256618e-01 7.49099069e-01 2.49636759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.879072329 meters Centerline goodness [0,1] 0.3470017908973013 Centerline is valid? [False, False] Translation: X:-125.92, Y:-105.29, Z:249.75 [[ 8.90082211e-01 -1.36927664e-01 4.34746446e-01 -1.25918502e+02] [-1.08937350e-01 8.62260071e-01 4.94611185e-01 -1.05292894e+02] [-4.42590455e-01 -4.87604743e-01 7.52565814e-01 2.49754805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90907232899997 meters Centerline goodness [0,1] 0.3467745255444403 Centerline is valid? [False, False] Translation: X:-125.97, Y:-105.41, Z:249.88 [[ 8.89814170e-01 -1.34625284e-01 4.36012358e-01 -1.25970617e+02] [-1.10884021e-01 8.63062580e-01 4.92775524e-01 -1.05412022e+02] [-4.42645996e-01 -4.86825447e-01 7.53037520e-01 2.49879423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.939072329 meters Centerline goodness [0,1] 0.34633295722638224 Centerline is valid? [False, False] Translation: X:-126.02, Y:-105.53, Z:250.00 [[ 8.89556944e-01 -1.34508982e-01 4.36572763e-01 -1.26020603e+02] [-1.12209511e-01 8.62054462e-01 4.94237929e-01 -1.05527345e+02] [-4.42828939e-01 -4.88640398e-01 7.51753346e-01 2.49999382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96907232899997 meters Centerline goodness [0,1] 0.34434282190936183 Centerline is valid? [False, False] Translation: X:-126.07, Y:-105.65, Z:250.13 [[ 8.88357062e-01 -1.33294721e-01 4.39379390e-01 -1.26073763e+02] [-1.16972971e-01 8.59659028e-01 4.97296370e-01 -1.05650031e+02] [-4.44003441e-01 -4.93172254e-01 7.48092289e-01 2.50127666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.999072329 meters Centerline goodness [0,1] 0.3448368056269666 Centerline is valid? [False, False] Translation: X:-126.13, Y:-105.77, Z:250.25 [[ 8.89040201e-01 -1.33241725e-01 4.38011603e-01 -1.26127132e+02] [-1.15971337e-01 8.59971935e-01 4.96989858e-01 -1.05772818e+02] [-4.42897472e-01 -4.92640755e-01 7.49097401e-01 2.50253009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.029072329 meters Centerline goodness [0,1] 0.34507635705917417 Centerline is valid? [False, False] Translation: X:-126.18, Y:-105.89, Z:250.37 [[ 8.89893594e-01 -1.30634253e-01 4.37063019e-01 -1.26175750e+02] [-1.16630695e-01 8.61116536e-01 4.94849060e-01 -1.05885584e+02] [-4.41006430e-01 -4.91337972e-01 7.51066126e-01 2.50367454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05907232899995 meters Centerline goodness [0,1] 0.34397782113153297 Centerline is valid? [False, False] Translation: X:-126.23, Y:-106.00, Z:250.48 [[ 8.91013201e-01 -1.28707050e-01 4.35350401e-01 -1.26226033e+02] [-1.16701282e-01 8.61805342e-01 4.93631809e-01 -1.06001603e+02] [-4.38721195e-01 -4.90638408e-01 7.52859659e-01 2.50484773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.089072329 meters Centerline goodness [0,1] 0.34325564172718104 Centerline is valid? [False, False] Translation: X:-126.28, Y:-106.12, Z:250.60 [[ 8.92144403e-01 -1.25304302e-01 4.34024420e-01 -1.26277616e+02] [-1.18905136e-01 8.61750348e-01 4.93201690e-01 -1.06118186e+02] [-4.35820988e-01 -4.91614859e-01 7.53906424e-01 2.50603362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11907232899995 meters Centerline goodness [0,1] 0.3437724907980506 Centerline is valid? [False, False] Translation: X:-126.33, Y:-106.24, Z:250.72 [[ 8.93035383e-01 -1.25673125e-01 4.32081093e-01 -1.26329079e+02] [-1.18265268e-01 8.60903447e-01 4.94831871e-01 -1.06235453e+02] [-4.34167170e-01 -4.93002556e-01 7.53954474e-01 2.50721959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.149072329 meters Centerline goodness [0,1] 0.34192008559318543 Centerline is valid? [False, False] Translation: X:-126.38, Y:-106.35, Z:250.84 [[ 8.93076708e-01 -1.23881143e-01 4.32512954e-01 -1.26380690e+02] [-1.19620244e-01 8.61359799e-01 4.93710739e-01 -1.06351438e+02] [-4.33710722e-01 -4.92658866e-01 7.54441682e-01 2.50840966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17907232899995 meters Centerline goodness [0,1] 0.3397301841144872 Centerline is valid? [False, False] Translation: X:-126.43, Y:-106.46, Z:250.95 [[ 8.95319633e-01 -1.19411508e-01 4.29119617e-01 -1.26426774e+02] [-1.21579308e-01 8.61298670e-01 4.93338700e-01 -1.06459254e+02] [-4.28510474e-01 -4.93867890e-01 7.56619641e-01 2.50949419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.209072329 meters Centerline goodness [0,1] 0.34167367967322815 Centerline is valid? [False, False] Translation: X:-126.48, Y:-106.57, Z:251.06 [[ 8.95750182e-01 -1.19904699e-01 4.28082322e-01 -1.26475985e+02] [-1.20021637e-01 8.61955038e-01 4.92573161e-01 -1.06571953e+02] [-4.28049551e-01 -4.92601639e-01 7.57705224e-01 2.51063915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23907232899995 meters Centerline goodness [0,1] 0.3417983986861014 Centerline is valid? [False, False] Translation: X:-126.52, Y:-106.68, Z:251.17 [[ 8.96056379e-01 -1.21326821e-01 4.27039540e-01 -1.26523310e+02] [-1.18345533e-01 8.61838416e-01 4.93182399e-01 -1.06678467e+02] [-4.27875333e-01 -4.92457456e-01 7.57897323e-01 2.51172795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.269072329 meters Centerline goodness [0,1] 0.3445442031516447 Centerline is valid? [False, False] Translation: X:-126.57, Y:-106.79, Z:251.28 [[ 8.96583600e-01 -1.23613233e-01 4.25273578e-01 -1.26571081e+02] [-1.17078645e-01 8.59938804e-01 4.96787525e-01 -1.06788619e+02] [-4.27118764e-01 -4.95202002e-01 7.56534559e-01 2.51283236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29907232899996 meters Centerline goodness [0,1] 0.3428788594671214 Centerline is valid? [False, False] Translation: X:-126.62, Y:-106.91, Z:251.40 [[ 8.95892909e-01 -1.24878744e-01 4.26358059e-01 -1.26623340e+02] [-1.16234427e-01 8.60369908e-01 4.96239035e-01 -1.06905510e+02] [-4.28795352e-01 -4.94134518e-01 7.56284090e-01 2.51402505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.329072329 meters Centerline goodness [0,1] 0.3438477366255144 Centerline is valid? [False, False] Translation: X:-126.67, Y:-107.02, Z:251.52 [[ 8.95688726e-01 -1.26299431e-01 4.26368573e-01 -1.26674426e+02] [-1.16280175e-01 8.58934464e-01 4.98708840e-01 -1.07023435e+02] [-4.29209305e-01 -4.96266098e-01 7.54651796e-01 2.51522477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35907232899996 meters Centerline goodness [0,1] 0.34399688096361813 Centerline is valid? [False, False] Translation: X:-126.73, Y:-107.14, Z:251.64 [[ 8.95346752e-01 -1.27523915e-01 4.26722210e-01 -1.26726808e+02] [-1.15641708e-01 8.58701672e-01 4.99257882e-01 -1.07142973e+02] [-4.30094395e-01 -4.96355809e-01 7.54088670e-01 2.51644948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.389072329 meters Centerline goodness [0,1] 0.3444651983825612 Centerline is valid? [False, False] Translation: X:-126.78, Y:-107.26, Z:251.77 [[ 8.95046923e-01 -1.26780625e-01 4.27571841e-01 -1.26779948e+02] [-1.16522100e-01 8.58958461e-01 4.98611034e-01 -1.07264514e+02] [-4.30480669e-01 -4.96101840e-01 7.54035382e-01 2.51769192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41907232899996 meters Centerline goodness [0,1] 0.3443556176657967 Centerline is valid? [False, False] Translation: X:-126.83, Y:-107.38, Z:251.89 [[ 8.95646755e-01 -1.25453489e-01 4.26706353e-01 -1.26831548e+02] [-1.17623294e-01 8.58425777e-01 4.99269413e-01 -1.07384195e+02] [-4.28930822e-01 -4.97359637e-01 7.54090009e-01 2.51890538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.449072329 meters Centerline goodness [0,1] 0.343115726393991 Centerline is valid? [False, False] Translation: X:-126.88, Y:-107.50, Z:252.01 [[ 8.96133612e-01 -1.28788317e-01 4.24685906e-01 -1.26884445e+02] [-1.13659465e-01 8.58440881e-01 5.00160754e-01 -1.07503679e+02] [-4.28982605e-01 -4.96480436e-01 7.54639716e-01 2.52011176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47907232899996 meters Centerline goodness [0,1] 0.345789408917511 Centerline is valid? [False, False] Translation: X:-126.94, Y:-107.62, Z:252.13 [[ 8.95675043e-01 -1.30378748e-01 4.25167730e-01 -1.26935468e+02] [-1.12594536e-01 8.58422309e-01 5.00433422e-01 -1.07621765e+02] [-4.30219348e-01 -4.96097290e-01 7.54187504e-01 2.52130880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.509072329 meters Centerline goodness [0,1] 0.3380006980516148 Centerline is valid? [False, False] Translation: X:-126.99, Y:-107.74, Z:252.25 [[ 8.94303617e-01 -1.31064698e-01 4.27835349e-01 -1.26987379e+02] [-1.12454047e-01 8.59621589e-01 4.98402259e-01 -1.07742027e+02] [-4.33099444e-01 -4.93834759e-01 7.54023941e-01 2.52253148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53907232899996 meters Centerline goodness [0,1] 0.35055759791337204 Centerline is valid? [False, False] Translation: X:-127.04, Y:-107.86, Z:252.37 [[ 8.93016297e-01 -1.37601749e-01 4.28471297e-01 -1.27038783e+02] [-1.04634183e-01 8.62527003e-01 4.95074597e-01 -1.07861708e+02] [-4.37691194e-01 -4.86942428e-01 7.55852823e-01 2.52372595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.569072329 meters Centerline goodness [0,1] 0.3541277242569275 Centerline is valid? [False, False] Translation: X:-127.09, Y:-107.99, Z:252.50 [[ 8.91799539e-01 -1.39755286e-01 4.30304592e-01 -1.27092850e+02] [-1.02353621e-01 8.64115650e-01 4.92775689e-01 -1.07985997e+02] [-4.40700939e-01 -4.83500365e-01 7.56313479e-01 2.52498518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59907232899997 meters Centerline goodness [0,1] 0.34992495733876106 Centerline is valid? [False, False] Translation: X:-127.14, Y:-108.11, Z:252.62 [[ 8.90817632e-01 -1.41295226e-01 4.31832844e-01 -1.27143724e+02] [-1.00069988e-01 8.66067942e-01 4.89808449e-01 -1.08106437e+02] [-4.43204178e-01 -4.79543511e-01 7.57369182e-01 2.52619417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.629072329 meters Centerline goodness [0,1] 0.36050221261706283 Centerline is valid? [False, False] Translation: X:-127.19, Y:-108.23, Z:252.74 [[ 8.89186593e-01 -1.48016671e-01 4.32941414e-01 -1.27194156e+02] [-9.08584198e-02 8.70261631e-01 4.84137834e-01 -1.08226957e+02] [-4.48432771e-01 -4.69825244e-01 7.60376414e-01 2.52740700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65907232899997 meters Centerline goodness [0,1] 0.35237683486710725 Centerline is valid? [False, False] Translation: X:-127.25, Y:-108.34, Z:252.86 [[ 8.87297790e-01 -1.49380997e-01 4.36334676e-01 -1.27245497e+02] [-8.94394196e-02 8.72396757e-01 4.80546031e-01 -1.08344187e+02] [-4.52441402e-01 -4.65412951e-01 7.60715165e-01 2.52860598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.689072329 meters Centerline goodness [0,1] 0.3540500493908463 Centerline is valid? [False, False] Translation: X:-127.30, Y:-108.46, Z:252.98 [[ 8.84764774e-01 -1.52502425e-01 4.40379729e-01 -1.27295189e+02] [-8.70349191e-02 8.74249311e-01 4.77611835e-01 -1.08463107e+02] [-4.57838637e-01 -4.60902541e-01 7.60231958e-01 2.52981308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71907232899997 meters Centerline goodness [0,1] 0.3679355994317597 Centerline is valid? [False, False] Translation: X:-127.35, Y:-108.58, Z:253.10 [[ 8.82572277e-01 -1.54155457e-01 4.44187202e-01 -1.27347596e+02] [-8.52500634e-02 8.76598720e-01 4.73610716e-01 -1.08581293e+02] [-4.62383609e-01 -4.55862676e-01 7.60519966e-01 2.53102500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.749072329 meters Centerline goodness [0,1] 0.35027540282801706 Centerline is valid? [False, False] Translation: X:-127.40, Y:-108.70, Z:253.22 [[ 8.80947032e-01 -1.54758138e-01 4.47193745e-01 -1.27399680e+02] [-8.44757501e-02 8.78402287e-01 4.70396928e-01 -1.08698498e+02] [-4.65613761e-01 -4.52171805e-01 7.60752578e-01 2.53220571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.779072329 meters Centerline goodness [0,1] 0.35979075706400854 Centerline is valid? [False, False] Translation: X:-127.45, Y:-108.82, Z:253.34 [[ 8.78066678e-01 -1.63196313e-01 4.49850945e-01 -1.27451827e+02] [-7.38457211e-02 8.82582523e-01 4.64321978e-01 -1.08821900e+02] [-4.72806217e-01 -4.40925224e-01 7.62914955e-01 2.53343206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80907232899995 meters Centerline goodness [0,1] 0.37437926273928 Centerline is valid? [False, False] Translation: X:-127.50, Y:-108.94, Z:253.46 [[ 8.76447820e-01 -1.65011121e-01 4.52338977e-01 -1.27502970e+02] [-6.88029442e-02 8.86882748e-01 4.56842583e-01 -1.08941648e+02] [-4.76555741e-01 -4.31520939e-01 7.65953200e-01 2.53461746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.839072329 meters Centerline goodness [0,1] 0.38049002189811176 Centerline is valid? [False, False] Translation: X:-127.55, Y:-109.06, Z:253.58 [[ 8.74000699e-01 -1.68355433e-01 4.55828066e-01 -1.27554806e+02] [-6.15102894e-02 8.92186482e-01 4.47459233e-01 -1.09061817e+02] [-4.82015832e-01 -4.19117799e-01 7.69416018e-01 2.53580789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86907232899995 meters Centerline goodness [0,1] 0.3810792942440395 Centerline is valid? [False, False] Translation: X:-127.61, Y:-109.18, Z:253.70 [[ 8.71149862e-01 -1.72539217e-01 4.59704401e-01 -1.27606598e+02] [-5.41485168e-02 8.96760598e-01 4.39190584e-01 -1.09181406e+02] [-4.88022393e-01 -4.07493128e-01 7.71870128e-01 2.53699928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.899072329 meters Centerline goodness [0,1] 0.3954161241655817 Centerline is valid? [False, False] Translation: X:-127.66, Y:-109.30, Z:253.82 [[ 8.66007110e-01 -1.83223255e-01 4.65253613e-01 -1.27656122e+02] [-3.97720033e-02 9.02260662e-01 4.29352868e-01 -1.09301758e+02] [-4.98447463e-01 -3.90326705e-01 7.74076993e-01 2.53817304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92907232899995 meters Centerline goodness [0,1] 0.4 Centerline is valid? [False, False] Translation: X:-127.71, Y:-109.42, Z:253.93 [[ 8.62905294e-01 -1.88097177e-01 4.69056399e-01 -1.27708323e+02] [-3.18471453e-02 9.06067967e-01 4.21931983e-01 -1.09419714e+02] [-5.04361193e-01 -3.79025450e-01 7.75860488e-01 2.53932506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.959072329 meters Centerline goodness [0,1] 0.399131872674659 Centerline is valid? [False, False] Translation: X:-127.76, Y:-109.54, Z:254.05 [[ 8.56611246e-01 -1.99049050e-01 4.76021689e-01 -1.27762870e+02] [-2.15168014e-02 9.08006195e-01 4.18403844e-01 -1.09542476e+02] [-5.15513530e-01 -3.68651902e-01 7.73525420e-01 2.54051231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98907232899995 meters Centerline goodness [0,1] 0.37661693598379964 Centerline is valid? [False, False] Translation: X:-127.82, Y:-109.66, Z:254.17 [[ 8.53495513e-01 -2.02438047e-01 4.80171060e-01 -1.27818037e+02] [-1.74912540e-02 9.09807670e-01 4.14661380e-01 -1.09664005e+02] [-5.20806553e-01 -3.62310421e-01 7.72975868e-01 2.54169185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.019072329 meters Centerline goodness [0,1] 0.39099437923623737 Centerline is valid? [False, False] Translation: X:-127.87, Y:-109.79, Z:254.29 [[ 8.51291180e-01 -2.04623103e-01 4.83148748e-01 -1.27872783e+02] [-1.44038005e-02 9.11360006e-01 4.11358080e-01 -1.09786504e+02] [-5.24495812e-01 -3.57144683e-01 7.72885385e-01 2.54285979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04907232899996 meters Centerline goodness [0,1] 0.39099437923623737 Centerline is valid? [False, False] Translation: X:-127.93, Y:-109.90, Z:254.40 [[ 8.51212369e-01 -2.00693863e-01 4.84932445e-01 -1.27927824e+02] [-1.62751945e-02 9.13456505e-01 4.06610785e-01 -1.09901118e+02] [-5.24568986e-01 -3.54004500e-01 7.74279144e-01 2.54396925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.079072329 meters Centerline goodness [0,1] 0.3591123623416411 Centerline is valid? [False, False] Translation: X:-127.98, Y:-110.03, Z:254.51 [[ 8.47476531e-01 -2.09880288e-01 4.87579527e-01 -1.27981305e+02] [-2.90058152e-03 9.16673343e-01 3.99626787e-01 -1.10025162e+02] [-5.30824940e-01 -3.40088587e-01 7.76250370e-01 2.54512054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10907232899996 meters Centerline goodness [0,1] 0.3947025618758142 Centerline is valid? [False, False] Translation: X:-128.03, Y:-110.14, Z:254.62 [[ 8.46183333e-01 -2.11528671e-01 4.89110813e-01 -1.28033002e+02] [ 2.11878574e-03 9.19170720e-01 3.93853652e-01 -1.10138534e+02] [-5.32887678e-01 -3.32236075e-01 7.78235127e-01 2.54617744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.139072329 meters Centerline goodness [0,1] 0.37026999068997624 Centerline is valid? [False, False] Translation: X:-128.09, Y:-110.26, Z:254.73 [[ 8.43991212e-01 -2.13900725e-01 4.91859038e-01 -1.28088748e+02] [ 8.63064655e-03 9.22334024e-01 3.86297114e-01 -1.10257971e+02] [-5.36287559e-01 -3.21786308e-01 7.80287912e-01 2.54729364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16907232899996 meters Centerline goodness [0,1] 0.39645557070268933 Centerline is valid? [False, False] Translation: X:-128.14, Y:-110.38, Z:254.84 [[ 8.38862613e-01 -2.24366883e-01 4.95952638e-01 -1.28141087e+02] [ 2.34488733e-02 9.25151608e-01 3.78872871e-01 -1.10377170e+02] [-5.43837905e-01 -3.06192756e-01 7.81336246e-01 2.54839108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.199072329 meters Centerline goodness [0,1] 0.3989104993889683 Centerline is valid? [False, False] Translation: X:-128.20, Y:-110.49, Z:254.95 [[ 8.36651348e-01 -2.23727914e-01 4.99960341e-01 -1.28198137e+02] [ 2.60881382e-02 9.28017181e-01 3.71622821e-01 -1.10494601e+02] [-5.47114185e-01 -2.97875699e-01 7.82263470e-01 2.54949417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22907232899996 meters Centerline goodness [0,1] 0.36907596430567924 Centerline is valid? [False, False] Translation: X:-128.25, Y:-110.61, Z:255.06 [[ 8.35099944e-01 -2.23222033e-01 5.02772323e-01 -1.28254799e+02] [ 2.99234452e-02 9.31048466e-01 3.63666525e-01 -1.10609468e+02] [-5.49283781e-01 -2.88653215e-01 7.84198094e-01 2.55055831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.259072329 meters Centerline goodness [0,1] 0.3592438281201418 Centerline is valid? [False, False] Translation: X:-128.31, Y:-110.72, Z:255.16 [[ 8.34773449e-01 -2.21809322e-01 5.03938402e-01 -1.28307418e+02] [ 3.38881470e-02 9.34226875e-01 3.55065824e-01 -1.10717794e+02] [-5.49549708e-01 -2.79321984e-01 7.87384498e-01 2.55155467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28907232899996 meters Centerline goodness [0,1] 0.33530424679985893 Centerline is valid? [False, False] Translation: X:-128.36, Y:-110.83, Z:255.25 [[ 8.33013578e-01 -2.25001975e-01 5.05432974e-01 -1.28357789e+02] [ 4.11620039e-02 9.36239576e-01 3.48942897e-01 -1.10826208e+02] [-5.51719194e-01 -2.69869537e-01 7.89161811e-01 2.55253567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.319072329 meters Centerline goodness [0,1] 0.34315089832796764 Centerline is valid? [False, False] Translation: X:-128.41, Y:-110.93, Z:255.35 [[ 8.31794137e-01 -2.25222991e-01 5.07339252e-01 -1.28409274e+02] [ 4.35184137e-02 9.37632446e-01 3.44893525e-01 -1.10928955e+02] [-5.53375696e-01 -2.64801812e-01 7.89718519e-01 2.55348082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34907232899997 meters Centerline goodness [0,1] 0.35995019713633536 Centerline is valid? [False, False] Translation: X:-128.46, Y:-111.03, Z:255.44 [[ 8.29458474e-01 -2.31649753e-01 5.08268662e-01 -1.28458818e+02] [ 5.08621682e-02 9.37491930e-01 3.44270129e-01 -1.11032349e+02] [-5.56247859e-01 -2.59706129e-01 7.89392834e-01 2.55440617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.379072329 meters Centerline goodness [0,1] 0.3397341211225997 Centerline is valid? [False, False] Translation: X:-128.51, Y:-111.13, Z:255.53 [[ 8.28381331e-01 -2.31620221e-01 5.10035728e-01 -1.28510407e+02] [ 5.58518533e-02 9.40125090e-01 3.36222227e-01 -1.11134647e+02] [-5.57373251e-01 -2.50033775e-01 7.91718492e-01 2.55531819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40907232899997 meters Centerline goodness [0,1] 0.32950454668414586 Centerline is valid? [False, False] Translation: X:-128.56, Y:-111.23, Z:255.62 [[ 8.28425167e-01 -2.29713190e-01 5.10826382e-01 -1.28560487e+02] [ 5.81201364e-02 9.42360156e-01 3.29513862e-01 -1.11232865e+02] [-5.57076110e-01 -2.43288277e-01 7.94025832e-01 2.55619131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.439072329 meters Centerline goodness [0,1] 0.3389353992252905 Centerline is valid? [False, False] Translation: X:-128.61, Y:-111.33, Z:255.71 [[ 8.26273056e-01 -2.35886502e-01 5.11498187e-01 -1.28607275e+02] [ 6.94252620e-02 9.43812622e-01 3.23106590e-01 -1.11332343e+02] [-5.58974928e-01 -2.31463374e-01 7.96223421e-01 2.55705196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46907232899997 meters Centerline goodness [0,1] 0.30466217900772874 Centerline is valid? [False, False] Translation: X:-128.65, Y:-111.42, Z:255.79 [[ 8.24716061e-01 -2.36808013e-01 5.13580942e-01 -1.28652340e+02] [ 7.53076489e-02 9.46010143e-01 3.15267452e-01 -1.11424100e+02] [-5.60510639e-01 -2.21329558e-01 7.98023214e-01 2.55787136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.499072329 meters Centerline goodness [0,1] 0.3573765026980853 Centerline is valid? [False, False] Translation: X:-128.70, Y:-111.51, Z:255.87 [[ 8.23199199e-01 -2.36618716e-01 5.16095594e-01 -1.28697541e+02] [ 8.00535937e-02 9.48307817e-01 3.07089086e-01 -1.11514558e+02] [-5.62080512e-01 -2.11480182e-01 7.99588413e-01 2.55867330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.529072329 meters Centerline goodness [0,1] 0.3007488913061669 Centerline is valid? [False, False] Translation: X:-128.75, Y:-111.61, Z:255.95 [[ 8.22837606e-01 -2.34910598e-01 5.17450756e-01 -1.28745452e+02] [ 8.33189823e-02 9.50591545e-01 2.99054615e-01 -1.11608504e+02] [-5.62135412e-01 -2.02959913e-01 8.01754983e-01 2.55948797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55907232899995 meters Centerline goodness [0,1] 0.3484079372404245 Centerline is valid? [False, False] Translation: X:-128.78, Y:-111.69, Z:256.02 [[ 8.20786021e-01 -2.39655522e-01 5.18532099e-01 -1.28782205e+02] [ 9.78481368e-02 9.53306027e-01 2.85715524e-01 -1.11694846e+02] [-5.62793079e-01 -1.83773909e-01 8.05910107e-01 2.56018937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.589072329 meters Centerline goodness [0,1] 0.321748244418824 Centerline is valid? [False, False] Translation: X:-128.82, Y:-111.78, Z:256.09 [[ 8.19388103e-01 -2.40030623e-01 5.20565497e-01 -1.28824823e+02] [ 1.03895599e-01 9.55256832e-01 2.76929754e-01 -1.11778298e+02] [-5.63745369e-01 -1.72828482e-01 8.07664209e-01 2.56090604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61907232899995 meters Centerline goodness [0,1] 0.37023974472015786 Centerline is valid? [False, False] Translation: X:-128.87, Y:-111.86, Z:256.16 [[ 8.19378523e-01 -2.38163187e-01 5.21437563e-01 -1.28867903e+02] [ 1.04556684e-01 9.56443450e-01 2.72550596e-01 -1.11860791e+02] [-5.63637060e-01 -1.68802323e-01 8.08590774e-01 2.56161622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.649072329 meters Centerline goodness [0,1] 0.3351524275498683 Centerline is valid? [False, False] Translation: X:-128.91, Y:-111.94, Z:256.23 [[ 8.19378157e-01 -2.39748519e-01 5.20711133e-01 -1.28909665e+02] [ 1.09786012e-01 9.57158968e-01 2.67943542e-01 -1.11938982e+02] [-5.62642398e-01 -1.62380287e-01 8.10596185e-01 2.56227064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67907232899995 meters Centerline goodness [0,1] 0.3487089128017956 Centerline is valid? [False, False] Translation: X:-128.95, Y:-112.02, Z:256.29 [[ 8.18252237e-01 -2.40534672e-01 5.22117178e-01 -1.28950869e+02] [ 1.16268000e-01 9.58728299e-01 2.59464450e-01 -1.12016039e+02] [-5.62978711e-01 -1.51601847e-01 8.12448061e-01 2.56291062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.709072329 meters Centerline goodness [0,1] 0.32768444425824295 Centerline is valid? [False, False] Translation: X:-128.99, Y:-112.09, Z:256.35 [[ 8.16689146e-01 -2.42588090e-01 5.23612316e-01 -1.28991368e+02] [ 1.24208367e-01 9.59978530e-01 2.51024907e-01 -1.12093241e+02] [-5.63552234e-01 -1.39972286e-01 8.14135516e-01 2.56353711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73907232899995 meters Centerline goodness [0,1] 0.33185219341451655 Centerline is valid? [False, False] Translation: X:-129.03, Y:-112.18, Z:256.42 [[ 8.11373307e-01 -2.54941712e-01 5.26001978e-01 -1.29027843e+02] [ 1.40416385e-01 9.58533831e-01 2.47984141e-01 -1.12175015e+02] [-5.67412193e-01 -1.27348416e-01 8.13526757e-01 2.56415139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.769072329 meters Centerline goodness [0,1] 0.3105758326683187 Centerline is valid? [False, False] Translation: X:-129.07, Y:-112.25, Z:256.48 [[ 8.08859103e-01 -2.58405321e-01 5.28179553e-01 -1.29067256e+02] [ 1.48608087e-01 9.58937111e-01 2.41568322e-01 -1.12251255e+02] [-5.68913515e-01 -1.16902984e-01 8.14046132e-01 2.56476412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79907232899996 meters Centerline goodness [0,1] 0.3493550691147431 Centerline is valid? [False, False] Translation: X:-129.11, Y:-112.33, Z:256.54 [[ 8.07037989e-01 -2.60830022e-01 5.29771067e-01 -1.29105752e+02] [ 1.55876600e-01 9.59435911e-01 2.34915344e-01 -1.12325808e+02] [-5.69554360e-01 -1.07006695e-01 8.14958525e-01 2.56535278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.829072329 meters Centerline goodness [0,1] 0.3569655404552531 Centerline is valid? [False, False] Translation: X:-129.14, Y:-112.41, Z:256.59 [[ 8.03022714e-01 -2.67022742e-01 5.32778919e-01 -1.29142084e+02] [ 1.71283330e-01 9.59693575e-01 2.22823391e-01 -1.12405713e+02] [-5.70803418e-01 -8.76760966e-02 8.16392283e-01 2.56594446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85907232899996 meters Centerline goodness [0,1] 0.36276553190593486 Centerline is valid? [False, False] Translation: X:-129.19, Y:-112.48, Z:256.66 [[ 8.02483501e-01 -2.63854560e-01 5.35164463e-01 -1.29185051e+02] [ 1.76004054e-01 9.61680419e-01 2.10222133e-01 -1.12484736e+02] [-5.70125253e-01 -7.45086783e-02 8.18172141e-01 2.56657232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.889072329 meters Centerline goodness [0,1] 0.35275822212882213 Centerline is valid? [False, False] Translation: X:-129.23, Y:-112.56, Z:256.72 [[ 8.02937969e-01 -2.60923731e-01 5.35919232e-01 -1.29227241e+02] [ 1.80458682e-01 9.63315616e-01 1.98639591e-01 -1.12560982e+02] [-5.68089149e-01 -6.27839913e-02 8.20568638e-01 2.56718396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91907232899996 meters Centerline goodness [0,1] 0.35939109774815503 Centerline is valid? [False, False] Translation: X:-129.27, Y:-112.64, Z:256.78 [[ 8.00496984e-01 -2.63837747e-01 5.38139594e-01 -1.29269535e+02] [ 1.89390506e-01 9.63238906e-01 1.90530961e-01 -1.12641062e+02] [-5.68626252e-01 -5.06009295e-02 8.21038203e-01 2.56778987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.949072329 meters Centerline goodness [0,1] 0.3474177417321511 Centerline is valid? [False, False] Translation: X:-129.31, Y:-112.72, Z:256.84 [[ 8.01278205e-01 -2.61232640e-01 5.38247847e-01 -1.29312199e+02] [ 1.92732719e-01 9.64387495e-01 1.81137677e-01 -1.12718015e+02] [-5.66398567e-01 -4.14037018e-02 8.23090759e-01 2.56840903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97907232899996 meters Centerline goodness [0,1] 0.3454954576043069 Centerline is valid? [False, False] Translation: X:-129.36, Y:-112.79, Z:256.90 [[ 8.01526501e-01 -2.59330667e-01 5.38797617e-01 -1.29356037e+02] [ 1.95729268e-01 9.65206610e-01 1.73396236e-01 -1.12794456e+02] [-5.65017983e-01 -3.35232153e-02 8.24397279e-01 2.56900686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.009072329 meters Centerline goodness [0,1] 0.3407739977235361 Centerline is valid? [False, False] Translation: X:-129.40, Y:-112.87, Z:256.95 [[ 7.98062179e-01 -2.66266234e-01 5.40554392e-01 -1.29396877e+02] [ 2.05931063e-01 9.63579434e-01 1.70607946e-01 -1.12867754e+02] [-5.66294230e-01 -2.48388090e-02 8.23828792e-01 2.56952879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03907232899996 meters Centerline goodness [0,1] 0.3556641324263421 Centerline is valid? [False, False] Translation: X:-129.44, Y:-112.94, Z:257.01 [[ 7.97765321e-01 -2.67116204e-01 5.40573238e-01 -1.29436430e+02] [ 2.10363898e-01 9.63488126e-01 1.65643176e-01 -1.12937014e+02] [-5.65081872e-01 -1.84272875e-02 8.24829020e-01 2.57005345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.069072329 meters Centerline goodness [0,1] 0.3667755188033288 Centerline is valid? [False, False] Translation: X:-129.47, Y:-113.00, Z:257.05 [[ 7.97068676e-01 -2.68672232e-01 5.40829693e-01 -1.29474638e+02] [ 2.16773244e-01 9.63184760e-01 1.59010938e-01 -1.13003609e+02] [-5.63640742e-01 -9.50523089e-03 8.25965353e-01 2.57054875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09907232899997 meters Centerline goodness [0,1] 0.36792909622955305 Centerline is valid? [False, False] Translation: X:-129.51, Y:-113.07, Z:257.10 [[ 7.96805004e-01 -2.69816829e-01 5.40648375e-01 -1.29512233e+02] [ 2.22581059e-01 9.62910938e-01 1.52512942e-01 -1.13069348e+02] [-5.61746792e-01 -1.18498777e-03 8.27308369e-01 2.57102976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.129072329 meters Centerline goodness [0,1] 0.3583486122526396 Centerline is valid? [False, False] Translation: X:-129.54, Y:-113.13, Z:257.14 [[ 7.95448861e-01 -2.76208859e-01 5.39416143e-01 -1.29542052e+02] [ 2.35501896e-01 9.61024665e-01 1.44811778e-01 -1.13130708e+02] [-5.58390514e-01 1.18431608e-02 8.29493685e-01 2.57141938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15907232899997 meters Centerline goodness [0,1] 0.3655284621561087 Centerline is valid? [False, False] Translation: X:-129.58, Y:-113.19, Z:257.18 [[ 7.96336746e-01 -2.77273468e-01 5.37556705e-01 -1.29576493e+02] [ 2.41162086e-01 9.60591719e-01 1.38218659e-01 -1.13189209e+02] [-5.54696886e-01 1.95696994e-02 8.31822332e-01 2.57182819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.189072329 meters Centerline goodness [0,1] 0.34130613449097 Centerline is valid? [False, False] Translation: X:-129.60, Y:-113.25, Z:257.22 [[ 7.95069814e-01 -2.84481381e-01 5.35662520e-01 -1.29604947e+02] [ 2.52188856e-01 9.58270581e-01 1.34604138e-01 -1.13245126e+02] [-5.51602005e-01 2.80684315e-02 8.33635047e-01 2.57219741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21907232899997 meters Centerline goodness [0,1] 0.35623484768630753 Centerline is valid? [False, False] Translation: X:-129.63, Y:-113.29, Z:257.25 [[ 7.94373542e-01 -2.82757894e-01 5.37604547e-01 -1.29629672e+02] [ 2.54204871e-01 9.58569062e-01 1.28550522e-01 -1.13289137e+02] [-5.51679761e-01 3.45445612e-02 8.33340335e-01 2.57253399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.249072329 meters Centerline goodness [0,1] 0.31850353892821026 Centerline is valid? [False, False] Translation: X:-129.66, Y:-113.34, Z:257.29 [[ 7.93929727e-01 -2.87516946e-01 5.35732764e-01 -1.29661290e+02] [ 2.60196238e-01 9.57031087e-01 1.28021155e-01 -1.13343098e+02] [-5.49521161e-01 3.77558491e-02 8.34626257e-01 2.57290939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.279072329 meters Centerline goodness [0,1] 0.36472768628111707 Centerline is valid? [False, False] Translation: X:-129.69, Y:-113.39, Z:257.32 [[ 7.93904090e-01 -2.84824104e-01 5.37207153e-01 -1.29686306e+02] [ 2.61031730e-01 9.57596294e-01 1.21949881e-01 -1.13385151e+02] [-5.49161845e-01 4.34116033e-02 8.34587743e-01 2.57321465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30907232899995 meters Centerline goodness [0,1] 0.36359808854177633 Centerline is valid? [False, False] Translation: X:-129.72, Y:-113.44, Z:257.36 [[ 7.92875714e-01 -2.91366645e-01 5.35213584e-01 -1.29716096e+02] [ 2.69343950e-01 9.55399506e-01 1.21101694e-01 -1.13441930e+02] [-5.46627788e-01 4.81379485e-02 8.35990908e-01 2.57358109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.339072329 meters Centerline goodness [0,1] 0.3422127695417789 Centerline is valid? [False, False] Translation: X:-129.74, Y:-113.49, Z:257.39 [[ 7.93692571e-01 -2.87784879e-01 5.35940264e-01 -1.29741557e+02] [ 2.71017412e-01 9.56035765e-01 1.12005262e-01 -1.13486740e+02] [-5.44611481e-01 5.63513990e-02 8.36793197e-01 2.57391317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36907232899995 meters Centerline goodness [0,1] 0.3153851024758849 Centerline is valid? [False, False] Translation: X:-129.77, Y:-113.53, Z:257.42 [[ 7.94096479e-01 -2.84819240e-01 5.36925305e-01 -1.29765582e+02] [ 2.73341685e-01 9.56380082e-01 1.03060477e-01 -1.13528631e+02] [-5.42858274e-01 6.49241057e-02 8.37311026e-01 2.57420228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.399072329 meters Centerline goodness [0,1] 0.3165802672061365 Centerline is valid? [False, False] Translation: X:-129.78, Y:-113.57, Z:257.44 [[ 7.94372485e-01 -2.87369059e-01 5.35155472e-01 -1.29777916e+02] [ 2.81148464e-01 9.54906884e-01 9.54378526e-02 -1.13568497e+02] [-5.38449530e-01 7.46449348e-02 8.39345124e-01 2.57442758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42907232899995 meters Centerline goodness [0,1] 0.32266025438207935 Centerline is valid? [False, False] Translation: X:-129.80, Y:-113.61, Z:257.47 [[ 7.94321287e-01 -2.87424194e-01 5.35201855e-01 -1.29798498e+02] [ 2.85497468e-01 9.54260987e-01 8.87533897e-02 -1.13605993e+02] [-5.36232122e-01 8.23000679e-02 8.40048695e-01 2.57467367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.459072329 meters Centerline goodness [0,1] 0.339733591872866 Centerline is valid? [False, False] Translation: X:-129.82, Y:-113.64, Z:257.49 [[ 7.94825361e-01 -2.88480748e-01 5.33883418e-01 -1.29816276e+02] [ 2.89467217e-01 9.53472473e-01 8.42554097e-02 -1.13641535e+02] [-5.33349206e-01 8.75734109e-02 8.41349822e-01 2.57489563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48907232899995 meters Centerline goodness [0,1] 0.33199763792812553 Centerline is valid? [False, False] Translation: X:-129.84, Y:-113.69, Z:257.52 [[ 7.94166622e-01 -2.99886109e-01 5.28552455e-01 -1.29835484e+02] [ 3.01718147e-01 9.49563280e-01 8.54150906e-02 -1.13690485e+02] [-5.27508801e-01 9.16400531e-02 8.44592544e-01 2.57515672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.519072329 meters Centerline goodness [0,1] 0.3743128541039197 Centerline is valid? [False, False] Translation: X:-129.85, Y:-113.72, Z:257.53 [[ 7.94619909e-01 -3.03648338e-01 5.25715594e-01 -1.29847278e+02] [ 3.09688216e-01 9.47534546e-01 7.91927584e-02 -1.13719629e+02] [-5.22180436e-01 9.98797822e-02 8.46966127e-01 2.57531439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54907232899996 meters Centerline goodness [0,1] 0.3314061054579094 Centerline is valid? [False, False] Translation: X:-129.86, Y:-113.75, Z:257.55 [[ 7.95388869e-01 -3.05868112e-01 5.23260208e-01 -1.29860870e+02] [ 3.16065807e-01 9.45961913e-01 7.25152787e-02 -1.13751524e+02] [-5.17164339e-01 1.07706814e-01 8.49082027e-01 2.57548206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.579072329 meters Centerline goodness [0,1] 0.3591011425084689 Centerline is valid? [False, False] Translation: X:-129.87, Y:-113.79, Z:257.57 [[ 7.93828245e-01 -3.21000260e-01 5.16522556e-01 -1.29871793e+02] [ 3.33494691e-01 9.40025018e-01 7.16537339e-02 -1.13794794e+02] [-5.08544992e-01 1.15376772e-01 8.53270292e-01 2.57566723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60907232899996 meters Centerline goodness [0,1] 0.32009355640777104 Centerline is valid? [False, False] Translation: X:-129.88, Y:-113.82, Z:257.58 [[ 7.94057260e-01 -3.26254568e-01 5.12865503e-01 -1.29881799e+02] [ 3.40850412e-01 9.37602797e-01 6.87167524e-02 -1.13824272e+02] [-5.03283285e-01 1.20245382e-01 8.55714312e-01 2.57581720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.639072329 meters Centerline goodness [0,1] 0.33623432725740177 Centerline is valid? [False, False] Translation: X:-129.89, Y:-113.85, Z:257.59 [[ 7.93444508e-01 -3.34861294e-01 5.08245734e-01 -1.29887577e+02] [ 3.50888485e-01 9.33976243e-01 6.75695822e-02 -1.13847276e+02] [-4.97315879e-01 1.24724862e-01 8.58557293e-01 2.57592737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66907232899996 meters Centerline goodness [0,1] 0.3965484543902902 Centerline is valid? [False, False] Translation: X:-129.89, Y:-113.88, Z:257.61 [[ 7.86508849e-01 -3.56001842e-01 5.04644944e-01 -1.29893164e+02] [ 3.71815499e-01 9.25405175e-01 7.33382297e-02 -1.13884306e+02] [-4.93109588e-01 1.29953645e-01 8.60206362e-01 2.57605676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.699072329 meters Centerline goodness [0,1] 0.3684885162537561 Centerline is valid? [False, False] Translation: X:-129.92, Y:-113.93, Z:257.63 [[ 7.84322496e-01 -3.64785991e-01 5.01766284e-01 -1.29919202e+02] [ 3.81243996e-01 9.21507367e-01 7.40080319e-02 -1.13933744e+02] [-4.89378420e-01 1.33249219e-01 8.61831426e-01 2.57632055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72907232899996 meters Centerline goodness [0,1] 0.3807255712457248 Centerline is valid? [False, False] Translation: X:-129.95, Y:-113.98, Z:257.66 [[ 7.82151218e-01 -3.73144348e-01 4.99001771e-01 -1.29945657e+02] [ 3.90668120e-01 9.17568876e-01 7.37955171e-02 -1.13983540e+02] [-4.85404874e-01 1.37224830e-01 8.63453215e-01 2.57658886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.759072329 meters Centerline goodness [0,1] 0.4041531527736827 Centerline is valid? [False, False] Translation: X:-129.97, Y:-114.03, Z:257.69 [[ 7.80193177e-01 -3.80628659e-01 4.96407525e-01 -1.29973612e+02] [ 3.98889939e-01 9.14015424e-01 7.39095506e-02 -1.14034149e+02] [-4.81856228e-01 1.40348240e-01 8.64937540e-01 2.57686345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78907232899996 meters Centerline goodness [0,1] 0.39777609299974725 Centerline is valid? [False, False] Translation: X:-129.99, Y:-114.08, Z:257.71 [[ 7.75800130e-01 -3.94092892e-01 4.92772717e-01 -1.29989845e+02] [ 4.14517078e-01 9.07119595e-01 7.28672268e-02 -1.14084151e+02] [-4.75720244e-01 1.47732303e-01 8.67101734e-01 2.57708159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.819072329 meters Centerline goodness [0,1] 0.3727826875619582 Centerline is valid? [False, False] Translation: X:-130.01, Y:-114.12, Z:257.73 [[ 7.75377515e-01 -3.95978974e-01 4.91925159e-01 -1.30006637e+02] [ 4.19579617e-01 9.05218939e-01 6.73172861e-02 -1.14120870e+02] [-4.71956200e-01 1.54205460e-01 8.68031118e-01 2.57727153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84907232899997 meters Centerline goodness [0,1] 0.3804793871924914 Centerline is valid? [False, False] Translation: X:-130.02, Y:-114.15, Z:257.74 [[ 7.74297498e-01 -3.99493902e-01 4.90783056e-01 -1.30021765e+02] [ 4.25752116e-01 9.02640923e-01 6.30436311e-02 -1.14153925e+02] [-4.68186417e-01 1.60137399e-01 8.68997982e-01 2.57742719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.879072329 meters Centerline goodness [0,1] 0.36117951632253587 Centerline is valid? [False, False] Translation: X:-130.04, Y:-114.20, Z:257.76 [[ 7.70107338e-01 -4.13561281e-01 4.85697184e-01 -1.30035435e+02] [ 4.41879927e-01 8.94969370e-01 6.14162607e-02 -1.14199349e+02] [-4.60083491e-01 1.67322723e-01 8.71966908e-01 2.57760929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90907232899997 meters Centerline goodness [0,1] 0.36115159580085754 Centerline is valid? [False, False] Translation: X:-130.05, Y:-114.23, Z:257.77 [[ 7.69381610e-01 -4.16962063e-01 4.83936542e-01 -1.30049924e+02] [ 4.47188421e-01 8.92552753e-01 5.80697832e-02 -1.14230689e+02] [-4.56151789e-01 1.71732994e-01 8.73174280e-01 2.57774165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.939072329 meters Centerline goodness [0,1] 0.36115159580085754 Centerline is valid? [False, False] Translation: X:-130.07, Y:-114.26, Z:257.79 [[ 7.70644905e-01 -4.17079424e-01 4.81820698e-01 -1.30071317e+02] [ 4.46402101e-01 8.92890597e-01 5.89198241e-02 -1.14259389e+02] [-4.54787417e-01 1.69679510e-01 8.74286720e-01 2.57791162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96907232899997 meters Centerline goodness [0,1] 0.3595697092342103 Centerline is valid? [False, False] Translation: X:-130.08, Y:-114.30, Z:257.81 [[ 7.68651401e-01 -4.31316577e-01 4.72378063e-01 -1.30080005e+02] [ 4.60635483e-01 8.85620066e-01 5.90935695e-02 -1.14298740e+02] [-4.43835527e-01 1.72171742e-01 8.79412825e-01 2.57805884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.999072329 meters Centerline goodness [0,1] 0.3658656518578698 Centerline is valid? [False, False] Translation: X:-130.09, Y:-114.32, Z:257.82 [[ 7.67243499e-01 -4.36919097e-01 4.69509442e-01 -1.30091225e+02] [ 4.67662626e-01 8.82090712e-01 5.66360660e-02 -1.14324150e+02] [-4.38895297e-01 1.76118365e-01 8.81109096e-01 2.57817181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.029072329 meters Centerline goodness [0,1] 0.37898561630582017 Centerline is valid? [False, False] Translation: X:-130.11, Y:-114.35, Z:257.83 [[ 7.66478192e-01 -4.40941739e-01 4.66992038e-01 -1.30105139e+02] [ 4.72797243e-01 8.79489061e-01 5.44220416e-02 -1.14352341e+02] [-4.34711339e-01 1.79079240e-01 8.82585224e-01 2.57829671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05907232899995 meters Centerline goodness [0,1] 0.3689324590447748 Centerline is valid? [False, False] Translation: X:-130.12, Y:-114.38, Z:257.84 [[ 7.65553440e-01 -4.45880135e-01 4.63809051e-01 -1.30117080e+02] [ 4.78591347e-01 8.76459243e-01 5.26262120e-02 -1.14378405e+02] [-4.29974712e-01 1.81686821e-01 8.84370763e-01 2.57841536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.089072329 meters Centerline goodness [0,1] 0.39804508976405506 Centerline is valid? [False, False] Translation: X:-130.13, Y:-114.42, Z:257.86 [[ 7.60644605e-01 -4.60333125e-01 4.57726118e-01 -1.30132084e+02] [ 4.90867051e-01 8.69268164e-01 5.85012635e-02 -1.14419315e+02] [-4.24816812e-01 1.80183999e-01 8.87166502e-01 2.57860636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11907232899995 meters Centerline goodness [0,1] 0.40025485543545125 Centerline is valid? [False, False] Translation: X:-130.15, Y:-114.45, Z:257.87 [[ 7.59805114e-01 -4.64277884e-01 4.55128812e-01 -1.30146733e+02] [ 4.95442046e-01 8.66763416e-01 5.70820483e-02 -1.14447000e+02] [-4.20990936e-01 1.82118718e-01 8.88594060e-01 2.57874991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.149072329 meters Centerline goodness [0,1] 0.3752633096077518 Centerline is valid? [False, False] Translation: X:-130.16, Y:-114.48, Z:257.89 [[ 7.58204110e-01 -4.69015776e-01 4.52935679e-01 -1.30159226e+02] [ 5.01529352e-01 8.63420716e-01 5.45250066e-02 -1.14478467e+02] [-4.16647137e-01 1.85819454e-01 8.89874314e-01 2.57888951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17907232899995 meters Centerline goodness [0,1] 0.4144965664853295 Centerline is valid? [False, False] Translation: X:-130.17, Y:-114.51, Z:257.90 [[ 7.56592849e-01 -4.73294024e-01 4.51176271e-01 -1.30174014e+02] [ 5.07243809e-01 8.60244357e-01 5.18012053e-02 -1.14505828e+02] [-4.12639042e-01 1.89663949e-01 8.90930192e-01 2.57902501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.209072329 meters Centerline goodness [0,1] 0.4225692424716989 Centerline is valid? [False, False] Translation: X:-130.19, Y:-114.54, Z:257.92 [[ 7.56765158e-01 -4.75500812e-01 4.48559331e-01 -1.30191247e+02] [ 5.08995571e-01 8.59192741e-01 5.20705516e-02 -1.14535234e+02] [-4.10158511e-01 1.88909534e-01 8.92234938e-01 2.57917715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23907232899995 meters Centerline goodness [0,1] 0.40970114012008363 Centerline is valid? [False, False] Translation: X:-130.21, Y:-114.57, Z:257.93 [[ 7.56676000e-01 -4.76422208e-01 4.47731294e-01 -1.30213035e+02] [ 5.10549508e-01 8.58362537e-01 5.05267681e-02 -1.14567237e+02] [-4.08387844e-01 1.90356599e-01 8.92739455e-01 2.57934631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.269072329 meters Centerline goodness [0,1] 0.40621045018983903 Centerline is valid? [False, False] Translation: X:-130.23, Y:-114.60, Z:257.95 [[ 7.56215934e-01 -4.78706450e-01 4.46069049e-01 -1.30231504e+02] [ 5.13560160e-01 8.56669528e-01 4.87163417e-02 -1.14598418e+02] [-4.05454589e-01 1.92243218e-01 8.93671708e-01 2.57950220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29907232899996 meters Centerline goodness [0,1] 0.4063170252635857 Centerline is valid? [False, False] Translation: X:-130.25, Y:-114.63, Z:257.97 [[ 7.57006606e-01 -4.80432808e-01 4.42860379e-01 -1.30249848e+02] [ 5.14282810e-01 8.56178005e-01 4.97233878e-02 -1.14625977e+02] [-4.03056063e-01 1.90114547e-01 8.95210740e-01 2.57965424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.329072329 meters Centerline goodness [0,1] 0.4221586782861293 Centerline is valid? [False, False] Translation: X:-130.27, Y:-114.66, Z:257.98 [[ 7.57544943e-01 -4.80280022e-01 4.42104919e-01 -1.30274489e+02] [ 5.14757500e-01 8.55997946e-01 4.78772596e-02 -1.14656893e+02] [-4.01435394e-01 1.91307647e-01 8.95684659e-01 2.57982333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35907232899996 meters Centerline goodness [0,1] 0.44313832695461997 Centerline is valid? [False, False] Translation: X:-130.30, Y:-114.69, Z:258.00 [[ 7.58025552e-01 -4.80709859e-01 4.40812085e-01 -1.30297269e+02] [ 5.15110409e-01 8.55807921e-01 4.74770396e-02 -1.14687809e+02] [-4.00073155e-01 1.91078084e-01 8.96342924e-01 2.57998755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.389072329 meters Centerline goodness [0,1] 0.44151733873722077 Centerline is valid? [False, False] Translation: X:-130.32, Y:-114.72, Z:258.01 [[ 7.58740867e-01 -4.81247202e-01 4.38991375e-01 -1.30319216e+02] [ 5.15337403e-01 8.55678411e-01 4.73478394e-02 -1.14716709e+02] [-3.98421457e-01 1.90303935e-01 8.97242863e-01 2.58014691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41907232899996 meters Centerline goodness [0,1] 0.4150207544587876 Centerline is valid? [False, False] Translation: X:-130.34, Y:-114.75, Z:258.03 [[ 7.59965520e-01 -4.80314141e-01 4.37893519e-01 -1.30344264e+02] [ 5.14568225e-01 8.56208302e-01 4.61181663e-02 -1.14747868e+02] [-3.97079274e-01 1.90277875e-01 8.97843183e-01 2.58031001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.449072329 meters Centerline goodness [0,1] 0.4282774703918789 Centerline is valid? [False, False] Translation: X:-130.37, Y:-114.78, Z:258.05 [[ 7.62324124e-01 -4.78908967e-01 4.35325316e-01 -1.30369627e+02] [ 5.12739426e-01 8.57348585e-01 4.52955313e-02 -1.14778611e+02] [-3.94917979e-01 1.88678576e-01 8.99133018e-01 2.58048771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47907232899996 meters Centerline goodness [0,1] 0.40865538166719895 Centerline is valid? [False, False] Translation: X:-130.39, Y:-114.81, Z:258.06 [[ 7.63866053e-01 -4.78482256e-01 4.33085885e-01 -1.30393624e+02] [ 5.11482551e-01 8.58068409e-01 4.58716208e-02 -1.14807058e+02] [-3.93566073e-01 1.86476099e-01 9.00184654e-01 2.58064747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.509072329 meters Centerline goodness [0,1] 0.44912737573099415 Centerline is valid? [False, False] Translation: X:-130.42, Y:-114.84, Z:258.08 [[ 7.64980507e-01 -4.78939649e-01 4.30606126e-01 -1.30415667e+02] [ 5.11133301e-01 8.58240751e-01 4.65355945e-02 -1.14835892e+02] [-3.91851466e-01 1.84498308e-01 9.01339449e-01 2.58080839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53907232899996 meters Centerline goodness [0,1] 0.38091090379810666 Centerline is valid? [False, False] Translation: X:-130.43, Y:-114.87, Z:258.10 [[ 7.64465277e-01 -4.81942202e-01 4.28164169e-01 -1.30433437e+02] [ 5.14083231e-01 8.56495035e-01 4.62026594e-02 -1.14866714e+02] [-3.88987496e-01 1.84791691e-01 9.02519118e-01 2.58098538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.569072329 meters Centerline goodness [0,1] 0.4208611558830302 Centerline is valid? [False, False] Translation: X:-130.46, Y:-114.90, Z:258.12 [[ 7.64989104e-01 -4.82357377e-01 4.26758750e-01 -1.30456695e+02] [ 5.14339829e-01 8.56355155e-01 4.59389798e-02 -1.14897826e+02] [-3.87616061e-01 1.84356204e-01 9.03197973e-01 2.58115481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59907232899997 meters Centerline goodness [0,1] 0.3916908479572567 Centerline is valid? [False, False] Translation: X:-130.48, Y:-114.93, Z:258.13 [[ 7.65606048e-01 -4.84176104e-01 4.23581018e-01 -1.30475718e+02] [ 5.15224270e-01 8.55768858e-01 4.69426477e-02 -1.14925658e+02] [-3.85215953e-01 1.82299646e-01 9.04641094e-01 2.58131443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.629072329 meters Centerline goodness [0,1] 0.43418645049218296 Centerline is valid? [False, False] Translation: X:-130.49, Y:-114.95, Z:258.14 [[ 7.65601467e-01 -4.86928537e-01 4.20422400e-01 -1.30492859e+02] [ 5.17710906e-01 8.54282638e-01 4.66539516e-02 -1.14952495e+02] [-3.81876697e-01 1.81938928e-01 9.06128255e-01 2.58144842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65907232899997 meters Centerline goodness [0,1] 0.44906999397003566 Centerline is valid? [False, False] Translation: X:-130.51, Y:-114.98, Z:258.16 [[ 7.66049433e-01 -4.88407455e-01 4.17883266e-01 -1.30513104e+02] [ 5.19057096e-01 8.53499634e-01 4.60228776e-02 -1.14978144e+02] [-3.79141131e-01 1.81649475e-01 9.07334266e-01 2.58157247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.689072329 meters Centerline goodness [0,1] 0.44480708707308547 Centerline is valid? [False, False] Translation: X:-130.54, Y:-115.01, Z:258.17 [[ 7.68382239e-01 -4.87226392e-01 4.14968888e-01 -1.30537571e+02] [ 5.17855714e-01 8.54325700e-01 4.41934210e-02 -1.15008363e+02] [-3.76050786e-01 1.80936570e-01 9.08761665e-01 2.58172857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71907232899997 meters Centerline goodness [0,1] 0.45399146861669715 Centerline is valid? [False, False] Translation: X:-130.56, Y:-115.04, Z:258.18 [[ 7.68338390e-01 -4.88536737e-01 4.13506923e-01 -1.30558765e+02] [ 5.19928047e-01 8.53181365e-01 4.19092411e-02 -1.15036854e+02] [-3.73270605e-01 1.82793368e-01 9.09535947e-01 2.58184557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.749072329 meters Centerline goodness [0,1] 0.47002510617330295 Centerline is valid? [False, False] Translation: X:-130.58, Y:-115.06, Z:258.20 [[ 7.69009736e-01 -4.89298951e-01 4.11352114e-01 -1.30580460e+02] [ 5.20569157e-01 8.52823138e-01 4.12364899e-02 -1.15063885e+02] [-3.70987572e-01 1.82425961e-01 9.10543239e-01 2.58197489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.779072329 meters Centerline goodness [0,1] 0.47530616578966 Centerline is valid? [False, False] Translation: X:-130.61, Y:-115.09, Z:258.21 [[ 7.69434161e-01 -4.89191105e-01 4.10686175e-01 -1.30606037e+02] [ 5.21710928e-01 8.52286155e-01 3.77626435e-02 -1.15094485e+02] [-3.68495290e-01 1.85203597e-01 9.10994428e-01 2.58212931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80907232899995 meters Centerline goodness [0,1] 0.47572402044293016 Centerline is valid? [False, False] Translation: X:-130.62, Y:-115.12, Z:258.23 [[ 7.68959461e-01 -4.92629582e-01 4.07452380e-01 -1.30621737e+02] [ 5.25086093e-01 8.50243428e-01 3.70230893e-02 -1.15120803e+02] [-3.64672377e-01 1.85478323e-01 9.12475670e-01 2.58225484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.839072329 meters Centerline goodness [0,1] 0.4611272157011833 Centerline is valid? [False, False] Translation: X:-130.64, Y:-115.15, Z:258.24 [[ 7.69413693e-01 -4.93778869e-01 4.05197480e-01 -1.30643221e+02] [ 5.26249190e-01 8.49567178e-01 3.60194422e-02 -1.15148285e+02] [-3.62028119e-01 1.85520994e-01 9.13519349e-01 2.58238784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86907232899995 meters Centerline goodness [0,1] 0.46896469749197667 Centerline is valid? [False, False] Translation: X:-130.66, Y:-115.17, Z:258.25 [[ 7.69971240e-01 -4.95259548e-01 4.02321104e-01 -1.30663392e+02] [ 5.27352280e-01 8.48894890e-01 3.57356603e-02 -1.15174586e+02] [-3.59226756e-01 1.84649521e-01 9.14800903e-01 2.58251553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.899072329 meters Centerline goodness [0,1] 0.47390366642703097 Centerline is valid? [False, False] Translation: X:-130.68, Y:-115.20, Z:258.26 [[ 7.69796420e-01 -4.97283241e-01 4.00153533e-01 -1.30682788e+02] [ 5.29807278e-01 8.47439438e-01 3.39211905e-02 -1.15202274e+02] [-3.55974325e-01 1.85891843e-01 9.15820126e-01 2.58262606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92907232899995 meters Centerline goodness [0,1] 0.4812196412254124 Centerline is valid? [False, False] Translation: X:-130.70, Y:-115.23, Z:258.27 [[ 7.69393102e-01 -5.00122285e-01 3.97381372e-01 -1.30700582e+02] [ 5.32654303e-01 8.45687996e-01 3.30334197e-02 -1.15228229e+02] [-3.52581405e-01 1.86251213e-01 9.17058798e-01 2.58274867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.959072329 meters Centerline goodness [0,1] 0.48946124535764246 Centerline is valid? [False, False] Translation: X:-130.72, Y:-115.25, Z:258.29 [[ 7.69592235e-01 -5.02065840e-01 3.94534768e-01 -1.30719897e+02] [ 5.34289554e-01 8.44669458e-01 3.26830240e-02 -1.15254449e+02] [-3.49660499e-01 1.85643204e-01 9.18299590e-01 2.58287195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98907232899995 meters Centerline goodness [0,1] 0.5033491657532578 Centerline is valid? [False, False] Translation: X:-130.74, Y:-115.28, Z:258.30 [[ 7.67747578e-01 -5.06048740e-01 3.93037312e-01 -1.30737259e+02] [ 5.39479191e-01 8.41477511e-01 2.96277007e-02 -1.15281489e+02] [-3.45725120e-01 1.89288856e-01 9.19045086e-01 2.58298132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.019072329 meters Centerline goodness [0,1] 0.5106081345326554 Centerline is valid? [False, False] Translation: X:-130.76, Y:-115.31, Z:258.31 [[ 7.67771454e-01 -5.08502526e-01 3.89810435e-01 -1.30755561e+02] [ 5.41483449e-01 8.40193194e-01 2.95138992e-02 -1.15307808e+02] [-3.42523967e-01 1.88415970e-01 9.20422052e-01 2.58310962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04907232899996 meters Centerline goodness [0,1] 0.48912268626631594 Centerline is valid? [False, False] Translation: X:-130.78, Y:-115.34, Z:258.32 [[ 7.67372910e-01 -5.10628087e-01 3.87811517e-01 -1.30776081e+02] [ 5.44144701e-01 8.38544163e-01 2.73903652e-02 -1.15335647e+02] [-3.39183374e-01 1.90006958e-01 9.21331642e-01 2.58323626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.079072329 meters Centerline goodness [0,1] 0.48082276142382063 Centerline is valid? [False, False] Translation: X:-130.79, Y:-115.36, Z:258.33 [[ 7.67110614e-01 -5.13144530e-01 3.84998698e-01 -1.30794478e+02] [ 5.46638152e-01 8.36954100e-01 2.63546083e-02 -1.15361194e+02] [-3.35749962e-01 1.90238077e-01 9.22540751e-01 2.58334056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10907232899996 meters Centerline goodness [0,1] 0.5175475687103595 Centerline is valid? [False, False] Translation: X:-130.82, Y:-115.40, Z:258.35 [[ 7.61907318e-01 -5.24545193e-01 3.79933650e-01 -1.30818333e+02] [ 5.56433944e-01 8.30331179e-01 3.05188411e-02 -1.15400766e+02] [-3.31479267e-01 1.88155451e-01 9.24510153e-01 2.58350737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.139072329 meters Centerline goodness [0,1] 0.54769061216311 Centerline is valid? [False, False] Translation: X:-130.84, Y:-115.43, Z:258.37 [[ 7.61664426e-01 -5.25893489e-01 3.78554278e-01 -1.30841258e+02] [ 5.58571398e-01 8.28991043e-01 2.77820893e-02 -1.15431582e+02] [-3.28428525e-01 1.90288963e-01 9.25162048e-01 2.58365234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16907232899996 meters Centerline goodness [0,1] 0.5385024840312278 Centerline is valid? [False, False] Translation: X:-130.86, Y:-115.46, Z:258.38 [[ 7.58761828e-01 -5.31103042e-01 3.77107473e-01 -1.30855369e+02] [ 5.65086764e-01 8.24669285e-01 2.44442251e-02 -1.15461494e+02] [-3.23971352e-01 1.94551097e-01 9.25846874e-01 2.58376440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.199072329 meters Centerline goodness [0,1] 0.5552781104288226 Centerline is valid? [False, False] Translation: X:-130.88, Y:-115.49, Z:258.39 [[ 7.57835256e-01 -5.33562518e-01 3.75495359e-01 -1.30875959e+02] [ 5.68221373e-01 8.22580242e-01 2.20503272e-02 -1.15490088e+02] [-3.20640291e-01 1.96653973e-01 9.26561934e-01 2.58389627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22907232899996 meters Centerline goodness [0,1] 0.5781298141111225 Centerline is valid? [False, False] Translation: X:-130.90, Y:-115.52, Z:258.40 [[ 7.56942264e-01 -5.35754068e-01 3.74173739e-01 -1.30897544e+02] [ 5.71178854e-01 8.20594539e-01 1.94761058e-02 -1.15520074e+02] [-3.17479330e-01 1.98977840e-01 9.27154083e-01 2.58403426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.259072329 meters Centerline goodness [0,1] 0.5807571713611982 Centerline is valid? [False, False] Translation: X:-130.91, Y:-115.55, Z:258.41 [[ 7.53716124e-01 -5.41255693e-01 3.72765716e-01 -1.30911457e+02] [ 5.77845059e-01 8.15981159e-01 1.64266973e-02 -1.15549116e+02] [-3.13060844e-01 2.03019760e-01 9.27780084e-01 2.58414908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28907232899996 meters Centerline goodness [0,1] 0.5908757594804106 Centerline is valid? [False, False] Translation: X:-130.94, Y:-115.58, Z:258.43 [[ 7.54017751e-01 -5.41903504e-01 3.71211292e-01 -1.30936339e+02] [ 5.79050594e-01 8.15174411e-01 1.38235075e-02 -1.15581959e+02] [-3.10092953e-01 2.04526949e-01 9.28445522e-01 2.58431446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.319072329 meters Centerline goodness [0,1] 0.5914063321762911 Centerline is valid? [False, False] Translation: X:-130.96, Y:-115.61, Z:258.44 [[ 7.53880987e-01 -5.43709860e-01 3.68840135e-01 -1.30957374e+02] [ 5.80784705e-01 8.13956875e-01 1.27801470e-02 -1.15610691e+02] [-3.07168656e-01 2.04582000e-01 9.29404983e-01 2.58444933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34907232899997 meters Centerline goodness [0,1] 0.5982201975792568 Centerline is valid? [False, False] Translation: X:-130.97, Y:-115.64, Z:258.46 [[ 7.51508954e-01 -5.48102855e-01 3.67175097e-01 -1.30974123e+02] [ 5.85905982e-01 8.10312220e-01 1.04060706e-02 -1.15639405e+02] [-3.03230065e-01 2.07309830e-01 9.30093631e-01 2.58457118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.379072329 meters Centerline goodness [0,1] 0.6003102516783011 Centerline is valid? [False, False] Translation: X:-131.00, Y:-115.67, Z:258.47 [[ 7.52517614e-01 -5.47888387e-01 3.65425171e-01 -1.31001242e+02] [ 5.86520809e-01 8.09908147e-01 6.49114501e-03 -1.15673132e+02] [-2.99517246e-01 2.09444766e-01 9.30818086e-01 2.58473755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40907232899997 meters Centerline goodness [0,1] 0.6073784839100579 Centerline is valid? [False, False] Translation: X:-131.03, Y:-115.70, Z:258.49 [[ 7.52467139e-01 -5.48919267e-01 3.63979179e-01 -1.31025725e+02] [ 5.88239582e-01 8.08679198e-01 3.48546561e-03 -1.15703627e+02] [-2.96255630e-01 2.11484262e-01 9.31400563e-01 2.58487957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.439072329 meters Centerline goodness [0,1] 0.6233783894041176 Centerline is valid? [False, False] Translation: X:-131.06, Y:-115.75, Z:258.51 [[ 7.47059161e-01 -5.58134444e-01 3.61093551e-01 -1.31056656e+02] [ 5.96067756e-01 8.02895995e-01 7.82631536e-03 -1.15745620e+02] [-2.94288702e-01 2.09389502e-01 9.32496754e-01 2.58506070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46907232899997 meters Centerline goodness [0,1] 0.6296063594394514 Centerline is valid? [False, False] Translation: X:-131.08, Y:-115.78, Z:258.52 [[ 7.47080957e-01 -5.58712507e-01 3.60153271e-01 -1.31083194e+02] [ 5.97409543e-01 8.01921911e-01 4.80492151e-03 -1.15776800e+02] [-2.91499369e-01 2.11569335e-01 9.32880772e-01 2.58521562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.499072329 meters Centerline goodness [0,1] 0.6448147638066382 Centerline is valid? [False, False] Translation: X:-131.10, Y:-115.81, Z:258.54 [[ 7.45712505e-01 -5.61674343e-01 3.58378002e-01 -1.31104292e+02] [ 6.00762441e-01 7.99422544e-01 2.84355348e-03 -1.15807419e+02] [-2.88092605e-01 2.13179570e-01 9.33572237e-01 2.58537570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.529072329 meters Centerline goodness [0,1] 0.6473703080614468 Centerline is valid? [False, False] Translation: X:-131.13, Y:-115.84, Z:258.55 [[ 7.46662683e-01 -5.62364822e-01 3.55303595e-01 -1.31128429e+02] [ 6.01247803e-01 7.99061688e-01 1.22398512e-03 -1.15836646e+02] [-2.84597816e-01 2.12711602e-01 9.34750158e-01 2.58552612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55907232899995 meters Centerline goodness [0,1] 0.6527203617900841 Centerline is valid? [False, False] Translation: X:-131.16, Y:-115.87, Z:258.57 [[ 7.48105027e-01 -5.62154019e-01 3.52592863e-01 -1.31156331e+02] [ 6.01460425e-01 7.98898947e-01 -2.41443934e-03 -1.15868447e+02] [-2.80328781e-01 2.13876908e-01 9.35773714e-01 2.58569984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.589072329 meters Centerline goodness [0,1] 0.6615204873570892 Centerline is valid? [False, False] Translation: X:-131.18, Y:-115.90, Z:258.58 [[ 7.48817398e-01 -5.62706222e-01 3.50191679e-01 -1.31181016e+02] [ 6.01929020e-01 7.98539706e-01 -3.97399918e-03 -1.15896776e+02] [-2.77405767e-01 2.13766334e-01 9.36669630e-01 2.58583091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61907232899995 meters Centerline goodness [0,1] 0.6734773628091331 Centerline is valid? [False, False] Translation: X:-131.21, Y:-115.93, Z:258.60 [[ 7.49645367e-01 -5.63018148e-01 3.47911468e-01 -1.31206159e+02] [ 6.02787080e-01 7.97865346e-01 -7.65675224e-03 -1.15926075e+02] [-2.73275614e-01 2.15456387e-01 9.37496125e-01 2.58595317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.649072329 meters Centerline goodness [0,1] 0.6750021025482885 Centerline is valid? [False, False] Translation: X:-131.23, Y:-115.96, Z:258.61 [[ 7.51864557e-01 -5.62026847e-01 3.44710765e-01 -1.31234005e+02] [ 6.01591363e-01 7.98743098e-01 -9.86380110e-03 -1.15955988e+02] [-2.69791624e-01 2.14791262e-01 9.38657123e-01 2.58610141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67907232899995 meters Centerline goodness [0,1] 0.6741265001258847 Centerline is valid? [False, False] Translation: X:-131.26, Y:-115.98, Z:258.62 [[ 7.53939749e-01 -5.61090551e-01 3.41690282e-01 -1.31261823e+02] [ 6.00183474e-01 7.99787098e-01 -1.09724934e-02 -1.15984918e+02] [-2.67122916e-01 2.13349459e-01 9.39748560e-01 2.58624723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.709072329 meters Centerline goodness [0,1] 0.669180914068611 Centerline is valid? [False, False] Translation: X:-131.29, Y:-116.02, Z:258.64 [[ 7.55974720e-01 -5.59333357e-01 3.40071196e-01 -1.31292564e+02] [ 5.97814315e-01 8.01565080e-01 -1.05578564e-02 -1.16015502e+02] [-2.66683834e-01 2.11280902e-01 9.40340424e-01 2.58640579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73907232899995 meters Centerline goodness [0,1] 0.666179734247268 Centerline is valid? [False, False] Translation: X:-131.33, Y:-116.05, Z:258.66 [[ 7.59312135e-01 -5.56616227e-01 3.37080788e-01 -1.31325233e+02] [ 5.94874545e-01 8.03715710e-01 -1.28582075e-02 -1.16049043e+02] [-2.63760038e-01 2.10284173e-01 9.41387916e-01 2.58659057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.769072329 meters Centerline goodness [0,1] 0.6580165521110954 Centerline is valid? [False, False] Translation: X:-131.36, Y:-116.08, Z:258.68 [[ 7.61641546e-01 -5.53877517e-01 3.36335921e-01 -1.31358658e+02] [ 5.91524040e-01 8.06199941e-01 -1.18728419e-02 -1.16080537e+02] [-2.64577900e-01 2.07993633e-01 9.41667236e-01 2.58675064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79907232899996 meters Centerline goodness [0,1] 0.6535649250595321 Centerline is valid? [False, False] Translation: X:-131.39, Y:-116.11, Z:258.69 [[ 7.63270049e-01 -5.53336223e-01 3.33523396e-01 -1.31385740e+02] [ 5.89927983e-01 8.07386971e-01 -1.05476953e-02 -1.16107320e+02] [-2.63446023e-01 2.04805524e-01 9.42682815e-01 2.58689127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.829072329 meters Centerline goodness [0,1] 0.6554345996296504 Centerline is valid? [False, False] Translation: X:-131.41, Y:-116.14, Z:258.70 [[ 7.65285585e-01 -5.52297727e-01 3.30613360e-01 -1.31414758e+02] [ 5.88315836e-01 8.08555189e-01 -1.10897995e-02 -1.16135780e+02] [-2.61194277e-01 2.02991939e-01 9.43701130e-01 2.58704321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85907232899996 meters Centerline goodness [0,1] 0.6554345996296504 Centerline is valid? [False, False] Translation: X:-131.44, Y:-116.16, Z:258.72 [[ 7.66615852e-01 -5.52348386e-01 3.27431515e-01 -1.31440386e+02] [ 5.87594853e-01 8.09082065e-01 -1.08858057e-02 -1.16161463e+02] [-2.58906209e-01 2.00742304e-01 9.44812205e-01 2.58717380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.889072329 meters Centerline goodness [0,1] 0.648237404023987 Centerline is valid? [False, False] Translation: X:-131.46, Y:-116.19, Z:258.73 [[ 7.67450062e-01 -5.53148345e-01 3.24110029e-01 -1.31464507e+02] [ 5.87672359e-01 8.09027052e-01 -1.07902057e-02 -1.16185652e+02] [-2.56245197e-01 1.98751449e-01 9.45957854e-01 2.58729500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91907232899996 meters Centerline goodness [0,1] 0.6559669161087043 Centerline is valid? [False, False] Translation: X:-131.49, Y:-116.21, Z:258.74 [[ 7.70002224e-01 -5.51482011e-01 3.20880300e-01 -1.31494714e+02] [ 5.85678816e-01 8.10446038e-01 -1.25516567e-02 -1.16214323e+02] [-2.53134155e-01 1.97597597e-01 9.47036583e-01 2.58743747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.949072329 meters Centerline goodness [0,1] 0.653703341801837 Centerline is valid? [False, False] Translation: X:-131.52, Y:-116.24, Z:258.76 [[ 7.71650718e-01 -5.51874685e-01 3.16211166e-01 -1.31517568e+02] [ 5.84588251e-01 8.11259531e-01 -1.07028012e-02 -1.16237147e+02] [-2.50622717e-01 1.93112157e-01 9.48628456e-01 2.58755774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97907232899996 meters Centerline goodness [0,1] 0.6462895547465696 Centerline is valid? [False, False] Translation: X:-131.55, Y:-116.27, Z:258.77 [[ 7.75482751e-01 -5.48817882e-01 3.12130478e-01 -1.31551858e+02] [ 5.81162627e-01 8.13680426e-01 -1.31971259e-02 -1.16270371e+02] [-2.46731642e-01 1.91632712e-01 9.49947578e-01 2.58774608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.009072329 meters Centerline goodness [0,1] 0.6521119279903838 Centerline is valid? [False, False] Translation: X:-131.58, Y:-116.30, Z:258.79 [[ 7.76269940e-01 -5.49551273e-01 3.08866279e-01 -1.31576604e+02] [ 5.81238533e-01 8.13626610e-01 -1.31722440e-02 -1.16296175e+02] [-2.44063000e-01 1.89750200e-01 9.51014255e-01 2.58787708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03907232899996 meters Centerline goodness [0,1] 0.6525738892151106 Centerline is valid? [False, False] Translation: X:-131.60, Y:-116.32, Z:258.80 [[ 7.77630286e-01 -5.49228333e-01 3.06005516e-01 -1.31603812e+02] [ 5.80371417e-01 8.14241128e-01 -1.34314360e-02 -1.16323037e+02] [-2.41785352e-01 1.88041547e-01 9.51934988e-01 2.58800185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.069072329 meters Centerline goodness [0,1] 0.6554384591731194 Centerline is valid? [False, False] Translation: X:-131.63, Y:-116.35, Z:258.81 [[ 7.79281028e-01 -5.48721509e-01 3.02697515e-01 -1.31630644e+02] [ 5.79029767e-01 8.15204237e-01 -1.29066558e-02 -1.16348929e+02] [-2.39678137e-01 1.85328783e-01 9.52999283e-01 2.58812526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09907232899997 meters Centerline goodness [0,1] 0.660546099885414 Centerline is valid? [False, False] Translation: X:-131.66, Y:-116.37, Z:258.82 [[ 7.80292681e-01 -5.48860119e-01 2.99826453e-01 -1.31657346e+02] [ 5.78912638e-01 8.15266110e-01 -1.41890083e-02 -1.16374959e+02] [-2.36650565e-01 1.84644902e-01 9.53888238e-01 2.58823783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.129072329 meters Centerline goodness [0,1] 0.6583242350438118 Centerline is valid? [False, False] Translation: X:-131.69, Y:-116.40, Z:258.84 [[ 7.82204110e-01 -5.47880674e-01 2.96620123e-01 -1.31685864e+02] [ 5.77215145e-01 8.16471009e-01 -1.40630122e-02 -1.16402956e+02] [-2.34476878e-01 1.82213773e-01 9.54892002e-01 2.58837591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15907232899997 meters Centerline goodness [0,1] 0.6589238294898672 Centerline is valid? [False, False] Translation: X:-131.71, Y:-116.43, Z:258.85 [[ 7.82745754e-01 -5.48626191e-01 2.93799910e-01 -1.31711701e+02] [ 5.77370404e-01 8.16365702e-01 -1.38006418e-02 -1.16430462e+02] [-2.32276776e-01 1.80433766e-01 9.55767312e-01 2.58851033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.189072329 meters Centerline goodness [0,1] 0.6613110539845759 Centerline is valid? [False, False] Translation: X:-131.74, Y:-116.46, Z:258.86 [[ 7.83846268e-01 -5.48920330e-01 2.90295539e-01 -1.31737448e+02] [ 5.76805119e-01 8.16777973e-01 -1.30229538e-02 -1.16457199e+02] [-2.29958438e-01 1.77651947e-01 9.56848422e-01 2.58864666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21907232899997 meters Centerline goodness [0,1] 0.6580856606627636 Centerline is valid? [False, False] Translation: X:-131.76, Y:-116.49, Z:258.88 [[ 7.85337556e-01 -5.48564852e-01 2.86917281e-01 -1.31764790e+02] [ 5.75702030e-01 8.17561415e-01 -1.26690477e-02 -1.16485195e+02] [-2.27622704e-01 1.75128340e-01 9.57871583e-01 2.58878718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.249072329 meters Centerline goodness [0,1] 0.6582743909284832 Centerline is valid? [False, False] Translation: X:-131.79, Y:-116.51, Z:258.89 [[ 7.86332706e-01 -5.48645156e-01 2.84023535e-01 -1.31792082e+02] [ 5.74963473e-01 8.18098221e-01 -1.15024182e-02 -1.16514266e+02] [-2.26048403e-01 1.72347886e-01 9.58748312e-01 2.58893546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.279072329 meters Centerline goodness [0,1] 0.6585454749355164 Centerline is valid? [False, False] Translation: X:-131.81, Y:-116.54, Z:258.91 [[ 7.87498522e-01 -5.49491224e-01 2.79115518e-01 -1.31813945e+02] [ 5.74346819e-01 8.18562911e-01 -8.97167961e-03 -1.16538098e+02] [-2.23543752e-01 1.67374295e-01 9.60215620e-01 2.58905572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30907232899995 meters Centerline goodness [0,1] 0.6612925877032834 Centerline is valid? [False, False] Translation: X:-131.84, Y:-116.56, Z:258.92 [[ 7.88193586e-01 -5.50281347e-01 2.75574510e-01 -1.31838520e+02] [ 5.74389649e-01 8.18539353e-01 -8.35817146e-03 -1.16563072e+02] [-2.20969235e-01 1.64875003e-01 9.61243377e-01 2.58917342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.339072329 meters Centerline goodness [0,1] 0.665914857626163 Centerline is valid? [False, False] Translation: X:-131.86, Y:-116.59, Z:258.93 [[ 7.88237580e-01 -5.51740821e-01 2.72513456e-01 -1.31862488e+02] [ 5.75548326e-01 8.17716254e-01 -9.17893242e-03 -1.16588198e+02] [-2.17774291e-01 1.64079843e-01 9.62108187e-01 2.58927964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36907232899995 meters Centerline goodness [0,1] 0.6677373003127377 Centerline is valid? [False, False] Translation: X:-131.89, Y:-116.61, Z:258.94 [[ 7.89355308e-01 -5.52065748e-01 2.68591898e-01 -1.31887168e+02] [ 5.74953697e-01 8.18145971e-01 -8.08805259e-03 -1.16612380e+02] [-2.15282242e-01 1.60812252e-01 9.63220108e-01 2.58939131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.399072329 meters Centerline goodness [0,1] 0.6676818092095987 Centerline is valid? [False, False] Translation: X:-131.91, Y:-116.63, Z:258.95 [[ 7.90501685e-01 -5.52777338e-01 2.63712534e-01 -1.31909541e+02] [ 5.74416396e-01 8.18540589e-01 -6.09163673e-03 -1.16634266e+02] [-2.12492094e-01 1.56296253e-01 9.64582081e-01 2.58949314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42907232899995 meters Centerline goodness [0,1] 0.665652124901364 Centerline is valid? [False, False] Translation: X:-131.94, Y:-116.66, Z:258.96 [[ 7.91816169e-01 -5.52645163e-01 2.60020151e-01 -1.31935515e+02] [ 5.73507794e-01 8.19182524e-01 -5.36683375e-03 -1.16657823e+02] [-2.10038009e-01 1.53373129e-01 9.65588276e-01 2.58959524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.459072329 meters Centerline goodness [0,1] 0.6699738609854127 Centerline is valid? [False, False] Translation: X:-131.96, Y:-116.68, Z:258.97 [[ 7.92438827e-01 -5.53094531e-01 2.57151988e-01 -1.31961955e+02] [ 5.73594238e-01 8.19119140e-01 -5.78656807e-03 -1.16681485e+02] [-2.07437596e-01 1.52086400e-01 9.66353647e-01 2.58969384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48907232899995 meters Centerline goodness [0,1] 0.6728953579858379 Centerline is valid? [False, False] Translation: X:-131.99, Y:-116.71, Z:258.98 [[ 7.93674024e-01 -5.53197604e-01 2.53088829e-01 -1.31987126e+02] [ 5.72807486e-01 8.19676689e-01 -4.65939896e-03 -1.16705308e+02] [-2.04873445e-01 1.48669220e-01 9.67431824e-01 2.58980521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.519072329 meters Centerline goodness [0,1] 0.6649770359583287 Centerline is valid? [False, False] Translation: X:-132.02, Y:-116.73, Z:258.99 [[ 7.95607133e-01 -5.51350729e-01 2.51041160e-01 -1.32019486e+02] [ 5.70603441e-01 8.21211816e-01 -4.78182339e-03 -1.16730539e+02] [-2.03521505e-01 1.47049402e-01 9.67964602e-01 2.58991367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54907232899996 meters Centerline goodness [0,1] 0.6598257664600435 Centerline is valid? [False, False] Translation: X:-132.05, Y:-116.76, Z:259.00 [[ 7.97737664e-01 -5.49447097e-01 2.48440149e-01 -1.32051321e+02] [ 5.68129467e-01 8.22928070e-01 -4.27803130e-03 -1.16756792e+02] [-2.02097820e-01 1.44558916e-01 9.68637802e-01 2.59003112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.579072329 meters Centerline goodness [0,1] 0.6583762707143852 Centerline is valid? [False, False] Translation: X:-132.08, Y:-116.78, Z:259.02 [[ 7.99562410e-01 -5.48656722e-01 2.44286213e-01 -1.32078447e+02] [ 5.66299284e-01 8.24196136e-01 -2.41875898e-03 -1.16781123e+02] [-2.00012685e-01 1.40273056e-01 9.69700158e-01 2.59015206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60907232899996 meters Centerline goodness [0,1] 0.6491991353987696 Centerline is valid? [False, False] Translation: X:-132.11, Y:-116.81, Z:259.03 [[ 8.02656455e-01 -5.46038095e-01 2.39968780e-01 -1.32109109e+02] [ 5.62348062e-01 8.26900407e-01 6.11832813e-04 -1.16807063e+02] [-1.98764366e-01 1.34454887e-01 9.70780413e-01 2.59029067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.639072329 meters Centerline goodness [0,1] 0.6424495900731221 Centerline is valid? [False, False] Translation: X:-132.14, Y:-116.83, Z:259.04 [[ 8.04561001e-01 -5.44379774e-01 2.37344175e-01 -1.32139680e+02] [ 5.60022373e-01 8.28475474e-01 1.82490849e-03 -1.16832425e+02] [-1.97627272e-01 1.31449798e-01 9.71423910e-01 2.59039933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66907232899996 meters Centerline goodness [0,1] 0.6374923953321165 Centerline is valid? [False, False] Translation: X:-132.17, Y:-116.86, Z:259.05 [[ 8.06467253e-01 -5.43127303e-01 2.33716288e-01 -1.32168223e+02] [ 5.57892183e-01 8.29905969e-01 3.52057275e-03 -1.16857024e+02] [-1.95874662e-01 1.27549263e-01 9.72298464e-01 2.59051350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.699072329 meters Centerline goodness [0,1] 0.6322169147085623 Centerline is valid? [False, False] Translation: X:-132.20, Y:-116.88, Z:259.06 [[ 8.07817728e-01 -5.42443170e-01 2.30620740e-01 -1.32197483e+02] [ 5.56432588e-01 8.30876273e-01 5.23391732e-03 -1.16882273e+02] [-1.94456403e-01 1.24096844e-01 9.73029640e-01 2.59064688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72907232899996 meters Centerline goodness [0,1] 0.6314584425257235 Centerline is valid? [False, False] Translation: X:-132.22, Y:-116.91, Z:259.08 [[ 8.09525252e-01 -5.41795109e-01 2.26112640e-01 -1.32224172e+02] [ 5.54796735e-01 8.31954808e-01 7.19587833e-03 -1.16907626e+02] [-1.92014189e-01 1.19621309e-01 9.74074583e-01 2.59077884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.759072329 meters Centerline goodness [0,1] 0.6316674940702742 Centerline is valid? [False, False] Translation: X:-132.25, Y:-116.93, Z:259.09 [[ 8.10702589e-01 -5.41547101e-01 2.22459095e-01 -1.32251574e+02] [ 5.53856801e-01 8.32569839e-01 8.37295570e-03 -1.16932660e+02] [-1.89747083e-01 1.16422506e-01 9.74906070e-01 2.59090051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78907232899996 meters Centerline goodness [0,1] 0.6295581177249407 Centerline is valid? [False, False] Translation: X:-132.28, Y:-116.96, Z:259.10 [[ 8.11715312e-01 -5.41513230e-01 2.18818816e-01 -1.32278418e+02] [ 5.53231355e-01 8.32977411e-01 9.14878923e-03 -1.16956763e+02] [-1.87225321e-01 1.13631218e-01 9.75722617e-01 2.59101132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.819072329 meters Centerline goodness [0,1] 0.6287217341008621 Centerline is valid? [False, False] Translation: X:-132.31, Y:-116.98, Z:259.11 [[ 8.14026188e-01 -5.39662921e-01 2.14768008e-01 -1.32307770e+02] [ 5.50552238e-01 8.34731441e-01 1.07542475e-02 -1.16981776e+02] [-1.85077278e-01 1.09486769e-01 9.76605882e-01 2.59112008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84907232899997 meters Centerline goodness [0,1] 0.6236869603475774 Centerline is valid? [False, False] Translation: X:-132.33, Y:-117.00, Z:259.12 [[ 8.15318709e-01 -5.39598707e-01 2.09972946e-01 -1.32332196e+02] [ 5.49601831e-01 8.35331877e-01 1.25889846e-02 -1.17003470e+02] [-1.82190095e-01 1.05137481e-01 9.77626145e-01 2.59121615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.879072329 meters Centerline goodness [0,1] 0.624859160735387 Centerline is valid? [False, False] Translation: X:-132.36, Y:-117.03, Z:259.13 [[ 8.16675961e-01 -5.39228221e-01 2.05604718e-01 -1.32357823e+02] [ 5.48541961e-01 8.36010568e-01 1.37130054e-02 -1.17026889e+02] [-1.79282157e-01 1.01583733e-01 9.78539040e-01 2.59130933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90907232899997 meters Centerline goodness [0,1] 0.6229517226184902 Centerline is valid? [False, False] Translation: X:-132.38, Y:-117.05, Z:259.14 [[ 8.17649621e-01 -5.39188725e-01 2.01803408e-01 -1.32384490e+02] [ 5.48049829e-01 8.36328442e-01 1.40043796e-02 -1.17051296e+02] [-1.76324934e-01 9.91476477e-02 9.79325922e-01 2.59141108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.939072329 meters Centerline goodness [0,1] 0.6264272712229025 Centerline is valid? [False, False] Translation: X:-132.41, Y:-117.07, Z:259.15 [[ 8.17768226e-01 -5.40276092e-01 1.98385669e-01 -1.32409810e+02] [ 5.48795687e-01 8.35837744e-01 1.40911111e-02 -1.17074610e+02] [-1.73431320e-01 9.73499364e-02 9.80022738e-01 2.59151087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96907232899997 meters Centerline goodness [0,1] 0.6356246198086601 Centerline is valid? [False, False] Translation: X:-132.44, Y:-117.10, Z:259.16 [[ 8.17805531e-01 -5.41500582e-01 1.94862086e-01 -1.32435300e+02] [ 5.49602687e-01 8.35298451e-01 1.46076606e-02 -1.17098374e+02] [-1.70678056e-01 9.51505006e-02 9.80721869e-01 2.59161708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.999072329 meters Centerline goodness [0,1] 0.633501920791532 Centerline is valid? [False, False] Translation: X:-132.46, Y:-117.12, Z:259.17 [[ 8.18424649e-01 -5.42281921e-01 1.90030028e-01 -1.32458152e+02] [ 5.49602993e-01 8.35262629e-01 1.65194187e-02 -1.17120002e+02] [-1.67683163e-01 9.09211727e-02 9.81639291e-01 2.59171439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.029072329 meters Centerline goodness [0,1] 0.631791300502957 Centerline is valid? [False, False] Translation: X:-132.49, Y:-117.14, Z:259.18 [[ 8.19285419e-01 -5.42084683e-01 1.86857163e-01 -1.32486107e+02] [ 5.49047916e-01 8.35620816e-01 1.68593673e-02 -1.17144019e+02] [-1.65280940e-01 8.87809022e-02 9.82242415e-01 2.59180763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05907232899995 meters Centerline goodness [0,1] 0.6308063041852477 Centerline is valid? [False, False] Translation: X:-132.52, Y:-117.17, Z:259.19 [[ 8.20785568e-01 -5.40424873e-01 1.85072978e-01 -1.32518469e+02] [ 5.47179148e-01 8.36844136e-01 1.69373084e-02 -1.17169999e+02] [-1.64030579e-01 8.73661761e-02 9.82578811e-01 2.59189147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.089072329 meters Centerline goodness [0,1] 0.6250379739843686 Centerline is valid? [False, False] Translation: X:-132.54, Y:-117.19, Z:259.20 [[ 8.25319937e-01 -5.34595867e-01 1.81808309e-01 -1.32538006e+02] [ 5.42206709e-01 8.40194882e-01 9.18937556e-03 -1.17187152e+02] [-1.57667013e-01 9.09935100e-02 9.83291053e-01 2.59200077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11907232899995 meters Centerline goodness [0,1] 0.6220127346398743 Centerline is valid? [False, False] Translation: X:-132.56, Y:-117.21, Z:259.21 [[ 8.26617616e-01 -5.34003109e-01 1.77606296e-01 -1.32564345e+02] [ 5.40884711e-01 8.41021125e-01 1.12781205e-02 -1.17211497e+02] [-1.55393198e-01 8.67418370e-02 9.84036995e-01 2.59210122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.149072329 meters Centerline goodness [0,1] 0.6274314214463841 Centerline is valid? [False, False] Translation: X:-132.59, Y:-117.23, Z:259.22 [[ 8.26027834e-01 -5.36001149e-01 1.74300850e-01 -1.32588694e+02] [ 5.42652386e-01 8.39884166e-01 1.10894644e-02 -1.17234983e+02] [-1.52336489e-01 8.54245657e-02 9.84630000e-01 2.59219761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17907232899995 meters Centerline goodness [0,1] 0.6297283046096633 Centerline is valid? [False, False] Translation: X:-132.61, Y:-117.26, Z:259.23 [[ 8.26509614e-01 -5.36812993e-01 1.69451080e-01 -1.32611661e+02] [ 5.42789621e-01 8.39770270e-01 1.28577110e-02 -1.17257468e+02] [-1.49202166e-01 8.13492657e-02 9.85454723e-01 2.59229619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.209072329 meters Centerline goodness [0,1] 0.6319622012229016 Centerline is valid? [False, False] Translation: X:-132.64, Y:-117.28, Z:259.24 [[ 8.26536956e-01 -5.38050484e-01 1.65343092e-01 -1.32636081e+02] [ 5.43532977e-01 8.39270546e-01 1.40304077e-02 -1.17281430e+02] [-1.46316655e-01 7.82727726e-02 9.86136304e-01 2.59240688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23907232899995 meters Centerline goodness [0,1] 0.6364548494983278 Centerline is valid? [False, False] Translation: X:-132.66, Y:-117.30, Z:259.25 [[ 8.27070489e-01 -5.38560048e-01 1.60958009e-01 -1.32660663e+02] [ 5.43498858e-01 8.39267991e-01 1.54347259e-02 -1.17303287e+02] [-1.43399432e-01 7.47148878e-02 9.86840559e-01 2.59249535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.269072329 meters Centerline goodness [0,1] 0.6352007547379228 Centerline is valid? [False, False] Translation: X:-132.68, Y:-117.32, Z:259.26 [[ 8.27637563e-01 -5.39211286e-01 1.55779503e-01 -1.32682917e+02] [ 5.43397530e-01 8.39281176e-01 1.80619102e-02 -1.17322932e+02] [-1.40481991e-01 6.97014820e-02 9.87626708e-01 2.59257477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29907232899996 meters Centerline goodness [0,1] 0.630003326311121 Centerline is valid? [False, False] Translation: X:-132.71, Y:-117.35, Z:259.27 [[ 8.28866345e-01 -5.38617006e-01 1.51235916e-01 -1.32709460e+02] [ 5.42255976e-01 8.39983546e-01 1.96493904e-02 -1.17345575e+02] [-1.37619177e-01 6.57218609e-02 9.88302382e-01 2.59265504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.329072329 meters Centerline goodness [0,1] 0.6327592889971759 Centerline is valid? [False, False] Translation: X:-132.73, Y:-117.37, Z:259.27 [[ 8.29122104e-01 -5.39639170e-01 1.46103056e-01 -1.32731962e+02] [ 5.42710868e-01 8.39645935e-01 2.14386972e-02 -1.17366706e+02] [-1.34243998e-01 6.15164186e-02 9.89037046e-01 2.59274495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35907232899996 meters Centerline goodness [0,1] 0.6383357932551728 Centerline is valid? [False, False] Translation: X:-132.76, Y:-117.39, Z:259.28 [[ 8.29451703e-01 -5.40041309e-01 1.42706893e-01 -1.32758983e+02] [ 5.42935182e-01 8.39506233e-01 2.12290633e-02 -1.17389864e+02] [-1.31267898e-01 5.98721104e-02 9.89537301e-01 2.59282619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.389072329 meters Centerline goodness [0,1] 0.6374063865920543 Centerline is valid? [False, False] Translation: X:-132.78, Y:-117.41, Z:259.29 [[ 8.30186468e-01 -5.39967271e-01 1.38657041e-01 -1.32784834e+02] [ 5.42450404e-01 8.39786040e-01 2.25159259e-02 -1.17412207e+02] [-1.28600110e-01 5.65221507e-02 9.90084470e-01 2.59290419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41907232899996 meters Centerline goodness [0,1] 0.633483158537262 Centerline is valid? [False, False] Translation: X:-132.82, Y:-117.44, Z:259.30 [[ 8.31830747e-01 -5.38277566e-01 1.35332448e-01 -1.32816053e+02] [ 5.40456283e-01 8.41050035e-01 2.32775789e-02 -1.17435474e+02] [-1.26351158e-01 5.37782657e-02 9.90526770e-01 2.59298536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.449072329 meters Centerline goodness [0,1] 0.6298972782900019 Centerline is valid? [False, False] Translation: X:-132.84, Y:-117.46, Z:259.31 [[ 8.32606710e-01 -5.37989766e-01 1.31655147e-01 -1.32843347e+02] [ 5.39904846e-01 8.41390063e-01 2.37806483e-02 -1.17457581e+02] [-1.23567078e-01 5.12813247e-02 9.91010294e-01 2.59306197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47907232899996 meters Centerline goodness [0,1] 0.6315935437350935 Centerline is valid? [False, False] Translation: X:-132.87, Y:-117.48, Z:259.31 [[ 8.36340670e-01 -5.32164795e-01 1.31662122e-01 -1.32868605e+02] [ 5.35324339e-01 8.44545122e-01 1.30915764e-02 -1.17475830e+02] [-1.18161479e-01 5.95329207e-02 9.91208200e-01 2.59313100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.509072329 meters Centerline goodness [0,1] 0.6293432027840689 Centerline is valid? [False, False] Translation: X:-132.89, Y:-117.49, Z:259.32 [[ 8.40006991e-01 -5.26822849e-01 1.29791912e-01 -1.32888490e+02] [ 5.30829884e-01 8.47467245e-01 4.34768758e-03 -1.17490350e+02] [-1.12284855e-01 6.52453375e-02 9.91531723e-01 2.59319900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53907232899996 meters Centerline goodness [0,1] 0.6292443408788282 Centerline is valid? [False, False] Translation: X:-132.92, Y:-117.51, Z:259.33 [[ 8.40710040e-01 -5.26462736e-01 1.26663398e-01 -1.32917196e+02] [ 5.30207503e-01 8.47854112e-01 4.83821417e-03 -1.17513738e+02] [-1.09939222e-01 6.30903486e-02 9.91933957e-01 2.59326954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.569072329 meters Centerline goodness [0,1] 0.6316576651433319 Centerline is valid? [False, False] Translation: X:-132.94, Y:-117.54, Z:259.34 [[ 8.41332069e-01 -5.26666645e-01 1.21583690e-01 -1.32941764e+02] [ 5.29910973e-01 8.48027946e-01 6.55464385e-03 -1.17535956e+02] [-1.06558479e-01 5.89138994e-02 9.92559541e-01 2.59335454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59907232899997 meters Centerline goodness [0,1] 0.6319873624698611 Centerline is valid? [False, False] Translation: X:-132.97, Y:-117.56, Z:259.34 [[ 8.41718037e-01 -5.27101018e-01 1.16941280e-01 -1.32965811e+02] [ 5.29894832e-01 8.48022665e-01 8.30820419e-03 -1.17555639e+02] [-1.03548119e-01 5.49734145e-02 9.93104079e-01 2.59341562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.629072329 meters Centerline goodness [0,1] 0.6348257053465127 Centerline is valid? [False, False] Translation: X:-132.99, Y:-117.57, Z:259.35 [[ 8.41976746e-01 -5.27815564e-01 1.11740279e-01 -1.32988455e+02] [ 5.30133753e-01 8.47851677e-01 1.02829464e-02 -1.17574279e+02] [-1.00166682e-01 5.05792918e-02 9.93684241e-01 2.59347900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65907232899997 meters Centerline goodness [0,1] 0.6318074955054627 Centerline is valid? [False, False] Translation: X:-133.02, Y:-117.60, Z:259.36 [[ 8.42971556e-01 -5.27220221e-01 1.06947620e-01 -1.33015277e+02] [ 5.29161768e-01 8.48440864e-01 1.16586141e-02 -1.17597292e+02] [-9.68853886e-02 4.67647118e-02 9.94196300e-01 2.59356252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.689072329 meters Centerline goodness [0,1] 0.6372160115398485 Centerline is valid? [False, False] Translation: X:-133.04, Y:-117.61, Z:259.36 [[ 8.46167106e-01 -5.22078220e-01 1.06937179e-01 -1.33036246e+02] [ 5.24759037e-01 8.51243331e-01 3.57000931e-03 -1.17612235e+02] [-9.28933846e-02 5.30954267e-02 9.94259370e-01 2.59361975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71907232899997 meters Centerline goodness [0,1] 0.624328515257241 Centerline is valid? [False, False] Translation: X:-133.06, Y:-117.63, Z:259.37 [[ 8.47218181e-01 -5.21327401e-01 1.02171886e-01 -1.33062599e+02] [ 5.23570984e-01 8.51963591e-01 5.60924817e-03 -1.17632832e+02] [-8.99709816e-02 4.87419778e-02 9.94750945e-01 2.59368790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.749072329 meters Centerline goodness [0,1] 0.624328515257241 Centerline is valid? [False, False] Translation: X:-133.09, Y:-117.65, Z:259.38 [[ 8.47785729e-01 -5.21313591e-01 9.74243221e-02 -1.33087554e+02] [ 5.23216269e-01 8.52171899e-01 6.91312793e-03 -1.17653318e+02] [-8.66261770e-02 4.51131391e-02 9.95218926e-01 2.59375064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.779072329 meters Centerline goodness [0,1] 0.6313771992719651 Centerline is valid? [False, False] Translation: X:-133.10, Y:-117.66, Z:259.37 [[ 8.48895126e-01 -5.18538657e-01 1.02443773e-01 -1.33102791e+02] [ 5.20950868e-01 8.53578569e-01 3.71747505e-03 -1.17660671e+02] [-8.93714641e-02 5.02124263e-02 9.94731850e-01 2.59373249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80907232899995 meters Centerline goodness [0,1] 0.6206506442978946 Centerline is valid? [False, False] Translation: X:-133.13, Y:-117.68, Z:259.38 [[ 8.49757936e-01 -5.17980083e-01 9.80208372e-02 -1.33130295e+02] [ 5.20059293e-01 8.54115513e-01 5.00212855e-03 -1.17681814e+02] [-8.63121207e-02 4.67260489e-02 9.95171791e-01 2.59380489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.839072329 meters Centerline goodness [0,1] 0.6206782282116425 Centerline is valid? [False, False] Translation: X:-133.15, Y:-117.70, Z:259.38 [[ 8.52171972e-01 -5.13695703e-01 9.95974642e-02 -1.33150327e+02] [ 5.16550121e-01 8.56250251e-01 -3.38825237e-03 -1.17695128e+02] [-8.35398230e-02 5.43344559e-02 9.95022042e-01 2.59384224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86907232899995 meters Centerline goodness [0,1] 0.61889035667107 Centerline is valid? [False, False] Translation: X:-133.17, Y:-117.71, Z:259.38 [[ 8.54597908e-01 -5.08818510e-01 1.03760010e-01 -1.33173357e+02] [ 5.12572735e-01 8.58567392e-01 -1.14553390e-02 -1.17707831e+02] [-8.32562729e-02 6.29742610e-02 9.94536392e-01 2.59384885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.899072329 meters Centerline goodness [0,1] 0.6135330891465396 Centerline is valid? [False, False] Translation: X:-133.20, Y:-117.73, Z:259.39 [[ 8.55808786e-01 -5.07860093e-01 9.83333526e-02 -1.33198844e+02] [ 5.11033936e-01 8.59518895e-01 -8.46087781e-03 -1.17727636e+02] [-8.02224323e-02 5.74925738e-02 9.95117564e-01 2.59391803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92907232899995 meters Centerline goodness [0,1] 0.6130276584685251 Centerline is valid? [False, False] Translation: X:-133.21, Y:-117.74, Z:259.40 [[ 8.60101947e-01 -5.02653527e-01 8.69716785e-02 -1.33209806e+02] [ 5.05383051e-01 8.62821429e-01 -1.12762154e-02 -1.17739957e+02] [-6.93729985e-02 5.36527070e-02 9.96146964e-01 2.59404282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.959072329 meters Centerline goodness [0,1] 0.6106976744186047 Centerline is valid? [False, False] Translation: X:-133.22, Y:-117.75, Z:259.42 [[ 8.63554385e-01 -4.98380039e-01 7.67538948e-02 -1.33222835e+02] [ 5.00846746e-01 8.65391297e-01 -1.58253230e-02 -1.17753309e+02] [-5.85351275e-02 5.21079655e-02 9.96924470e-01 2.59415686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98907232899995 meters Centerline goodness [0,1] 0.6092606299860186 Centerline is valid? [False, False] Translation: X:-133.23, Y:-117.77, Z:259.43 [[ 8.66904713e-01 -4.94211765e-01 6.50457597e-02 -1.33233278e+02] [ 4.96257523e-01 8.67962395e-01 -1.92289051e-02 -1.17767229e+02] [-4.69541223e-02 4.89490761e-02 9.97696997e-01 2.59428365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.019072329 meters Centerline goodness [0,1] 0.611748244073749 Centerline is valid? [False, False] Translation: X:-133.25, Y:-117.78, Z:259.43 [[ 8.66193291e-01 -4.96259036e-01 5.86186956e-02 -1.33251425e+02] [ 4.97857452e-01 8.67114576e-01 -1.58198890e-02 -1.17782863e+02] [-4.29783626e-02 4.28868361e-02 9.98155088e-01 2.59434941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04907232899996 meters Centerline goodness [0,1] 0.6055921052631579 Centerline is valid? [False, False] Translation: X:-133.27, Y:-117.80, Z:259.44 [[ 8.66501223e-01 -4.96419381e-01 5.23777452e-02 -1.33274759e+02] [ 4.97631121e-01 8.67298889e-01 -1.24861734e-02 -1.17803016e+02] [-3.92287817e-02 3.68840806e-02 9.98549281e-01 2.59443153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.079072329 meters Centerline goodness [0,1] 0.6104351638715335 Centerline is valid? [False, False] Translation: X:-133.28, Y:-117.80, Z:259.44 [[ 8.65435925e-01 -4.97855995e-01 5.62144788e-02 -1.33281913e+02] [ 4.99332300e-01 8.66275603e-01 -1.52916003e-02 -1.17803988e+02] [-4.10842166e-02 4.13036053e-02 9.98301607e-01 2.59442855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10907232899996 meters Centerline goodness [0,1] 0.606068912584633 Centerline is valid? [False, False] Translation: X:-133.30, Y:-117.82, Z:259.45 [[ 8.65046984e-01 -4.99234131e-01 4.95882830e-02 -1.33301358e+02] [ 5.00321884e-01 8.65758972e-01 -1.18074105e-02 -1.17820912e+02] [-3.70368386e-02 3.50240680e-02 9.98699949e-01 2.59450017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.139072329 meters Centerline goodness [0,1] 0.6138353044480421 Centerline is valid? [False, False] Translation: X:-133.32, Y:-117.84, Z:259.46 [[ 8.64474958e-01 -5.00740527e-01 4.40678053e-02 -1.33322582e+02] [ 5.01539098e-01 8.65091656e-01 -8.65799222e-03 -1.17839720e+02] [-3.37872831e-02 2.95863448e-02 9.98991025e-01 2.59456880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16907232899996 meters Centerline goodness [0,1] 0.6027412280701754 Centerline is valid? [False, False] Translation: X:-133.34, Y:-117.86, Z:259.46 [[ 8.63987820e-01 -5.02107965e-01 3.75850763e-02 -1.33342237e+02] [ 5.02637652e-01 8.64478954e-01 -5.61500505e-03 -1.17856897e+02] [-2.96721687e-02 2.37429705e-02 9.99277656e-01 2.59463573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.199072329 meters Centerline goodness [0,1] 0.6064889791660948 Centerline is valid? [False, False] Translation: X:-133.36, Y:-117.87, Z:259.47 [[ 8.63743799e-01 -5.02915522e-01 3.19785418e-02 -1.33364515e+02] [ 5.03268356e-01 8.64122803e-01 -3.56962913e-03 -1.17874456e+02] [-2.58381653e-02 1.91770332e-02 9.99482181e-01 2.59468483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22907232899996 meters Centerline goodness [0,1] 0.601336180932041 Centerline is valid? [False, False] Translation: X:-133.39, Y:-117.89, Z:259.47 [[ 8.64556582e-01 -5.01794201e-01 2.72854660e-02 -1.33391274e+02] [ 5.02018666e-01 8.64855269e-01 -1.61929621e-03 -1.17893656e+02] [-2.27854256e-02 1.50977864e-02 9.99626371e-01 2.59471675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.259072329 meters Centerline goodness [0,1] 0.6062587192603333 Centerline is valid? [False, False] Translation: X:-133.41, Y:-117.91, Z:259.48 [[ 8.67464208e-01 -4.97161097e-01 1.83491728e-02 -1.33407213e+02] [ 4.97363392e-01 8.67499648e-01 -8.60333833e-03 -1.17907524e+02] [-1.16406558e-02 1.65892949e-02 9.99794624e-01 2.59480394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28907232899996 meters Centerline goodness [0,1] 0.5989122116540943 Centerline is valid? [False, False] Translation: X:-133.43, Y:-117.92, Z:259.48 [[ 8.69899313e-01 -4.92775607e-01 2.11514920e-02 -1.33430116e+02] [ 4.93125244e-01 8.69796653e-01 -1.67712717e-02 -1.17921816e+02] [-1.01330234e-02 2.50196524e-02 9.99635603e-01 2.59481040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.319072329 meters Centerline goodness [0,1] 0.60436461214096 Centerline is valid? [False, False] Translation: X:-133.45, Y:-117.94, Z:259.49 [[ 8.69165500e-01 -4.94303771e-01 1.46667959e-02 -1.33449708e+02] [ 4.94485082e-01 8.69078515e-01 -1.36761907e-02 -1.17938034e+02] [-5.98640458e-03 1.91393850e-02 9.99798903e-01 2.59487140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34907232899997 meters Centerline goodness [0,1] 0.6062709167718221 Centerline is valid? [False, False] Translation: X:-133.46, Y:-117.95, Z:259.50 [[ 8.71640500e-01 -4.90131991e-01 3.67027752e-03 -1.33462274e+02] [ 4.90113250e-01 8.71472089e-01 -1.80388586e-02 -1.17950268e+02] [ 5.64287725e-03 1.75222513e-02 9.99830550e-01 2.59497813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.379072329 meters Centerline goodness [0,1] 0.5998411959587109 Centerline is valid? [False, False] Translation: X:-133.47, Y:-117.96, Z:259.51 [[ 8.74236760e-01 -4.85427279e-01 -8.39308648e-03 -1.33474706e+02] [ 4.85179688e-01 8.74157421e-01 -2.12007935e-02 -1.17962855e+02] [ 1.76283224e-02 1.44623580e-02 9.99740007e-01 2.59508972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40907232899997 meters Centerline goodness [0,1] 0.5948617140360937 Centerline is valid? [False, False] Translation: X:-133.49, Y:-117.97, Z:259.51 [[ 8.75603790e-01 -4.83010930e-01 -4.29473335e-03 -1.33488516e+02] [ 4.82782536e-01 8.75405153e-01 -2.42247971e-02 -1.17968164e+02] [ 1.54604735e-02 1.91379019e-02 9.99697311e-01 2.59505976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.439072329 meters Centerline goodness [0,1] 0.5892706087810735 Centerline is valid? [False, False] Translation: X:-133.51, Y:-117.99, Z:259.51 [[ 8.75271902e-01 -4.83512449e-01 -1.07148745e-02 -1.33509679e+02] [ 4.83239817e-01 8.75240079e-01 -2.08346537e-02 -1.17985224e+02] [ 1.94519020e-02 1.30581330e-02 9.99725517e-01 2.59511365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46907232899997 meters Centerline goodness [0,1] 0.596 Centerline is valid? [False, False] Translation: X:-133.52, Y:-118.00, Z:259.52 [[ 8.77576461e-01 -4.78991901e-01 -2.06473615e-02 -1.33522842e+02] [ 4.78471257e-01 8.77728399e-01 -2.56537371e-02 -1.17998511e+02] [ 3.04107078e-02 1.26339468e-02 9.99457639e-01 2.59521780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.499072329 meters Centerline goodness [0,1] 0.5891071477493768 Centerline is valid? [False, False] Translation: X:-133.53, Y:-118.01, Z:259.53 [[ 8.78945940e-01 -4.75814511e-01 -3.24743873e-02 -1.33534170e+02] [ 4.75000721e-01 8.79479304e-01 -2.98407379e-02 -1.18013248e+02] [ 4.27592076e-02 1.08030380e-02 9.99026999e-01 2.59534292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.529072329 meters Centerline goodness [0,1] 0.5945701109037005 Centerline is valid? [False, False] Translation: X:-133.54, Y:-118.02, Z:259.55 [[ 8.80251948e-01 -4.72385275e-01 -4.48180839e-02 -1.33542509e+02] [ 4.71318097e-01 8.81359390e-01 -3.26324634e-02 -1.18023691e+02] [ 5.49159342e-02 7.60121547e-03 9.98462048e-01 2.59545875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55907232899995 meters Centerline goodness [0,1] 0.5891023881416415 Centerline is valid? [False, False] Translation: X:-133.56, Y:-118.04, Z:259.55 [[ 8.80100295e-01 -4.71865600e-01 -5.25958812e-02 -1.33561395e+02] [ 4.71063325e-01 8.81670311e-01 -2.75101341e-02 -1.18039052e+02] [ 5.93533128e-02 -5.64313517e-04 9.98236879e-01 2.59550635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.589072329 meters Centerline goodness [0,1] 0.5876714954678643 Centerline is valid? [False, False] Translation: X:-133.58, Y:-118.05, Z:259.56 [[ 8.80008742e-01 -4.71098284e-01 -6.04236756e-02 -1.33581051e+02] [ 4.70675740e-01 8.82033445e-01 -2.19396802e-02 -1.18054413e+02] [ 6.36314485e-02 -9.13284791e-03 9.97931676e-01 2.59555827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61907232899995 meters Centerline goodness [0,1] 0.5844715045801108 Centerline is valid? [False, False] Translation: X:-133.60, Y:-118.06, Z:259.55 [[ 8.81075800e-01 -4.69706161e-01 -5.55117762e-02 -1.33595124e+02] [ 4.69087644e-01 8.82811601e-01 -2.45042887e-02 -1.18061725e+02] [ 6.05162554e-02 -4.44975255e-03 9.98157293e-01 2.59552762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.649072329 meters Centerline goodness [0,1] 0.584388532587842 Centerline is valid? [False, False] Translation: X:-133.61, Y:-118.08, Z:259.56 [[ 8.79879369e-01 -4.71120426e-01 -6.21115167e-02 -1.33614167e+02] [ 4.70815805e-01 8.81996286e-01 -2.03722679e-02 -1.18076766e+02] [ 6.43799186e-02 -1.13179455e-02 9.97861278e-01 2.59558016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67907232899995 meters Centerline goodness [0,1] 0.5761469401202537 Centerline is valid? [False, False] Translation: X:-133.63, Y:-118.08, Z:259.55 [[ 8.81045690e-01 -4.69619639e-01 -5.67087847e-02 -1.33633266e+02] [ 4.68859034e-01 8.82864047e-01 -2.68752690e-02 -1.18083968e+02] [ 6.26873013e-02 -2.91008606e-03 9.98028974e-01 2.59553699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.709072329 meters Centerline goodness [0,1] 0.5781895820217338 Centerline is valid? [False, False] Translation: X:-133.64, Y:-118.08, Z:259.55 [[ 8.81468279e-01 -4.68910740e-01 -5.60034829e-02 -1.33636504e+02] [ 4.68175406e-01 8.83240678e-01 -2.64139030e-02 -1.18084401e+02] [ 6.18503170e-02 -2.93643573e-03 9.98081117e-01 2.59554060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73907232899995 meters Centerline goodness [0,1] 0.5736688249597028 Centerline is valid? [False, False] Translation: X:-133.65, Y:-118.10, Z:259.56 [[ 8.82790021e-01 -4.64837920e-01 -6.78784675e-02 -1.33648637e+02] [ 4.63889442e-01 8.85382075e-01 -3.00860093e-02 -1.18096409e+02] [ 7.40834963e-02 -4.92847563e-03 9.97239864e-01 2.59564582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.769072329 meters Centerline goodness [0,1] 0.5811059528060873 Centerline is valid? [False, False] Translation: X:-133.65, Y:-118.10, Z:259.56 [[ 8.81528599e-01 -4.67685626e-01 -6.46334557e-02 -1.33653631e+02] [ 4.66486678e-01 8.83894644e-01 -3.34729466e-02 -1.18096256e+02] [ 7.27839812e-02 -6.43286308e-04 9.97347521e-01 2.59563935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79907232899996 meters Centerline goodness [0,1] 0.5709968128365754 Centerline is valid? [False, False] Translation: X:-133.67, Y:-118.11, Z:259.57 [[ 8.83098359e-01 -4.62827138e-01 -7.69956377e-02 -1.33666294e+02] [ 4.61419494e-01 8.86441555e-01 -3.62411355e-02 -1.18109687e+02] [ 8.50255138e-02 -3.52280096e-03 9.96372547e-01 2.59574995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.829072329 meters Centerline goodness [0,1] 0.5694189267008528 Centerline is valid? [False, False] Translation: X:-133.69, Y:-118.13, Z:259.58 [[ 8.83491458e-01 -4.60716679e-01 -8.47524925e-02 -1.33687818e+02] [ 4.59860872e-01 8.87466086e-01 -3.05274318e-02 -1.18126604e+02] [ 8.92794598e-02 -1.20036299e-02 9.95934280e-01 2.59579550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85907232899996 meters Centerline goodness [0,1] 0.5727873256037058 Centerline is valid? [False, False] Translation: X:-133.70, Y:-118.14, Z:259.59 [[ 8.83912103e-01 -4.57138653e-01 -9.86085529e-02 -1.33695008e+02] [ 4.56327552e-01 8.89237734e-01 -3.19596446e-02 -1.18135612e+02] [ 1.02296435e-01 -1.67482828e-02 9.94612957e-01 2.59590138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.889072329 meters Centerline goodness [0,1] 0.5705523152331663 Centerline is valid? [False, False] Translation: X:-133.71, Y:-118.15, Z:259.60 [[ 8.84865804e-01 -4.52296465e-01 -1.11536618e-01 -1.33706286e+02] [ 4.51456211e-01 8.91640052e-01 -3.41365904e-02 -1.18147474e+02] [ 1.14890375e-01 -2.01475974e-02 9.93173840e-01 2.59599778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91907232899996 meters Centerline goodness [0,1] 0.5711077639326304 Centerline is valid? [False, False] Translation: X:-133.72, Y:-118.16, Z:259.60 [[ 8.83209610e-01 -4.53859373e-01 -1.18120511e-01 -1.33724871e+02] [ 4.53636531e-01 8.90670418e-01 -3.03332053e-02 -1.18162565e+02] [ 1.18973454e-01 -2.67932004e-02 9.92535864e-01 2.59603691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.949072329 meters Centerline goodness [0,1] 0.5721491228070175 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.17, Z:259.61 [[ 8.83736807e-01 -4.49662287e-01 -1.29665273e-01 -1.33735375e+02] [ 4.49313929e-01 8.92741776e-01 -3.36022974e-02 -1.18173561e+02] [ 1.30867292e-01 -2.85648262e-02 9.90988296e-01 2.59614140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97907232899996 meters Centerline goodness [0,1] 0.5693260613369144 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.18, Z:259.61 [[ 8.83586919e-01 -4.51123568e-01 -1.25545546e-01 -1.33744340e+02] [ 4.50309410e-01 8.92129269e-01 -3.64253036e-02 -1.18176049e+02] [ 1.28435169e-01 -2.43494188e-02 9.91418939e-01 2.59611828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.009072329 meters Centerline goodness [0,1] 0.5686645809319941 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.19, Z:259.62 [[ 8.83233710e-01 -4.49630756e-01 -1.33155535e-01 -1.33764462e+02] [ 4.49817489e-01 8.92603007e-01 -3.03989992e-02 -1.18192356e+02] [ 1.32523356e-01 -3.30462675e-02 9.90628843e-01 2.59616144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03907232899996 meters Centerline goodness [0,1] 0.5661459906113597 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.19, Z:259.62 [[ 8.82148429e-01 -4.52602410e-01 -1.30250556e-01 -1.33769540e+02] [ 4.52308443e-01 8.91230338e-01 -3.35493076e-02 -1.18191680e+02] [ 1.31267745e-01 -2.93179572e-02 9.90913335e-01 2.59615617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.069072329 meters Centerline goodness [0,1] 0.5664291586736092 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.19, Z:259.62 [[ 8.82383941e-01 -4.52156891e-01 -1.30202636e-01 -1.33770566e+02] [ 4.51922685e-01 8.91444578e-01 -3.30522422e-02 -1.18192796e+02] [ 1.31013233e-01 -2.96767572e-02 9.90936336e-01 2.59616234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09907232899997 meters Centerline goodness [0,1] 0.5641405414300995 Centerline is valid? [False, False] Translation: X:-133.78, Y:-118.20, Z:259.63 [[ 8.82105545e-01 -4.49068574e-01 -1.42222439e-01 -1.33778396e+02] [ 4.48707336e-01 8.92935661e-01 -3.64366906e-02 -1.18201603e+02] [ 1.43358061e-01 -3.16752450e-02 9.89163862e-01 2.59625946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.129072329 meters Centerline goodness [0,1] 0.5682466535001097 Centerline is valid? [False, False] Translation: X:-133.79, Y:-118.21, Z:259.64 [[ 8.82154272e-01 -4.44472146e-01 -1.55718822e-01 -1.33785162e+02] [ 4.44209938e-01 8.95098078e-01 -3.84312501e-02 -1.18209779e+02] [ 1.56465239e-01 -3.52695569e-02 9.87053538e-01 2.59635565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15907232899997 meters Centerline goodness [0,1] 0.5655852156057495 Centerline is valid? [False, False] Translation: X:-133.79, Y:-118.21, Z:259.64 [[ 8.82374428e-01 -4.44155739e-01 -1.55373901e-01 -1.33786842e+02] [ 4.43897932e-01 8.95258674e-01 -3.82953249e-02 -1.18209344e+02] [ 1.56108921e-01 -3.51793380e-02 9.87113174e-01 2.59635457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.189072329 meters Centerline goodness [0,1] 0.5666411336652624 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.23, Z:259.64 [[ 8.81895277e-01 -4.42589563e-01 -1.62404431e-01 -1.33808611e+02] [ 4.43458765e-01 8.95691552e-01 -3.28780542e-02 -1.18225542e+02] [ 1.60015760e-01 -4.30246676e-02 9.86176371e-01 2.59638514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21907232899997 meters Centerline goodness [0,1] 0.5675860372304076 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.23, Z:259.64 [[ 8.82091298e-01 -4.42179032e-01 -1.62458137e-01 -1.33809484e+02] [ 4.43110190e-01 8.95878886e-01 -3.24712331e-02 -1.18226430e+02] [ 1.59900913e-01 -4.33442637e-02 9.86181004e-01 2.59639331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.249072329 meters Centerline goodness [0,1] 0.5690945849953555 Centerline is valid? [False, False] Translation: X:-133.82, Y:-118.23, Z:259.64 [[ 8.81310247e-01 -4.44988557e-01 -1.58988782e-01 -1.33815604e+02] [ 4.45251740e-01 8.94682698e-01 -3.59688396e-02 -1.18225829e+02] [ 1.58250234e-01 -3.90903250e-02 9.86624959e-01 2.59637222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.279072329 meters Centerline goodness [0,1] 0.5673863667460253 Centerline is valid? [False, False] Translation: X:-133.82, Y:-118.23, Z:259.64 [[ 8.81611107e-01 -4.44447218e-01 -1.58834904e-01 -1.33817547e+02] [ 4.44764188e-01 8.94942173e-01 -3.55432661e-02 -1.18226741e+02] [ 1.57945160e-01 -3.93087390e-02 9.86665166e-01 2.59638223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30907232899995 meters Centerline goodness [0,1] 0.5689437585733882 Centerline is valid? [False, False] Translation: X:-133.82, Y:-118.23, Z:259.64 [[ 8.80489086e-01 -4.47705288e-01 -1.55881188e-01 -1.33822423e+02] [ 4.47442223e-01 8.93471908e-01 -3.87737886e-02 -1.18226317e+02] [ 1.56634693e-01 -3.56079275e-02 9.87014513e-01 2.59637643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.339072329 meters Centerline goodness [0,1] 0.5736457449429283 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.24, Z:259.64 [[ 8.79808515e-01 -4.46263207e-01 -1.63664679e-01 -1.33841434e+02] [ 4.47217657e-01 8.93814041e-01 -3.30579455e-02 -1.18241565e+02] [ 1.61038333e-01 -4.41090724e-02 9.85961990e-01 2.59641001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36907232899995 meters Centerline goodness [0,1] 0.5690392629962711 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.24, Z:259.64 [[ 8.80078206e-01 -4.45875328e-01 -1.63271379e-01 -1.33843479e+02] [ 4.46860576e-01 8.94004988e-01 -3.27216753e-02 -1.18241546e+02] [ 1.60555215e-01 -4.41619091e-02 9.86038411e-01 2.59641137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.399072329 meters Centerline goodness [0,1] 0.5696941460206095 Centerline is valid? [False, False] Translation: X:-133.85, Y:-118.24, Z:259.64 [[ 8.79226383e-01 -4.48424148e-01 -1.60862520e-01 -1.33848449e+02] [ 4.48888948e-01 8.92881159e-01 -3.55239147e-02 -1.18240513e+02] [ 1.59560894e-01 -4.09758444e-02 9.86337316e-01 2.59640768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42907232899995 meters Centerline goodness [0,1] 0.5716202524713163 Centerline is valid? [False, False] Translation: X:-133.86, Y:-118.25, Z:259.65 [[ 8.78308857e-01 -4.45442291e-01 -1.73651136e-01 -1.33857172e+02] [ 4.45929954e-01 8.94243420e-01 -3.84080984e-02 -1.18250844e+02] [ 1.72394977e-01 -4.37020698e-02 9.84057976e-01 2.59650835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.459072329 meters Centerline goodness [0,1] 0.574081716879901 Centerline is valid? [False, False] Translation: X:-133.86, Y:-118.25, Z:259.65 [[ 8.77004689e-01 -4.48925939e-01 -1.71255004e-01 -1.33859961e+02] [ 4.48856253e-01 8.92646315e-01 -4.13596475e-02 -1.18252293e+02] [ 1.71437567e-01 -4.05962745e-02 9.84358219e-01 2.59651039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48907232899995 meters Centerline goodness [0,1] 0.571026376930436 Centerline is valid? [False, False] Translation: X:-133.86, Y:-118.25, Z:259.65 [[ 8.77164175e-01 -4.48587374e-01 -1.71325354e-01 -1.33860672e+02] [ 4.48598979e-01 8.92797953e-01 -4.08750712e-02 -1.18253202e+02] [ 1.71294966e-01 -4.10022308e-02 9.84366218e-01 2.59651757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.519072329 meters Centerline goodness [0,1] 0.5750694196244467 Centerline is valid? [False, False] Translation: X:-133.88, Y:-118.27, Z:259.65 [[ 8.75776735e-01 -4.48509558e-01 -1.78477691e-01 -1.33878533e+02] [ 4.49653202e-01 8.92464334e-01 -3.63236994e-02 -1.18267619e+02] [ 1.75576500e-01 -4.84416146e-02 9.83273259e-01 2.59653688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54907232899996 meters Centerline goodness [0,1] 0.5751556559590061 Centerline is valid? [False, False] Translation: X:-133.90, Y:-118.28, Z:259.65 [[ 8.74163135e-01 -4.49027769e-01 -1.84967230e-01 -1.33897585e+02] [ 4.51161036e-01 8.91838604e-01 -3.28271813e-02 -1.18283291e+02] [ 1.79701232e-01 -5.47536953e-02 9.82196264e-01 2.59654843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.579072329 meters Centerline goodness [0,1] 0.5759922822491731 Centerline is valid? [False, False] Translation: X:-133.91, Y:-118.30, Z:259.66 [[ 8.74047465e-01 -4.44698635e-01 -1.95663368e-01 -1.33910969e+02] [ 4.46559279e-01 8.93988320e-01 -3.70093804e-02 -1.18295664e+02] [ 1.91378787e-01 -5.50273376e-02 9.79972526e-01 2.59662269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60907232899996 meters Centerline goodness [0,1] 0.5775281519099139 Centerline is valid? [False, False] Translation: X:-133.93, Y:-118.31, Z:259.66 [[ 8.72461518e-01 -4.44974332e-01 -2.02011740e-01 -1.33930665e+02] [ 4.47906601e-01 8.93449996e-01 -3.35675640e-02 -1.18311036e+02] [ 1.95424093e-01 -6.11959840e-02 9.78807681e-01 2.59663062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.639072329 meters Centerline goodness [0,1] 0.5760629486471562 Centerline is valid? [False, False] Translation: X:-133.93, Y:-118.31, Z:259.66 [[ 8.72702306e-01 -4.44409721e-01 -2.02214452e-01 -1.33931345e+02] [ 4.47497765e-01 8.93683910e-01 -3.27844307e-02 -1.18312972e+02] [ 1.95285522e-01 -6.18794672e-02 9.78792366e-01 2.59664265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66907232899996 meters Centerline goodness [0,1] 0.5760629486471562 Centerline is valid? [False, False] Translation: X:-133.93, Y:-118.31, Z:259.66 [[ 8.72702306e-01 -4.44409721e-01 -2.02214452e-01 -1.33931345e+02] [ 4.47497765e-01 8.93683910e-01 -3.27844307e-02 -1.18312972e+02] [ 1.95285522e-01 -6.18794672e-02 9.78792366e-01 2.59664265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.699072329 meters Centerline goodness [0,1] 0.5771760154738879 Centerline is valid? [False, False] Translation: X:-133.94, Y:-118.31, Z:259.66 [[ 8.71709794e-01 -4.47700118e-01 -1.99215058e-01 -1.33936095e+02] [ 4.50055949e-01 8.92277863e-01 -3.59145857e-02 -1.18312956e+02] [ 1.93834151e-01 -5.83508260e-02 9.79297454e-01 2.59663108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72907232899996 meters Centerline goodness [0,1] 0.578248970226412 Centerline is valid? [False, False] Translation: X:-133.94, Y:-118.31, Z:259.66 [[ 8.70572510e-01 -4.51199362e-01 -1.96271854e-01 -1.33940188e+02] [ 4.52836631e-01 8.90736146e-01 -3.90909774e-02 -1.18312977e+02] [ 1.92464259e-01 -5.48475547e-02 9.79770001e-01 2.59661983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.759072329 meters Centerline goodness [0,1] 0.5812765484882978 Centerline is valid? [False, False] Translation: X:-133.95, Y:-118.31, Z:259.66 [[ 8.67972651e-01 -4.58292074e-01 -1.91289966e-01 -1.33945368e+02] [ 4.58515218e-01 8.87506295e-01 -4.57861487e-02 -1.18313819e+02] [ 1.90754478e-01 -4.79682358e-02 9.80465082e-01 2.59660224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78907232899996 meters Centerline goodness [0,1] 0.582032991529202 Centerline is valid? [False, False] Translation: X:-133.96, Y:-118.33, Z:259.66 [[ 8.66086850e-01 -4.59149154e-01 -1.97675547e-01 -1.33963961e+02] [ 4.60591904e-01 8.86644640e-01 -4.14292277e-02 -1.18330467e+02] [ 1.94290159e-01 -5.51664470e-02 9.79391647e-01 2.59662965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.819072329 meters Centerline goodness [0,1] 0.5867090726481419 Centerline is valid? [False, False] Translation: X:-133.97, Y:-118.33, Z:259.66 [[ 8.64702592e-01 -4.62875681e-01 -1.95026999e-01 -1.33966711e+02] [ 4.63639350e-01 8.84902927e-01 -4.45574090e-02 -1.18331021e+02] [ 1.93204504e-01 -5.18932840e-02 9.79785235e-01 2.59662249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84907232899997 meters Centerline goodness [0,1] 0.5920743967828419 Centerline is valid? [False, False] Translation: X:-133.98, Y:-118.34, Z:259.66 [[ 8.62573328e-01 -4.63566186e-01 -2.02666337e-01 -1.33981190e+02] [ 4.65714371e-01 8.84033190e-01 -3.99429887e-02 -1.18344356e+02] [ 1.97679988e-01 -5.99308692e-02 9.78432887e-01 2.59664428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.879072329 meters Centerline goodness [0,1] 0.6002236823710332 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.36, Z:259.67 [[ 8.59953748e-01 -4.64935296e-01 -2.10510620e-01 -1.33993967e+02] [ 4.68438237e-01 8.82760031e-01 -3.60603133e-02 -1.18357648e+02] [ 2.02596074e-01 -6.76010221e-02 9.76926268e-01 2.59666246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90907232899997 meters Centerline goodness [0,1] 0.5987837686358032 Centerline is valid? [False, False] Translation: X:-134.00, Y:-118.37, Z:259.67 [[ 8.59298219e-01 -4.61915825e-01 -2.19636838e-01 -1.34004324e+02] [ 4.64916645e-01 8.84402044e-01 -4.10552951e-02 -1.18368283e+02] [ 2.13211359e-01 -6.68340800e-02 9.74717458e-01 2.59673487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.939072329 meters Centerline goodness [0,1] 0.6125533827826477 Centerline is valid? [False, False] Translation: X:-134.01, Y:-118.37, Z:259.67 [[ 8.57634695e-01 -4.65948896e-01 -2.17610561e-01 -1.34005088e+02] [ 4.68256873e-01 8.82489975e-01 -4.41241904e-02 -1.18369965e+02] [ 2.12598757e-01 -6.40552043e-02 9.75037794e-01 2.59673757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96907232899997 meters Centerline goodness [0,1] 0.6045471172514703 Centerline is valid? [False, False] Translation: X:-134.03, Y:-118.39, Z:259.67 [[ 8.56218385e-01 -4.65637646e-01 -2.23766977e-01 -1.34026455e+02] [ 4.69165924e-01 8.82179826e-01 -4.05227259e-02 -1.18387272e+02] [ 2.16271619e-01 -7.02875374e-02 9.73799902e-01 2.59674674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.999072329 meters Centerline goodness [0,1] 0.6163621028956987 Centerline is valid? [False, False] Translation: X:-134.03, Y:-118.39, Z:259.68 [[ 8.56365289e-01 -4.65241749e-01 -2.24028139e-01 -1.34026685e+02] [ 4.68901392e-01 8.82345900e-01 -3.99649506e-02 -1.18388742e+02] [ 2.16263673e-01 -7.08225099e-02 9.73762905e-01 2.59675650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.029072329 meters Centerline goodness [0,1] 0.6201277685531759 Centerline is valid? [False, False] Translation: X:-134.03, Y:-118.39, Z:259.68 [[ 8.55096547e-01 -4.68843828e-01 -2.21348956e-01 -1.34030829e+02] [ 4.71765702e-01 8.80679659e-01 -4.29005866e-02 -1.18388690e+02] [ 2.15051199e-01 -6.77407022e-02 9.74250573e-01 2.59675459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05907232899995 meters Centerline goodness [0,1] 0.6259284267386901 Centerline is valid? [False, False] Translation: X:-134.03, Y:-118.39, Z:259.68 [[ 8.55262203e-01 -4.68494593e-01 -2.21448369e-01 -1.34031411e+02] [ 4.71524794e-01 8.80833161e-01 -4.23947086e-02 -1.18389852e+02] [ 2.14920758e-01 -6.81598047e-02 9.74250126e-01 2.59676333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.089072329 meters Centerline goodness [0,1] 0.6225544013737578 Centerline is valid? [False, False] Translation: X:-134.03, Y:-118.39, Z:259.68 [[ 8.55449994e-01 -4.68084690e-01 -2.21589782e-01 -1.34032217e+02] [ 4.71222182e-01 8.81018800e-01 -4.18990402e-02 -1.18390988e+02] [ 2.14837063e-01 -6.85754868e-02 9.74239416e-01 2.59677291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11907232899995 meters Centerline goodness [0,1] 0.6066177504146637 Centerline is valid? [False, False] Translation: X:-134.05, Y:-118.40, Z:259.68 [[ 8.55725718e-01 -4.62930885e-01 -2.31146037e-01 -1.34049522e+02] [ 4.65685410e-01 8.83756974e-01 -4.59424533e-02 -1.18404018e+02] [ 2.25545103e-01 -6.83271984e-02 9.71833731e-01 2.59683954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.149072329 meters Centerline goodness [0,1] 0.6125798913196497 Centerline is valid? [False, False] Translation: X:-134.05, Y:-118.40, Z:259.68 [[ 8.56068144e-01 -4.62518576e-01 -2.30703058e-01 -1.34052087e+02] [ 4.65281774e-01 8.83981686e-01 -4.57083045e-02 -1.18403574e+02] [ 2.25078218e-01 -6.82125047e-02 9.71950024e-01 2.59683953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17907232899995 meters Centerline goodness [0,1] 0.5920195439739413 Centerline is valid? [False, False] Translation: X:-134.06, Y:-118.40, Z:259.68 [[ 8.56711006e-01 -4.61695742e-01 -2.29963680e-01 -1.34056134e+02] [ 4.64501664e-01 8.84419196e-01 -4.51762173e-02 -1.18403671e+02] [ 2.24241960e-01 -6.81155494e-02 9.72150099e-01 2.59683938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.209072329 meters Centerline goodness [0,1] 0.5854743912678422 Centerline is valid? [False, False] Translation: X:-134.06, Y:-118.40, Z:259.68 [[ 8.57779465e-01 -4.60090710e-01 -2.29196266e-01 -1.34062631e+02] [ 4.62986397e-01 8.85256617e-01 -4.43206243e-02 -1.18403599e+02] [ 2.23289019e-01 -6.80974322e-02 9.72370687e-01 2.59684840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23907232899995 meters Centerline goodness [0,1] 0.58495899689328 Centerline is valid? [False, False] Translation: X:-134.06, Y:-118.40, Z:259.69 [[ 8.58070303e-01 -4.59570600e-01 -2.29151084e-01 -1.34064258e+02] [ 4.62541719e-01 8.85509735e-01 -4.39052160e-02 -1.18404207e+02] [ 2.23093062e-01 -6.83181741e-02 9.72400181e-01 2.59685693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.269072329 meters Centerline goodness [0,1] 0.5792409158091414 Centerline is valid? [False, False] Translation: X:-134.06, Y:-118.41, Z:259.69 [[ 8.60073579e-01 -4.54622675e-01 -2.31498729e-01 -1.34064823e+02] [ 4.58586878e-01 8.87764488e-01 -3.96520938e-02 -1.18405601e+02] [ 2.23543092e-01 -7.20585613e-02 9.72026774e-01 2.59687808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29907232899996 meters Centerline goodness [0,1] 0.579108805978473 Centerline is valid? [False, False] Translation: X:-134.07, Y:-118.41, Z:259.69 [[ 8.60534806e-01 -4.53990837e-01 -2.31024170e-01 -1.34067431e+02] [ 4.57962366e-01 8.88099185e-01 -3.93739615e-02 -1.18405341e+02] [ 2.23047795e-01 -7.19177111e-02 9.72150978e-01 2.59687673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.329072329 meters Centerline goodness [0,1] 0.5750619828955066 Centerline is valid? [False, False] Translation: X:-134.07, Y:-118.41, Z:259.69 [[ 8.62259015e-01 -4.49287346e-01 -2.33773974e-01 -1.34065924e+02] [ 4.54271301e-01 8.90165705e-01 -3.52505541e-02 -1.18406854e+02] [ 2.23935203e-01 -7.58016995e-02 9.71651752e-01 2.59689722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35907232899996 meters Centerline goodness [0,1] 0.5727993324989571 Centerline is valid? [False, False] Translation: X:-134.07, Y:-118.40, Z:259.69 [[ 8.61083905e-01 -4.53186226e-01 -2.30557481e-01 -1.34070447e+02] [ 4.57171441e-01 8.88521032e-01 -3.90467647e-02 -1.18404528e+02] [ 2.22550627e-01 -7.17817552e-02 9.72274960e-01 2.59687288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.389072329 meters Centerline goodness [0,1] 0.5734115945254257 Centerline is valid? [False, False] Translation: X:-134.07, Y:-118.41, Z:259.69 [[ 8.62677855e-01 -4.48785753e-01 -2.33191479e-01 -1.34068510e+02] [ 4.53773085e-01 8.90431159e-01 -3.49619403e-02 -1.18406548e+02] [ 2.23331379e-01 -7.56551250e-02 9.71802139e-01 2.59689221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41907232899996 meters Centerline goodness [0,1] 0.5709722222222222 Centerline is valid? [False, False] Translation: X:-134.07, Y:-118.41, Z:259.69 [[ 8.61843224e-01 -4.51865932e-01 -2.30311606e-01 -1.34073854e+02] [ 4.56015865e-01 8.89157428e-01 -3.80604654e-02 -1.18405639e+02] [ 2.21981503e-01 -7.22235920e-02 9.72372339e-01 2.59687976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.449072329 meters Centerline goodness [0,1] 0.572555774733976 Centerline is valid? [False, False] Translation: X:-134.08, Y:-118.41, Z:259.69 [[ 8.62138147e-01 -4.51267822e-01 -2.30380484e-01 -1.34075295e+02] [ 4.55532587e-01 8.89429032e-01 -3.74974548e-02 -1.18406555e+02] [ 2.21828486e-01 -7.26178318e-02 9.72377896e-01 2.59689268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47907232899996 meters Centerline goodness [0,1] 0.5701118791815885 Centerline is valid? [False, False] Translation: X:-134.08, Y:-118.41, Z:259.69 [[ 8.62350068e-01 -4.50861990e-01 -2.30381914e-01 -1.34076363e+02] [ 4.55198550e-01 8.89615579e-01 -3.71268311e-02 -1.18407337e+02] [ 2.21690417e-01 -7.28531879e-02 9.72391779e-01 2.59689896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.509072329 meters Centerline goodness [0,1] 0.5676373428087611 Centerline is valid? [False, False] Translation: X:-134.08, Y:-118.41, Z:259.69 [[ 8.62813852e-01 -4.50095555e-01 -2.30143972e-01 -1.34078548e+02] [ 4.54525791e-01 8.89984256e-01 -3.65284780e-02 -1.18408412e+02] [ 2.21265817e-01 -7.30890941e-02 9.72470782e-01 2.59690395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53907232899996 meters Centerline goodness [0,1] 0.5647388266607519 Centerline is valid? [False, False] Translation: X:-134.10, Y:-118.42, Z:259.69 [[ 8.61199600e-01 -4.49923451e-01 -2.36440556e-01 -1.34098633e+02] [ 4.55648465e-01 8.89544729e-01 -3.30855193e-02 -1.18423624e+02] [ 2.25210402e-01 -7.92405405e-02 9.71082495e-01 2.59690320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.569072329 meters Centerline goodness [0,1] 0.5661821812936869 Centerline is valid? [False, False] Translation: X:-134.10, Y:-118.42, Z:259.69 [[ 8.60053999e-01 -4.53528749e-01 -2.33706636e-01 -1.34102490e+02] [ 4.58405444e-01 8.88001999e-01 -3.62890873e-02 -1.18423140e+02] [ 2.23990104e-01 -7.59218196e-02 9.71629719e-01 2.59689281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59907232899997 meters Centerline goodness [0,1] 0.5642336983712268 Centerline is valid? [False, False] Translation: X:-134.11, Y:-118.42, Z:259.69 [[ 8.58980833e-01 -4.57119076e-01 -2.30638416e-01 -1.34106908e+02] [ 4.61104193e-01 8.86460918e-01 -3.96227638e-02 -1.18422643e+02] [ 2.22564263e-01 -7.23131461e-02 9.72232461e-01 2.59687670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.629072329 meters Centerline goodness [0,1] 0.5687723015165032 Centerline is valid? [False, False] Translation: X:-134.11, Y:-118.42, Z:259.69 [[ 8.57612164e-01 -4.60895662e-01 -2.28202903e-01 -1.34109667e+02] [ 4.64146003e-01 8.84735391e-01 -4.25649545e-02 -1.18423736e+02] [ 2.21517187e-01 -6.94152426e-02 9.72682713e-01 2.59687710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65907232899997 meters Centerline goodness [0,1] 0.5681532926114969 Centerline is valid? [False, False] Translation: X:-134.11, Y:-118.43, Z:259.69 [[ 8.57706670e-01 -4.60574193e-01 -2.28496568e-01 -1.34109536e+02] [ 4.63970882e-01 8.84855516e-01 -4.19730393e-02 -1.18425454e+02] [ 2.21518147e-01 -7.00151983e-02 9.72639493e-01 2.59688683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.689072329 meters Centerline goodness [0,1] 0.5686345526982977 Centerline is valid? [False, False] Translation: X:-134.11, Y:-118.43, Z:259.69 [[ 8.57892164e-01 -4.60170768e-01 -2.28612990e-01 -1.34109907e+02] [ 4.63681874e-01 8.85031528e-01 -4.14525516e-02 -1.18426577e+02] [ 2.21404957e-01 -7.04418804e-02 9.72634457e-01 2.59689280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71907232899997 meters Centerline goodness [0,1] 0.5710139264882365 Centerline is valid? [False, False] Translation: X:-134.11, Y:-118.43, Z:259.69 [[ 8.57979782e-01 -4.59817742e-01 -2.28994186e-01 -1.34109363e+02] [ 4.63487495e-01 8.85162167e-01 -4.08323404e-02 -1.18428407e+02] [ 2.21472424e-01 -7.11026191e-02 9.72571017e-01 2.59690216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.749072329 meters Centerline goodness [0,1] 0.5714046074703646 Centerline is valid? [False, False] Translation: X:-134.11, Y:-118.43, Z:259.69 [[ 8.56648062e-01 -4.63596229e-01 -2.26346273e-01 -1.34112636e+02] [ 4.66459452e-01 8.83445130e-01 -4.40486394e-02 -1.18428045e+02] [ 2.20385296e-01 -6.78471769e-02 9.73050401e-01 2.59689425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.779072329 meters Centerline goodness [0,1] 0.5725150286593038 Centerline is valid? [False, False] Translation: X:-134.11, Y:-118.43, Z:259.69 [[ 8.56843597e-01 -4.63040773e-01 -2.26742789e-01 -1.34112619e+02] [ 4.66101127e-01 8.83674751e-01 -4.32281574e-02 -1.18430606e+02] [ 2.20383277e-01 -6.86452998e-02 9.72994879e-01 2.59690806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80907232899995 meters Centerline goodness [0,1] 0.5737415613882741 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.44, Z:259.70 [[ 8.55549495e-01 -4.59702180e-01 -2.38136447e-01 -1.34124829e+02] [ 4.62536878e-01 8.85336505e-01 -4.73171138e-02 -1.18444179e+02] [ 2.32582670e-01 -6.96647556e-02 9.70078411e-01 2.59699421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.839072329 meters Centerline goodness [0,1] 0.5853822835971707 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.45, Z:259.70 [[ 8.55650371e-01 -4.59100622e-01 -2.38933172e-01 -1.34123630e+02] [ 4.62155478e-01 8.85575758e-01 -4.65606169e-02 -1.18446732e+02] [ 2.32969433e-01 -7.05846650e-02 9.69919094e-01 2.59701413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86907232899995 meters Centerline goodness [0,1] 0.5862787032868078 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.45, Z:259.70 [[ 8.55688096e-01 -4.58745344e-01 -2.39479835e-01 -1.34123016e+02] [ 4.61985033e-01 8.85698549e-01 -4.59119749e-02 -1.18448771e+02] [ 2.33168848e-01 -7.13497692e-02 9.69815188e-01 2.59702834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.899072329 meters Centerline goodness [0,1] 0.5948836293023387 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.45, Z:259.70 [[ 8.55393427e-01 -4.59091552e-01 -2.39868782e-01 -1.34121551e+02] [ 4.62413728e-01 8.85483545e-01 -4.57431398e-02 -1.18449221e+02] [ 2.33400149e-01 -7.17902367e-02 9.69727040e-01 2.59703398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92907232899995 meters Centerline goodness [0,1] 0.5960895581088295 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.45, Z:259.70 [[ 8.55370692e-01 -4.59126109e-01 -2.39883714e-01 -1.34121372e+02] [ 4.62476375e-01 8.85456344e-01 -4.56362324e-02 -1.18449251e+02] [ 2.33359342e-01 -7.19046548e-02 9.69728384e-01 2.59703276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.959072329 meters Centerline goodness [0,1] 0.6040102365083382 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.45, Z:259.70 [[ 8.55216623e-01 -4.59351676e-01 -2.40001178e-01 -1.34120496e+02] [ 4.62706505e-01 8.85333452e-01 -4.56877382e-02 -1.18449079e+02] [ 2.33467811e-01 -7.19771931e-02 9.69696893e-01 2.59703084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98907232899995 meters Centerline goodness [0,1] 0.5958441265908323 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.45, Z:259.70 [[ 8.54041660e-01 -4.63057080e-01 -2.37046377e-01 -1.34124669e+02] [ 4.65502258e-01 8.83683953e-01 -4.90949903e-02 -1.18448122e+02] [ 2.32207862e-01 -6.84164568e-02 9.70257026e-01 2.59701648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.019072329 meters Centerline goodness [0,1] 0.5850309510410805 Centerline is valid? [False, False] Translation: X:-134.13, Y:-118.45, Z:259.70 [[ 8.53093066e-01 -4.66383310e-01 -2.33920560e-01 -1.34129968e+02] [ 4.67945554e-01 8.82205656e-01 -5.23463479e-02 -1.18447267e+02] [ 2.30779504e-01 -6.48057797e-02 9.70845524e-01 2.59700096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04907232899996 meters Centerline goodness [0,1] 0.5926497404965634 Centerline is valid? [False, False] Translation: X:-134.13, Y:-118.45, Z:259.70 [[ 8.53465678e-01 -4.65845432e-01 -2.33632981e-01 -1.34132154e+02] [ 4.67475662e-01 8.82481146e-01 -5.18992570e-02 -1.18447730e+02] [ 2.30353732e-01 -6.49234978e-02 9.70938771e-01 2.59700435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.079072329 meters Centerline goodness [0,1] 0.5870426015894858 Centerline is valid? [False, False] Translation: X:-134.13, Y:-118.45, Z:259.70 [[ 8.53840347e-01 -4.65333607e-01 -2.33283725e-01 -1.34134449e+02] [ 4.66999785e-01 8.82752220e-01 -5.15724630e-02 -1.18448071e+02] [ 2.29930126e-01 -6.49087994e-02 9.71040156e-01 2.59700757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10907232899996 meters Centerline goodness [0,1] 0.5888497817823455 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.45, Z:259.70 [[ 8.54024943e-01 -4.64974254e-01 -2.33324538e-01 -1.34135135e+02] [ 4.66716926e-01 8.82922906e-01 -5.12098883e-02 -1.18449096e+02] [ 2.29818859e-01 -6.51619890e-02 9.71049539e-01 2.59701359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.139072329 meters Centerline goodness [0,1] 0.5857062622858747 Centerline is valid? [False, False] Translation: X:-134.13, Y:-118.45, Z:259.70 [[ 8.55762382e-01 -4.60284426e-01 -2.36239269e-01 -1.34133536e+02] [ 4.63117093e-01 8.85059526e-01 -4.68208729e-02 -1.18451672e+02] [ 2.30636734e-01 -6.93389017e-02 9.70566234e-01 2.59704096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16907232899996 meters Centerline goodness [0,1] 0.5815139710209916 Centerline is valid? [False, False] Translation: X:-134.13, Y:-118.45, Z:259.71 [[ 8.57284876e-01 -4.56006279e-01 -2.38999820e-01 -1.34131162e+02] [ 4.59880993e-01 8.86952951e-01 -4.27075413e-02 -1.18453995e+02] [ 2.31456503e-01 -7.32989453e-02 9.70079972e-01 2.59706220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.199072329 meters Centerline goodness [0,1] 0.5877232393575199 Centerline is valid? [False, False] Translation: X:-134.13, Y:-118.46, Z:259.71 [[ 8.57448428e-01 -4.55635269e-01 -2.39120671e-01 -1.34131575e+02] [ 4.59620510e-01 8.87110818e-01 -4.22301124e-02 -1.18455129e+02] [ 2.31368063e-01 -7.36946212e-02 9.70071091e-01 2.59706863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22907232899996 meters Centerline goodness [0,1] 0.5752252125838409 Centerline is valid? [False, False] Translation: X:-134.15, Y:-118.47, Z:259.71 [[ 8.55751643e-01 -4.55459056e-01 -2.45450960e-01 -1.34152374e+02] [ 4.60849029e-01 8.86641846e-01 -3.85280421e-02 -1.18470656e+02] [ 2.35175038e-01 -8.01454012e-02 9.68643080e-01 2.59707451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.259072329 meters Centerline goodness [0,1] 0.5698300521622076 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.48, Z:259.71 [[ 8.55585520e-01 -4.50949361e-01 -2.54200889e-01 -1.34168793e+02] [ 4.55658051e-01 8.89087304e-01 -4.35833282e-02 -1.18483647e+02] [ 2.45660657e-01 -7.85394173e-02 9.66168930e-01 2.59712703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28907232899996 meters Centerline goodness [0,1] 0.5874063303880998 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.48, Z:259.71 [[ 8.55868835e-01 -4.50451285e-01 -2.54130237e-01 -1.34169712e+02] [ 4.55232268e-01 8.89324155e-01 -4.31987077e-02 -1.18484327e+02] [ 2.45463072e-01 -7.87158567e-02 9.66204789e-01 2.59713107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.319072329 meters Centerline goodness [0,1] 0.5796784854086148 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.48, Z:259.71 [[ 8.56283897e-01 -4.49838874e-01 -2.53816617e-01 -1.34171700e+02] [ 4.54630173e-01 8.89643689e-01 -4.29594349e-02 -1.18484204e+02] [ 2.45131176e-01 -7.86072204e-02 9.66297890e-01 2.59712990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34907232899997 meters Centerline goodness [0,1] 0.5682860017889088 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.48, Z:259.71 [[ 8.56509904e-01 -4.49533809e-01 -2.53594437e-01 -1.34173076e+02] [ 4.54348305e-01 8.89797902e-01 -4.27470637e-02 -1.18484357e+02] [ 2.44864049e-01 -7.86069193e-02 9.66365640e-01 2.59713006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.379072329 meters Centerline goodness [0,1] 0.5777422790202342 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.49, Z:259.71 [[ 8.56656833e-01 -4.49140878e-01 -2.53794291e-01 -1.34173443e+02] [ 4.54060739e-01 8.89964245e-01 -4.23377832e-02 -1.18485374e+02] [ 2.44883474e-01 -7.89690721e-02 9.66331191e-01 2.59713857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40907232899997 meters Centerline goodness [0,1] 0.5802066951246911 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.49, Z:259.72 [[ 8.56685646e-01 -4.48740838e-01 -2.54403940e-01 -1.34172662e+02] [ 4.53913297e-01 8.90079591e-01 -4.14854244e-02 -1.18488313e+02] [ 2.45055959e-01 -7.99373633e-02 9.66207843e-01 2.59715817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.439072329 meters Centerline goodness [0,1] 0.5849215482639571 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.49, Z:259.72 [[ 8.56806428e-01 -4.48362137e-01 -2.54664757e-01 -1.34172853e+02] [ 4.53657924e-01 8.90230901e-01 -4.10296431e-02 -1.18489347e+02] [ 2.45106575e-01 -8.03762232e-02 9.66158594e-01 2.59716717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46907232899997 meters Centerline goodness [0,1] 0.5705704019761958 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.49, Z:259.72 [[ 8.55799010e-01 -4.51924311e-01 -2.51738894e-01 -1.34177652e+02] [ 4.56266970e-01 8.88736235e-01 -4.43661683e-02 -1.18487791e+02] [ 2.43779627e-01 -7.68916194e-02 9.66777726e-01 2.59715080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.499072329 meters Centerline goodness [0,1] 0.5727234578262694 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.49, Z:259.72 [[ 8.56276026e-01 -4.51217804e-01 -2.51383892e-01 -1.34180622e+02] [ 4.55686238e-01 8.89069960e-01 -4.36423923e-02 -1.18488361e+02] [ 2.43190091e-01 -7.71822458e-02 9.66903036e-01 2.59715639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.529072329 meters Centerline goodness [0,1] 0.5787290107364114 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.49, Z:259.72 [[ 8.56492215e-01 -4.50641896e-01 -2.51680289e-01 -1.34181389e+02] [ 4.55309329e-01 8.89301020e-01 -4.28615298e-02 -1.18490388e+02] [ 2.43134738e-01 -7.78818167e-02 9.66860860e-01 2.59717109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55907232899995 meters Centerline goodness [0,1] 0.5787290107364114 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.49, Z:259.72 [[ 8.56492215e-01 -4.50641896e-01 -2.51680289e-01 -1.34181389e+02] [ 4.55309329e-01 8.89301020e-01 -4.28615298e-02 -1.18490388e+02] [ 2.43134738e-01 -7.78818167e-02 9.66860860e-01 2.59717109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.589072329 meters Centerline goodness [0,1] 0.5854610825538609 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.49, Z:259.72 [[ 8.56761819e-01 -4.49941419e-01 -2.52015685e-01 -1.34182100e+02] [ 4.54802968e-01 8.89596694e-01 -4.20949260e-02 -1.18492527e+02] [ 2.43132571e-01 -7.85521558e-02 9.66807174e-01 2.59718717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61907232899995 meters Centerline goodness [0,1] 0.5832701328614365 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.50, Z:259.72 [[ 8.57326242e-01 -4.48819600e-01 -2.52096572e-01 -1.34183997e+02] [ 4.53941142e-01 8.90091717e-01 -4.09166787e-02 -1.18495631e+02] [ 2.42753278e-01 -7.93580633e-02 9.66836669e-01 2.59720361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.649072329 meters Centerline goodness [0,1] 0.5765323304894476 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.50, Z:259.72 [[ 8.57559120e-01 -4.48468399e-01 -2.51929455e-01 -1.34184869e+02] [ 4.53633172e-01 8.90261651e-01 -4.06342083e-02 -1.18496131e+02] [ 2.42506291e-01 -7.94373218e-02 9.66892140e-01 2.59720247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67907232899995 meters Centerline goodness [0,1] 0.5754362340795601 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.50, Z:259.72 [[ 8.57696667e-01 -4.48227372e-01 -2.51890157e-01 -1.34185603e+02] [ 4.53442119e-01 8.90370320e-01 -4.03848829e-02 -1.18496470e+02] [ 2.42377129e-01 -7.95796269e-02 9.66912824e-01 2.59720478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.709072329 meters Centerline goodness [0,1] 0.5929634108614338 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.50, Z:259.72 [[ 8.57315512e-01 -4.48454205e-01 -2.52782394e-01 -1.34182891e+02] [ 4.53895388e-01 8.90164656e-01 -3.98228925e-02 -1.18499186e+02] [ 2.42876696e-01 -8.05959792e-02 9.66703263e-01 2.59722431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73907232899995 meters Centerline goodness [0,1] 0.6011899726475481 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.50, Z:259.72 [[ 8.57290780e-01 -4.48214285e-01 -2.53291280e-01 -1.34181843e+02] [ 4.53822427e-01 8.90225177e-01 -3.92980718e-02 -1.18501094e+02] [ 2.43100232e-01 -8.12593889e-02 9.66591532e-01 2.59723505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.769072329 meters Centerline goodness [0,1] 0.6064634490544736 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.50, Z:259.72 [[ 8.57018339e-01 -4.48424686e-01 -2.53840241e-01 -1.34179695e+02] [ 4.54115538e-01 8.90080344e-01 -3.91925854e-02 -1.18502036e+02] [ 2.43513132e-01 -8.16840332e-02 9.66451796e-01 2.59723959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79907232899996 meters Centerline goodness [0,1] 0.6139544069518112 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.50, Z:259.72 [[ 8.57170762e-01 -4.48113536e-01 -2.53875053e-01 -1.34179972e+02] [ 4.53864299e-01 8.90220471e-01 -3.89192884e-02 -1.18502202e+02] [ 2.43445029e-01 -8.18643469e-02 9.66453696e-01 2.59724035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.829072329 meters Centerline goodness [0,1] 0.6205365977778405 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.50, Z:259.72 [[ 8.57437241e-01 -4.47602351e-01 -2.53876967e-01 -1.34180796e+02] [ 4.53438944e-01 8.90455392e-01 -3.85008899e-02 -1.18502720e+02] [ 2.43299203e-01 -8.21056070e-02 9.66469952e-01 2.59724428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85907232899996 meters Centerline goodness [0,1] 0.6033285135096822 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.50, Z:259.72 [[ 8.56517870e-01 -4.50845077e-01 -2.51228693e-01 -1.34185210e+02] [ 4.55892527e-01 8.89079556e-01 -4.12255644e-02 -1.18504365e+02] [ 2.41948637e-01 -7.92228509e-02 9.67049428e-01 2.59724264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.889072329 meters Centerline goodness [0,1] 0.6257881283726214 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.50, Z:259.74 [[ 8.57109017e-01 -4.44704739e-01 -2.60003514e-01 -1.34171582e+02] [ 4.49226118e-01 8.92272087e-01 -4.52373457e-02 -1.18503348e+02] [ 2.52111140e-01 -7.80270325e-02 9.64547435e-01 2.59737082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91907232899996 meters Centerline goodness [0,1] 0.6231962430624733 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.51, Z:259.74 [[ 8.58435110e-01 -4.40210369e-01 -2.63256517e-01 -1.34166808e+02] [ 4.45765218e-01 8.94180048e-01 -4.16582836e-02 -1.18506230e+02] [ 2.53737133e-01 -8.15896654e-02 9.63826018e-01 2.59739492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.949072329 meters Centerline goodness [0,1] 0.6077547084184252 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.51, Z:259.74 [[ 8.60299475e-01 -4.35074165e-01 -2.65697730e-01 -1.34165834e+02] [ 4.41762718e-01 8.96352859e-01 -3.73798343e-02 -1.18508199e+02] [ 2.54421920e-01 -8.52174995e-02 9.63331441e-01 2.59740994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97907232899996 meters Centerline goodness [0,1] 0.6052220803178658 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.51, Z:259.74 [[ 8.61657012e-01 -4.30686584e-01 -2.68432970e-01 -1.34162545e+02] [ 4.38434339e-01 8.98132927e-01 -3.36537653e-02 -1.18510000e+02] [ 2.55582715e-01 -8.86922290e-02 9.62710322e-01 2.59742528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.009072329 meters Centerline goodness [0,1] 0.6119636260301222 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.51, Z:259.74 [[ 8.61316541e-01 -4.30848298e-01 -2.69264851e-01 -1.34159641e+02] [ 4.38822152e-01 8.97962946e-01 -3.31310558e-02 -1.18513307e+02] [ 2.56064318e-01 -8.96230553e-02 9.62496116e-01 2.59744288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03907232899996 meters Centerline goodness [0,1] 0.6141381463193144 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.52, Z:259.75 [[ 8.61517483e-01 -4.30257627e-01 -2.69566322e-01 -1.34159900e+02] [ 4.38427696e-01 8.98181931e-01 -3.24094660e-02 -1.18515476e+02] [ 2.56064019e-01 -9.02640199e-02 9.62436296e-01 2.59745473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.069072329 meters Centerline goodness [0,1] 0.6211158896072456 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.52, Z:259.75 [[ 8.61690641e-01 -4.29708203e-01 -2.69889049e-01 -1.34160064e+02] [ 4.38021738e-01 8.98398163e-01 -3.19013607e-02 -1.18516699e+02] [ 2.56176102e-01 -9.07281666e-02 9.62362824e-01 2.59746545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09907232899997 meters Centerline goodness [0,1] 0.6068201193520887 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.52, Z:259.75 [[ 8.61888642e-01 -4.29273616e-01 -2.69948388e-01 -1.34160860e+02] [ 4.37716775e-01 8.98565610e-01 -3.13667055e-02 -1.18517785e+02] [ 2.56031237e-01 -9.11263308e-02 9.62363755e-01 2.59747157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.129072329 meters Centerline goodness [0,1] 0.6156494522691706 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.52, Z:259.75 [[ 8.61859527e-01 -4.29054412e-01 -2.70389475e-01 -1.34160149e+02] [ 4.37737924e-01 8.98581989e-01 -3.05927851e-02 -1.18519991e+02] [ 2.56093081e-01 -9.19930439e-02 9.62264835e-01 2.59748540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15907232899997 meters Centerline goodness [0,1] 0.6320684523809523 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.52, Z:259.75 [[ 8.61966226e-01 -4.28653048e-01 -2.70685779e-01 -1.34160376e+02] [ 4.37527385e-01 8.98707076e-01 -2.99228809e-02 -1.18521699e+02] [ 2.56093759e-01 -9.26399282e-02 9.62202593e-01 2.59749763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.189072329 meters Centerline goodness [0,1] 0.6320217484618686 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.52, Z:259.75 [[ 8.62152540e-01 -4.28140400e-01 -2.70903665e-01 -1.34160906e+02] [ 4.37180655e-01 8.98896322e-01 -2.92997858e-02 -1.18523375e+02] [ 2.56058730e-01 -9.31729569e-02 9.62160448e-01 2.59750803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21907232899997 meters Centerline goodness [0,1] 0.6179250687442713 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.52, Z:259.75 [[ 8.61038241e-01 -4.32243723e-01 -2.67915119e-01 -1.34164669e+02] [ 4.40171630e-01 8.97305811e-01 -3.30335921e-02 -1.18522044e+02] [ 2.54680356e-01 -8.94854487e-02 9.62876041e-01 2.59748575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.249072329 meters Centerline goodness [0,1] 0.6215883732906105 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.52, Z:259.75 [[ 8.59944913e-01 -4.36129129e-01 -2.65115314e-01 -1.34168723e+02] [ 4.43013217e-01 8.95767648e-01 -3.66006870e-02 -1.18520392e+02] [ 2.53444347e-01 -8.59750135e-02 9.63521800e-01 2.59746829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.279072329 meters Centerline goodness [0,1] 0.6409084375449188 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.52, Z:259.75 [[ 8.60149665e-01 -4.35748532e-01 -2.65076913e-01 -1.34169270e+02] [ 4.42695164e-01 8.95937554e-01 -3.62890028e-02 -1.18521089e+02] [ 2.53305241e-01 -8.61342938e-02 9.63544155e-01 2.59746960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30907232899995 meters Centerline goodness [0,1] 0.629053625943206 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.52, Z:259.75 [[ 8.58921332e-01 -4.39819141e-01 -2.62322834e-01 -1.34172563e+02] [ 4.45765398e-01 8.94265098e-01 -3.97887544e-02 -1.18520500e+02] [ 2.52086010e-01 -8.27590323e-02 9.64159523e-01 2.59745561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.339072329 meters Centerline goodness [0,1] 0.6539015675426464 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.52, Z:259.75 [[ 8.59019715e-01 -4.39438386e-01 -2.62638602e-01 -1.34172271e+02] [ 4.45549742e-01 8.94398311e-01 -3.92057279e-02 -1.18522120e+02] [ 2.52132024e-01 -8.33400682e-02 9.64097441e-01 2.59746518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36907232899995 meters Centerline goodness [0,1] 0.6419265579062663 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.52, Z:259.75 [[ 8.59170909e-01 -4.39019107e-01 -2.62845150e-01 -1.34172560e+02] [ 4.45272749e-01 8.94559696e-01 -3.86668982e-02 -1.18523614e+02] [ 2.52106185e-01 -8.38163084e-02 9.64062912e-01 2.59747347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.399072329 meters Centerline goodness [0,1] 0.6443016824153031 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.52, Z:259.75 [[ 8.59421460e-01 -4.38672123e-01 -2.62605261e-01 -1.34174007e+02] [ 4.44980228e-01 8.94720134e-01 -3.83207235e-02 -1.18523964e+02] [ 2.51768448e-01 -8.39204968e-02 9.64142105e-01 2.59747372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42907232899995 meters Centerline goodness [0,1] 0.6565980035774046 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.52, Z:259.75 [[ 8.59780846e-01 -4.38103560e-01 -2.62377909e-01 -1.34175716e+02] [ 4.44492329e-01 8.94982939e-01 -3.78432050e-02 -1.18524521e+02] [ 2.51402995e-01 -8.40881050e-02 9.64222861e-01 2.59747585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.459072329 meters Centerline goodness [0,1] 0.627721858506619 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.53, Z:259.75 [[ 8.60435148e-01 -4.37139178e-01 -2.61840975e-01 -1.34179071e+02] [ 4.43606119e-01 8.95449292e-01 -3.72045297e-02 -1.18525466e+02] [ 2.50728873e-01 -8.41421738e-02 9.64393658e-01 2.59747685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48907232899995 meters Centerline goodness [0,1] 0.6337570458989992 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.53, Z:259.75 [[ 8.60754035e-01 -4.36593149e-01 -2.61703865e-01 -1.34180488e+02] [ 4.43125239e-01 8.95703230e-01 -3.68204560e-02 -1.18526132e+02] [ 2.50484556e-01 -8.42742317e-02 9.64445613e-01 2.59748059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.519072329 meters Centerline goodness [0,1] 0.6216013392599434 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.53, Z:259.75 [[ 8.60988187e-01 -4.36092524e-01 -2.61768318e-01 -1.34181392e+02] [ 4.42754554e-01 8.95909203e-01 -3.62643761e-02 -1.18527623e+02] [ 2.50335269e-01 -8.46759157e-02 9.64449191e-01 2.59748877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54907232899996 meters Centerline goodness [0,1] 0.6262305493807558 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.53, Z:259.75 [[ 8.61448734e-01 -4.35221597e-01 -2.61702580e-01 -1.34183609e+02] [ 4.42055247e-01 8.96287296e-01 -3.54435018e-02 -1.18529414e+02] [ 2.49986476e-01 -8.51542389e-02 9.64497547e-01 2.59749950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.579072329 meters Centerline goodness [0,1] 0.6281992160479595 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.53, Z:259.75 [[ 8.61572409e-01 -4.34862751e-01 -2.61891908e-01 -1.34184289e+02] [ 4.41825129e-01 8.96419816e-01 -3.49581131e-02 -1.18530435e+02] [ 2.49967077e-01 -8.55914800e-02 9.64463871e-01 2.59750963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60907232899996 meters Centerline goodness [0,1] 0.6298570275567854 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.53, Z:259.75 [[ 8.61853648e-01 -4.34473716e-01 -2.61612078e-01 -1.34186179e+02] [ 4.41485147e-01 8.96600878e-01 -3.46082294e-02 -1.18530446e+02] [ 2.49597985e-01 -8.56706180e-02 9.64552430e-01 2.59751028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.639072329 meters Centerline goodness [0,1] 0.6302845294320931 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.53, Z:259.75 [[ 8.62176311e-01 -4.33951819e-01 -2.61415049e-01 -1.34187924e+02] [ 4.41027353e-01 8.96841481e-01 -3.42086519e-02 -1.18530653e+02] [ 2.49292767e-01 -8.57972978e-02 9.64620102e-01 2.59751237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66907232899996 meters Centerline goodness [0,1] 0.6256558085903718 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.53, Z:259.75 [[ 8.62368827e-01 -4.33650123e-01 -2.61280648e-01 -1.34189057e+02] [ 4.40767476e-01 8.96978994e-01 -3.39516904e-02 -1.18530933e+02] [ 2.49086408e-01 -8.58851324e-02 9.64665593e-01 2.59751398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.699072329 meters Centerline goodness [0,1] 0.6292445494081391 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.53, Z:259.75 [[ 8.62455836e-01 -4.33339355e-01 -2.61508957e-01 -1.34189225e+02] [ 4.40568943e-01 8.97091605e-01 -3.35508249e-02 -1.18532103e+02] [ 2.49136383e-01 -8.62766201e-02 9.64617752e-01 2.59752236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72907232899996 meters Centerline goodness [0,1] 0.6287638896885255 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.53, Z:259.75 [[ 8.62717208e-01 -4.32860334e-01 -2.61440146e-01 -1.34190595e+02] [ 4.40160913e-01 8.97305792e-01 -3.31765868e-02 -1.18532484e+02] [ 2.48952586e-01 -8.64537210e-02 9.64649348e-01 2.59752770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.759072329 meters Centerline goodness [0,1] 0.6282987408727649 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.53, Z:259.75 [[ 8.62874393e-01 -4.32711614e-01 -2.61167457e-01 -1.34191717e+02] [ 4.39963795e-01 8.97400012e-01 -3.32427101e-02 -1.18531747e+02] [ 2.48756186e-01 -8.62199423e-02 9.64720935e-01 2.59752365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78907232899996 meters Centerline goodness [0,1] 0.6269184342127954 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.53, Z:259.75 [[ 8.63029665e-01 -4.32506430e-01 -2.60994223e-01 -1.34192779e+02] [ 4.39717279e-01 8.97518377e-01 -3.33088334e-02 -1.18530808e+02] [ 2.48653396e-01 -8.60171581e-02 9.64765535e-01 2.59752132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.819072329 meters Centerline goodness [0,1] 0.6223100948451246 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.53, Z:259.75 [[ 8.63326376e-01 -4.31949899e-01 -2.60934577e-01 -1.34194699e+02] [ 4.39245467e-01 8.97765468e-01 -3.28722451e-02 -1.18531372e+02] [ 2.48457215e-01 -8.62348538e-02 9.64796643e-01 2.59752911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84907232899997 meters Centerline goodness [0,1] 0.6275042930738408 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.53, Z:259.75 [[ 8.63541114e-01 -4.31372918e-01 -2.61178386e-01 -1.34195500e+02] [ 4.38756031e-01 8.98017189e-01 -3.25311132e-02 -1.18531909e+02] [ 2.48575721e-01 -8.65016381e-02 9.64742234e-01 2.59753983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.879072329 meters Centerline goodness [0,1] 0.6239750878496129 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.53, Z:259.76 [[ 8.64848704e-01 -4.27007239e-01 -2.64010487e-01 -1.34192389e+02] [ 4.35388940e-01 8.99774227e-01 -2.90312240e-02 -1.18533058e+02] [ 2.49946374e-01 -8.98396294e-02 9.64082803e-01 2.59755845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90907232899997 meters Centerline goodness [0,1] 0.6103020649638773 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.53, Z:259.76 [[ 8.65708649e-01 -4.25773402e-01 -2.63183481e-01 -1.34197386e+02] [ 4.34155417e-01 9.00386122e-01 -2.85290062e-02 -1.18531883e+02] [ 2.49113646e-01 -8.95647265e-02 9.64323883e-01 2.59755242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.939072329 meters Centerline goodness [0,1] 0.6108570292304634 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.53, Z:259.76 [[ 8.65897669e-01 -4.25458257e-01 -2.63071280e-01 -1.34198855e+02] [ 4.33873272e-01 9.00529015e-01 -2.83103895e-02 -1.18531657e+02] [ 2.48948209e-01 -8.96256965e-02 9.64360941e-01 2.59755565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96907232899997 meters Centerline goodness [0,1] 0.6075029108567859 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.53, Z:259.76 [[ 8.66078371e-01 -4.25194184e-01 -2.62903330e-01 -1.34199990e+02] [ 4.33636128e-01 9.00649751e-01 -2.81022116e-02 -1.18531789e+02] [ 2.48732716e-01 -8.96656646e-02 9.64412829e-01 2.59755651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.999072329 meters Centerline goodness [0,1] 0.6098219104155423 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.53, Z:259.76 [[ 8.66368733e-01 -4.24505280e-01 -2.63059851e-01 -1.34201190e+02] [ 4.33090412e-01 9.00930901e-01 -2.74991909e-02 -1.18533460e+02] [ 2.48672300e-01 -9.01042600e-02 9.64387531e-01 2.59756765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.029072329 meters Centerline goodness [0,1] 0.6119453828029636 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.53, Z:259.76 [[ 8.66649279e-01 -4.24022282e-01 -2.62914686e-01 -1.34202165e+02] [ 4.32671524e-01 9.01143609e-01 -2.71209865e-02 -1.18534118e+02] [ 2.48423791e-01 -9.02513143e-02 9.64437826e-01 2.59756899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05907232899995 meters Centerline goodness [0,1] 0.6122130029552171 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.53, Z:259.76 [[ 8.66833316e-01 -4.23691101e-01 -2.62841879e-01 -1.34202944e+02] [ 4.32369396e-01 9.01294351e-01 -2.69294931e-02 -1.18534229e+02] [ 2.48307687e-01 -9.03014024e-02 9.64463037e-01 2.59756923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.089072329 meters Centerline goodness [0,1] 0.6218957776893789 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.54, Z:259.76 [[ 8.66611546e-01 -4.23818155e-01 -2.63367805e-01 -1.34201248e+02] [ 4.32635029e-01 9.01176345e-01 -2.66106358e-02 -1.18535641e+02] [ 2.48618906e-01 -9.08810536e-02 9.64328405e-01 2.59757815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11907232899995 meters Centerline goodness [0,1] 0.6263817453326135 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.54, Z:259.76 [[ 8.65440466e-01 -4.27810414e-01 -2.60750934e-01 -1.34204298e+02] [ 4.35692770e-01 8.99599283e-01 -2.98821087e-02 -1.18535704e+02] [ 2.47355231e-01 -8.77461107e-02 9.64943527e-01 2.59756715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.149072329 meters Centerline goodness [0,1] 0.6294563090274823 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.54, Z:259.76 [[ 8.65453242e-01 -4.27519876e-01 -2.61184690e-01 -1.34203491e+02] [ 4.35580082e-01 8.99672857e-01 -2.93042984e-02 -1.18537654e+02] [ 2.47508947e-01 -8.84053488e-02 9.64843933e-01 2.59757720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17907232899995 meters Centerline goodness [0,1] 0.6404385865242586 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.54, Z:259.76 [[ 8.65433664e-01 -4.27073766e-01 -2.61978188e-01 -1.34201462e+02] [ 4.35334770e-01 8.99809492e-01 -2.87492003e-02 -1.18539809e+02] [ 2.48008490e-01 -8.91676887e-02 9.64645485e-01 2.59758956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.209072329 meters Centerline goodness [0,1] 0.6389628036007473 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.54, Z:259.76 [[ 8.65548341e-01 -4.26735134e-01 -2.62151092e-01 -1.34201460e+02] [ 4.35110861e-01 8.99931539e-01 -2.83154366e-02 -1.18541019e+02] [ 2.48001227e-01 -8.95564081e-02 9.64611342e-01 2.59759516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23907232899995 meters Centerline goodness [0,1] 0.643841442667574 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.54, Z:259.76 [[ 8.65702963e-01 -4.26146257e-01 -2.62598072e-01 -1.34201450e+02] [ 4.34796185e-01 9.00114175e-01 -2.73267061e-02 -1.18543746e+02] [ 2.48013421e-01 -9.05198296e-02 9.64518275e-01 2.59761166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.269072329 meters Centerline goodness [0,1] 0.6546265772422417 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.55, Z:259.76 [[ 8.64235164e-01 -4.30049008e-01 -2.61065954e-01 -1.34201421e+02] [ 4.38074808e-01 8.98444961e-01 -2.97844684e-02 -1.18547888e+02] [ 2.47362172e-01 -8.86256329e-02 9.64861365e-01 2.59762503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29907232899996 meters Centerline goodness [0,1] 0.6638552500356176 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.55, Z:259.76 [[ 8.64225550e-01 -4.29599136e-01 -2.61837319e-01 -1.34199433e+02] [ 4.37882774e-01 8.98564271e-01 -2.89987472e-02 -1.18551104e+02] [ 2.47735496e-01 -8.95925930e-02 9.64676262e-01 2.59764076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.329072329 meters Centerline goodness [0,1] 0.6684105771964743 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.55, Z:259.76 [[ 8.62605213e-01 -4.34217188e-01 -2.59552848e-01 -1.34199700e+02] [ 4.41537487e-01 8.96649441e-01 -3.26255721e-02 -1.18550898e+02] [ 2.46894500e-01 -8.64593237e-02 9.65177648e-01 2.59762424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35907232899996 meters Centerline goodness [0,1] 0.6819063373452741 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.55, Z:259.76 [[ 8.62629373e-01 -4.34012117e-01 -2.59815410e-01 -1.34198828e+02] [ 4.41431114e-01 8.96713459e-01 -3.23039395e-02 -1.18551752e+02] [ 2.47000276e-01 -8.68242786e-02 9.65117821e-01 2.59762653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.389072329 meters Centerline goodness [0,1] 0.6862537850654173 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.55, Z:259.76 [[ 8.62578709e-01 -4.33911990e-01 -2.60150639e-01 -1.34197986e+02] [ 4.41452618e-01 8.96716046e-01 -3.19361694e-02 -1.18552796e+02] [ 2.47138739e-01 -8.72967208e-02 9.65039754e-01 2.59763218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41907232899996 meters Centerline goodness [0,1] 0.6924574209245742 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.55, Z:259.76 [[ 8.61314349e-01 -4.38043986e-01 -2.57400582e-01 -1.34200969e+02] [ 4.44607972e-01 8.95025280e-01 -3.54047972e-02 -1.18552035e+02] [ 2.45888886e-01 -8.39476909e-02 9.65655964e-01 2.59761641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.449072329 meters Centerline goodness [0,1] 0.7085204358893687 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.56, Z:259.76 [[ 8.61199769e-01 -4.37774844e-01 -2.58240478e-01 -1.34199643e+02] [ 4.44698719e-01 8.95025088e-01 -3.42511551e-02 -1.18555430e+02] [ 2.46126001e-01 -8.53421230e-02 9.65473311e-01 2.59764239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47907232899996 meters Centerline goodness [0,1] 0.7085204358893687 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.56, Z:259.76 [[ 8.61200559e-01 -4.37766966e-01 -2.58251198e-01 -1.34199632e+02] [ 4.44691031e-01 8.95028835e-01 -3.42530565e-02 -1.18555431e+02] [ 2.46137125e-01 -8.53432399e-02 9.65470376e-01 2.59764247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.509072329 meters Centerline goodness [0,1] 0.7116726489590811 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.56, Z:259.77 [[ 8.61367226e-01 -4.37117163e-01 -2.58795456e-01 -1.34200052e+02] [ 4.44326324e-01 8.95248426e-01 -3.32321135e-02 -1.18558169e+02] [ 2.46212552e-01 -8.63645800e-02 9.65360315e-01 2.59766481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53907232899996 meters Centerline goodness [0,1] 0.7140436530729466 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.56, Z:259.77 [[ 8.61497309e-01 -4.36712044e-01 -2.59046282e-01 -1.34200146e+02] [ 4.44087260e-01 8.95389901e-01 -3.26102902e-02 -1.18560003e+02] [ 2.46188731e-01 -8.69454764e-02 9.65314246e-01 2.59767510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.569072329 meters Centerline goodness [0,1] 0.716952544311035 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.56, Z:259.77 [[ 8.62820504e-01 -4.32594500e-01 -2.61539246e-01 -1.34197437e+02] [ 4.41033696e-01 8.97030169e-01 -2.87429227e-02 -1.18560836e+02] [ 2.47042624e-01 -9.05476370e-02 9.64764773e-01 2.59768683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59907232899997 meters Centerline goodness [0,1] 0.7091858573752248 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.56, Z:259.77 [[ 8.62851133e-01 -4.32763968e-01 -2.61157559e-01 -1.34197955e+02] [ 4.41079483e-01 8.96995908e-01 -2.91072427e-02 -1.18559255e+02] [ 2.46853827e-01 -9.00760237e-02 9.64857242e-01 2.59767447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.629072329 meters Centerline goodness [0,1] 0.7055828901339553 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.56, Z:259.77 [[ 8.63063664e-01 -4.32490873e-01 -2.60907562e-01 -1.34199155e+02] [ 4.40706700e-01 8.97170880e-01 -2.93601246e-02 -1.18558151e+02] [ 2.46776653e-01 -8.96440540e-02 9.64917212e-01 2.59766886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65907232899997 meters Centerline goodness [0,1] 0.7020296776394337 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.56, Z:259.77 [[ 8.63251457e-01 -4.32063625e-01 -2.60994150e-01 -1.34199147e+02] [ 4.40241155e-01 8.97395601e-01 -2.94764385e-02 -1.18557991e+02] [ 2.46950699e-01 -8.94547877e-02 9.64890249e-01 2.59767160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.689072329 meters Centerline goodness [0,1] 0.6904201966395602 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.56, Z:259.77 [[ 8.63636132e-01 -4.31427611e-01 -2.60773557e-01 -1.34201478e+02] [ 4.39705447e-01 8.97676863e-01 -2.89027514e-02 -1.18558848e+02] [ 2.46559834e-01 -8.97020931e-02 9.64967244e-01 2.59767875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71907232899997 meters Centerline goodness [0,1] 0.6859609397112936 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.56, Z:259.77 [[ 8.63964018e-01 -4.30971281e-01 -2.60441799e-01 -1.34203892e+02] [ 4.39299660e-01 8.97888109e-01 -2.85088247e-02 -1.18559059e+02] [ 2.46134079e-01 -8.97813947e-02 9.65068555e-01 2.59768308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.749072329 meters Centerline goodness [0,1] 0.6782188021614282 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.56, Z:259.77 [[ 8.64627946e-01 -4.29930847e-01 -2.59957654e-01 -1.34207352e+02] [ 4.38316114e-01 8.98386464e-01 -2.79418278e-02 -1.18559023e+02] [ 2.45555491e-01 -8.97843435e-02 9.65215661e-01 2.59768476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.779072329 meters Centerline goodness [0,1] 0.6706583443951761 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.56, Z:259.77 [[ 8.64917498e-01 -4.29606145e-01 -2.59530887e-01 -1.34209014e+02] [ 4.37978996e-01 8.98555919e-01 -2.77787652e-02 -1.18558749e+02] [ 2.45136943e-01 -8.96427370e-02 9.65335206e-01 2.59767971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80907232899995 meters Centerline goodness [0,1] 0.6650968669806265 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.56, Z:259.77 [[ 8.65273209e-01 -4.29174943e-01 -2.59058182e-01 -1.34211187e+02] [ 4.37543280e-01 8.98775179e-01 -2.75509843e-02 -1.18558441e+02] [ 2.44659256e-01 -8.95100380e-02 9.65468695e-01 2.59767599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.839072329 meters Centerline goodness [0,1] 0.6502092285224815 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.56, Z:259.77 [[ 8.66205231e-01 -4.27809097e-01 -2.58201228e-01 -1.34216475e+02] [ 4.36155099e-01 8.99463182e-01 -2.71056142e-02 -1.18557411e+02] [ 2.43838526e-01 -8.91367576e-02 9.65710832e-01 2.59766885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86907232899995 meters Centerline goodness [0,1] 0.6475398358957125 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.56, Z:259.77 [[ 8.66789636e-01 -4.26919489e-01 -2.57712003e-01 -1.34219668e+02] [ 4.35330721e-01 8.99879737e-01 -2.65258889e-02 -1.18557854e+02] [ 2.43234228e-01 -8.91975865e-02 9.65857599e-01 2.59767016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.899072329 meters Centerline goodness [0,1] 0.6475716414972299 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.56, Z:259.77 [[ 8.65701311e-01 -4.30580388e-01 -2.55268035e-01 -1.34222987e+02] [ 4.38112347e-01 8.98430653e-01 -2.96636674e-02 -1.18558989e+02] [ 2.42113221e-01 -8.61562023e-02 9.66415178e-01 2.59766727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92907232899995 meters Centerline goodness [0,1] 0.6496528851288681 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.56, Z:259.77 [[ 8.65874277e-01 -4.30054411e-01 -2.55567877e-01 -1.34222986e+02] [ 4.37772789e-01 8.98619388e-01 -2.89513481e-02 -1.18561295e+02] [ 2.42108904e-01 -8.68124348e-02 9.66357532e-01 2.59767888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.959072329 meters Centerline goodness [0,1] 0.6493986787871944 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.56, Z:259.77 [[ 8.65999540e-01 -4.29684579e-01 -2.55765437e-01 -1.34222775e+02] [ 4.37547737e-01 8.98746855e-01 -2.83913438e-02 -1.18563099e+02] [ 2.42067705e-01 -8.73226976e-02 9.66321878e-01 2.59768522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98907232899995 meters Centerline goodness [0,1] 0.6592191378921237 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.56, Z:259.76 [[ 8.64333196e-01 -4.34642995e-01 -2.53009079e-01 -1.34223397e+02] [ 4.41309924e-01 8.96750903e-01 -3.29145538e-02 -1.18560366e+02] [ 2.41192200e-01 -8.32062760e-02 9.66903841e-01 2.59764972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.019072329 meters Centerline goodness [0,1] 0.6608769209079375 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.56, Z:259.76 [[ 8.64306810e-01 -4.34757647e-01 -2.52902210e-01 -1.34223074e+02] [ 4.41388635e-01 8.96707637e-01 -3.30376679e-02 -1.18559792e+02] [ 2.41142722e-01 -8.30734797e-02 9.66927601e-01 2.59764170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04907232899996 meters Centerline goodness [0,1] 0.6659230182711586 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.56, Z:259.76 [[ 8.64280264e-01 -4.34816754e-01 -2.52891312e-01 -1.34222742e+02] [ 4.41464352e-01 8.96672631e-01 -3.29760502e-02 -1.18559822e+02] [ 2.41099257e-01 -8.31419496e-02 9.66932554e-01 2.59763872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.079072329 meters Centerline goodness [0,1] 0.6711836596129908 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.56, Z:259.77 [[ 8.64257076e-01 -4.34460946e-01 -2.53581136e-01 -1.34221418e+02] [ 4.41416322e-01 8.96733877e-01 -3.19371876e-02 -1.18563281e+02] [ 2.41270256e-01 -8.43329119e-02 9.66786752e-01 2.59765865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10907232899996 meters Centerline goodness [0,1] 0.6748184294144348 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.57, Z:259.77 [[ 8.64494270e-01 -4.33659254e-01 -2.54144269e-01 -1.34221503e+02] [ 4.40958031e-01 8.97004362e-01 -3.06461799e-02 -1.18567058e+02] [ 2.41258518e-01 -8.55735097e-02 9.66680662e-01 2.59768182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.139072329 meters Centerline goodness [0,1] 0.6777380344064043 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.57, Z:259.77 [[ 8.64695212e-01 -4.32989472e-01 -2.54602252e-01 -1.34221328e+02] [ 4.40535359e-01 8.97243023e-01 -2.97246658e-02 -1.18569632e+02] [ 2.41310562e-01 -8.64585183e-02 9.66588918e-01 2.59769832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16907232899996 meters Centerline goodness [0,1] 0.6793737236215112 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.57, Z:259.77 [[ 8.64864134e-01 -4.32646111e-01 -2.54612198e-01 -1.34221810e+02] [ 4.40302977e-01 8.97373269e-01 -2.92319144e-02 -1.18570684e+02] [ 2.41129254e-01 -8.68248743e-02 9.66601326e-01 2.59770237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.199072329 meters Centerline goodness [0,1] 0.6744317699340485 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.57, Z:259.77 [[ 8.64983029e-01 -4.32839966e-01 -2.53877774e-01 -1.34222964e+02] [ 4.40352460e-01 8.97338016e-01 -2.95667939e-02 -1.18568710e+02] [ 2.40611868e-01 -8.62209273e-02 9.66784299e-01 2.59768194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22907232899996 meters Centerline goodness [0,1] 0.6745592224231465 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.57, Z:259.77 [[ 8.66372622e-01 -4.28400955e-01 -2.56653660e-01 -1.34219074e+02] [ 4.36897902e-01 8.99135153e-01 -2.60038268e-02 -1.18570333e+02] [ 2.41906392e-01 -8.96024418e-02 9.66153559e-01 2.59769524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.259072329 meters Centerline goodness [0,1] 0.6652284761717984 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.57, Z:259.77 [[ 8.67104449e-01 -4.27138783e-01 -2.56285649e-01 -1.34222595e+02] [ 4.35755236e-01 8.99712535e-01 -2.51938164e-02 -1.18571951e+02] [ 2.41344667e-01 -8.98321431e-02 9.66272704e-01 2.59770214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28907232899996 meters Centerline goodness [0,1] 0.6625042282106213 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.57, Z:259.78 [[ 8.67693835e-01 -4.21866482e-01 -2.62937409e-01 -1.34213709e+02] [ 4.29686258e-01 9.02479555e-01 -3.00062188e-02 -1.18569736e+02] [ 2.49954254e-01 -8.69443803e-02 9.64346175e-01 2.59779594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.319072329 meters Centerline goodness [0,1] 0.6611353711790393 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.57, Z:259.78 [[ 8.68131057e-01 -4.21064983e-01 -2.62778894e-01 -1.34215744e+02] [ 4.29013910e-01 9.02821709e-01 -2.93262060e-02 -1.18570948e+02] [ 2.49590729e-01 -8.72768108e-02 9.64410300e-01 2.59780427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34907232899997 meters Centerline goodness [0,1] 0.6625278663543754 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.57, Z:259.78 [[ 8.68157193e-01 -4.20756388e-01 -2.63186532e-01 -1.34215049e+02] [ 4.28905524e-01 9.02894790e-01 -2.86539568e-02 -1.18573215e+02] [ 2.49686084e-01 -8.80060187e-02 9.64319345e-01 2.59781562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.379072329 meters Centerline goodness [0,1] 0.6653866787136121 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.57, Z:259.78 [[ 8.68209698e-01 -4.20679150e-01 -2.63136796e-01 -1.34214729e+02] [ 4.28835336e-01 9.02929948e-01 -2.85965571e-02 -1.18573311e+02] [ 2.49624069e-01 -8.80145481e-02 9.64334622e-01 2.59781098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40907232899997 meters Centerline goodness [0,1] 0.6675708513463875 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.57, Z:259.78 [[ 8.68199621e-01 -4.20740660e-01 -2.63071692e-01 -1.34214367e+02] [ 4.28867731e-01 9.02911449e-01 -2.86946783e-02 -1.18572886e+02] [ 2.49603461e-01 -8.79102508e-02 9.64349470e-01 2.59780402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.439072329 meters Centerline goodness [0,1] 0.6698214487512713 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.57, Z:259.78 [[ 8.68410087e-01 -4.20398617e-01 -2.62923800e-01 -1.34214930e+02] [ 4.28546154e-01 9.03070017e-01 -2.85085779e-02 -1.18572724e+02] [ 2.49423567e-01 -8.79178465e-02 9.64395322e-01 2.59780053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46907232899997 meters Centerline goodness [0,1] 0.6645712352709026 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.57, Z:259.78 [[ 8.68712839e-01 -4.19836183e-01 -2.62822340e-01 -1.34216477e+02] [ 4.28123057e-01 9.03291359e-01 -2.78454252e-02 -1.18574018e+02] [ 2.49095665e-01 -8.83306252e-02 9.64442352e-01 2.59780784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.499072329 meters Centerline goodness [0,1] 0.6671657391451735 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.58, Z:259.78 [[ 8.69075519e-01 -4.19136646e-01 -2.62739825e-01 -1.34218015e+02] [ 4.27585339e-01 9.03569278e-01 -2.70801964e-02 -1.18575627e+02] [ 2.48753936e-01 -8.88089613e-02 9.64486624e-01 2.59781604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.529072329 meters Centerline goodness [0,1] 0.6686638028487453 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.58, Z:259.78 [[ 8.69329426e-01 -4.18562714e-01 -2.62814770e-01 -1.34218105e+02] [ 4.27035249e-01 9.03833955e-01 -2.69272710e-02 -1.18576048e+02] [ 2.48811664e-01 -8.88225017e-02 9.64470486e-01 2.59781784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55907232899995 meters Centerline goodness [0,1] 0.6670716889428918 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.58, Z:259.78 [[ 8.69517100e-01 -4.18117269e-01 -2.62902952e-01 -1.34218384e+02] [ 4.26625277e-01 9.04032686e-01 -2.67539977e-02 -1.18576344e+02] [ 2.48859171e-01 -8.88979863e-02 9.64451275e-01 2.59781954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.589072329 meters Centerline goodness [0,1] 0.6676171654432523 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.57, Z:259.78 [[ 8.68421114e-01 -4.22249803e-01 -2.59903584e-01 -1.34221939e+02] [ 4.29610623e-01 9.02490343e-01 -3.07553795e-02 -1.18574789e+02] [ 2.47546927e-01 -8.49487197e-02 9.65144670e-01 2.59779290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61907232899995 meters Centerline goodness [0,1] 0.6667323277802791 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.58, Z:259.78 [[ 8.68630478e-01 -4.21878155e-01 -2.59807457e-01 -1.34222808e+02] [ 4.29326770e-01 9.02640081e-01 -3.03217401e-02 -1.18575710e+02] [ 2.47304704e-01 -8.52039091e-02 9.65184271e-01 2.59779553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.649072329 meters Centerline goodness [0,1] 0.6713261041454874 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.58, Z:259.78 [[ 8.68786407e-01 -4.21575041e-01 -2.59778105e-01 -1.34223445e+02] [ 4.29089748e-01 9.02763299e-01 -3.00068958e-02 -1.18576355e+02] [ 2.47168297e-01 -8.53985381e-02 9.65202011e-01 2.59779762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67907232899995 meters Centerline goodness [0,1] 0.6707588970733497 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.58, Z:259.78 [[ 8.68992360e-01 -4.21216857e-01 -2.59670249e-01 -1.34224157e+02] [ 4.28812148e-01 9.02908670e-01 -2.95985849e-02 -1.18577290e+02] [ 2.46925942e-01 -8.56288130e-02 9.65243640e-01 2.59779881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.709072329 meters Centerline goodness [0,1] 0.6737806597124331 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.58, Z:259.78 [[ 8.69216043e-01 -4.20644784e-01 -2.59848872e-01 -1.34224559e+02] [ 4.28488180e-01 9.03094453e-01 -2.86057434e-02 -1.18579969e+02] [ 2.46700932e-01 -8.64775993e-02 9.65225505e-01 2.59781057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73907232899995 meters Centerline goodness [0,1] 0.678780872899515 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.58, Z:259.78 [[ 8.69408449e-01 -4.20130649e-01 -2.60036894e-01 -1.34224892e+02] [ 4.28167939e-01 9.03270336e-01 -2.78373149e-02 -1.18582047e+02] [ 2.46578921e-01 -8.71374640e-02 9.65197336e-01 2.59782048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.769072329 meters Centerline goodness [0,1] 0.6844791607918335 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.58, Z:259.78 [[ 8.69611524e-01 -4.19779531e-01 -2.59924880e-01 -1.34224841e+02] [ 4.27942009e-01 9.03395237e-01 -2.72522090e-02 -1.18583665e+02] [ 2.46254818e-01 -8.75339402e-02 9.65244204e-01 2.59781778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79907232899996 meters Centerline goodness [0,1] 0.685958093950659 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.58, Z:259.78 [[ 8.69731335e-01 -4.19534288e-01 -2.59919960e-01 -1.34224609e+02] [ 4.27784920e-01 9.03481159e-01 -2.68674061e-02 -1.18584704e+02] [ 2.46104585e-01 -8.78224143e-02 9.65256317e-01 2.59781654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.829072329 meters Centerline goodness [0,1] 0.6924249266200044 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.59, Z:259.78 [[ 8.69796809e-01 -4.19281416e-01 -2.60108832e-01 -1.34224139e+02] [ 4.27660426e-01 9.03554001e-01 -2.63955956e-02 -1.18586305e+02] [ 2.46089558e-01 -8.82794488e-02 9.65218456e-01 2.59782068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85907232899996 meters Centerline goodness [0,1] 0.7014153741842529 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.59, Z:259.78 [[ 8.69905566e-01 -4.18809810e-01 -2.60504606e-01 -1.34223125e+02] [ 4.27382332e-01 9.03705253e-01 -2.57130022e-02 -1.18589138e+02] [ 2.46188238e-01 -8.89671824e-02 9.65130142e-01 2.59783027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.889072329 meters Centerline goodness [0,1] 0.7045493173191321 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.59, Z:259.78 [[ 8.70116803e-01 -4.18276622e-01 -2.60655745e-01 -1.34223468e+02] [ 4.27001745e-01 9.03902640e-01 -2.50903718e-02 -1.18590756e+02] [ 2.46102132e-01 -8.94689037e-02 9.65105723e-01 2.59783862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91907232899996 meters Centerline goodness [0,1] 0.7086300440827399 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.59, Z:259.78 [[ 8.70337434e-01 -4.17744725e-01 -2.60772116e-01 -1.34224000e+02] [ 4.26602269e-01 9.04106511e-01 -2.45340737e-02 -1.18592077e+02] [ 2.46014748e-01 -8.98930534e-02 9.65088588e-01 2.59784553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.949072329 meters Centerline goodness [0,1] 0.7082389580973952 Centerline is valid? [False, False] Translation: X:-134.23, Y:-118.59, Z:259.78 [[ 8.70651274e-01 -4.17213193e-01 -2.60575345e-01 -1.34225340e+02] [ 4.26187976e-01 9.04318382e-01 -2.39180551e-02 -1.18593306e+02] [ 2.45622002e-01 -9.02297936e-02 9.65157198e-01 2.59784843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97907232899996 meters Centerline goodness [0,1] 0.7140718985625936 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.59, Z:259.79 [[ 8.70712264e-01 -4.16950697e-01 -2.60791623e-01 -1.34224500e+02] [ 4.25938414e-01 9.04436170e-01 -2.39098591e-02 -1.18593415e+02] [ 2.45838609e-01 -9.02625626e-02 9.65098984e-01 2.59785157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.009072329 meters Centerline goodness [0,1] 0.7151684442187236 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.59, Z:259.79 [[ 8.70858576e-01 -4.16605380e-01 -2.60854938e-01 -1.34224488e+02] [ 4.25666116e-01 9.04572628e-01 -2.35948602e-02 -1.18594244e+02] [ 2.45791983e-01 -9.04893220e-02 9.65089625e-01 2.59785458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03907232899996 meters Centerline goodness [0,1] 0.7109158709531612 Centerline is valid? [False, False] Translation: X:-134.23, Y:-118.60, Z:259.79 [[ 8.71165090e-01 -4.16000064e-01 -2.60797494e-01 -1.34225574e+02] [ 4.25208913e-01 9.04805514e-01 -2.28989555e-02 -1.18595978e+02] [ 2.45496977e-01 -9.09446484e-02 9.65121912e-01 2.59786023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.069072329 meters Centerline goodness [0,1] 0.7174636291868727 Centerline is valid? [False, False] Translation: X:-134.23, Y:-118.60, Z:259.79 [[ 8.71545810e-01 -4.15259136e-01 -2.60706255e-01 -1.34226863e+02] [ 4.24685840e-01 9.05076012e-01 -2.18940588e-02 -1.18598429e+02] [ 2.45050685e-01 -9.16365795e-02 9.65169881e-01 2.59786884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09907232899997 meters Centerline goodness [0,1] 0.7299305124004294 Centerline is valid? [False, False] Translation: X:-134.23, Y:-118.60, Z:259.79 [[ 8.71689030e-01 -4.14871923e-01 -2.60843865e-01 -1.34226910e+02] [ 4.24420511e-01 9.05212070e-01 -2.14088567e-02 -1.18599680e+02] [ 2.45000949e-01 -9.20456210e-02 9.65143585e-01 2.59787458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.129072329 meters Centerline goodness [0,1] 0.7393067846607669 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.60, Z:259.80 [[ 8.72083060e-01 -4.08343669e-01 -2.69678670e-01 -1.34211981e+02] [ 4.17583447e-01 9.08295871e-01 -2.49534707e-02 -1.18597747e+02] [ 2.55137614e-01 -9.08518494e-02 9.62626999e-01 2.59798500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15907232899997 meters Centerline goodness [0,1] 0.7441313889282175 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.60, Z:259.80 [[ 8.72045044e-01 -4.08326764e-01 -2.69827156e-01 -1.34210728e+02] [ 4.17615513e-01 9.08284752e-01 -2.48212036e-02 -1.18598008e+02] [ 2.55215053e-01 -9.10387986e-02 9.62588808e-01 2.59798110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.189072329 meters Centerline goodness [0,1] 0.7409570246059645 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.60, Z:259.80 [[ 8.72172454e-01 -4.08150939e-01 -2.69681334e-01 -1.34210974e+02] [ 4.17484954e-01 9.08351637e-01 -2.45686177e-02 -1.18598594e+02] [ 2.54993185e-01 -9.11598275e-02 9.62636152e-01 2.59797775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21907232899997 meters Centerline goodness [0,1] 0.7503599356350394 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.60, Z:259.80 [[ 8.72261282e-01 -4.07933439e-01 -2.69723128e-01 -1.34211205e+02] [ 4.17404312e-01 9.08403016e-01 -2.40333378e-02 -1.18599815e+02] [ 2.54821305e-01 -9.16202464e-02 9.62637955e-01 2.59798256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24907232899994 meters Centerline goodness [0,1] 0.7580135440180586 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.60, Z:259.80 [[ 8.72471910e-01 -4.07383600e-01 -2.69872876e-01 -1.34211920e+02] [ 4.17054757e-01 9.08584018e-01 -2.32467532e-02 -1.18601901e+02] [ 2.54672528e-01 -9.22696275e-02 9.62615302e-01 2.59799410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.279072329 meters Centerline goodness [0,1] 0.762883400992332 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.60, Z:259.80 [[ 8.72621085e-01 -4.06941454e-01 -2.70057576e-01 -1.34212160e+02] [ 4.16781147e-01 9.08725616e-01 -2.26103903e-02 -1.18603745e+02] [ 2.54609342e-01 -9.28246030e-02 9.62578660e-01 2.59800468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30907232899995 meters Centerline goodness [0,1] 0.7641057437573981 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.61, Z:259.80 [[ 8.72775624e-01 -4.06430246e-01 -2.70327883e-01 -1.34212530e+02] [ 4.16532834e-01 9.08863099e-01 -2.16394564e-02 -1.18606404e+02] [ 2.54485967e-01 -9.37140494e-02 9.62525101e-01 2.59802081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.339072329 meters Centerline goodness [0,1] 0.7707873436350258 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.61, Z:259.80 [[ 8.72887037e-01 -4.06087570e-01 -2.70483096e-01 -1.34211889e+02] [ 4.16195064e-01 9.09018124e-01 -2.16268057e-02 -1.18606537e+02] [ 2.54656413e-01 -9.36959710e-02 9.62481780e-01 2.59802224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36907232899995 meters Centerline goodness [0,1] 0.7707873436350258 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.61, Z:259.80 [[ 8.73006910e-01 -4.05694046e-01 -2.70686676e-01 -1.34211343e+02] [ 4.15794020e-01 9.09200570e-01 -2.16715694e-02 -1.18606610e+02] [ 2.54900506e-01 -9.36304711e-02 9.62423538e-01 2.59802476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.399072329 meters Centerline goodness [0,1] 0.7710164525580347 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.61, Z:259.80 [[ 8.73094913e-01 -4.05584653e-01 -2.70566743e-01 -1.34211779e+02] [ 4.15666493e-01 9.09258749e-01 -2.16770669e-02 -1.18606192e+02] [ 2.54807064e-01 -9.35393921e-02 9.62457138e-01 2.59802226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42907232899995 meters Centerline goodness [0,1] 0.7682482774074282 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.61, Z:259.80 [[ 8.74474551e-01 -4.01129425e-01 -2.72744283e-01 -1.34209782e+02] [ 4.12313062e-01 9.10870823e-01 -1.76715322e-02 -1.18606980e+02] [ 2.55523381e-01 -9.70027252e-02 9.61924255e-01 2.59803103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.459072329 meters Centerline goodness [0,1] 0.7543309731045871 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.61, Z:259.80 [[ 8.74761311e-01 -4.00758913e-01 -2.72369129e-01 -1.34211122e+02] [ 4.11970754e-01 9.11031706e-01 -1.73587943e-02 -1.18607503e+02] [ 2.55093604e-01 -9.70233140e-02 9.62036241e-01 2.59802758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48907232899995 meters Centerline goodness [0,1] 0.7592964824120603 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.61, Z:259.80 [[ 8.75147408e-01 -4.00057289e-01 -2.72160211e-01 -1.34212777e+02] [ 4.11393176e-01 9.11305015e-01 -1.66980383e-02 -1.18609209e+02] [ 2.54701137e-01 -9.73516086e-02 9.62107060e-01 2.59803212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.519072329 meters Centerline goodness [0,1] 0.7495182506213869 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.61, Z:259.80 [[ 8.74831793e-01 -4.02844881e-01 -2.69045231e-01 -1.34219568e+02] [ 4.13216106e-01 9.10422738e-01 -1.95675395e-02 -1.18610600e+02] [ 2.52827579e-01 -9.40555168e-02 9.62928749e-01 2.59801866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54907232899996 meters Centerline goodness [0,1] 0.7586697939353325 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.61, Z:259.80 [[ 8.74978858e-01 -4.02511832e-01 -2.69065464e-01 -1.34219870e+02] [ 4.12909183e-01 9.10565047e-01 -1.94242684e-02 -1.18610862e+02] [ 2.52820104e-01 -9.41037765e-02 9.62925996e-01 2.59802199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.579072329 meters Centerline goodness [0,1] 0.7411460073504845 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.61, Z:259.80 [[ 8.75249875e-01 -4.02074267e-01 -2.68838131e-01 -1.34221229e+02] [ 4.12552174e-01 9.10736610e-01 -1.89612836e-02 -1.18611724e+02] [ 2.52464572e-01 -9.43138944e-02 9.62998717e-01 2.59802339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60907232899996 meters Centerline goodness [0,1] 0.7558521903912607 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.61, Z:259.80 [[ 8.75443295e-01 -4.01711886e-01 -2.68750064e-01 -1.34221763e+02] [ 4.12269135e-01 9.10872868e-01 -1.85682094e-02 -1.18612529e+02] [ 2.52256212e-01 -9.45419422e-02 9.63030957e-01 2.59802439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.639072329 meters Centerline goodness [0,1] 0.7511218886751958 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.61, Z:259.80 [[ 8.75718603e-01 -4.01220000e-01 -2.68587863e-01 -1.34222454e+02] [ 4.11855516e-01 9.11068790e-01 -1.81299448e-02 -1.18613934e+02] [ 2.51976116e-01 -9.47426628e-02 9.63084558e-01 2.59802369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66907232899996 meters Centerline goodness [0,1] 0.7489211237018683 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.61, Z:259.80 [[ 8.75746946e-01 -4.01056075e-01 -2.68740231e-01 -1.34221906e+02] [ 4.11708566e-01 9.11135812e-01 -1.80993852e-02 -1.18614424e+02] [ 2.52117717e-01 -9.47921738e-02 9.63042627e-01 2.59802451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.699072329 meters Centerline goodness [0,1] 0.741576800581103 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.62, Z:259.80 [[ 8.76142398e-01 -4.00216912e-01 -2.68702291e-01 -1.34222568e+02] [ 4.10925108e-01 9.11496444e-01 -1.77422491e-02 -1.18615550e+02] [ 2.52021931e-01 -9.48717811e-02 9.63059859e-01 2.59802583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72907232899996 meters Centerline goodness [0,1] 0.7268716316215689 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.62, Z:259.80 [[ 8.76556813e-01 -3.99527003e-01 -2.68377211e-01 -1.34224320e+02] [ 4.10317772e-01 9.11780533e-01 -1.71926118e-02 -1.18616749e+02] [ 2.51570029e-01 -9.50496384e-02 9.63160468e-01 2.59802604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.759072329 meters Centerline goodness [0,1] 0.7273569283448875 Centerline is valid? [False, False] Translation: X:-134.23, Y:-118.62, Z:259.80 [[ 8.76909865e-01 -3.98969327e-01 -2.68053286e-01 -1.34225662e+02] [ 4.09801942e-01 9.12019454e-01 -1.68191263e-02 -1.18617644e+02] [ 2.51180127e-01 -9.50998993e-02 9.63257262e-01 2.59802328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78907232899996 meters Centerline goodness [0,1] 0.7105499187174169 Centerline is valid? [False, False] Translation: X:-134.23, Y:-118.62, Z:259.80 [[ 8.77362546e-01 -3.98186040e-01 -2.67736512e-01 -1.34226903e+02] [ 4.09119210e-01 9.12337339e-01 -1.61880094e-02 -1.18619484e+02] [ 2.50711857e-01 -9.53333972e-02 9.63356169e-01 2.59801936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.819072329 meters Centerline goodness [0,1] 0.7104396068602326 Centerline is valid? [False, False] Translation: X:-134.23, Y:-118.62, Z:259.80 [[ 8.77770555e-01 -3.97366992e-01 -2.67616006e-01 -1.34228080e+02] [ 4.08473947e-01 9.12640957e-01 -1.53465751e-02 -1.18621901e+02] [ 2.50335551e-01 -9.58433947e-02 9.63403423e-01 2.59802414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84907232899997 meters Centerline goodness [0,1] 0.7087027729146664 Centerline is valid? [False, False] Translation: X:-134.23, Y:-118.63, Z:259.80 [[ 8.78228508e-01 -3.96357463e-01 -2.67610632e-01 -1.34229421e+02] [ 4.07717690e-01 9.12997385e-01 -1.42147891e-02 -1.18625180e+02] [ 2.49961945e-01 -9.66257555e-02 9.63422280e-01 2.59803514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.879072329 meters Centerline goodness [0,1] 0.7272547244540002 Centerline is valid? [False, False] Translation: X:-134.23, Y:-118.63, Z:259.80 [[ 8.77059073e-01 -4.00040796e-01 -2.65960042e-01 -1.34230183e+02] [ 4.10785698e-01 9.11582708e-01 -1.64947640e-02 -1.18629796e+02] [ 2.49043154e-01 -9.47856991e-02 9.63842922e-01 2.59804893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90907232899997 meters Centerline goodness [0,1] 0.7361548724062562 Centerline is valid? [False, False] Translation: X:-134.23, Y:-118.63, Z:259.81 [[ 8.77195732e-01 -3.99428238e-01 -2.66429596e-01 -1.34229448e+02] [ 4.10524036e-01 9.11722575e-01 -1.52303261e-02 -1.18634080e+02] [ 2.48993300e-01 -9.60157761e-02 9.63734044e-01 2.59806721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.939072329 meters Centerline goodness [0,1] 0.7632699403917116 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.64, Z:259.81 [[ 8.76530712e-01 -4.00245777e-01 -2.67389658e-01 -1.34223279e+02] [ 4.11554215e-01 9.11263154e-01 -1.49194976e-02 -1.18637847e+02] [ 2.49633809e-01 -9.69679431e-02 9.63472978e-01 2.59807627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96907232899997 meters Centerline goodness [0,1] 0.7687917356315279 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.64, Z:259.81 [[ 8.76528499e-01 -4.00006513e-01 -2.67754701e-01 -1.34221794e+02] [ 4.11548312e-01 9.11278399e-01 -1.41303625e-02 -1.18640776e+02] [ 2.49651313e-01 -9.78083299e-02 9.63383492e-01 2.59808449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99907232899994 meters Centerline goodness [0,1] 0.7798204483074108 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.64, Z:259.81 [[ 8.76249705e-01 -3.99948399e-01 -2.68752176e-01 -1.34218457e+02] [ 4.11660073e-01 9.11231854e-01 -1.38741321e-02 -1.18642742e+02] [ 2.50444480e-01 -9.84773362e-02 9.63109431e-01 2.59809823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.029072329 meters Centerline goodness [0,1] 0.7842873881855335 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.65, Z:259.81 [[ 8.76365201e-01 -3.99436080e-01 -2.69137238e-01 -1.34217922e+02] [ 4.11446182e-01 9.11344086e-01 -1.28060815e-02 -1.18646073e+02] [ 2.50391841e-01 -9.95126847e-02 9.63016693e-01 2.59811346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05907232899995 meters Centerline goodness [0,1] 0.7890929965556831 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.65, Z:259.81 [[ 8.76020625e-01 -3.99429978e-01 -2.70265717e-01 -1.34213584e+02] [ 4.11709049e-01 9.11233135e-01 -1.22405956e-02 -1.18648344e+02] [ 2.51164337e-01 -1.00547827e-01 9.62707957e-01 2.59813295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.089072329 meters Centerline goodness [0,1] 0.7929075969439239 Centerline is valid? [False, False] Translation: X:-134.22, Y:-118.65, Z:259.81 [[ 8.75000932e-01 -4.03612174e-01 -2.67339826e-01 -1.34216668e+02] [ 4.14789985e-01 9.09777912e-01 -1.59191311e-02 -1.18648160e+02] [ 2.49645024e-01 -9.69606279e-02 9.63470808e-01 2.59810917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11907232899995 meters Centerline goodness [0,1] 0.796030966549194 Centerline is valid? [False, False] Translation: X:-134.21, Y:-118.65, Z:259.81 [[ 8.74648269e-01 -4.03615679e-01 -2.68486105e-01 -1.34213208e+02] [ 4.15118537e-01 9.09641473e-01 -1.51324443e-02 -1.18651829e+02] [ 2.50333788e-01 -9.82179932e-02 9.63164690e-01 2.59813674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.149072329 meters Centerline goodness [0,1] 0.7941304033540553 Centerline is valid? [False, False] Translation: X:-134.19, Y:-118.64, Z:259.82 [[ 8.76585971e-01 -4.01292742e-01 -2.65633526e-01 -1.34187781e+02] [ 4.11911660e-01 9.11064365e-01 -1.70442921e-02 -1.18642495e+02] [ 2.48848991e-01 -9.44767593e-02 9.63923400e-01 2.59818488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17907232899995 meters Centerline goodness [0,1] 0.7950852847643828 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.65, Z:259.82 [[ 8.77669127e-01 -3.96848984e-01 -2.68715067e-01 -1.34182992e+02] [ 4.08680527e-01 9.12586011e-01 -1.29227970e-02 -1.18645075e+02] [ 2.50354010e-01 -9.84766752e-02 9.63133020e-01 2.59821363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.209072329 meters Centerline goodness [0,1] 0.7983390242490884 Centerline is valid? [False, False] Translation: X:-134.18, Y:-118.65, Z:259.82 [[ 8.77835267e-01 -3.96550535e-01 -2.68612952e-01 -1.34183769e+02] [ 4.08449820e-01 9.12694157e-01 -1.25745997e-02 -1.18645802e+02] [ 2.50147936e-01 -9.86764845e-02 9.63166113e-01 2.59821566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23907232899995 meters Centerline goodness [0,1] 0.7962229227521185 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.64, Z:259.83 [[ 8.77568748e-01 -3.90660724e-01 -2.77951957e-01 -1.34166882e+02] [ 4.02228778e-01 9.15388115e-01 -1.66315758e-02 -1.18642511e+02] [ 2.60931221e-01 -9.72049246e-02 9.60450988e-01 2.59833183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.269072329 meters Centerline goodness [0,1] 0.7981770457757651 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.84 [[ 8.78520513e-01 -3.86205697e-01 -2.81152749e-01 -1.34161769e+02] [ 3.99027301e-01 9.16852593e-01 -1.25911106e-02 -1.18644139e+02] [ 2.62638386e-01 -1.01126074e-01 9.59580427e-01 2.59836139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29907232899996 meters Centerline goodness [0,1] 0.8023526704823262 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.84 [[ 8.78577724e-01 -3.86209632e-01 -2.80968509e-01 -1.34162313e+02] [ 3.98973944e-01 9.16873935e-01 -1.27271384e-02 -1.18643519e+02] [ 2.62528046e-01 -1.00917334e-01 9.59632595e-01 2.59835714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.329072329 meters Centerline goodness [0,1] 0.8010286174002988 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.84 [[ 8.78627734e-01 -3.85927284e-01 -2.81199994e-01 -1.34162480e+02] [ 3.98754350e-01 9.16971958e-01 -1.25457580e-02 -1.18643971e+02] [ 2.62694260e-01 -1.01106670e-01 9.59567177e-01 2.59836518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35907232899996 meters Centerline goodness [0,1] 0.8011373477281912 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.84 [[ 8.78749468e-01 -3.85699959e-01 -2.81131490e-01 -1.34162918e+02] [ 3.98500819e-01 9.17081729e-01 -1.25777546e-02 -1.18644050e+02] [ 2.62671792e-01 -1.00978433e-01 9.59586831e-01 2.59836424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.389072329 meters Centerline goodness [0,1] 0.7993482711883958 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.84 [[ 8.78662878e-01 -3.85968647e-01 -2.81033363e-01 -1.34163123e+02] [ 3.98610444e-01 9.17025882e-01 -1.31622756e-02 -1.18641368e+02] [ 2.62795093e-01 -1.00457631e-01 9.59607734e-01 2.59835910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41907232899996 meters Centerline goodness [0,1] 0.7984171589149509 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.84 [[ 8.79837411e-01 -3.81341888e-01 -2.83662642e-01 -1.34159781e+02] [ 3.95142723e-01 9.18572986e-01 -9.26807222e-03 -1.18642874e+02] [ 2.64099144e-01 -1.03932832e-01 9.58879350e-01 2.59838013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.449072329 meters Centerline goodness [0,1] 0.7961491004046027 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.84 [[ 8.79951859e-01 -3.80863201e-01 -2.83950609e-01 -1.34159541e+02] [ 3.94663180e-01 9.18778671e-01 -9.31284219e-03 -1.18642414e+02] [ 2.64434682e-01 -1.03869997e-01 9.58793681e-01 2.59838687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47907232899996 meters Centerline goodness [0,1] 0.7989925298377172 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.84 [[ 8.79954460e-01 -3.80786407e-01 -2.84045525e-01 -1.34159629e+02] [ 3.94593437e-01 9.18808615e-01 -9.31391567e-03 -1.18642332e+02] [ 2.64530087e-01 -1.03886678e-01 9.58765556e-01 2.59839093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.509072329 meters Centerline goodness [0,1] 0.7983174039947347 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.84 [[ 8.79988224e-01 -3.80457831e-01 -2.84381019e-01 -1.34159871e+02] [ 3.94307700e-01 9.18931984e-01 -9.24371277e-03 -1.18641783e+02] [ 2.64843657e-01 -1.03999267e-01 9.58666777e-01 2.59840462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53907232899996 meters Centerline goodness [0,1] 0.7990144113686503 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.63, Z:259.84 [[ 8.82274577e-01 -3.78524018e-01 -2.79841275e-01 -1.34138808e+02] [ 3.90769001e-01 9.20397523e-01 -1.29609672e-02 -1.18631648e+02] [ 2.62471254e-01 -9.79181637e-02 9.59958788e-01 2.59841713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.569072329 meters Centerline goodness [0,1] 0.8019534142035424 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.63, Z:259.84 [[ 8.82495071e-01 -3.78279511e-01 -2.79476406e-01 -1.34140378e+02] [ 3.90476114e-01 9.20521867e-01 -1.29575028e-02 -1.18630887e+02] [ 2.62165701e-01 -9.76939286e-02 9.60065124e-01 2.59841202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59907232899997 meters Centerline goodness [0,1] 0.7959021058622653 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.63, Z:259.84 [[ 8.83383198e-01 -3.74436911e-01 -2.81835280e-01 -1.34136507e+02] [ 3.87457921e-01 9.21830223e-01 -1.02664378e-02 -1.18627835e+02] [ 2.63648412e-01 -1.00130113e-01 9.59407877e-01 2.59841197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.629072329 meters Centerline goodness [0,1] 0.794521328093855 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.63, Z:259.84 [[ 8.83620108e-01 -3.74206166e-01 -2.81398739e-01 -1.34138337e+02] [ 3.87158643e-01 9.21955508e-01 -1.03066349e-02 -1.18626755e+02] [ 2.63293924e-01 -9.98388042e-02 9.59535577e-01 2.59840628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65907232899997 meters Centerline goodness [0,1] 0.7890706973314806 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.63, Z:259.84 [[ 8.84269898e-01 -3.73137392e-01 -2.80776128e-01 -1.34143286e+02] [ 3.86136772e-01 9.22390325e-01 -9.72018649e-03 -1.18626541e+02] [ 2.62612149e-01 -9.98227195e-02 9.59724066e-01 2.59841476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.689072329 meters Centerline goodness [0,1] 0.7878685382490558 Centerline is valid? [False, False] Translation: X:-134.15, Y:-118.63, Z:259.84 [[ 8.84475285e-01 -3.72786074e-01 -2.80595820e-01 -1.34145166e+02] [ 3.85800068e-01 9.22533087e-01 -9.53992273e-03 -1.18626362e+02] [ 2.62415278e-01 -9.98160605e-02 9.59778608e-01 2.59842123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71907232899997 meters Centerline goodness [0,1] 0.7827502264492754 Centerline is valid? [False, False] Translation: X:-134.15, Y:-118.63, Z:259.84 [[ 8.84875840e-01 -3.72162446e-01 -2.80160421e-01 -1.34147692e+02] [ 3.85202841e-01 9.22786345e-01 -9.17237396e-03 -1.18626492e+02] [ 2.61941824e-01 -9.98021778e-02 9.59909374e-01 2.59842228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74907232899994 meters Centerline goodness [0,1] 0.7791962574681547 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.62, Z:259.85 [[ 8.85160891e-01 -3.65066437e-01 -2.88473037e-01 -1.34136260e+02] [ 3.77815089e-01 9.25799235e-01 -1.23099456e-02 -1.18622276e+02] [ 2.71562065e-01 -9.80931838e-02 9.57408885e-01 2.59851708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.779072329 meters Centerline goodness [0,1] 0.7718923776891535 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.62, Z:259.85 [[ 8.85422093e-01 -3.64768940e-01 -2.88047457e-01 -1.34137778e+02] [ 3.77479638e-01 9.25937054e-01 -1.22350210e-02 -1.18621720e+02] [ 2.71176769e-01 -9.78988917e-02 9.57537972e-01 2.59851031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80907232899995 meters Centerline goodness [0,1] 0.7741012040077461 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.62, Z:259.85 [[ 8.85652077e-01 -3.64496415e-01 -2.87685180e-01 -1.34139086e+02] [ 3.77149145e-01 9.26071399e-01 -1.22591702e-02 -1.18621063e+02] [ 2.70885440e-01 -9.76428600e-02 9.57646568e-01 2.59850422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.839072329 meters Centerline goodness [0,1] 0.7533411949685535 Centerline is valid? [False, False] Translation: X:-134.15, Y:-118.62, Z:259.84 [[ 8.86024065e-01 -3.66701746e-01 -2.83709685e-01 -1.34147258e+02] [ 3.77572710e-01 9.25814924e-01 -1.74806945e-02 -1.18619238e+02] [ 2.69072862e-01 -9.16327186e-02 9.58750875e-01 2.59842663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86907232899995 meters Centerline goodness [0,1] 0.7632000900165968 Centerline is valid? [False, False] Translation: X:-134.15, Y:-118.62, Z:259.84 [[ 8.86326985e-01 -3.66150842e-01 -2.83474931e-01 -1.34148975e+02] [ 3.77105037e-01 9.26014242e-01 -1.70121702e-02 -1.18619946e+02] [ 2.68730844e-01 -9.18214789e-02 9.58828738e-01 2.59842983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.899072329 meters Centerline goodness [0,1] 0.7581135902636917 Centerline is valid? [False, False] Translation: X:-134.15, Y:-118.62, Z:259.84 [[ 8.85719397e-01 -3.69686552e-01 -2.80772154e-01 -1.34154544e+02] [ 3.79573989e-01 9.24935469e-01 -2.04441881e-02 -1.18618791e+02] [ 2.67254066e-01 -8.84659928e-02 9.59556685e-01 2.59841693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92907232899995 meters Centerline goodness [0,1] 0.7521470670783048 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.62, Z:259.84 [[ 8.85955656e-01 -3.69170074e-01 -2.80706311e-01 -1.34155893e+02] [ 3.79191883e-01 9.25104983e-01 -1.98566327e-02 -1.18619780e+02] [ 2.67013281e-01 -8.88494583e-02 9.59588287e-01 2.59842386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.959072329 meters Centerline goodness [0,1] 0.7500070388827885 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.62, Z:259.84 [[ 8.85144489e-01 -3.73094639e-01 -2.78064065e-01 -1.34160077e+02] [ 3.81968672e-01 9.23870991e-01 -2.37134168e-02 -1.18617750e+02] [ 2.65742672e-01 -8.52219612e-02 9.60269780e-01 2.59840324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98907232899995 meters Centerline goodness [0,1] 0.7559351557890597 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.62, Z:259.84 [[ 8.85176965e-01 -3.72967777e-01 -2.78130866e-01 -1.34159670e+02] [ 3.81805067e-01 9.23935140e-01 -2.38484307e-02 -1.18617436e+02] [ 2.65869577e-01 -8.50816925e-02 9.60247090e-01 2.59840219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.019072329 meters Centerline goodness [0,1] 0.7364349807319063 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.62, Z:259.84 [[ 8.85599019e-01 -3.72272450e-01 -2.77718564e-01 -1.34162045e+02] [ 3.81171333e-01 9.24208788e-01 -2.33780253e-02 -1.18617859e+02] [ 2.65372932e-01 -8.51547988e-02 9.60377981e-01 2.59840225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04907232899996 meters Centerline goodness [0,1] 0.730938807604819 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.62, Z:259.84 [[ 8.85897409e-01 -3.71892725e-01 -2.77275281e-01 -1.34163819e+02] [ 3.80803793e-01 9.24366638e-01 -2.31255154e-02 -1.18617736e+02] [ 2.64904230e-01 -8.51006444e-02 9.60512170e-01 2.59839802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.079072329 meters Centerline goodness [0,1] 0.7302102875703526 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.62, Z:259.84 [[ 8.86155592e-01 -3.71579715e-01 -2.76869612e-01 -1.34165355e+02] [ 3.80495859e-01 9.24498508e-01 -2.29218325e-02 -1.18617616e+02] [ 2.64482831e-01 -8.50354308e-02 9.60634065e-01 2.59839387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10907232899996 meters Centerline goodness [0,1] 0.7230868455735958 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.62, Z:259.84 [[ 8.86495578e-01 -3.70738042e-01 -2.76909541e-01 -1.34166541e+02] [ 3.79862790e-01 9.24780123e-01 -2.20450622e-02 -1.18619986e+02] [ 2.64253382e-01 -8.56447805e-02 9.60643077e-01 2.59840387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.139072329 meters Centerline goodness [0,1] 0.7174703513090177 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.62, Z:259.84 [[ 8.86724504e-01 -3.70008403e-01 -2.77152371e-01 -1.34166843e+02] [ 3.79350937e-01 9.25009474e-01 -2.12212009e-02 -1.18622691e+02] [ 2.64220591e-01 -8.63206529e-02 9.60591601e-01 2.59841516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16907232899996 meters Centerline goodness [0,1] 0.7161156793645467 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.63, Z:259.84 [[ 8.86993327e-01 -3.69060210e-01 -2.77556120e-01 -1.34166696e+02] [ 3.78721387e-01 9.25293474e-01 -2.00523816e-02 -1.18626632e+02] [ 2.64221403e-01 -8.73301101e-02 9.60500131e-01 2.59842957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.199072329 meters Centerline goodness [0,1] 0.717514915548584 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.63, Z:259.84 [[ 8.87133872e-01 -3.68806397e-01 -2.77444290e-01 -1.34166796e+02] [ 3.78523106e-01 9.25380638e-01 -1.97720064e-02 -1.18627296e+02] [ 2.64033617e-01 -8.74786578e-02 9.60538252e-01 2.59842614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22907232899996 meters Centerline goodness [0,1] 0.717106001121705 Centerline is valid? [False, False] Translation: X:-134.17, Y:-118.63, Z:259.84 [[ 8.87248713e-01 -3.68589512e-01 -2.77365271e-01 -1.34166691e+02] [ 3.78356651e-01 9.25453907e-01 -1.95271480e-02 -1.18627993e+02] [ 2.63886276e-01 -8.76175582e-02 9.60566082e-01 2.59842223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.259072329 meters Centerline goodness [0,1] 0.7223740946368684 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.63, Z:259.84 [[ 8.87215002e-01 -3.68332871e-01 -2.77813670e-01 -1.34164588e+02] [ 3.78334001e-01 9.25478398e-01 -1.87914224e-02 -1.18631136e+02] [ 2.64032049e-01 -8.84343256e-02 9.60451168e-01 2.59842721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28907232899996 meters Centerline goodness [0,1] 0.7223740946368684 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.63, Z:259.84 [[ 8.87215002e-01 -3.68332871e-01 -2.77813670e-01 -1.34164588e+02] [ 3.78334001e-01 9.25478398e-01 -1.87914224e-02 -1.18631136e+02] [ 2.64032049e-01 -8.84343256e-02 9.60451168e-01 2.59842721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.319072329 meters Centerline goodness [0,1] 0.7249957595974444 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.84 [[ 8.87407255e-01 -3.67473166e-01 -2.78337629e-01 -1.34164385e+02] [ 3.77843289e-01 9.25704187e-01 -1.74987933e-02 -1.18635218e+02] [ 2.64088645e-01 -8.96394490e-02 9.60323881e-01 2.59844708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34907232899997 meters Centerline goodness [0,1] 0.7314751676326856 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.85 [[ 8.87639386e-01 -3.66567146e-01 -2.78791765e-01 -1.34164476e+02] [ 3.77313054e-01 9.25944907e-01 -1.61520350e-02 -1.18639534e+02] [ 2.64066620e-01 -9.08545900e-02 9.60215738e-01 2.59846765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.379072329 meters Centerline goodness [0,1] 0.7408670931058992 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.64, Z:259.85 [[ 8.87807513e-01 -3.65736330e-01 -2.79347018e-01 -1.34164232e+02] [ 3.76844697e-01 9.26156536e-01 -1.49045384e-02 -1.18643509e+02] [ 2.64170198e-01 -9.20380814e-02 9.60074527e-01 2.59848857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40907232899997 meters Centerline goodness [0,1] 0.75232295508477 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.65, Z:259.85 [[ 8.87377361e-01 -3.65982876e-01 -2.80388934e-01 -1.34159375e+02] [ 3.77323375e-01 9.25968341e-01 -1.44810844e-02 -1.18646977e+02] [ 2.64931105e-01 -9.29471124e-02 9.59777237e-01 2.59850263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.439072329 meters Centerline goodness [0,1] 0.7601363935929396 Centerline is valid? [False, False] Translation: X:-134.16, Y:-118.65, Z:259.85 [[ 8.87156438e-01 -3.66011639e-01 -2.81049701e-01 -1.34156265e+02] [ 3.77446409e-01 9.25919669e-01 -1.43866493e-02 -1.18648271e+02] [ 2.65495127e-01 -9.33179920e-02 9.59585374e-01 2.59850789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46907232899997 meters Centerline goodness [0,1] 0.7703780484293571 Centerline is valid? [False, False] Translation: X:-134.15, Y:-118.65, Z:259.85 [[ 8.86414668e-01 -3.66878149e-01 -2.82257791e-01 -1.34150459e+02] [ 3.78495091e-01 9.25492656e-01 -1.43111441e-02 -1.18650699e+02] [ 2.66477959e-01 -9.41475804e-02 9.59231844e-01 2.59852114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49907232899994 meters Centerline goodness [0,1] 0.7750845058215121 Centerline is valid? [False, False] Translation: X:-134.15, Y:-118.65, Z:259.85 [[ 8.86055883e-01 -3.67053855e-01 -2.83154446e-01 -1.34147317e+02] [ 3.78824287e-01 9.25360913e-01 -1.41188029e-02 -1.18652478e+02] [ 2.67202418e-01 -9.47557327e-02 9.58970395e-01 2.59853438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.529072329 meters Centerline goodness [0,1] 0.7758451030331095 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.65, Z:259.85 [[ 8.85766240e-01 -3.67192859e-01 -2.83879504e-01 -1.34144989e+02] [ 3.79114839e-01 9.25245725e-01 -1.38667903e-02 -1.18654044e+02] [ 2.67750084e-01 -9.53401977e-02 9.58759688e-01 2.59854774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55907232899995 meters Centerline goodness [0,1] 0.7892521193821855 Centerline is valid? [False, False] Translation: X:-134.15, Y:-118.65, Z:259.85 [[ 8.84354270e-01 -3.72078828e-01 -2.81912879e-01 -1.34145415e+02] [ 3.82937088e-01 9.23604048e-01 -1.77411673e-02 -1.18653932e+02] [ 2.66976989e-01 -9.22654200e-02 9.59275966e-01 2.59853654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.589072329 meters Centerline goodness [0,1] 0.7850315232865568 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.65, Z:259.85 [[ 8.84025901e-01 -3.72449368e-01 -2.82452960e-01 -1.34142594e+02] [ 3.83290850e-01 9.23451206e-01 -1.80553215e-02 -1.18653548e+02] [ 2.67556219e-01 -9.23002631e-02 9.59111219e-01 2.59853932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61907232899995 meters Centerline goodness [0,1] 0.7851643083359967 Centerline is valid? [False, False] Translation: X:-134.14, Y:-118.65, Z:259.86 [[ 8.84496668e-01 -3.68921821e-01 -2.85591200e-01 -1.34135768e+02] [ 3.80896204e-01 9.24502630e-01 -1.45934839e-02 -1.18654502e+02] [ 2.69413670e-01 -9.58727159e-02 9.58240417e-01 2.59856284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.649072329 meters Centerline goodness [0,1] 0.785364297932794 Centerline is valid? [False, False] Translation: X:-134.13, Y:-118.65, Z:259.86 [[ 8.84101939e-01 -3.69664641e-01 -2.85852786e-01 -1.34133538e+02] [ 3.81477464e-01 9.24250112e-01 -1.53842137e-02 -1.18652417e+02] [ 2.69886469e-01 -9.54451827e-02 9.58150046e-01 2.59855858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67907232899995 meters Centerline goodness [0,1] 0.7875820791446336 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.65, Z:259.87 [[ 8.83052467e-01 -3.66148269e-01 -2.93519651e-01 -1.34119259e+02] [ 3.76600709e-01 9.26108122e-01 -2.22632493e-02 -1.18647921e+02] [ 2.79982583e-01 -9.08800915e-02 9.55693760e-01 2.59865946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.709072329 meters Centerline goodness [0,1] 0.7860706619481348 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.65, Z:259.87 [[ 8.82996570e-01 -3.65996834e-01 -2.93876464e-01 -1.34118859e+02] [ 3.76485437e-01 9.26155640e-01 -2.22361544e-02 -1.18647948e+02] [ 2.80313706e-01 -9.10057607e-02 9.55584731e-01 2.59866934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73907232899995 meters Centerline goodness [0,1] 0.7865804130888837 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.65, Z:259.87 [[ 8.83039416e-01 -3.65864954e-01 -2.93911933e-01 -1.34119459e+02] [ 3.76361453e-01 9.26206913e-01 -2.21993419e-02 -1.18647349e+02] [ 2.80345226e-01 -9.10142284e-02 9.55574678e-01 2.59867508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.769072329 meters Centerline goodness [0,1] 0.787210616289514 Centerline is valid? [False, False] Translation: X:-134.12, Y:-118.65, Z:259.87 [[ 8.83077507e-01 -3.65974299e-01 -2.93661248e-01 -1.34120290e+02] [ 3.76386304e-01 9.26191490e-01 -2.24203986e-02 -1.18645977e+02] [ 2.80191838e-01 -9.07311218e-02 9.55646586e-01 2.59866970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79907232899996 meters Centerline goodness [0,1] 0.7841985546053958 Centerline is valid? [False, False] Translation: X:-134.09, Y:-118.63, Z:259.87 [[ 8.85033531e-01 -3.61150085e-01 -2.93745239e-01 -1.34089358e+02] [ 3.71769130e-01 9.28089001e-01 -2.09408520e-02 -1.18632204e+02] [ 2.80184516e-01 -9.06720557e-02 9.55654339e-01 2.59874571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.829072329 meters Centerline goodness [0,1] 0.7841352779053744 Centerline is valid? [False, False] Translation: X:-134.07, Y:-118.62, Z:259.88 [[ 8.87394743e-01 -3.58045046e-01 -2.90403709e-01 -1.34066282e+02] [ 3.67634517e-01 9.29689750e-01 -2.28436187e-02 -1.18622353e+02] [ 2.78164396e-01 -8.64911201e-02 9.56631515e-01 2.59877944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85907232899996 meters Centerline goodness [0,1] 0.787228549298603 Centerline is valid? [False, False] Translation: X:-134.07, Y:-118.62, Z:259.88 [[ 8.88725320e-01 -3.52729807e-01 -2.92829282e-01 -1.34065496e+02] [ 3.63663579e-01 9.31353242e-01 -1.81642277e-02 -1.18624735e+02] [ 2.79134566e-01 -9.03483357e-02 9.55992193e-01 2.59880839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.889072329 meters Centerline goodness [0,1] 0.783742813831765 Centerline is valid? [False, False] Translation: X:-134.07, Y:-118.62, Z:259.88 [[ 8.89317954e-01 -3.52007825e-01 -2.91897358e-01 -1.34070988e+02] [ 3.62814032e-01 9.31684444e-01 -1.81679698e-02 -1.18621860e+02] [ 2.78351495e-01 -8.97473557e-02 9.56277082e-01 2.59880586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91907232899996 meters Centerline goodness [0,1] 0.7827856025039124 Centerline is valid? [False, False] Translation: X:-134.07, Y:-118.62, Z:259.88 [[ 8.89748180e-01 -3.51472197e-01 -2.91230960e-01 -1.34074491e+02] [ 3.62247749e-01 9.31908781e-01 -1.79608344e-02 -1.18620652e+02] [ 2.77713423e-01 -8.95171399e-02 9.56484154e-01 2.59880429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.949072329 meters Centerline goodness [0,1] 0.7797319217962947 Centerline is valid? [False, False] Translation: X:-134.08, Y:-118.62, Z:259.88 [[ 8.90145581e-01 -3.50971051e-01 -2.90620313e-01 -1.34077613e+02] [ 3.61714853e-01 9.32119170e-01 -1.77825375e-02 -1.18619595e+02] [ 2.77133921e-01 -8.92926368e-02 9.56673202e-01 2.59880300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97907232899996 meters Centerline goodness [0,1] 0.778180685005241 Centerline is valid? [False, False] Translation: X:-134.06, Y:-118.61, Z:259.88 [[ 8.92830482e-01 -3.47565059e-01 -2.86447656e-01 -1.34057440e+02] [ 3.57340148e-01 9.33776644e-01 -1.92145328e-02 -1.18610804e+02] [ 2.74156431e-01 -8.52039272e-02 9.57903201e-01 2.59883996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.009072329 meters Centerline goodness [0,1] 0.7739873274496493 Centerline is valid? [False, False] Translation: X:-134.06, Y:-118.61, Z:259.88 [[ 8.93552205e-01 -3.46359514e-01 -2.85656339e-01 -1.34062055e+02] [ 3.56139704e-01 9.34244654e-01 -1.87466739e-02 -1.18610029e+02] [ 2.73365996e-01 -8.49824321e-02 9.58148745e-01 2.59884107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03907232899996 meters Centerline goodness [0,1] 0.7706652372623145 Centerline is valid? [False, False] Translation: X:-134.04, Y:-118.60, Z:259.89 [[ 8.96144906e-01 -3.40764667e-01 -2.84260004e-01 -1.34036073e+02] [ 3.50504964e-01 9.36396503e-01 -1.75459240e-02 -1.18601387e+02] [ 2.72159104e-01 -8.39108520e-02 9.58586663e-01 2.59890993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.069072329 meters Centerline goodness [0,1] 0.7690837011836815 Centerline is valid? [False, False] Translation: X:-134.04, Y:-118.60, Z:259.89 [[ 8.96663546e-01 -3.40206970e-01 -2.83290845e-01 -1.34040130e+02] [ 3.49730840e-01 9.36679006e-01 -1.79103228e-02 -1.18597991e+02] [ 2.71445804e-01 -8.30160117e-02 9.58866788e-01 2.59889377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09907232899997 meters Centerline goodness [0,1] 0.7657528469000422 Centerline is valid? [False, False] Translation: X:-134.02, Y:-118.59, Z:259.89 [[ 8.99434547e-01 -3.37677820e-01 -2.77472855e-01 -1.34023722e+02] [ 3.45457410e-01 9.38178104e-01 -2.19322622e-02 -1.18589073e+02] [ 2.67724996e-01 -7.61284195e-02 9.60483103e-01 2.59888820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.129072329 meters Centerline goodness [0,1] 0.7574078737513641 Centerline is valid? [False, False] Translation: X:-134.02, Y:-118.59, Z:259.89 [[ 9.00879382e-01 -3.32188680e-01 -2.79404761e-01 -1.34023897e+02] [ 3.41242169e-01 9.39819755e-01 -1.71058268e-02 -1.18591690e+02] [ 2.68272476e-01 -7.99344002e-02 9.60021026e-01 2.59891114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15907232899997 meters Centerline goodness [0,1] 0.7488377303534419 Centerline is valid? [False, False] Translation: X:-134.01, Y:-118.58, Z:259.89 [[ 9.03586497e-01 -3.30671767e-01 -2.72374053e-01 -1.34010103e+02] [ 3.37446015e-01 9.41063250e-01 -2.30248985e-02 -1.18582851e+02] [ 2.63934896e-01 -7.11065516e-02 9.61915916e-01 2.59888543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.189072329 meters Centerline goodness [0,1] 0.7482726789560548 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.58, Z:259.89 [[ 9.05819881e-01 -3.27465056e-01 -2.68806586e-01 -1.33988156e+02] [ 3.33399149e-01 9.42463637e-01 -2.46434823e-02 -1.18575467e+02] [ 2.61410312e-01 -6.72973309e-02 9.62878870e-01 2.59892484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21907232899997 meters Centerline goodness [0,1] 0.7425900528982059 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.58, Z:259.89 [[ 9.06092047e-01 -3.26821154e-01 -2.68672916e-01 -1.33989777e+02] [ 3.32892414e-01 9.42659189e-01 -2.40061241e-02 -1.18576449e+02] [ 2.61112703e-01 -6.76874175e-02 9.62932277e-01 2.59893145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24907232899994 meters Centerline goodness [0,1] 0.7328079425622616 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.58, Z:259.89 [[ 9.06418631e-01 -3.26034337e-01 -2.68527237e-01 -1.33991538e+02] [ 3.32324077e-01 9.42883724e-01 -2.30432302e-02 -1.18578601e+02] [ 2.60702846e-01 -6.83512531e-02 9.62996434e-01 2.59894130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.279072329 meters Centerline goodness [0,1] 0.7425190004767648 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.58, Z:259.89 [[ 9.06591001e-01 -3.25427366e-01 -2.68681572e-01 -1.33991949e+02] [ 3.31910312e-01 9.43047759e-01 -2.22815684e-02 -1.18580723e+02] [ 2.60630587e-01 -6.89779150e-02 9.62971310e-01 2.59894977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30907232899995 meters Centerline goodness [0,1] 0.7424967622050791 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.58, Z:259.90 [[ 9.06620167e-01 -3.25112460e-01 -2.68964239e-01 -1.33990688e+02] [ 3.31796987e-01 9.43104220e-01 -2.15682665e-02 -1.18583592e+02] [ 2.60673421e-01 -6.96872989e-02 9.62908640e-01 2.59895422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.339072329 meters Centerline goodness [0,1] 0.7463804856064447 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.59, Z:259.90 [[ 9.06726861e-01 -3.24604821e-01 -2.69217588e-01 -1.33990582e+02] [ 3.31503882e-01 9.43225177e-01 -2.07711750e-02 -1.18585994e+02] [ 2.60675231e-01 -7.04128933e-02 9.62855362e-01 2.59896390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36907232899995 meters Centerline goodness [0,1] 0.7558556776763767 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.59, Z:259.90 [[ 9.06814977e-01 -3.24171478e-01 -2.69442852e-01 -1.33990362e+02] [ 3.31274930e-01 9.43321952e-01 -2.00153882e-02 -1.18588455e+02] [ 2.60659775e-01 -7.11094082e-02 9.62808358e-01 2.59897280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.399072329 meters Centerline goodness [0,1] 0.7601776671287521 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.59, Z:259.90 [[ 9.06708186e-01 -3.24117147e-01 -2.69867265e-01 -1.33988538e+02] [ 3.31436686e-01 9.43279414e-01 -1.93305267e-02 -1.18591134e+02] [ 2.60825591e-01 -7.19167654e-02 9.62703480e-01 2.59897995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42907232899995 meters Centerline goodness [0,1] 0.7657787989674638 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.59, Z:259.90 [[ 9.06809861e-01 -3.23730941e-01 -2.69989173e-01 -1.33988450e+02] [ 3.31222068e-01 9.43368007e-01 -1.86747299e-02 -1.18593097e+02] [ 2.60744736e-01 -7.24919431e-02 9.62682243e-01 2.59898563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.459072329 meters Centerline goodness [0,1] 0.7668379076434024 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.59, Z:259.90 [[ 9.06781957e-01 -3.23562688e-01 -2.70284422e-01 -1.33987796e+02] [ 3.31194497e-01 9.43386654e-01 -1.82161004e-02 -1.18594545e+02] [ 2.60876767e-01 -7.29986820e-02 9.62608178e-01 2.59899243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48907232899995 meters Centerline goodness [0,1] 0.7644785450412048 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.60, Z:259.90 [[ 9.06778477e-01 -3.23345037e-01 -2.70556428e-01 -1.33987159e+02] [ 3.31171770e-01 9.43407370e-01 -1.75440608e-02 -1.18596691e+02] [ 2.60917713e-01 -7.36920744e-02 9.62544246e-01 2.59900126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.519072329 meters Centerline goodness [0,1] 0.7635250569476082 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.60, Z:259.90 [[ 9.06933081e-01 -3.22857877e-01 -2.70619989e-01 -1.33987730e+02] [ 3.30846339e-01 9.43533418e-01 -1.68934565e-02 -1.18598412e+02] [ 2.60793189e-01 -7.42123980e-02 9.62538016e-01 2.59900892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54907232899996 meters Centerline goodness [0,1] 0.7644722555574605 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.60, Z:259.90 [[ 9.07190068e-01 -3.21961775e-01 -2.70826137e-01 -1.33988708e+02] [ 3.30253861e-01 9.43761558e-01 -1.57005646e-02 -1.18601779e+02] [ 2.60650279e-01 -7.51979812e-02 9.62500232e-01 2.59902718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.579072329 meters Centerline goodness [0,1] 0.7658374602811095 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.60, Z:259.90 [[ 9.07312515e-01 -3.21482596e-01 -2.70985132e-01 -1.33989249e+02] [ 3.29946147e-01 9.43879876e-01 -1.50439402e-02 -1.18603528e+02] [ 2.60613777e-01 -7.57609448e-02 9.62465967e-01 2.59903739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60907232899996 meters Centerline goodness [0,1] 0.7646940649753186 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.60, Z:259.90 [[ 9.07431128e-01 -3.21134147e-01 -2.71001120e-01 -1.33989547e+02] [ 3.29708868e-01 9.43969969e-01 -1.45862874e-02 -1.18604661e+02] [ 2.60501074e-01 -7.61154214e-02 9.62468510e-01 2.59904134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.639072329 meters Centerline goodness [0,1] 0.7639915220255484 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.61, Z:259.90 [[ 9.08077641e-01 -3.17731422e-01 -2.72840138e-01 -1.33985075e+02] [ 3.27310161e-01 9.44853552e-01 -1.09464248e-02 -1.18606471e+02] [ 2.61271997e-01 -7.93631460e-02 9.61997107e-01 2.59904661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66907232899996 meters Centerline goodness [0,1] 0.764528885832187 Centerline is valid? [False, False] Translation: X:-133.99, Y:-118.61, Z:259.90 [[ 9.08265535e-01 -3.17289607e-01 -2.72728848e-01 -1.33985796e+02] [ 3.26996784e-01 9.44968529e-01 -1.03721481e-02 -1.18607817e+02] [ 2.61011153e-01 -7.97607915e-02 9.62035028e-01 2.59904977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.699072329 meters Centerline goodness [0,1] 0.7627699691463833 Centerline is valid? [False, False] Translation: X:-133.97, Y:-118.60, Z:259.90 [[ 9.10158492e-01 -3.17164961e-01 -2.66491853e-01 -1.33967503e+02] [ 3.24967467e-01 9.45597680e-01 -1.55297497e-02 -1.18600033e+02] [ 2.56919571e-01 -7.24666489e-02 9.63712052e-01 2.59904762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72907232899996 meters Centerline goodness [0,1] 0.7667247237529623 Centerline is valid? [False, False] Translation: X:-133.97, Y:-118.60, Z:259.91 [[ 9.10280912e-01 -3.16779000e-01 -2.66532787e-01 -1.33968026e+02] [ 3.24684196e-01 9.45701939e-01 -1.51001620e-02 -1.18601105e+02] [ 2.56843988e-01 -7.27935946e-02 9.63707559e-01 2.59905263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.759072329 meters Centerline goodness [0,1] 0.766689489900719 Centerline is valid? [False, False] Translation: X:-133.97, Y:-118.60, Z:259.91 [[ 9.10437682e-01 -3.16450294e-01 -2.66387759e-01 -1.33969064e+02] [ 3.24410115e-01 9.45800670e-01 -1.48043876e-02 -1.18601436e+02] [ 2.56634574e-01 -7.29404112e-02 9.63752246e-01 2.59905482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78907232899996 meters Centerline goodness [0,1] 0.7687409386815248 Centerline is valid? [False, False] Translation: X:-133.97, Y:-118.60, Z:259.91 [[ 9.10641410e-01 -3.16038093e-01 -2.66180663e-01 -1.33970639e+02] [ 3.24060064e-01 9.45926153e-01 -1.44495237e-02 -1.18601602e+02] [ 2.56353851e-01 -7.31001882e-02 9.63814850e-01 2.59905839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.819072329 meters Centerline goodness [0,1] 0.7627481177275839 Centerline is valid? [False, False] Translation: X:-133.97, Y:-118.60, Z:259.91 [[ 9.11019259e-01 -3.15311286e-01 -2.65749321e-01 -1.33973574e+02] [ 3.23453743e-01 9.46143901e-01 -1.37620708e-02 -1.18602180e+02] [ 2.55776436e-01 -7.34201010e-02 9.63943932e-01 2.59906609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84907232899997 meters Centerline goodness [0,1] 0.7658783493951786 Centerline is valid? [False, False] Translation: X:-133.97, Y:-118.60, Z:259.91 [[ 9.11216047e-01 -3.14751446e-01 -2.65738296e-01 -1.33974782e+02] [ 3.23052601e-01 9.46290628e-01 -1.30791441e-02 -1.18603574e+02] [ 2.55582339e-01 -7.39295218e-02 9.63956479e-01 2.59907541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.879072329 meters Centerline goodness [0,1] 0.7652479032350088 Centerline is valid? [False, False] Translation: X:-133.98, Y:-118.60, Z:259.91 [[ 9.11353422e-01 -3.14430285e-01 -2.65647391e-01 -1.33975674e+02] [ 3.22804248e-01 9.46380131e-01 -1.27304783e-02 -1.18604103e+02] [ 2.55406261e-01 -7.41501414e-02 9.63986202e-01 2.59907890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90907232899997 meters Centerline goodness [0,1] 0.7626512572589181 Centerline is valid? [False, False] Translation: X:-133.98, Y:-118.60, Z:259.91 [[ 9.11575998e-01 -3.14241689e-01 -2.65106320e-01 -1.33977358e+02] [ 3.22517625e-01 9.46475407e-01 -1.29106874e-02 -1.18602655e+02] [ 2.54973688e-01 -7.37323880e-02 9.64132747e-01 2.59906964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.939072329 meters Centerline goodness [0,1] 0.7620194350794685 Centerline is valid? [False, False] Translation: X:-133.98, Y:-118.60, Z:259.91 [[ 9.11753043e-01 -3.14021480e-01 -2.64758189e-01 -1.33978524e+02] [ 3.22239030e-01 9.46569136e-01 -1.29953464e-02 -1.18602166e+02] [ 2.54692748e-01 -7.34668755e-02 9.64227267e-01 2.59906431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96907232899997 meters Centerline goodness [0,1] 0.7618778280542986 Centerline is valid? [False, False] Translation: X:-133.96, Y:-118.59, Z:259.91 [[ 9.13882070e-01 -3.12593422e-01 -2.59046161e-01 -1.33960308e+02] [ 3.19006210e-01 9.47580896e-01 -1.80411823e-02 -1.18593625e+02] [ 2.51106748e-01 -6.61498211e-02 9.65696434e-01 2.59905514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99907232899994 meters Centerline goodness [0,1] 0.7625007062545907 Centerline is valid? [False, False] Translation: X:-133.96, Y:-118.59, Z:259.91 [[ 9.14109573e-01 -3.12288422e-01 -2.58610963e-01 -1.33961947e+02] [ 3.18674512e-01 9.47693624e-01 -1.79819307e-02 -1.18593088e+02] [ 2.50699509e-01 -6.59752673e-02 9.65814175e-01 2.59905084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.029072329 meters Centerline goodness [0,1] 0.7599515793029672 Centerline is valid? [False, False] Translation: X:-133.94, Y:-118.58, Z:259.91 [[ 9.16438635e-01 -3.09227023e-01 -2.54005664e-01 -1.33942247e+02] [ 3.14654234e-01 9.48994526e-01 -2.00525264e-02 -1.18584642e+02] [ 2.47250767e-01 -6.15470476e-02 9.66994839e-01 2.59907737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05907232899995 meters Centerline goodness [0,1] 0.7605275073579353 Centerline is valid? [False, False] Translation: X:-133.94, Y:-118.59, Z:259.91 [[ 9.16693140e-01 -3.08602390e-01 -2.53846907e-01 -1.33944266e+02] [ 3.14160884e-01 9.49171299e-01 -1.94109280e-02 -1.18585613e+02] [ 2.46934458e-01 -6.19549043e-02 9.67049618e-01 2.59908740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.089072329 meters Centerline goodness [0,1] 0.7588396308942631 Centerline is valid? [False, False] Translation: X:-133.95, Y:-118.59, Z:259.91 [[ 9.16947618e-01 -3.07952691e-01 -2.53716785e-01 -1.33945964e+02] [ 3.13652861e-01 9.49352941e-01 -1.87317115e-02 -1.18586865e+02] [ 2.46635257e-01 -6.24029970e-02 9.67097160e-01 2.59909608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11907232899995 meters Centerline goodness [0,1] 0.7597931151432932 Centerline is valid? [False, False] Translation: X:-133.95, Y:-118.59, Z:259.91 [[ 9.17042985e-01 -3.07642790e-01 -2.53748060e-01 -1.33946040e+02] [ 3.13407146e-01 9.49439694e-01 -1.84452718e-02 -1.18587639e+02] [ 2.46593035e-01 -6.26113481e-02 9.67094460e-01 2.59909803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.149072329 meters Centerline goodness [0,1] 0.7604154905724285 Centerline is valid? [False, False] Translation: X:-133.95, Y:-118.59, Z:259.91 [[ 9.17055874e-01 -3.07541432e-01 -2.53824331e-01 -1.33945700e+02] [ 3.13339090e-01 9.49464568e-01 -1.83207004e-02 -1.18588177e+02] [ 2.46631584e-01 -6.27319791e-02 9.67076812e-01 2.59909758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17907232899995 meters Centerline goodness [0,1] 0.7604154905724285 Centerline is valid? [False, False] Translation: X:-133.95, Y:-118.59, Z:259.91 [[ 9.17055874e-01 -3.07541432e-01 -2.53824331e-01 -1.33945700e+02] [ 3.13339090e-01 9.49464568e-01 -1.83207004e-02 -1.18588177e+02] [ 2.46631584e-01 -6.27319791e-02 9.67076812e-01 2.59909758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.209072329 meters Centerline goodness [0,1] 0.7608671075688203 Centerline is valid? [False, False] Translation: X:-133.95, Y:-118.59, Z:259.91 [[ 9.17087787e-01 -3.07611076e-01 -2.53624559e-01 -1.33945902e+02] [ 3.13366423e-01 9.49453165e-01 -1.84437598e-02 -1.18587470e+02] [ 2.46478145e-01 -6.25628738e-02 9.67126885e-01 2.59909146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23907232899995 meters Centerline goodness [0,1] 0.7594282324359445 Centerline is valid? [False, False] Translation: X:-133.95, Y:-118.59, Z:259.91 [[ 9.17130945e-01 -3.07510278e-01 -2.53590730e-01 -1.33946202e+02] [ 3.13296713e-01 9.49478973e-01 -1.82989010e-02 -1.18587565e+02] [ 2.46406166e-01 -6.26666540e-02 9.67138507e-01 2.59909219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.269072329 meters Centerline goodness [0,1] 0.7587053445454033 Centerline is valid? [False, False] Translation: X:-133.95, Y:-118.59, Z:259.91 [[ 9.17155643e-01 -3.07392114e-01 -2.53644665e-01 -1.33946213e+02] [ 3.13221742e-01 9.49507000e-01 -1.81272310e-02 -1.18587766e+02] [ 2.46409553e-01 -6.28215316e-02 9.67127596e-01 2.59909360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29907232899996 meters Centerline goodness [0,1] 0.75843553947889 Centerline is valid? [False, False] Translation: X:-133.95, Y:-118.59, Z:259.91 [[ 9.17230420e-01 -3.07142138e-01 -2.53677086e-01 -1.33946882e+02] [ 3.13032013e-01 9.49574542e-01 -1.78647221e-02 -1.18588138e+02] [ 2.46372311e-01 -6.30229822e-02 9.67123978e-01 2.59909943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.329072329 meters Centerline goodness [0,1] 0.7581763843464532 Centerline is valid? [False, False] Translation: X:-133.95, Y:-118.59, Z:259.91 [[ 9.17259532e-01 -3.07048725e-01 -2.53684905e-01 -1.33947091e+02] [ 3.12939286e-01 9.49605360e-01 -1.78511676e-02 -1.18588313e+02] [ 2.46381723e-01 -6.30138193e-02 9.67122177e-01 2.59910175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35907232899996 meters Centerline goodness [0,1] 0.7561622200913757 Centerline is valid? [False, False] Translation: X:-133.93, Y:-118.58, Z:259.91 [[ 9.19536641e-01 -3.05975414e-01 -2.46640248e-01 -1.33932129e+02] [ 3.10073270e-01 9.50433160e-01 -2.30515797e-02 -1.18580166e+02] [ 2.41468287e-01 -5.52797760e-02 9.68832913e-01 2.59909007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.389072329 meters Centerline goodness [0,1] 0.7555141348244796 Centerline is valid? [False, False] Translation: X:-133.93, Y:-118.58, Z:259.91 [[ 9.19742045e-01 -3.05749188e-01 -2.46154434e-01 -1.33933808e+02] [ 3.09814376e-01 9.50517926e-01 -2.30374726e-02 -1.18579329e+02] [ 2.41017890e-01 -5.50736502e-02 9.68956795e-01 2.59908515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41907232899996 meters Centerline goodness [0,1] 0.7504008100582229 Centerline is valid? [False, False] Translation: X:-133.93, Y:-118.58, Z:259.91 [[ 9.20852226e-01 -3.01033325e-01 -2.47810644e-01 -1.33933017e+02] [ 3.06085678e-01 9.51817502e-01 -1.88414408e-02 -1.18579596e+02] [ 2.41542410e-01 -5.85011063e-02 9.68625255e-01 2.59909405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.449072329 meters Centerline goodness [0,1] 0.7481003785223608 Centerline is valid? [False, False] Translation: X:-133.93, Y:-118.58, Z:259.91 [[ 9.21046867e-01 -3.00700574e-01 -2.47491077e-01 -1.33934425e+02] [ 3.05745228e-01 9.51928772e-01 -1.87475180e-02 -1.18579093e+02] [ 2.41231266e-01 -5.84018731e-02 9.68708778e-01 2.59909138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47907232899996 meters Centerline goodness [0,1] 0.7341455882765784 Centerline is valid? [False, False] Translation: X:-133.94, Y:-118.58, Z:259.91 [[ 9.21311502e-01 -3.00177087e-01 -2.47141321e-01 -1.33936235e+02] [ 3.05266621e-01 9.52088964e-01 -1.84090730e-02 -1.18579363e+02] [ 2.40826506e-01 -5.84835053e-02 9.68804559e-01 2.59909226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.509072329 meters Centerline goodness [0,1] 0.7342673017652004 Centerline is valid? [False, False] Translation: X:-133.94, Y:-118.58, Z:259.91 [[ 9.21601740e-01 -2.99487477e-01 -2.46895696e-01 -1.33938185e+02] [ 3.04677651e-01 9.52288258e-01 -1.78494549e-02 -1.18580385e+02] [ 2.40461560e-01 -5.87735120e-02 9.68877656e-01 2.59909870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53907232899996 meters Centerline goodness [0,1] 0.7286847786469286 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.57, Z:259.91 [[ 9.23978541e-01 -2.97859427e-01 -2.39882092e-01 -1.33923503e+02] [ 3.01447356e-01 9.53217643e-01 -2.24859335e-02 -1.18574206e+02] [ 2.35357489e-01 -5.15353025e-02 9.70541583e-01 2.59909079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.569072329 meters Centerline goodness [0,1] 0.7109484547647091 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.57, Z:259.91 [[ 9.24146589e-01 -2.97482981e-01 -2.39701810e-01 -1.33924675e+02] [ 3.01120669e-01 9.53327810e-01 -2.21907372e-02 -1.18574472e+02] [ 2.35115769e-01 -5.16716753e-02 9.70592918e-01 2.59909282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59907232899997 meters Centerline goodness [0,1] 0.7007796447972079 Centerline is valid? [False, False] Translation: X:-133.93, Y:-118.58, Z:259.91 [[ 9.24537187e-01 -2.96380783e-01 -2.39560892e-01 -1.33926786e+02] [ 3.00290494e-01 9.53618998e-01 -2.08907899e-02 -1.18577540e+02] [ 2.34641447e-01 -5.26235464e-02 9.70656558e-01 2.59910683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.629072329 meters Centerline goodness [0,1] 0.717982616522742 Centerline is valid? [False, False] Translation: X:-133.93, Y:-118.58, Z:259.91 [[ 9.24736262e-01 -2.95672555e-01 -2.39667656e-01 -1.33927265e+02] [ 2.99804517e-01 9.53793001e-01 -1.99038353e-02 -1.18580372e+02] [ 2.34478351e-01 -5.34476475e-02 9.70650942e-01 2.59911652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65907232899997 meters Centerline goodness [0,1] 0.7232017123866389 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.58, Z:259.91 [[ 9.25395847e-01 -2.91707290e-01 -2.41969798e-01 -1.33922970e+02] [ 2.96881108e-01 9.54786283e-01 -1.56448231e-02 -1.18584254e+02] [ 2.35593153e-01 -5.73586075e-02 9.70157645e-01 2.59913519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.689072329 meters Centerline goodness [0,1] 0.7217994058565568 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.59, Z:259.91 [[ 9.25357964e-01 -2.91404113e-01 -2.42479444e-01 -1.33921275e+02] [ 2.96787833e-01 9.54827659e-01 -1.48702183e-02 -1.18587731e+02] [ 2.35859322e-01 -5.82046737e-02 9.70042574e-01 2.59914437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71907232899997 meters Centerline goodness [0,1] 0.7231118038826697 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.59, Z:259.92 [[ 9.25595439e-01 -2.90508340e-01 -2.42647867e-01 -1.33922247e+02] [ 2.96163390e-01 9.55039322e-01 -1.36799300e-02 -1.18590935e+02] [ 2.35712388e-01 -5.92013339e-02 9.70017975e-01 2.59915989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74907232899994 meters Centerline goodness [0,1] 0.7153162838067217 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.59, Z:259.92 [[ 9.25796208e-01 -2.89857257e-01 -2.42660568e-01 -1.33923178e+02] [ 2.95700551e-01 9.55194616e-01 -1.28230263e-02 -1.18593126e+02] [ 2.35504915e-01 -5.98833545e-02 9.70026504e-01 2.59916940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.779072329 meters Centerline goodness [0,1] 0.7202194802979474 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.60, Z:259.92 [[ 9.25940367e-01 -2.89229751e-01 -2.42859193e-01 -1.33922894e+02] [ 2.95320030e-01 9.55325811e-01 -1.17760012e-02 -1.18596480e+02] [ 2.35415626e-01 -6.08173094e-02 9.69990071e-01 2.59917791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80907232899995 meters Centerline goodness [0,1] 0.7220766645782308 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.60, Z:259.92 [[ 9.26053099e-01 -2.88643459e-01 -2.43126738e-01 -1.33922947e+02] [ 2.94945877e-01 9.55451821e-01 -1.08970969e-02 -1.18599098e+02] [ 2.35441261e-01 -6.16179387e-02 9.69933319e-01 2.59918933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.839072329 meters Centerline goodness [0,1] 0.728941499399554 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.60, Z:259.92 [[ 9.26243757e-01 -2.87936094e-01 -2.43239201e-01 -1.33923243e+02] [ 2.94480978e-01 9.55606722e-01 -9.83599538e-03 -1.18602383e+02] [ 2.35273154e-01 -6.25187886e-02 9.69916463e-01 2.59919936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86907232899995 meters Centerline goodness [0,1] 0.7337731249103685 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.60, Z:259.92 [[ 9.26357767e-01 -2.87430768e-01 -2.43402631e-01 -1.33923799e+02] [ 2.94153010e-01 9.55715173e-01 -9.08379954e-03 -1.18604250e+02] [ 2.35234551e-01 -6.31827683e-02 9.69882799e-01 2.59921060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.899072329 meters Centerline goodness [0,1] 0.7389643585398776 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.61, Z:259.92 [[ 9.26452969e-01 -2.87024853e-01 -2.43519259e-01 -1.33923790e+02] [ 2.93902333e-01 9.55798342e-01 -8.42311060e-03 -1.18606230e+02] [ 2.35172946e-01 -6.37672625e-02 9.69859486e-01 2.59921672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92907232899995 meters Centerline goodness [0,1] 0.7377110263980051 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.61, Z:259.92 [[ 9.26511456e-01 -2.86606339e-01 -2.43789518e-01 -1.33923781e+02] [ 2.93665594e-01 9.55877245e-01 -7.69491813e-03 -1.18608391e+02] [ 2.35238265e-01 -6.44631637e-02 9.69797638e-01 2.59922825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.959072329 meters Centerline goodness [0,1] 0.7488471293520866 Centerline is valid? [False, False] Translation: X:-133.93, Y:-118.61, Z:259.92 [[ 9.25648022e-01 -2.91038778e-01 -2.41810193e-01 -1.33925748e+02] [ 2.97159414e-01 9.54757346e-01 -1.16057424e-02 -1.18608169e+02] [ 2.34247779e-01 -6.11133430e-02 9.70254161e-01 2.59921530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98907232899995 meters Centerline goodness [0,1] 0.7539218790478109 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.61, Z:259.92 [[ 9.25514502e-01 -2.91231881e-01 -2.42088618e-01 -1.33924331e+02] [ 2.97378398e-01 9.54689246e-01 -1.15987497e-02 -1.18608943e+02] [ 2.34497326e-01 -6.12571143e-02 9.70184812e-01 2.59921521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.019072329 meters Centerline goodness [0,1] 0.7564415591876598 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.61, Z:259.92 [[ 9.25205688e-01 -2.91892124e-01 -2.42473550e-01 -1.33921617e+02] [ 2.97993162e-01 9.54492870e-01 -1.19764952e-02 -1.18608773e+02] [ 2.34935119e-01 -6.11747384e-02 9.70084090e-01 2.59920856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04907232899996 meters Centerline goodness [0,1] 0.7569394711965396 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.61, Z:259.92 [[ 9.25186191e-01 -2.91931721e-01 -2.42500271e-01 -1.33921379e+02] [ 2.98055415e-01 9.54474448e-01 -1.18953023e-02 -1.18608814e+02] [ 2.34932929e-01 -6.12731497e-02 9.70078409e-01 2.59920802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.079072329 meters Centerline goodness [0,1] 0.7588397631230955 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.61, Z:259.92 [[ 9.25214745e-01 -2.91813978e-01 -2.42533046e-01 -1.33921695e+02] [ 2.97979383e-01 9.54500399e-01 -1.17165049e-02 -1.18609073e+02] [ 2.34916929e-01 -6.14295642e-02 9.70072392e-01 2.59921162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10907232899996 meters Centerline goodness [0,1] 0.7585443037974684 Centerline is valid? [False, False] Translation: X:-133.91, Y:-118.61, Z:259.92 [[ 9.27901033e-01 -2.93875362e-01 -2.29427427e-01 -1.33914830e+02] [ 2.99287738e-01 9.54091685e-01 -1.16578859e-02 -1.18605578e+02] [ 2.22320766e-01 -5.78474512e-02 9.73255953e-01 2.59915187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.139072329 meters Centerline goodness [0,1] 0.7595611104711439 Centerline is valid? [False, False] Translation: X:-133.92, Y:-118.61, Z:259.92 [[ 9.27294825e-01 -2.96808178e-01 -2.28099128e-01 -1.33920540e+02] [ 3.02034820e-01 9.53215196e-01 -1.24802737e-02 -1.18610944e+02] [ 2.21131802e-01 -5.73209858e-02 9.73557924e-01 2.59920984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16907232899996 meters Centerline goodness [0,1] 0.7585174092100337 Centerline is valid? [False, False] Translation: X:-133.90, Y:-118.60, Z:259.92 [[ 9.28153396e-01 -2.98612205e-01 -2.22175662e-01 -1.33900905e+02] [ 3.02407817e-01 9.53016854e-01 -1.75609812e-02 -1.18603874e+02] [ 2.16981074e-01 -5.08883728e-02 9.74848494e-01 2.59924626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.199072329 meters Centerline goodness [0,1] 0.7578244219861219 Centerline is valid? [False, False] Translation: X:-133.90, Y:-118.61, Z:259.93 [[ 9.27953706e-01 -2.98654354e-01 -2.22951778e-01 -1.33900996e+02] [ 3.02957251e-01 9.52878437e-01 -1.54786403e-02 -1.18607730e+02] [ 2.17068705e-01 -5.31813962e-02 9.74706580e-01 2.59929819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22907232899996 meters Centerline goodness [0,1] 0.7568159548100755 Centerline is valid? [False, False] Translation: X:-133.88, Y:-118.60, Z:259.93 [[ 9.29139101e-01 -2.98442485e-01 -2.18248973e-01 -1.33879093e+02] [ 3.01686519e-01 9.53215587e-01 -1.91125193e-02 -1.18599560e+02] [ 2.13742311e-01 -4.80845840e-02 9.75705948e-01 2.59932721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.259072329 meters Centerline goodness [0,1] 0.7579234972677595 Centerline is valid? [False, False] Translation: X:-133.86, Y:-118.59, Z:259.94 [[ 9.30452430e-01 -2.97785602e-01 -2.13499438e-01 -1.33857555e+02] [ 3.00040143e-01 9.53660144e-01 -2.25442263e-02 -1.18591241e+02] [ 2.10319251e-01 -4.30820718e-02 9.76683033e-01 2.59935251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28907232899996 meters Centerline goodness [0,1] 0.7560556112942526 Centerline is valid? [False, False] Translation: X:-133.86, Y:-118.59, Z:259.94 [[ 9.31219550e-01 -2.93702826e-01 -2.15798053e-01 -1.33855941e+02] [ 2.97065082e-01 9.54697859e-01 -1.74452298e-02 -1.18593476e+02] [ 2.11145652e-01 -4.78607271e-02 9.76282164e-01 2.59939499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.319072329 meters Centerline goodness [0,1] 0.7570010329392861 Centerline is valid? [False, False] Translation: X:-133.85, Y:-118.60, Z:259.94 [[ 9.32123802e-01 -2.89079897e-01 -2.18123889e-01 -1.33854346e+02] [ 2.93541291e-01 9.55865965e-01 -1.24003424e-02 -1.18596650e+02] [ 2.12081891e-01 -5.24697135e-02 9.75842303e-01 2.59943048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34907232899997 meters Centerline goodness [0,1] 0.7566809728183119 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.59, Z:259.94 [[ 9.33585322e-01 -2.87788815e-01 -2.13532303e-01 -1.33833246e+02] [ 2.91096687e-01 9.56551507e-01 -1.64903874e-02 -1.18587958e+02] [ 2.09000395e-01 -4.67633624e-02 9.76796817e-01 2.59943857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.379072329 meters Centerline goodness [0,1] 0.757346839499814 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.59, Z:259.95 [[ 9.34315284e-01 -2.83612146e-01 -2.15914569e-01 -1.33830464e+02] [ 2.87841258e-01 9.57599348e-01 -1.22841135e-02 -1.18589215e+02] [ 2.10243575e-01 -5.06718864e-02 9.76334983e-01 2.59946098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40907232899997 meters Centerline goodness [0,1] 0.7556805206668189 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.58, Z:259.95 [[ 9.35635479e-01 -2.82182032e-01 -2.12036674e-01 -1.33808379e+02] [ 2.85298493e-01 9.58298251e-01 -1.64082700e-02 -1.18578905e+02] [ 2.07824493e-01 -4.51415841e-02 9.77123952e-01 2.59947385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.439072329 meters Centerline goodness [0,1] 0.7542165242165242 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.58, Z:259.95 [[ 9.36379634e-01 -2.77888567e-01 -2.14408782e-01 -1.33805774e+02] [ 2.81994897e-01 9.59342984e-01 -1.18286631e-02 -1.18581083e+02] [ 2.08978611e-01 -4.93860630e-02 9.76672390e-01 2.59950276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46907232899997 meters Centerline goodness [0,1] 0.7546068183760075 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.58, Z:259.95 [[ 9.37348994e-01 -2.73075159e-01 -2.16348840e-01 -1.33804874e+02] [ 2.78223717e-01 9.60491489e-01 -6.90386975e-03 -1.18583924e+02] [ 2.09686494e-01 -5.37220430e-02 9.76291717e-01 2.59953134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49907232899994 meters Centerline goodness [0,1] 0.756105170604419 Centerline is valid? [False, False] Translation: X:-133.79, Y:-118.58, Z:259.95 [[ 9.39346528e-01 -2.71743317e-01 -2.09245478e-01 -1.33791678e+02] [ 2.75396251e-01 9.61255228e-01 -1.20536514e-02 -1.18575058e+02] [ 2.04413809e-01 -4.63028646e-02 9.77788852e-01 2.59953126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.529072329 meters Centerline goodness [0,1] 0.758239567013246 Centerline is valid? [False, False] Translation: X:-133.78, Y:-118.57, Z:259.95 [[ 9.41224584e-01 -2.70211228e-01 -2.02687379e-01 -1.33776375e+02] [ 2.72536368e-01 9.61997127e-01 -1.68954536e-02 -1.18567794e+02] [ 1.99550018e-01 -3.93372660e-02 9.79097733e-01 2.59952615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55907232899995 meters Centerline goodness [0,1] 0.7601078932424759 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.56, Z:259.95 [[ 9.42763785e-01 -2.68925499e-01 -1.97168763e-01 -1.33758393e+02] [ 2.70066087e-01 9.62599456e-01 -2.16008474e-02 -1.18559956e+02] [ 1.95603562e-01 -3.28840997e-02 9.80131564e-01 2.59953048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.589072329 meters Centerline goodness [0,1] 0.7614831994569522 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.56, Z:259.96 [[ 9.43629069e-01 -2.64491188e-01 -1.99019074e-01 -1.33757570e+02] [ 2.66468960e-01 9.63688568e-01 -1.72811444e-02 -1.18560089e+02] [ 1.96363117e-01 -3.67254156e-02 9.79843237e-01 2.59955400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61907232899995 meters Centerline goodness [0,1] 0.7614171903052065 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.56, Z:259.96 [[ 9.44517926e-01 -2.59956196e-01 -2.00770175e-01 -1.33756606e+02] [ 2.62821170e-01 9.64760557e-01 -1.27318608e-02 -1.18561527e+02] [ 1.97004872e-01 -4.07411815e-02 9.79555632e-01 2.59957458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.649072329 meters Centerline goodness [0,1] 0.761037003962717 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.56, Z:259.96 [[ 9.45298795e-01 -2.55610499e-01 -2.02665884e-01 -1.33755034e+02] [ 2.59317698e-01 9.65754598e-01 -8.50812869e-03 -1.18562125e+02] [ 1.97900276e-01 -4.45121267e-02 9.79210984e-01 2.59959339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67907232899995 meters Centerline goodness [0,1] 0.76003221416868 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.56, Z:259.96 [[ 9.46330600e-01 -2.50781364e-01 -2.03880120e-01 -1.33756441e+02] [ 2.55301871e-01 9.66852010e-01 -4.25982223e-03 -1.18561002e+02] [ 1.98190187e-01 -4.80197758e-02 9.78986594e-01 2.59961166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.709072329 meters Centerline goodness [0,1] 0.7593447547001891 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.56, Z:259.96 [[ 9.47239204e-01 -2.46066981e-01 -2.05399442e-01 -1.33756188e+02] [ 2.51482476e-01 9.67861814e-01 2.68869929e-04 -1.18562694e+02] [ 1.98732117e-01 -5.19090445e-02 9.78678189e-01 2.59963167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73907232899995 meters Centerline goodness [0,1] 0.7595178719867 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.56, Z:259.96 [[ 9.47408818e-01 -2.45738253e-01 -2.05010349e-01 -1.33758547e+02] [ 2.51149363e-01 9.67948267e-01 3.86349093e-04 -1.18561458e+02] [ 1.98344471e-01 -5.18542491e-02 9.78759729e-01 2.59963685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.769072329 meters Centerline goodness [0,1] 0.7606526652334491 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.56, Z:259.96 [[ 9.47525961e-01 -2.45626410e-01 -2.04602590e-01 -1.33761077e+02] [ 2.50973169e-01 9.67994025e-01 1.89124929e-04 -1.18558920e+02] [ 1.98007630e-01 -5.15289611e-02 9.78845108e-01 2.59964119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79907232899996 meters Centerline goodness [0,1] 0.7616258185736785 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.55, Z:259.96 [[ 9.49087591e-01 -2.44452202e-01 -1.98685344e-01 -1.33744253e+02] [ 2.48351350e-01 9.68654695e-01 -5.44875954e-03 -1.18551863e+02] [ 1.93789452e-01 -4.41724232e-02 9.80048185e-01 2.59962813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.829072329 meters Centerline goodness [0,1] 0.7632526312896755 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.55, Z:259.97 [[ 9.49722462e-01 -2.40392122e-01 -2.00596292e-01 -1.33742457e+02] [ 2.45136764e-01 9.69487737e-01 -1.22297256e-03 -1.18552796e+02] [ 1.94769638e-01 -4.80120413e-02 9.79673227e-01 2.59965150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85907232899996 meters Centerline goodness [0,1] 0.7630814749876719 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.55, Z:259.97 [[ 9.49824370e-01 -2.40204053e-01 -2.00338910e-01 -1.33743932e+02] [ 2.44947754e-01 9.69535606e-01 -1.14324349e-03 -1.18552123e+02] [ 1.94510318e-01 -4.79866855e-02 9.79725989e-01 2.59965459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.889072329 meters Centerline goodness [0,1] 0.7647187808354348 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.55, Z:259.97 [[ 9.49933000e-01 -2.40025609e-01 -2.00037503e-01 -1.33745589e+02] [ 2.44769801e-01 9.69580657e-01 -1.04618077e-03 -1.18551118e+02] [ 1.94203604e-01 -4.79693384e-02 9.79787682e-01 2.59965806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91907232899996 meters Centerline goodness [0,1] 0.7654908394859175 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.55, Z:259.97 [[ 9.50085766e-01 -2.39734557e-01 -1.99660660e-01 -1.33748191e+02] [ 2.44491112e-01 9.69651154e-01 -8.58278317e-04 -1.18549264e+02] [ 1.93806948e-01 -4.79998186e-02 9.79864728e-01 2.59966664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.949072329 meters Centerline goodness [0,1] 0.7670668485675307 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.55, Z:259.97 [[ 9.50241554e-01 -2.39255430e-01 -1.99493930e-01 -1.33750203e+02] [ 2.44092447e-01 9.69751900e-01 -3.59017202e-04 -1.18549438e+02] [ 1.93545515e-01 -4.83538086e-02 9.79898996e-01 2.59967880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97907232899996 meters Centerline goodness [0,1] 0.7652513421181064 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.55, Z:259.96 [[ 9.52768732e-01 -2.40216242e-01 -1.85816848e-01 -1.33746697e+02] [ 2.44698873e-01 9.69598347e-01 1.22789928e-03 -1.18547048e+02] [ 1.79872747e-01 -4.66390774e-02 9.82583631e-01 2.59961276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.009072329 meters Centerline goodness [0,1] 0.7653981312484677 Centerline is valid? [False, False] Translation: X:-133.73, Y:-118.54, Z:259.96 [[ 9.54413826e-01 -2.38554719e-01 -1.79404278e-01 -1.33732238e+02] [ 2.41690632e-01 9.70342931e-01 -4.49824790e-03 -1.18539566e+02] [ 1.75156752e-01 -3.90671433e-02 9.83765150e-01 2.59959960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03907232899996 meters Centerline goodness [0,1] 0.7644685172647258 Centerline is valid? [False, False] Translation: X:-133.73, Y:-118.54, Z:259.96 [[ 9.55261348e-01 -2.33995991e-01 -1.80891221e-01 -1.33731302e+02] [ 2.37954573e-01 9.71276267e-01 1.88252226e-04 -1.18541919e+02] [ 1.75651300e-01 -4.32237232e-02 9.83503091e-01 2.59961652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.069072329 meters Centerline goodness [0,1] 0.764383710210943 Centerline is valid? [False, False] Translation: X:-133.73, Y:-118.54, Z:259.96 [[ 9.55358707e-01 -2.33768671e-01 -1.80670829e-01 -1.33732374e+02] [ 2.37717676e-01 9.71334269e-01 2.11048979e-04 -1.18541151e+02] [ 1.75442431e-01 -4.31502771e-02 9.83543597e-01 2.59961577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09907232899997 meters Centerline goodness [0,1] 0.764383710210943 Centerline is valid? [False, False] Translation: X:-133.73, Y:-118.54, Z:259.96 [[ 9.55358707e-01 -2.33768671e-01 -1.80670829e-01 -1.33732374e+02] [ 2.37717676e-01 9.71334269e-01 2.11048979e-04 -1.18541151e+02] [ 1.75442431e-01 -4.31502771e-02 9.83543597e-01 2.59961577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.129072329 meters Centerline goodness [0,1] 0.7632301378054416 Centerline is valid? [False, False] Translation: X:-133.73, Y:-118.54, Z:259.96 [[ 9.56237594e-01 -2.28999530e-01 -1.82123252e-01 -1.33731806e+02] [ 2.33812934e-01 9.72268140e-01 5.11615540e-03 -1.18543831e+02] [ 1.75901038e-01 -4.74750321e-02 9.83262399e-01 2.59963577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15907232899997 meters Centerline goodness [0,1] 0.7601825748422607 Centerline is valid? [False, False] Translation: X:-133.73, Y:-118.55, Z:259.97 [[ 9.57224826e-01 -2.23890028e-01 -1.83286354e-01 -1.33732749e+02] [ 2.29533988e-01 9.73250293e-01 9.90033424e-03 -1.18545002e+02] [ 1.76166912e-01 -5.15472934e-02 9.83009713e-01 2.59965532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.189072329 meters Centerline goodness [0,1] 0.7596081386586284 Centerline is valid? [False, False] Translation: X:-133.73, Y:-118.54, Z:259.97 [[ 9.57403275e-01 -2.23477453e-01 -1.82857316e-01 -1.33734749e+02] [ 2.29114587e-01 9.73347799e-01 1.00284140e-02 -1.18544118e+02] [ 1.75742641e-01 -5.14965148e-02 9.83088314e-01 2.59965702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21907232899997 meters Centerline goodness [0,1] 0.758096975876781 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.54, Z:259.97 [[ 9.57523209e-01 -2.23216115e-01 -1.82548270e-01 -1.33736161e+02] [ 2.28828236e-01 9.73415402e-01 1.00047110e-02 -1.18543273e+02] [ 1.75462085e-01 -5.13519416e-02 9.83145989e-01 2.59965699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24907232899994 meters Centerline goodness [0,1] 0.7570297349709114 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.54, Z:259.97 [[ 9.57860280e-01 -2.22228945e-01 -1.81983462e-01 -1.33739650e+02] [ 2.27840959e-01 9.73644262e-01 1.02639391e-02 -1.18542102e+02] [ 1.74906209e-01 -5.12947060e-02 9.83248021e-01 2.59966243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.279072329 meters Centerline goodness [0,1] 0.7584404386603077 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.54, Z:259.97 [[ 9.58082708e-01 -2.21531796e-01 -1.81662293e-01 -1.33741940e+02] [ 2.27193623e-01 9.73790770e-01 1.07048242e-02 -1.18542189e+02] [ 1.74529605e-01 -5.15286215e-02 9.83302709e-01 2.59967056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30907232899995 meters Centerline goodness [0,1] 0.7601736008787205 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.54, Z:259.97 [[ 9.58153629e-01 -2.21368344e-01 -1.81487407e-01 -1.33742954e+02] [ 2.27001058e-01 9.73836734e-01 1.06082408e-02 -1.18541352e+02] [ 1.74390775e-01 -5.13621578e-02 9.83336050e-01 2.59967107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.339072329 meters Centerline goodness [0,1] 0.7604032604032605 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.54, Z:259.97 [[ 9.58413755e-01 -2.20726500e-01 -1.80894682e-01 -1.33745917e+02] [ 2.26357302e-01 9.73984082e-01 1.08342316e-02 -1.18539635e+02] [ 1.73797139e-01 -5.13305088e-02 9.83442796e-01 2.59967311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36907232899995 meters Centerline goodness [0,1] 0.7616339886811684 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.54, Z:259.97 [[ 9.58521989e-01 -2.20452491e-01 -1.80655186e-01 -1.33746971e+02] [ 2.26105978e-01 9.74039920e-01 1.10598823e-02 -1.18539578e+02] [ 1.73527184e-01 -5.14483578e-02 9.83484307e-01 2.59967441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.399072329 meters Centerline goodness [0,1] 0.7602328201276756 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.54, Z:259.97 [[ 9.58639721e-01 -2.19918892e-01 -1.80680842e-01 -1.33747797e+02] [ 2.25693097e-01 9.74127163e-01 1.17854298e-02 -1.18541449e+02] [ 1.73414278e-01 -5.20764000e-02 9.83471167e-01 2.59968535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42907232899995 meters Centerline goodness [0,1] 0.7602765522436242 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.54, Z:259.97 [[ 9.58764247e-01 -2.19403658e-01 -1.80646486e-01 -1.33748687e+02] [ 2.25280319e-01 9.74214766e-01 1.24244441e-02 -1.18543012e+02] [ 1.73262505e-01 -5.26082108e-02 9.83469613e-01 2.59969392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.459072329 meters Centerline goodness [0,1] 0.759598076354746 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.54, Z:259.97 [[ 9.58900515e-01 -2.18893321e-01 -1.80542283e-01 -1.33749842e+02] [ 2.24846104e-01 9.74308420e-01 1.29356906e-02 -1.18543861e+02] [ 1.73072331e-01 -5.29982694e-02 9.83482156e-01 2.59970091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48907232899995 meters Centerline goodness [0,1] 0.7620949368785012 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.54, Z:259.97 [[ 9.59044082e-01 -2.18565896e-01 -1.80176019e-01 -1.33751330e+02] [ 2.24533175e-01 9.74377550e-01 1.31621828e-02 -1.18543822e+02] [ 1.72682664e-01 -5.30786071e-02 9.83546318e-01 2.59970186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.519072329 meters Centerline goodness [0,1] 0.7623871749966321 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.54, Z:259.97 [[ 9.59218968e-01 -2.18185570e-01 -1.79705393e-01 -1.33753101e+02] [ 2.24171215e-01 9.74456974e-01 1.34488500e-02 -1.18543298e+02] [ 1.72180829e-01 -5.31851684e-02 9.83628538e-01 2.59970184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54907232899996 meters Centerline goodness [0,1] 0.7620630031879829 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.54, Z:259.97 [[ 9.59167633e-01 -2.18344182e-01 -1.79786732e-01 -1.33752697e+02] [ 2.24314464e-01 9.74425762e-01 1.33212134e-02 -1.18543290e+02] [ 1.72280214e-01 -5.31060412e-02 9.83615411e-01 2.59970022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.579072329 meters Centerline goodness [0,1] 0.7616473894714085 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.54, Z:259.97 [[ 9.59274727e-01 -2.17911644e-01 -1.79740128e-01 -1.33753445e+02] [ 2.23973186e-01 9.74496230e-01 1.38964015e-02 -1.18544684e+02] [ 1.72127889e-01 -5.35874358e-02 9.83615970e-01 2.59970736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60907232899996 meters Centerline goodness [0,1] 0.7653949402098755 Centerline is valid? [False, False] Translation: X:-133.75, Y:-118.55, Z:259.97 [[ 9.59306084e-01 -2.17580648e-01 -1.79973607e-01 -1.33753844e+02] [ 2.23713153e-01 9.74550739e-01 1.42576842e-02 -1.18546100e+02] [ 1.72291216e-01 -5.39399463e-02 9.83568106e-01 2.59971957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.639072329 meters Centerline goodness [0,1] 0.7661237785016286 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.55, Z:259.97 [[ 9.59520855e-01 -2.16889811e-01 -1.79662294e-01 -1.33755907e+02] [ 2.23095292e-01 9.74683723e-01 1.48368176e-02 -1.18546819e+02] [ 1.71895959e-01 -5.43180477e-02 9.83616454e-01 2.59972800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66907232899996 meters Centerline goodness [0,1] 0.7662351701213415 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.55, Z:259.97 [[ 9.59712970e-01 -2.16366831e-01 -1.79266311e-01 -1.33758018e+02] [ 2.22576781e-01 9.74799194e-01 1.50369044e-02 -1.18546193e+02] [ 1.71495168e-01 -5.43316306e-02 9.83685662e-01 2.59973112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.699072329 meters Centerline goodness [0,1] 0.76148767012532 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.54, Z:259.97 [[ 9.60154182e-01 -2.15160340e-01 -1.78353511e-01 -1.33762408e+02] [ 2.21274306e-01 9.75097983e-01 1.48863724e-02 -1.18542575e+02] [ 1.70709192e-01 -5.37582620e-02 9.83853862e-01 2.59972380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72907232899996 meters Centerline goodness [0,1] 0.757467208920251 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.54, Z:259.97 [[ 9.60284016e-01 -2.14986824e-01 -1.77863076e-01 -1.33764112e+02] [ 2.20976035e-01 9.75173835e-01 1.43381560e-02 -1.18539966e+02] [ 1.70364903e-01 -5.30721792e-02 9.83950783e-01 2.59971609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.759072329 meters Centerline goodness [0,1] 0.740832148509805 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.54, Z:259.97 [[ 9.60485201e-01 -2.14561938e-01 -1.77288896e-01 -1.33766411e+02] [ 2.20436982e-01 9.75302220e-01 1.38966687e-02 -1.18537305e+02] [ 1.69928557e-01 -5.24285739e-02 9.84060735e-01 2.59970913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78907232899996 meters Centerline goodness [0,1] 0.6938178335816131 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.53, Z:259.97 [[ 9.61745075e-01 -2.08638895e-01 -1.77528086e-01 -1.33770629e+02] [ 2.15097270e-01 9.76431721e-01 1.77273612e-02 -1.18534108e+02] [ 1.69645438e-01 -5.52350090e-02 9.83956056e-01 2.59971048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.819072329 meters Centerline goodness [0,1] 0.6859591577610835 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.53, Z:259.97 [[ 9.62666718e-01 -2.03693297e-01 -1.78274593e-01 -1.33771856e+02] [ 2.10781820e-01 9.77295277e-01 2.15630603e-02 -1.18532661e+02] [ 1.69834667e-01 -5.83350836e-02 9.83744481e-01 2.59971394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84907232899997 meters Centerline goodness [0,1] 0.662262462494078 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.53, Z:259.97 [[ 9.63622050e-01 -1.98646558e-01 -1.78807410e-01 -1.33773709e+02] [ 2.06331866e-01 9.78155677e-01 2.52711950e-02 -1.18530361e+02] [ 1.69881447e-01 -6.12455472e-02 9.83559493e-01 2.59971426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.879072329 meters Centerline goodness [0,1] 0.6087984616983682 Centerline is valid? [False, False] Translation: X:-133.78, Y:-118.52, Z:259.97 [[ 9.65834662e-01 -1.82867304e-01 -1.83638107e-01 -1.33778285e+02] [ 1.89703660e-01 9.81633098e-01 2.02233236e-02 -1.18522944e+02] [ 1.76567060e-01 -5.43692081e-02 9.82785868e-01 2.59971423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90907232899997 meters Centerline goodness [0,1] 0.5905777503026557 Centerline is valid? [False, False] Translation: X:-133.78, Y:-118.52, Z:259.97 [[ 9.67939771e-01 -1.75616264e-01 -1.79587101e-01 -1.33777396e+02] [ 1.80351282e-01 9.83548784e-01 1.02569483e-02 -1.18515281e+02] [ 1.74831388e-01 -4.23168721e-02 9.83688603e-01 2.59967186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.939072329 meters Centerline goodness [0,1] 0.5824122278357654 Centerline is valid? [False, False] Translation: X:-133.78, Y:-118.51, Z:259.97 [[ 9.69052606e-01 -1.69390881e-01 -1.79565519e-01 -1.33782418e+02] [ 1.74815224e-01 9.84491378e-01 1.47093149e-02 -1.18513374e+02] [ 1.74289081e-01 -4.56448863e-02 9.83636041e-01 2.59968432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96907232899997 meters Centerline goodness [0,1] 0.5636078590032114 Centerline is valid? [False, False] Translation: X:-133.79, Y:-118.51, Z:259.96 [[ 9.72319469e-01 -1.51723203e-01 -1.77693333e-01 -1.33794465e+02] [ 1.55553749e-01 9.87797069e-01 7.74482582e-03 -1.18506313e+02] [ 1.74349884e-01 -3.51713091e-02 9.84055434e-01 2.59962905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99907232899994 meters Centerline goodness [0,1] 0.5502915451895043 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.50, Z:259.96 [[ 9.73314593e-01 -1.45528369e-01 -1.77426598e-01 -1.33799311e+02] [ 1.49994558e-01 9.88614589e-01 1.19509896e-02 -1.18503355e+02] [ 1.73667315e-01 -3.82450969e-02 9.84061470e-01 2.59963339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.029072329 meters Centerline goodness [0,1] 0.5450546154422976 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.50, Z:259.96 [[ 9.74246220e-01 -1.39442009e-01 -1.77201100e-01 -1.33803943e+02] [ 1.44562777e-01 9.89362042e-01 1.62589749e-02 -1.18500777e+02] [ 1.73048858e-01 -4.14569279e-02 9.84040353e-01 2.59964097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05907232899995 meters Centerline goodness [0,1] 0.5290468688460024 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.49, Z:259.96 [[ 9.76881604e-01 -1.25565269e-01 -1.73019347e-01 -1.33807645e+02] [ 1.29103293e-01 9.91587508e-01 9.30347251e-03 -1.18491718e+02] [ 1.70395630e-01 -3.14257587e-02 9.84874485e-01 2.59957763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.089072329 meters Centerline goodness [0,1] 0.5175442901310301 Centerline is valid? [False, False] Translation: X:-133.82, Y:-118.49, Z:259.95 [[ 9.77759242e-01 -1.21791982e-01 -1.70744188e-01 -1.33816829e+02] [ 1.25048718e-01 9.92114961e-01 8.40960811e-03 -1.18489338e+02] [ 1.68373640e-01 -2.95739138e-02 9.85279504e-01 2.59953474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11907232899995 meters Centerline goodness [0,1] 0.49437212488988935 Centerline is valid? [False, False] Translation: X:-133.82, Y:-118.49, Z:259.95 [[ 9.78506750e-01 -1.18799546e-01 -1.68556246e-01 -1.33824941e+02] [ 1.21855131e-01 9.92516743e-01 7.86402282e-03 -1.18487672e+02] [ 1.66360654e-01 -2.82344429e-02 9.85660666e-01 2.59950415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.149072329 meters Centerline goodness [0,1] 0.4928236672524897 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.49, Z:259.95 [[ 9.78887197e-01 -1.16799461e-01 -1.67743081e-01 -1.33829695e+02] [ 1.19902397e-01 9.92749679e-01 8.45515816e-03 -1.18486499e+02] [ 1.65539332e-01 -2.83894436e-02 9.85794486e-01 2.59950964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17907232899995 meters Centerline goodness [0,1] 0.49603957982988467 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.49, Z:259.95 [[ 9.79246639e-01 -1.15006090e-01 -1.66882053e-01 -1.33834172e+02] [ 1.18175222e-01 9.92950581e-01 9.15211811e-03 -1.18486221e+02] [ 1.64653082e-01 -2.86835045e-02 9.85934389e-01 2.59951434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.209072329 meters Centerline goodness [0,1] 0.4945065677035011 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.49, Z:259.95 [[ 9.78892726e-01 -1.19637803e-01 -1.65697997e-01 -1.33835737e+02] [ 1.22119480e-01 9.92503637e-01 4.83359256e-03 -1.18485232e+02] [ 1.63877584e-01 -2.49665219e-02 9.86164697e-01 2.59950542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23907232899995 meters Centerline goodness [0,1] 0.5008062545809919 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.48, Z:259.95 [[ 9.78572770e-01 -1.23982283e-01 -1.64388954e-01 -1.33837750e+02] [ 1.25808082e-01 9.92054351e-01 7.00779623e-04 -1.18484575e+02] [ 1.62995893e-01 -2.13672229e-02 9.86395347e-01 2.59949662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.269072329 meters Centerline goodness [0,1] 0.492375366568915 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.49, Z:259.95 [[ 9.78442741e-01 -1.24521454e-01 -1.64754999e-01 -1.33835541e+02] [ 1.26388926e-01 9.91980394e-01 8.58768907e-04 -1.18486210e+02] [ 1.63326794e-01 -2.16634636e-02 9.86334149e-01 2.59949171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29907232899996 meters Centerline goodness [0,1] 0.4990803188228081 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.49, Z:259.95 [[ 9.78085941e-01 -1.28943033e-01 -1.63467385e-01 -1.33837016e+02] [ 1.30162799e-01 9.91487234e-01 -3.27262527e-03 -1.18485167e+02] [ 1.62497807e-01 -1.80764635e-02 9.86543311e-01 2.59947833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.329072329 meters Centerline goodness [0,1] 0.5091555204580228 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.49, Z:259.95 [[ 9.77870274e-01 -1.29520469e-01 -1.64299044e-01 -1.33833885e+02] [ 1.30920105e-01 9.91390189e-01 -2.32772885e-03 -1.18490739e+02] [ 1.63185949e-01 -1.92338313e-02 9.86407829e-01 2.59949046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35907232899996 meters Centerline goodness [0,1] 0.5129479596401412 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.49, Z:259.95 [[ 9.77472921e-01 -1.33719292e-01 -1.63296783e-01 -1.33835030e+02] [ 1.34588775e-01 9.90884694e-01 -5.77792116e-03 -1.18493195e+02] [ 1.62580902e-01 -1.63301526e-02 9.86560072e-01 2.59948863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.389072329 meters Centerline goodness [0,1] 0.5253830579648562 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.50, Z:259.95 [[ 9.76909078e-01 -1.38287435e-01 -1.62865710e-01 -1.33834369e+02] [ 1.38653907e-01 9.90298437e-01 -9.17056372e-03 -1.18496527e+02] [ 1.62553832e-01 -1.36231601e-02 9.86605626e-01 2.59949095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41907232899996 meters Centerline goodness [0,1] 0.5282279339715082 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.50, Z:259.95 [[ 9.76411618e-01 -1.42574700e-01 -1.62150572e-01 -1.33834608e+02] [ 1.42435922e-01 9.89724569e-01 -1.25413914e-02 -1.18499235e+02] [ 1.62272490e-01 -1.08505060e-02 9.86686326e-01 2.59949126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.449072329 meters Centerline goodness [0,1] 0.5430416613904014 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.50, Z:259.95 [[ 9.75777255e-01 -1.47203022e-01 -1.61833303e-01 -1.33832973e+02] [ 1.46660981e-01 9.89067599e-01 -1.53571008e-02 -1.18504930e+02] [ 1.62324689e-01 -8.74952132e-03 9.86698607e-01 2.59949554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47907232899996 meters Centerline goodness [0,1] 0.5284422366577506 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.51, Z:259.94 [[ 9.75530555e-01 -1.56560564e-01 -1.54366206e-01 -1.33841486e+02] [ 1.56238054e-01 9.87615975e-01 -1.42953511e-02 -1.18509255e+02] [ 1.54692619e-01 -1.01723237e-02 9.87910278e-01 2.59942662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.509072329 meters Centerline goodness [0,1] 0.554271807352376 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.51, Z:259.94 [[ 9.74642692e-01 -1.62283320e-01 -1.54064101e-01 -1.33838695e+02] [ 1.61451037e-01 9.86716857e-01 -1.79835158e-02 -1.18512786e+02] [ 1.54936070e-01 -7.34630652e-03 9.87897184e-01 2.59942602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53907232899996 meters Centerline goodness [0,1] 0.563447683944966 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.52, Z:259.94 [[ 9.72546951e-01 -1.79676727e-01 -1.47880700e-01 -1.33844355e+02] [ 1.79083040e-01 9.83679540e-01 -1.74306394e-02 -1.18522031e+02] [ 1.48599100e-01 -9.53081023e-03 9.88851592e-01 2.59939027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.569072329 meters Centerline goodness [0,1] 0.5638381406061875 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.52, Z:259.94 [[ 9.71659249e-01 -1.84747192e-01 -1.47467893e-01 -1.33842419e+02] [ 1.83678754e-01 9.82763036e-01 -2.09506707e-02 -1.18524920e+02] [ 1.48796572e-01 -6.72980591e-03 9.88844927e-01 2.59939076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59907232899997 meters Centerline goodness [0,1] 0.5759420289855073 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.53, Z:259.94 [[ 9.70725515e-01 -1.89921090e-01 -1.47044057e-01 -1.33839948e+02] [ 1.88352880e-01 9.81792114e-01 -2.46462345e-02 -1.18527667e+02] [ 1.49047535e-01 -3.77144285e-03 9.88822840e-01 2.59938572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.629072329 meters Centerline goodness [0,1] 0.5928501546841535 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.53, Z:259.94 [[ 9.69719623e-01 -1.95291481e-01 -1.46646141e-01 -1.33837219e+02] [ 1.93189744e-01 9.80745053e-01 -2.85808267e-02 -1.18529770e+02] [ 1.49404070e-01 -6.15142088e-04 9.88776034e-01 2.59937940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65907232899997 meters Centerline goodness [0,1] 0.6315254599914419 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.54, Z:259.93 [[ 9.68186389e-01 -2.08210462e-01 -1.38793086e-01 -1.33844006e+02] [ 2.06378544e-01 9.78082205e-01 -2.76242185e-02 -1.18535690e+02] [ 1.41502699e-01 -1.89852261e-03 9.89936049e-01 2.59930218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.689072329 meters Centerline goodness [0,1] 0.6454177933656395 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.54, Z:259.93 [[ 9.67947535e-01 -2.08875802e-01 -1.39457767e-01 -1.33841400e+02] [ 2.07168475e-01 9.77937764e-01 -2.68132800e-02 -1.18539543e+02] [ 1.41981662e-01 -2.93740474e-03 9.89864930e-01 2.59931293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71907232899997 meters Centerline goodness [0,1] 0.6754651665945478 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.55, Z:259.93 [[ 9.66825500e-01 -2.14195332e-01 -1.39171879e-01 -1.33838257e+02] [ 2.12125367e-01 9.76790527e-01 -2.97169037e-02 -1.18545042e+02] [ 1.42306995e-01 -7.90825667e-04 9.89822254e-01 2.59932189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74907232899994 meters Centerline goodness [0,1] 0.6793886913325552 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.55, Z:259.93 [[ 9.66668755e-01 -2.14416715e-01 -1.39917798e-01 -1.33836103e+02] [ 2.12503508e-01 9.76740153e-01 -2.86519204e-02 -1.18549343e+02] [ 1.42806782e-01 -2.03610665e-03 9.89748492e-01 2.59933719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.779072329 meters Centerline goodness [0,1] 0.6945359505594729 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.55, Z:259.93 [[ 9.66557540e-01 -2.14555032e-01 -1.40472989e-01 -1.33834327e+02] [ 2.12774133e-01 9.76707104e-01 -2.77560975e-02 -1.18552874e+02] [ 1.43156177e-01 -3.06115314e-03 9.89695377e-01 2.59934672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80907232899995 meters Centerline goodness [0,1] 0.7315010570824525 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.56, Z:259.93 [[ 9.66107748e-01 -2.16170853e-01 -1.41088558e-01 -1.33829736e+02] [ 2.14488555e-01 9.76347457e-01 -2.72084943e-02 -1.18557761e+02] [ 1.43633138e-01 -3.97554368e-03 9.89623017e-01 2.59934941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.839072329 meters Centerline goodness [0,1] 0.760481516169908 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.56, Z:259.94 [[ 9.66009310e-01 -2.16184081e-01 -1.41740808e-01 -1.33827982e+02] [ 2.14634907e-01 9.76339806e-01 -2.63142662e-02 -1.18561213e+02] [ 1.44075919e-01 -5.00269903e-03 9.89553992e-01 2.59936006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86907232899995 meters Centerline goodness [0,1] 0.7659257625062048 Centerline is valid? [False, False] Translation: X:-133.83, Y:-118.57, Z:259.94 [[ 9.65937348e-01 -2.16093666e-01 -1.42367721e-01 -1.33826525e+02] [ 2.14699199e-01 9.76353230e-01 -2.52709957e-02 -1.18565046e+02] [ 1.44462086e-01 -6.15603712e-03 9.89491187e-01 2.59937410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.899072329 meters Centerline goodness [0,1] 0.7703827418232428 Centerline is valid? [False, False] Translation: X:-133.82, Y:-118.57, Z:259.94 [[ 9.65675823e-01 -2.16747338e-01 -1.43146065e-01 -1.33823580e+02] [ 2.15658838e-01 9.76191565e-01 -2.32657272e-02 -1.18573138e+02] [ 1.44780765e-01 -8.40356363e-03 9.89428072e-01 2.59940587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92907232899995 meters Centerline goodness [0,1] 0.7681041951983006 Centerline is valid? [False, False] Translation: X:-133.82, Y:-118.58, Z:259.94 [[ 9.65590031e-01 -2.16648340e-01 -1.43872823e-01 -1.33821877e+02] [ 2.15714892e-01 9.76202950e-01 -2.22460348e-02 -1.18577038e+02] [ 1.45268641e-01 -9.55496097e-03 9.89346110e-01 2.59941994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.959072329 meters Centerline goodness [0,1] 0.7724733225319851 Centerline is valid? [False, False] Translation: X:-133.82, Y:-118.58, Z:259.94 [[ 9.65566175e-01 -2.16490336e-01 -1.44270215e-01 -1.33820785e+02] [ 2.15705173e-01 9.76227227e-01 -2.12527679e-02 -1.18580646e+02] [ 1.45441531e-01 -1.05988780e-02 9.89310075e-01 2.59943001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98907232899995 meters Centerline goodness [0,1] 0.7724733225319851 Centerline is valid? [False, False] Translation: X:-133.82, Y:-118.58, Z:259.94 [[ 9.66154034e-01 -2.12694912e-01 -1.45970052e-01 -1.33817542e+02] [ 2.12425339e-01 9.77018518e-01 -1.76150460e-02 -1.18583313e+02] [ 1.46362075e-01 -1.39888901e-02 9.89132172e-01 2.59943046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.019072329 meters Centerline goodness [0,1] 0.7668114926419061 Centerline is valid? [False, False] Translation: X:-133.82, Y:-118.59, Z:259.94 [[ 9.66093516e-01 -2.12604564e-01 -1.46501252e-01 -1.33816253e+02] [ 2.12473086e-01 9.77023708e-01 -1.67290644e-02 -1.18586317e+02] [ 1.46691872e-01 -1.49657324e-02 9.89069018e-01 2.59944074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04907232899996 meters Centerline goodness [0,1] 0.7639713120517508 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.59, Z:259.95 [[ 9.65924914e-01 -2.12908531e-01 -1.47170032e-01 -1.33813559e+02] [ 2.12972269e-01 9.76935133e-01 -1.55099733e-02 -1.18591397e+02] [ 1.47077781e-01 -1.63616661e-02 9.88989597e-01 2.59945339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.079072329 meters Centerline goodness [0,1] 0.7638231981981982 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.59, Z:259.95 [[ 9.65898677e-01 -2.12718640e-01 -1.47616142e-01 -1.33812534e+02] [ 2.12937644e-01 9.76958134e-01 -1.45039489e-02 -1.18594786e+02] [ 1.47300051e-01 -1.74236883e-02 9.88938375e-01 2.59946528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10907232899996 meters Centerline goodness [0,1] 0.7626492084544403 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.60, Z:259.95 [[ 9.65860050e-01 -2.12604494e-01 -1.48032741e-01 -1.33811431e+02] [ 2.12939198e-01 9.76968415e-01 -1.37700009e-02 -1.18597340e+02] [ 1.47550877e-01 -1.82220794e-02 9.88886593e-01 2.59947286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.139072329 meters Centerline goodness [0,1] 0.7621396161542147 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.60, Z:259.95 [[ 9.65745539e-01 -2.12793067e-01 -1.48508130e-01 -1.33809244e+02] [ 2.13217722e-01 9.76914956e-01 -1.32428178e-02 -1.18600031e+02] [ 1.47897793e-01 -1.88753729e-02 9.88822513e-01 2.59947302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16907232899996 meters Centerline goodness [0,1] 0.7601367579328078 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.60, Z:259.95 [[ 9.66405040e-01 -2.08704599e-01 -1.50012299e-01 -1.33807041e+02] [ 2.09847122e-01 9.77698539e-01 -8.35174807e-03 -1.18604435e+02] [ 1.48409854e-01 -2.34084779e-02 9.88648855e-01 2.59949031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.199072329 meters Centerline goodness [0,1] 0.7616794628438678 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.66439427e-01 -2.08506260e-01 -1.50066565e-01 -1.33806942e+02] [ 2.09697854e-01 9.77733358e-01 -8.01812139e-03 -1.18605511e+02] [ 1.48396915e-01 -2.37196079e-02 9.88643382e-01 2.59949144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22907232899996 meters Centerline goodness [0,1] 0.7622443181818181 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.61, Z:259.95 [[ 9.66931611e-01 -2.05003170e-01 -1.51713413e-01 -1.33802952e+02] [ 2.06785434e-01 9.78377695e-01 -4.10745553e-03 -1.18608394e+02] [ 1.49275060e-01 -2.74004953e-02 9.88415990e-01 2.59949168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.259072329 meters Centerline goodness [0,1] 0.7619854311367101 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.61, Z:259.95 [[ 9.66901080e-01 -2.05122531e-01 -1.51746662e-01 -1.33802431e+02] [ 2.06876993e-01 9.78357480e-01 -4.30701510e-03 -1.18608127e+02] [ 1.49345947e-01 -2.72284355e-02 9.88410037e-01 2.59948595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28907232899996 meters Centerline goodness [0,1] 0.761341780744428 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.61, Z:259.95 [[ 9.67521328e-01 -2.01007621e-01 -1.53291930e-01 -1.33800204e+02] [ 2.03457541e-01 9.79083724e-01 3.01515649e-04 -1.18611138e+02] [ 1.50025027e-01 -3.14801220e-02 9.88180901e-01 2.59950050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.319072329 meters Centerline goodness [0,1] 0.7656804733727811 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.61, Z:259.95 [[ 9.67584818e-01 -2.00830053e-01 -1.53123839e-01 -1.33801055e+02] [ 2.03294059e-01 9.79117627e-01 4.44084306e-04 -1.18610861e+02] [ 1.49837065e-01 -3.15588561e-02 9.88206908e-01 2.59950260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34907232899997 meters Centerline goodness [0,1] 0.7627070809697175 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.61, Z:259.95 [[ 9.67638748e-01 -2.00606385e-01 -1.53076230e-01 -1.33801922e+02] [ 2.03107167e-01 9.79156253e-01 7.14467740e-04 -1.18611232e+02] [ 1.49742221e-01 -3.17822261e-02 9.88214125e-01 2.59951010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.379072329 meters Centerline goodness [0,1] 0.7618279569892473 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.61, Z:259.95 [[ 9.67700059e-01 -2.00317026e-01 -1.53067582e-01 -1.33802925e+02] [ 2.02873900e-01 9.79204243e-01 1.10933594e-03 -1.18611956e+02] [ 1.49662207e-01 -3.21269218e-02 9.88215100e-01 2.59952103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40907232899997 meters Centerline goodness [0,1] 0.7638873207632382 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.61, Z:259.95 [[ 9.67780904e-01 -2.00077097e-01 -1.52870132e-01 -1.33804393e+02] [ 2.02648892e-01 9.79250639e-01 1.26972198e-03 -1.18611663e+02] [ 1.49444132e-01 -3.22077755e-02 9.88245471e-01 2.59952824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.439072329 meters Centerline goodness [0,1] 0.763856780377784 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.67794079e-01 -2.00200644e-01 -1.52624776e-01 -1.33805033e+02] [ 2.02707394e-01 9.79238956e-01 8.82859612e-04 -1.18609673e+02] [ 1.49279377e-01 -3.17925969e-02 9.88283815e-01 2.59952255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46907232899997 meters Centerline goodness [0,1] 0.7655110259948743 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.67897538e-01 -2.00079713e-01 -1.52126473e-01 -1.33806377e+02] [ 2.02540929e-01 9.79273550e-01 6.97414409e-04 -1.18608292e+02] [ 1.48833893e-01 -3.14868627e-02 9.88360789e-01 2.59951611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49907232899994 meters Centerline goodness [0,1] 0.7629051283491546 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.67980430e-01 -1.99807626e-01 -1.51956570e-01 -1.33807663e+02] [ 2.02268304e-01 9.79329857e-01 7.51442928e-04 -1.18607701e+02] [ 1.48665462e-01 -3.14633797e-02 9.88386886e-01 2.59952099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.529072329 meters Centerline goodness [0,1] 0.7644237511569854 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.68143780e-01 -1.99212483e-01 -1.51697095e-01 -1.33809263e+02] [ 2.01730503e-01 9.79440288e-01 1.23535392e-03 -1.18608584e+02] [ 1.48332149e-01 -3.17979315e-02 9.88426257e-01 2.59952697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55907232899995 meters Centerline goodness [0,1] 0.7653673797243595 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.68231927e-01 -1.98920167e-01 -1.51517997e-01 -1.33810053e+02] [ 2.01460810e-01 9.79495506e-01 1.44787028e-03 -1.18608838e+02] [ 1.48123186e-01 -3.19268126e-02 9.88453439e-01 2.59952773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.589072329 meters Centerline goodness [0,1] 0.7641522685770473 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.68763628e-01 -1.94955669e-01 -1.53262261e-01 -1.33807057e+02] [ 1.98114916e-01 9.80163546e-01 5.46830898e-03 -1.18609927e+02] [ 1.49156004e-01 -3.56610389e-02 9.88170419e-01 2.59953370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61907232899995 meters Centerline goodness [0,1] 0.7669405673120216 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.68896909e-01 -1.94640383e-01 -1.52819834e-01 -1.33808547e+02] [ 1.97792102e-01 9.80228281e-01 5.54998766e-03 -1.18609379e+02] [ 1.48718071e-01 -3.56039221e-02 9.88238481e-01 2.59953166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.649072329 meters Centerline goodness [0,1] 0.7640509461017235 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.68964453e-01 -1.94465148e-01 -1.52614532e-01 -1.33809412e+02] [ 1.97611214e-01 9.80264617e-01 5.57573321e-03 -1.18609176e+02] [ 1.48518340e-01 -3.55610302e-02 9.88270062e-01 2.59953186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67907232899995 meters Centerline goodness [0,1] 0.769678973611967 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.69113955e-01 -1.93874393e-01 -1.52416737e-01 -1.33810930e+02] [ 1.97098515e-01 9.80364148e-01 6.18972198e-03 -1.18610722e+02] [ 1.48223876e-01 -3.60396585e-02 9.88296932e-01 2.59954163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.709072329 meters Centerline goodness [0,1] 0.7725973662090222 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.69170029e-01 -1.93657310e-01 -1.52336147e-01 -1.33811481e+02] [ 1.96909654e-01 9.80400653e-01 6.41464475e-03 -1.18611432e+02] [ 1.48108216e-01 -3.62133395e-02 9.88307923e-01 2.59954509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73907232899995 meters Centerline goodness [0,1] 0.7713427472558323 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.95 [[ 9.69242583e-01 -1.93433760e-01 -1.52158453e-01 -1.33812338e+02] [ 1.96704174e-01 9.80440693e-01 6.59661874e-03 -1.18611710e+02] [ 1.47906330e-01 -3.63239265e-02 9.88334098e-01 2.59954748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.769072329 meters Centerline goodness [0,1] 0.7717104153785622 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.96 [[ 9.69295461e-01 -1.93200258e-01 -1.52118278e-01 -1.33812750e+02] [ 1.96509558e-01 9.80477739e-01 6.88458459e-03 -1.18612580e+02] [ 1.47818481e-01 -3.65658921e-02 9.88338319e-01 2.59955078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79907232899996 meters Centerline goodness [0,1] 0.7719525229228779 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.61, Z:259.96 [[ 9.69329083e-01 -1.92959867e-01 -1.52209126e-01 -1.33812755e+02] [ 1.96340488e-01 9.80508177e-01 7.35709651e-03 -1.18614387e+02] [ 1.47822669e-01 -3.70162617e-02 9.88320927e-01 2.59955649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.829072329 meters Centerline goodness [0,1] 0.7738491951426151 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.62, Z:259.96 [[ 9.69414464e-01 -1.92424972e-01 -1.52342467e-01 -1.33813132e+02] [ 1.95923404e-01 9.80585318e-01 8.15189393e-03 -1.18617180e+02] [ 1.47816158e-01 -3.77500186e-02 9.88294146e-01 2.59956722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85907232899996 meters Centerline goodness [0,1] 0.772974350263292 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.62, Z:259.96 [[ 9.69356562e-01 -1.92311307e-01 -1.52853579e-01 -1.33811512e+02] [ 1.95964788e-01 9.80569056e-01 9.06250748e-03 -1.18621888e+02] [ 1.48140667e-01 -3.87387203e-02 9.88207293e-01 2.59957780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.889072329 meters Centerline goodness [0,1] 0.7771851683735709 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.62, Z:259.96 [[ 9.69440085e-01 -1.91740209e-01 -1.53041214e-01 -1.33811934e+02] [ 1.95555178e-01 9.80640344e-01 1.01335032e-02 -1.18624976e+02] [ 1.48135388e-01 -3.97518259e-02 9.88167850e-01 2.59959296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91907232899996 meters Centerline goodness [0,1] 0.7713077054113906 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.63, Z:259.96 [[ 9.69407676e-01 -1.91736635e-01 -1.53250841e-01 -1.33811249e+02] [ 1.95635597e-01 9.80618976e-01 1.06365954e-02 -1.18627088e+02] [ 1.48241258e-01 -4.02925170e-02 9.88130074e-01 2.59959865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.949072329 meters Centerline goodness [0,1] 0.7682337119803142 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.63, Z:259.96 [[ 9.69278580e-01 -1.92011928e-01 -1.53722003e-01 -1.33809268e+02] [ 1.96073303e-01 9.80521031e-01 1.15658102e-02 -1.18631245e+02] [ 1.48506883e-01 -4.13512731e-02 9.88046445e-01 2.59960886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97907232899996 meters Centerline goodness [0,1] 0.7678228189459793 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.63, Z:259.96 [[ 9.69252463e-01 -1.91956304e-01 -1.53955969e-01 -1.33808386e+02] [ 1.96117980e-01 9.80504773e-01 1.21707695e-02 -1.18633768e+02] [ 1.48618307e-01 -4.19900820e-02 9.88002749e-01 2.59961324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.009072329 meters Centerline goodness [0,1] 0.7711520179759744 Centerline is valid? [False, False] Translation: X:-133.81, Y:-118.64, Z:259.96 [[ 9.68988229e-01 -1.92765777e-01 -1.54606492e-01 -1.33805117e+02] [ 1.97035779e-01 9.80314815e-01 1.26398494e-02 -1.18637945e+02] [ 1.49126505e-01 -4.27108760e-02 9.87895271e-01 2.59961971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03907232899996 meters Centerline goodness [0,1] 0.774380949641943 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.96 [[ 9.68885383e-01 -1.92993318e-01 -1.54966753e-01 -1.33803794e+02] [ 1.97320748e-01 9.80254139e-01 1.28975346e-02 -1.18639543e+02] [ 1.49417663e-01 -4.30743882e-02 9.87835492e-01 2.59962345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.069072329 meters Centerline goodness [0,1] 0.7798403886190146 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.96 [[ 9.68889096e-01 -1.92809233e-01 -1.55172544e-01 -1.33803579e+02] [ 1.97237522e-01 9.80262528e-01 1.35179726e-02 -1.18641360e+02] [ 1.49503441e-01 -4.37032644e-02 9.87794891e-01 2.59963195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09907232899997 meters Centerline goodness [0,1] 0.7864992605909473 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.96 [[ 9.68694080e-01 -1.93331810e-01 -1.55738857e-01 -1.33801408e+02] [ 1.97834636e-01 9.80138251e-01 1.38009130e-02 -1.18643191e+02] [ 1.49977455e-01 -4.41794027e-02 9.87701849e-01 2.59963811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.129072329 meters Centerline goodness [0,1] 0.787660906876957 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.96 [[ 9.68599979e-01 -1.93541108e-01 -1.56063833e-01 -1.33800412e+02] [ 1.98076829e-01 9.80087877e-01 1.39040451e-02 -1.18643982e+02] [ 1.50265267e-01 -4.43800869e-02 9.87649106e-01 2.59964203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15907232899997 meters Centerline goodness [0,1] 0.7857804807413843 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.96 [[ 9.68516438e-01 -1.93818538e-01 -1.56237908e-01 -1.33799640e+02] [ 1.98347645e-01 9.80034760e-01 1.37869901e-02 -1.18644151e+02] [ 1.50446406e-01 -4.43423476e-02 9.87623225e-01 2.59964177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.189072329 meters Centerline goodness [0,1] 0.7901316741426712 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.97 [[ 9.68430713e-01 -1.94083390e-01 -1.56440379e-01 -1.33799422e+02] [ 1.98648497e-01 9.79971630e-01 1.39419894e-02 -1.18644136e+02] [ 1.50601225e-01 -4.45784970e-02 9.87588998e-01 2.59965063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21907232899997 meters Centerline goodness [0,1] 0.7922917147472882 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.97 [[ 9.68329476e-01 -1.94466072e-01 -1.56591740e-01 -1.33798785e+02] [ 1.99006442e-01 9.79902351e-01 1.37046957e-02 -1.18643530e+02] [ 1.50779516e-01 -4.44334259e-02 9.87568331e-01 2.59965032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24907232899994 meters Centerline goodness [0,1] 0.7938847781648577 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.97 [[ 9.68243357e-01 -1.94763910e-01 -1.56754013e-01 -1.33798230e+02] [ 1.99300959e-01 9.79843794e-01 1.36112684e-02 -1.18643366e+02] [ 1.50943463e-01 -4.44202454e-02 9.87543879e-01 2.59965193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.279072329 meters Centerline goodness [0,1] 0.7943010566429932 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.97 [[ 9.68248756e-01 -1.94676117e-01 -1.56829705e-01 -1.33798466e+02] [ 1.99255881e-01 9.79849263e-01 1.38749829e-02 -1.18643982e+02] [ 1.50968343e-01 -4.46836760e-02 9.87528191e-01 2.59965812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30907232899995 meters Centerline goodness [0,1] 0.7942477236594884 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.97 [[ 9.67996243e-01 -1.95462222e-01 -1.57409635e-01 -1.33796444e+02] [ 2.00032685e-01 9.79695120e-01 1.35792398e-02 -1.18643913e+02] [ 1.51559223e-01 -4.46317251e-02 9.87440029e-01 2.59966194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.339072329 meters Centerline goodness [0,1] 0.7919602633706827 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.97 [[ 9.67891705e-01 -1.95876527e-01 -1.57537403e-01 -1.33795732e+02] [ 2.00390832e-01 9.79627876e-01 1.31430185e-02 -1.18642852e+02] [ 1.51753623e-01 -4.42900699e-02 9.87425555e-01 2.59965772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36907232899995 meters Centerline goodness [0,1] 0.7875353290650055 Centerline is valid? [False, False] Translation: X:-133.79, Y:-118.64, Z:259.96 [[ 9.67773892e-01 -1.96473963e-01 -1.57517226e-01 -1.33794909e+02] [ 2.00873094e-01 9.79539388e-01 1.23526241e-02 -1.18640835e+02] [ 1.51867358e-01 -4.35955197e-02 9.87438978e-01 2.59964633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.399072329 meters Centerline goodness [0,1] 0.7911917544715914 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.96 [[ 9.67698649e-01 -1.96947560e-01 -1.57387999e-01 -1.33795202e+02] [ 2.01205114e-01 9.79482421e-01 1.14318997e-02 -1.18637361e+02] [ 1.51907294e-01 -4.27299042e-02 9.87470673e-01 2.59963852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42907232899995 meters Centerline goodness [0,1] 0.7862665368535593 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.64, Z:259.96 [[ 9.67694417e-01 -1.97064519e-01 -1.57267575e-01 -1.33795675e+02] [ 2.01261898e-01 9.79474962e-01 1.10655503e-02 -1.18636115e+02] [ 1.51859024e-01 -4.23600417e-02 9.87494032e-01 2.59963652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.459072329 meters Centerline goodness [0,1] 0.7937467759500201 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.63, Z:259.96 [[ 9.67591287e-01 -1.97679193e-01 -1.57130641e-01 -1.33795691e+02] [ 2.01686243e-01 9.79400976e-01 9.81767111e-03 -1.18632128e+02] [ 1.51953154e-01 -4.11905816e-02 9.87529025e-01 2.59962434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48907232899995 meters Centerline goodness [0,1] 0.7959574589742123 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.63, Z:259.96 [[ 9.67671070e-01 -1.97585682e-01 -1.56756496e-01 -1.33797084e+02] [ 2.01538631e-01 9.79433760e-01 9.57546052e-03 -1.18630437e+02] [ 1.51640630e-01 -4.08583857e-02 9.87590862e-01 2.59962184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.519072329 meters Centerline goodness [0,1] 0.7964992173046819 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.63, Z:259.96 [[ 9.67622630e-01 -1.97969623e-01 -1.56570990e-01 -1.33797351e+02] [ 2.01817846e-01 9.79382517e-01 8.91305932e-03 -1.18628104e+02] [ 1.51578375e-01 -4.02232977e-02 9.87626489e-01 2.59961518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54907232899996 meters Centerline goodness [0,1] 0.7943240248856567 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.63, Z:259.96 [[ 9.67622247e-01 -1.98075578e-01 -1.56439290e-01 -1.33798130e+02] [ 2.01877850e-01 9.79372593e-01 8.64045419e-03 -1.18626793e+02] [ 1.51500890e-01 -3.99423234e-02 9.87649782e-01 2.59961665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.579072329 meters Centerline goodness [0,1] 0.7945221047846346 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.63, Z:259.96 [[ 9.67579472e-01 -1.98164352e-01 -1.56591363e-01 -1.33798584e+02] [ 2.01981764e-01 9.79350716e-01 8.69146482e-03 -1.18626604e+02] [ 1.51635525e-01 -4.00382827e-02 9.87625234e-01 2.59962796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60907232899996 meters Centerline goodness [0,1] 0.7933714871444435 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.63, Z:259.96 [[ 9.67502749e-01 -1.98360936e-01 -1.56816355e-01 -1.33798033e+02] [ 2.02181845e-01 9.79309898e-01 8.63853095e-03 -1.18626703e+02] [ 1.51858261e-01 -4.00632224e-02 9.87589999e-01 2.59963102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.639072329 meters Centerline goodness [0,1] 0.7850571111174409 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.63, Z:259.96 [[ 9.67522193e-01 -1.98209530e-01 -1.56887821e-01 -1.33798211e+02] [ 2.02083343e-01 9.79327200e-01 8.97542534e-03 -1.18627583e+02] [ 1.51865496e-01 -4.03883386e-02 9.87575644e-01 2.59963630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66907232899996 meters Centerline goodness [0,1] 0.757772977888933 Centerline is valid? [False, False] Translation: X:-133.80, Y:-118.63, Z:259.96 [[ 9.67260974e-01 -1.99074368e-01 -1.57402680e-01 -1.33795648e+02] [ 2.02966073e-01 9.79145466e-01 8.88419667e-03 -1.18628059e+02] [ 1.52351505e-01 -4.05407406e-02 9.87494540e-01 2.59963520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.699072329 meters Centerline goodness [0,1] 0.7455938042766437 Centerline is valid? [False, False] Translation: X:-133.79, Y:-118.63, Z:259.96 [[ 9.67154156e-01 -1.99332842e-01 -1.57731595e-01 -1.33794308e+02] [ 2.03276996e-01 9.79078848e-01 9.11435689e-03 -1.18629185e+02] [ 1.52614878e-01 -4.08781930e-02 9.87439959e-01 2.59963654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72907232899996 meters Centerline goodness [0,1] 0.7360264372400434 Centerline is valid? [False, False] Translation: X:-133.79, Y:-118.63, Z:259.96 [[ 9.67040495e-01 -1.99589211e-01 -1.58103852e-01 -1.33792757e+02] [ 2.03608563e-01 9.79006492e-01 9.47853325e-03 -1.18631161e+02] [ 1.52892884e-01 -4.13574235e-02 9.87376995e-01 2.59964002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.759072329 meters Centerline goodness [0,1] 0.7006035987069829 Centerline is valid? [False, False] Translation: X:-133.79, Y:-118.63, Z:259.96 [[ 9.66141904e-01 -2.04545561e-01 -1.57260719e-01 -1.33791724e+02] [ 2.08002327e-01 9.78111910e-01 5.66775124e-03 -1.18632696e+02] [ 1.52659269e-01 -3.81864475e-02 9.87540856e-01 2.59963600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78907232899996 meters Centerline goodness [0,1] 0.7039736049347296 Centerline is valid? [False, False] Translation: X:-133.79, Y:-118.64, Z:259.96 [[ 9.66054747e-01 -2.04659206e-01 -1.57647820e-01 -1.33790442e+02] [ 2.08248924e-01 9.78054795e-01 6.41901695e-03 -1.18635804e+02] [ 1.52874496e-01 -3.90311108e-02 9.87474537e-01 2.59964585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.819072329 meters Centerline goodness [0,1] 0.6951625876134666 Centerline is valid? [False, False] Translation: X:-133.79, Y:-118.64, Z:259.96 [[ 9.65716749e-01 -2.05656591e-01 -1.58418834e-01 -1.33786998e+02] [ 2.09272222e-01 9.77837086e-01 6.30637763e-03 -1.18637316e+02] [ 1.53610863e-01 -3.92428359e-02 9.87351864e-01 2.59964648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84907232899997 meters Centerline goodness [0,1] 0.65015309954359 Centerline is valid? [False, False] Translation: X:-133.78, Y:-118.64, Z:259.96 [[ 9.64453151e-01 -2.11908863e-01 -1.57875753e-01 -1.33783001e+02] [ 2.14796437e-01 9.76658030e-01 1.25800527e-03 -1.18636238e+02] [ 1.53924040e-01 -3.51244365e-02 9.87458183e-01 2.59962416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.879072329 meters Centerline goodness [0,1] 0.6449277452479161 Centerline is valid? [False, False] Translation: X:-133.78, Y:-118.64, Z:259.96 [[ 9.64266348e-01 -2.12422994e-01 -1.58325239e-01 -1.33781013e+02] [ 2.15385378e-01 9.76527832e-01 1.59106772e-03 -1.18637948e+02] [ 1.54271024e-01 -3.56351546e-02 9.87385734e-01 2.59962852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90907232899997 meters Centerline goodness [0,1] 0.6449277452479161 Centerline is valid? [False, False] Translation: X:-133.78, Y:-118.64, Z:259.96 [[ 9.64266348e-01 -2.12422994e-01 -1.58325239e-01 -1.33781013e+02] [ 2.15385378e-01 9.76527832e-01 1.59106772e-03 -1.18637948e+02] [ 1.54271024e-01 -3.56351546e-02 9.87385734e-01 2.59962852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.939072329 meters Centerline goodness [0,1] 0.6342805828336375 Centerline is valid? [False, False] Translation: X:-133.78, Y:-118.64, Z:259.96 [[ 9.62827530e-01 -2.19056724e-01 -1.58042082e-01 -1.33775934e+02] [ 2.21242891e-01 9.75211153e-01 -3.84590121e-03 -1.18635887e+02] [ 1.54966871e-01 -3.12627475e-02 9.87424888e-01 2.59960482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96907232899997 meters Centerline goodness [0,1] 0.6439319119270319 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.64, Z:259.96 [[ 9.62581051e-01 -2.19777467e-01 -1.58542060e-01 -1.33773693e+02] [ 2.22023210e-01 9.75034628e-01 -3.62873360e-03 -1.18637365e+02] [ 1.55381512e-01 -3.17070668e-02 9.87345556e-01 2.59960943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99907232899994 meters Centerline goodness [0,1] 0.6404755675707101 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.64, Z:259.96 [[ 9.62374184e-01 -2.20346941e-01 -1.59006778e-01 -1.33772006e+02] [ 2.22675552e-01 9.74887203e-01 -3.24646776e-03 -1.18639020e+02] [ 1.55729022e-01 -3.22826052e-02 9.87272154e-01 2.59961886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.029072329 meters Centerline goodness [0,1] 0.6385731313777364 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.64, Z:259.96 [[ 9.62183994e-01 -2.20802727e-01 -1.59524661e-01 -1.33770790e+02] [ 2.23246562e-01 9.74758367e-01 -2.66439077e-03 -1.18640649e+02] [ 1.56086303e-01 -3.30496981e-02 9.87190348e-01 2.59963461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05907232899995 meters Centerline goodness [0,1] 0.6039002557544757 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.64, Z:259.96 [[ 9.60812380e-01 -2.27168228e-01 -1.58852655e-01 -1.33768611e+02] [ 2.28872603e-01 9.73425701e-01 -7.72893144e-03 -1.18637152e+02] [ 1.56387024e-01 -2.89309675e-02 9.87272049e-01 2.59962836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.089072329 meters Centerline goodness [0,1] 0.626258243665394 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.64, Z:259.96 [[ 9.60524121e-01 -2.27947234e-01 -1.59478750e-01 -1.33766593e+02] [ 2.29712014e-01 9.73229507e-01 -7.53105418e-03 -1.18637931e+02] [ 1.56926108e-01 -2.94004257e-02 9.87172635e-01 2.59963894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11907232899995 meters Centerline goodness [0,1] 0.5888482526413561 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.64, Z:259.96 [[ 9.60221944e-01 -2.28885962e-01 -1.59953226e-01 -1.33764564e+02] [ 2.30683032e-01 9.73000070e-01 -7.49685973e-03 -1.18638406e+02] [ 1.57350426e-01 -2.96998461e-02 9.87096126e-01 2.59964582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.149072329 meters Centerline goodness [0,1] 0.5745902828136331 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.63, Z:259.96 [[ 9.58489206e-01 -2.36177703e-01 -1.59745218e-01 -1.33759539e+02] [ 2.37129278e-01 9.71386258e-01 -1.33582813e-02 -1.18634025e+02] [ 1.58329238e-01 -2.50764998e-02 9.87067891e-01 2.59963091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17907232899995 meters Centerline goodness [0,1] 0.5687207918492931 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.64, Z:259.96 [[ 9.58226509e-01 -2.36944713e-01 -1.60184767e-01 -1.33758015e+02] [ 2.37960122e-01 9.71186628e-01 -1.30963754e-02 -1.18635056e+02] [ 1.58672421e-01 -2.55682926e-02 9.87000165e-01 2.59964244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.209072329 meters Centerline goodness [0,1] 0.5515191736157198 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.63, Z:259.97 [[ 9.55167605e-01 -2.44644097e-01 -1.66745653e-01 -1.33770144e+02] [ 2.46668922e-01 9.69060003e-01 -8.78371446e-03 -1.18634922e+02] [ 1.63735427e-01 -3.27410510e-02 9.85960817e-01 2.59970886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23907232899995 meters Centerline goodness [0,1] 0.6093063334769495 Centerline is valid? [False, False] Translation: X:-133.77, Y:-118.63, Z:259.97 [[ 9.54726267e-01 -2.45961280e-01 -1.67334409e-01 -1.33767240e+02] [ 2.47923876e-01 9.68733989e-01 -9.39206710e-03 -1.18633387e+02] [ 1.64412615e-01 -3.25193422e-02 9.85855458e-01 2.59970590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.269072329 meters Centerline goodness [0,1] 0.5374596555368313 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.63, Z:259.97 [[ 9.54318559e-01 -2.47273544e-01 -1.67725617e-01 -1.33764851e+02] [ 2.49167016e-01 9.68408904e-01 -9.99963090e-03 -1.18631893e+02] [ 1.64899625e-01 -3.22488581e-02 9.85783001e-01 2.59970264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29907232899996 meters Centerline goodness [0,1] 0.530840750609445 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.63, Z:259.97 [[ 9.53933497e-01 -2.48513415e-01 -1.68083209e-01 -1.33762714e+02] [ 2.50371016e-01 9.68094166e-01 -1.03941841e-02 -1.18631048e+02] [ 1.65303469e-01 -3.21678036e-02 9.85718010e-01 2.59970331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.329072329 meters Centerline goodness [0,1] 0.4613931722718687 Centerline is valid? [False, False] Translation: X:-133.78, Y:-118.63, Z:259.97 [[ 9.50341210e-01 -2.58604847e-01 -1.73133239e-01 -1.33778130e+02] [ 2.60817063e-01 9.65333815e-01 -1.02510652e-02 -1.18628365e+02] [ 1.69782345e-01 -3.54140932e-02 9.84845063e-01 2.59974017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35907232899996 meters Centerline goodness [0,1] 0.44765443826660334 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.63, Z:259.99 [[ 9.49326709e-01 -2.59763105e-01 -1.76923511e-01 -1.33739937e+02] [ 2.62812020e-01 9.64825853e-01 -6.39649170e-03 -1.18626855e+02] [ 1.72361950e-01 -4.04252649e-02 9.84203818e-01 2.59988367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.389072329 meters Centerline goodness [0,1] 0.4274347285536676 Centerline is valid? [False, False] Translation: X:-133.72, Y:-118.62, Z:260.00 [[ 9.45582729e-01 -2.71555238e-01 -1.79251373e-01 -1.33719388e+02] [ 2.74723170e-01 9.61494929e-01 -7.39464013e-03 -1.18617577e+02] [ 1.74357339e-01 -4.22522613e-02 9.83775515e-01 2.59995705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41907232899996 meters Centerline goodness [0,1] 0.41822487814281384 Centerline is valid? [False, False] Translation: X:-133.70, Y:-118.61, Z:260.00 [[ 9.43158494e-01 -2.77312603e-01 -1.83165977e-01 -1.33704601e+02] [ 2.80808880e-01 9.59737463e-01 -7.09746255e-03 -1.18612750e+02] [ 1.77759466e-01 -4.47406009e-02 9.83056382e-01 2.60002772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.449072329 meters Centerline goodness [0,1] 0.4127031908488862 Centerline is valid? [False, False] Translation: X:-133.69, Y:-118.61, Z:260.01 [[ 9.40727200e-01 -2.83053275e-01 -1.86850684e-01 -1.33690235e+02] [ 2.86911537e-01 9.57934062e-01 -6.64105987e-03 -1.18608369e+02] [ 1.80870409e-01 -4.73621914e-02 9.82365878e-01 2.60009832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47907232899996 meters Centerline goodness [0,1] 0.40161790481326687 Centerline is valid? [False, False] Translation: X:-133.68, Y:-118.60, Z:260.02 [[ 9.35089791e-01 -2.98565931e-01 -1.90959338e-01 -1.33681629e+02] [ 3.04523003e-01 9.52502996e-01 1.94495456e-03 -1.18601274e+02] [ 1.81308644e-01 -5.99702180e-02 9.81596021e-01 2.60019163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.509072329 meters Centerline goodness [0,1] 0.3945705718569287 Centerline is valid? [False, False] Translation: X:-133.68, Y:-118.60, Z:260.02 [[ 9.33136515e-01 -3.05099866e-01 -1.90184953e-01 -1.33675923e+02] [ 3.10421333e-01 9.50597171e-01 -1.90124801e-03 -1.18597153e+02] [ 1.81369348e-01 -5.72633425e-02 9.81746438e-01 2.60017278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53907232899996 meters Centerline goodness [0,1] 0.38877327924558125 Centerline is valid? [False, False] Translation: X:-133.68, Y:-118.59, Z:260.03 [[ 9.26195999e-01 -3.23718371e-01 -1.93306458e-01 -1.33676353e+02] [ 3.29964849e-01 9.43993211e-01 1.25081492e-04 -1.18588417e+02] [ 1.82439493e-01 -6.39001864e-02 9.81138419e-01 2.60025412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.569072329 meters Centerline goodness [0,1] 0.38870605443242956 Centerline is valid? [False, False] Translation: X:-133.68, Y:-118.59, Z:260.03 [[ 9.22358230e-01 -3.32852592e-01 -1.96123553e-01 -1.33683963e+02] [ 3.40705366e-01 9.40145941e-01 6.74261330e-03 -1.18585822e+02] [ 1.82140466e-01 -7.30394518e-02 9.80556010e-01 2.60029333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59907232899997 meters Centerline goodness [0,1] 0.3860803592165364 Centerline is valid? [False, False] Translation: X:-133.69, Y:-118.58, Z:260.03 [[ 9.18449621e-01 -3.42364543e-01 -1.98082843e-01 -1.33693695e+02] [ 3.51483771e-01 9.36120347e-01 1.17411511e-02 -1.18581662e+02] [ 1.81409626e-01 -8.04065604e-02 9.80114959e-01 2.60030128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.629072329 meters Centerline goodness [0,1] 0.4503896500789487 Centerline is valid? [False, False] Translation: X:-133.70, Y:-118.58, Z:260.03 [[ 9.14727301e-01 -3.52058871e-01 -1.98314187e-01 -1.33696404e+02] [ 3.62529639e-01 9.31798582e-01 1.79906494e-02 -1.18576956e+02] [ 1.78455111e-01 -8.83513087e-02 9.79973377e-01 2.60027375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65907232899997 meters Centerline goodness [0,1] 0.4506235337696012 Centerline is valid? [False, False] Translation: X:-133.70, Y:-118.57, Z:260.02 [[ 9.06576189e-01 -3.74120581e-01 -1.95328964e-01 -1.33699428e+02] [ 3.86367594e-01 9.21937205e-01 2.74202999e-02 -1.18565252e+02] [ 1.69822540e-01 -1.00327373e-01 9.80354386e-01 2.60024725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.689072329 meters Centerline goodness [0,1] 0.43827986281711384 Centerline is valid? [False, False] Translation: X:-133.71, Y:-118.56, Z:260.02 [[ 9.02372412e-01 -3.85383321e-01 -1.92882675e-01 -1.33708761e+02] [ 3.98220140e-01 9.16755086e-01 3.13182508e-02 -1.18560985e+02] [ 1.64756642e-01 -1.05070491e-01 9.80721898e-01 2.60021056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71907232899997 meters Centerline goodness [0,1] 0.45736269942114927 Centerline is valid? [False, False] Translation: X:-133.72, Y:-118.55, Z:260.02 [[ 8.90860883e-01 -4.12948275e-01 -1.89316161e-01 -1.33724001e+02] [ 4.25982810e-01 9.04152968e-01 3.23427954e-02 -1.18546768e+02] [ 1.57814867e-01 -1.09458362e-01 9.81383378e-01 2.60015077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74907232899994 meters Centerline goodness [0,1] 0.45963436337162267 Centerline is valid? [False, False] Translation: X:-133.73, Y:-118.54, Z:260.01 [[ 8.86298164e-01 -4.24731657e-01 -1.84603855e-01 -1.33731541e+02] [ 4.37884584e-01 8.98331520e-01 3.54622510e-02 -1.18540741e+02] [ 1.50773521e-01 -1.12265310e-01 9.82173022e-01 2.60007558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.779072329 meters Centerline goodness [0,1] 0.4627241770715097 Centerline is valid? [False, False] Translation: X:-133.74, Y:-118.53, Z:260.00 [[ 8.81207147e-01 -4.36846829e-01 -1.80662147e-01 -1.33739131e+02] [ 4.50127985e-01 8.92140431e-01 3.83438327e-02 -1.18533740e+02] [ 1.44425624e-01 -1.15109948e-01 9.82797507e-01 2.60000493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80907232899995 meters Centerline goodness [0,1] 0.4655812624964296 Centerline is valid? [False, False] Translation: X:-133.76, Y:-118.51, Z:259.99 [[ 8.66773696e-01 -4.67176963e-01 -1.74496548e-01 -1.33758214e+02] [ 4.80648252e-01 8.75881451e-01 4.25316505e-02 -1.18514134e+02] [ 1.32968483e-01 -1.20736777e-01 9.83738793e-01 2.59988291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.839072329 meters Centerline goodness [0,1] 0.46153846153846156 Centerline is valid? [False, False] Translation: X:-133.84, Y:-118.51, Z:259.97 [[ 8.57574109e-01 -4.85970874e-01 -1.68519899e-01 -1.33844014e+02] [ 4.98587207e-01 8.65908346e-01 4.01688113e-02 -1.18505026e+02] [ 1.26401915e-01 -1.18469599e-01 9.84879439e-01 2.59966348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86907232899995 meters Centerline goodness [0,1] 0.44914362664646723 Centerline is valid? [False, False] Translation: X:-133.96, Y:-118.50, Z:259.94 [[ 8.48244962e-01 -5.05349826e-01 -1.58436227e-01 -1.33964442e+02] [ 5.16392744e-01 8.55610352e-01 3.56294854e-02 -1.18497383e+02] [ 1.17554322e-01 -1.12037850e-01 9.86726153e-01 2.59935657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.899072329 meters Centerline goodness [0,1] 0.4589156070334467 Centerline is valid? [False, False] Translation: X:-134.08, Y:-118.49, Z:259.91 [[ 8.37624088e-01 -5.25461917e-01 -1.49250329e-01 -1.34077447e+02] [ 5.34850411e-01 8.44462058e-01 2.86159228e-02 -1.18487942e+02] [ 1.10999662e-01 -1.03795986e-01 9.88385283e-01 2.59907184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92907232899995 meters Centerline goodness [0,1] 0.4795303277659174 Centerline is valid? [False, False] Translation: X:-134.20, Y:-118.46, Z:259.88 [[ 8.11882607e-01 -5.67600622e-01 -1.36660770e-01 -1.34200798e+02] [ 5.75192292e-01 8.17756124e-01 2.07062500e-02 -1.18464528e+02] [ 1.00002301e-01 -9.54172654e-02 9.90401477e-01 2.59877049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.959072329 meters Centerline goodness [0,1] 0.49577023498694517 Centerline is valid? [False, False] Translation: X:-134.34, Y:-118.46, Z:259.85 [[ 7.97352543e-01 -5.89455340e-01 -1.29504147e-01 -1.34337871e+02] [ 5.95756640e-01 8.03062917e-01 1.28053559e-02 -1.18455084e+02] [ 9.64517929e-02 -8.73633388e-02 9.91496192e-01 2.59849179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98907232899995 meters Centerline goodness [0,1] 0.4254217193252491 Centerline is valid? [False, False] Translation: X:-134.49, Y:-118.43, Z:259.82 [[ 7.66382962e-01 -6.30849575e-01 -1.21185682e-01 -1.34493089e+02] [ 6.36319910e-01 7.71377399e-01 8.59534756e-03 -1.18432876e+02] [ 8.80575245e-02 -8.37001900e-02 9.92592641e-01 2.59815729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.019072329 meters Centerline goodness [0,1] 0.4724321182429627 Centerline is valid? [False, False] Translation: X:-134.67, Y:-118.43, Z:259.78 [[ 7.51902666e-01 -6.49565385e-01 -1.12726180e-01 -1.34668829e+02] [ 6.53879598e-01 7.56596646e-01 1.72826627e-03 -1.18425879e+02] [ 8.41656274e-02 -7.50088369e-02 9.93624588e-01 2.59781185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04907232899996 meters Centerline goodness [0,1] 0.48530233135433687 Centerline is valid? [False, False] Translation: X:-134.86, Y:-118.42, Z:259.74 [[ 7.39903499e-01 -6.65550745e-01 -9.79031034e-02 -1.34855927e+02] [ 6.68416167e-01 7.43772957e-01 -4.64933725e-03 -1.18420141e+02] [ 7.59120505e-02 -6.19999562e-02 9.95185091e-01 2.59744901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.079072329 meters Centerline goodness [0,1] 0.5185665206031804 Centerline is valid? [False, False] Translation: X:-135.09, Y:-118.40, Z:259.70 [[ 7.14887887e-01 -6.95508593e-01 -7.21325557e-02 -1.35093409e+02] [ 6.96496475e-01 7.17412621e-01 -1.45530681e-02 -1.18399691e+02] [ 6.18705897e-02 -3.98362587e-02 9.97288876e-01 2.59699555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10907232899996 meters Centerline goodness [0,1] 0.5333881409927037 Centerline is valid? [False, False] Translation: X:-135.39, Y:-118.39, Z:259.66 [[ 7.05538925e-01 -7.06436973e-01 -5.62283589e-02 -1.35394329e+02] [ 7.06467657e-01 7.07379808e-01 -2.27433057e-02 -1.18390575e+02] [ 5.58415177e-02 -2.36772295e-02 9.98158862e-01 2.59661372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.139072329 meters Centerline goodness [0,1] 0.128242991037552 Centerline is valid? [False, False] Translation: X:-135.73, Y:-118.38, Z:259.62 [[ 6.99728392e-01 -7.13504658e-01 -3.59343917e-02 -1.35730290e+02] [ 7.12902677e-01 7.00633795e-01 -2.96994782e-02 -1.18380660e+02] [ 4.63675653e-02 -4.83615591e-03 9.98912739e-01 2.59620124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16907232899996 meters Centerline goodness [0,1] 0.12284403293867019 Centerline is valid? [False, False] Translation: X:-136.11, Y:-118.35, Z:259.57 [[ 6.86719644e-01 -7.26890543e-01 -6.80215788e-03 -1.36110514e+02] [ 7.26180813e-01 6.86411627e-01 -3.87363416e-02 -1.18348805e+02] [ 3.28261606e-02 2.16614102e-02 9.99226314e-01 2.59573220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.199072329 meters Centerline goodness [0,1] 0.1207743308504543 Centerline is valid? [False, False] Translation: X:-136.58, Y:-118.33, Z:259.54 [[ 6.87287784e-01 -7.25981483e-01 2.42154611e-02 -1.36580334e+02] [ 7.26131999e-01 6.85786108e-01 -4.92923378e-02 -1.18325803e+02] [ 1.91786977e-02 5.14616427e-02 9.98490800e-01 2.59542154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22907232899996 meters Centerline goodness [0,1] 0.11782508230578903 Centerline is valid? [False, False] Translation: X:-137.09, Y:-118.30, Z:259.52 [[ 6.89555406e-01 -7.21718121e-01 6.03017024e-02 -1.37089125e+02] [ 7.24224275e-01 6.86745662e-01 -6.22863886e-02 -1.18295425e+02] [ 3.54128283e-03 8.66218727e-02 9.96234968e-01 2.59522958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.259072329 meters Centerline goodness [0,1] 0.1146951207048098 Centerline is valid? [False, False] Translation: X:-137.65, Y:-118.23, Z:259.52 [[ 6.85158424e-01 -7.20830388e-01 1.04697111e-01 -1.37654672e+02] [ 7.28274526e-01 6.80536533e-01 -8.05372104e-02 -1.18233943e+02] [-1.31965401e-02 1.31428987e-01 9.91237748e-01 2.59516768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28907232899996 meters Centerline goodness [0,1] 0.11274849981630408 Centerline is valid? [False, False] Translation: X:-138.26, Y:-118.18, Z:259.53 [[ 6.94623291e-01 -7.01284212e-01 1.60308882e-01 -1.38255308e+02] [ 7.18574294e-01 6.86906341e-01 -1.08676878e-01 -1.18175681e+02] [-3.39038086e-02 1.90683332e-01 9.81065950e-01 2.59533857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.319072329 meters Centerline goodness [0,1] 0.11086605811840144 Centerline is valid? [False, False] Translation: X:-138.92, Y:-118.09, Z:259.60 [[ 7.03262508e-01 -6.78103322e-01 2.13536249e-01 -1.38924265e+02] [ 7.09258555e-01 6.89798266e-01 -1.45363867e-01 -1.18089284e+02] [-4.87252128e-02 2.53681369e-01 9.66059841e-01 2.59601657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34907232899997 meters Centerline goodness [0,1] 0.10931116195456769 Centerline is valid? [False, False] Translation: X:-139.66, Y:-117.95, Z:259.73 [[ 7.06357171e-01 -6.56072994e-01 2.65758863e-01 -1.39661957e+02] [ 7.05823653e-01 6.81231793e-01 -1.94258115e-01 -1.17953054e+02] [-5.35958841e-02 3.24794504e-01 9.44264799e-01 2.59729283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.379072329 meters Centerline goodness [0,1] 0.1087032006372679 Centerline is valid? [False, False] Translation: X:-140.42, Y:-117.82, Z:259.90 [[ 7.19172021e-01 -6.14986850e-01 3.23392606e-01 -1.40415209e+02] [ 6.91507979e-01 6.78956399e-01 -2.46647364e-01 -1.17815709e+02] [-6.78845942e-02 4.01010451e-01 9.13554760e-01 2.59904730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40907232899997 meters Centerline goodness [0,1] 0.10908719624259755 Centerline is valid? [False, False] Translation: X:-141.16, Y:-117.66, Z:260.14 [[ 7.34535912e-01 -5.65338606e-01 3.75298888e-01 -1.41162358e+02] [ 6.73951787e-01 6.72216271e-01 -3.06454360e-01 -1.17656790e+02] [-7.90315384e-02 4.78035089e-01 8.74777954e-01 2.60143994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.439072329 meters Centerline goodness [0,1] 0.10960691567444136 Centerline is valid? [False, False] Translation: X:-141.87, Y:-117.47, Z:260.43 [[ 7.47710585e-01 -5.07378174e-01 4.28364646e-01 -1.41868992e+02] [ 6.57929549e-01 6.53284101e-01 -3.74631275e-01 -1.17466241e+02] [-8.97640800e-02 5.61949528e-01 8.22286530e-01 2.60434276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46907232899997 meters Centerline goodness [0,1] 0.11145605686158366 Centerline is valid? [False, False] Translation: X:-142.57, Y:-117.28, Z:260.81 [[ 7.66735469e-01 -4.43141190e-01 4.64481008e-01 -1.42571000e+02] [ 6.34283003e-01 6.34522003e-01 -4.41663786e-01 -1.17276707e+02] [-9.90040035e-02 6.33251699e-01 7.67587450e-01 2.60812503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49907232899994 meters Centerline goodness [0,1] 0.11162182590754022 Centerline is valid? [False, False] Translation: X:-143.18, Y:-117.09, Z:261.21 [[ 7.85860626e-01 -3.72875002e-01 4.93342994e-01 -1.43182850e+02] [ 6.08487292e-01 6.08540329e-01 -5.09334746e-01 -1.17093629e+02] [-1.10300914e-01 7.00459065e-01 7.05117584e-01 2.61205589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.529072329 meters Centerline goodness [0,1] 0.11316042660334491 Centerline is valid? [False, False] Translation: X:-143.72, Y:-116.90, Z:261.64 [[ 8.07351934e-01 -3.04364737e-01 5.05514552e-01 -1.43718401e+02] [ 5.78939760e-01 5.74197750e-01 -5.78900422e-01 -1.16898230e+02] [-1.14068443e-01 7.60038848e-01 6.39788512e-01 2.61642749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55907232899995 meters Centerline goodness [0,1] 0.11243730166854338 Centerline is valid? [False, False] Translation: X:-144.19, Y:-116.73, Z:262.09 [[ 8.29119350e-01 -2.38346674e-01 5.05719257e-01 -1.44187144e+02] [ 5.45983235e-01 5.39785041e-01 -6.40729597e-01 -1.16732939e+02] [-1.20263921e-01 8.07355543e-01 5.77679511e-01 2.62086788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.589072329 meters Centerline goodness [0,1] 0.11478232352217754 Centerline is valid? [False, False] Translation: X:-144.60, Y:-116.58, Z:262.55 [[ 8.48890015e-01 -1.81457373e-01 4.96446336e-01 -1.44603308e+02] [ 5.13466898e-01 5.06009528e-01 -6.93041198e-01 -1.16582177e+02] [-1.25449141e-01 8.43224513e-01 5.22718791e-01 2.62554727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61907232899995 meters Centerline goodness [0,1] 0.11726431166485352 Centerline is valid? [False, False] Translation: X:-144.94, Y:-116.44, Z:263.02 [[ 8.64764352e-01 -1.28271319e-01 4.85519396e-01 -1.44944253e+02] [ 4.83028798e-01 4.76905059e-01 -7.34332857e-01 -1.16440444e+02] [-1.37352812e-01 8.69544728e-01 4.74369236e-01 2.63016100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.649072329 meters Centerline goodness [0,1] 0.13256324503990646 Centerline is valid? [False, False] Translation: X:-145.22, Y:-116.34, Z:263.42 [[ 8.76706205e-01 -8.19050031e-02 4.74001900e-01 -1.45224577e+02] [ 4.56655110e-01 4.51391102e-01 -7.66623887e-01 -1.16337207e+02] [-1.51169908e-01 8.88559308e-01 4.33139718e-01 2.63415819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67907232899995 meters Centerline goodness [0,1] 0.13839322424142753 Centerline is valid? [False, False] Translation: X:-145.46, Y:-116.24, Z:263.83 [[ 8.82964732e-01 -3.98767212e-02 4.67742589e-01 -1.45463946e+02] [ 4.35484632e-01 4.41631015e-01 -7.84420284e-01 -1.16240898e+02] [-1.75289526e-01 8.96310155e-01 4.07310310e-01 2.63826672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.709072329 meters Centerline goodness [0,1] 0.14059320466177472 Centerline is valid? [False, False] Translation: X:-145.67, Y:-116.17, Z:264.18 [[ 8.86021064e-01 -1.18693072e-02 4.63493035e-01 -1.45670363e+02] [ 4.21958888e-01 4.34916577e-01 -7.95486183e-01 -1.16174970e+02] [-1.92138934e-01 9.00392520e-01 3.90353608e-01 2.64179090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73907232899995 meters Centerline goodness [0,1] 0.14300733899562956 Centerline is valid? [False, False] Translation: X:-145.86, Y:-116.12, Z:264.52 [[ 8.86009672e-01 9.64645048e-03 4.63566401e-01 -1.45861130e+02] [ 4.13972006e-01 4.33854109e-01 -8.00248580e-01 -1.16118524e+02] [-2.08839746e-01 9.00931495e-01 3.80405576e-01 2.64520486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.769072329 meters Centerline goodness [0,1] 0.14722863741339487 Centerline is valid? [False, False] Translation: X:-146.01, Y:-116.07, Z:264.80 [[ 8.85133826e-01 2.84324338e-02 4.64467122e-01 -1.46010216e+02] [ 4.07497351e-01 4.34584942e-01 -8.03169868e-01 -1.16072922e+02] [-2.24686491e-01 9.00181940e-01 3.73079691e-01 2.64797271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79907232899996 meters Centerline goodness [0,1] 0.14722863741339487 Centerline is valid? [False, False] Translation: X:-146.16, Y:-116.04, Z:265.05 [[ 8.82419747e-01 3.44708344e-02 4.69198415e-01 -1.46158678e+02] [ 4.09450181e-01 4.34904622e-01 -8.02002817e-01 -1.16043290e+02] [-2.31702265e-01 8.99816499e-01 3.69654337e-01 2.65052795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.829072329 meters Centerline goodness [0,1] 0.14885582815756349 Centerline is valid? [False, False] Translation: X:-146.28, Y:-115.99, Z:265.32 [[ 8.80494100e-01 5.36646887e-02 4.71009810e-01 -1.46280009e+02] [ 4.01046440e-01 4.45451603e-01 -8.00459008e-01 -1.15993915e+02] [-2.52768458e-01 8.93696241e-01 3.70695475e-01 2.65319525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85907232899996 meters Centerline goodness [0,1] 0.14270392905022167 Centerline is valid? [False, False] Translation: X:-146.40, Y:-115.97, Z:265.55 [[ 8.74101102e-01 7.04770213e-02 4.80604049e-01 -1.46402984e+02] [ 3.99440915e-01 4.58701658e-01 -7.93750430e-01 -1.15969847e+02] [-2.76395040e-01 8.85791047e-01 3.72800219e-01 2.65549389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.889072329 meters Centerline goodness [0,1] 0.13943341604631931 Centerline is valid? [False, False] Translation: X:-146.51, Y:-115.94, Z:265.77 [[ 8.60314965e-01 1.00873427e-01 4.99682612e-01 -1.46512075e+02] [ 3.91987531e-01 4.95745337e-01 -7.74972474e-01 -1.15940967e+02] [-3.25889454e-01 8.62589771e-01 3.86956007e-01 2.65773363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91907232899996 meters Centerline goodness [0,1] 0.1390470668626923 Centerline is valid? [False, False] Translation: X:-146.62, Y:-115.92, Z:265.98 [[ 8.51103851e-01 1.10406804e-01 5.13256829e-01 -1.46623946e+02] [ 3.92055027e-01 5.16540385e-01 -7.61235106e-01 -1.15917628e+02] [-3.49163415e-01 8.49115050e-01 3.96343969e-01 2.65984024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.949072329 meters Centerline goodness [0,1] 0.13497173854531153 Centerline is valid? [False, False] Translation: X:-146.73, Y:-115.89, Z:266.18 [[ 8.44039369e-01 1.17521894e-01 5.23245782e-01 -1.46728982e+02] [ 3.91211658e-01 5.32436011e-01 -7.50643279e-01 -1.15894598e+02] [-3.66811917e-01 8.38272330e-01 4.03421019e-01 2.66179873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97907232899996 meters Centerline goodness [0,1] 0.13422082358543297 Centerline is valid? [False, False] Translation: X:-146.84, Y:-115.87, Z:266.38 [[ 8.38152583e-01 1.25057500e-01 5.30905707e-01 -1.46837238e+02] [ 3.88746675e-01 5.45789989e-01 -7.42286542e-01 -1.15869942e+02] [-3.82591519e-01 8.28537211e-01 4.08839602e-01 2.66381661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.009072329 meters Centerline goodness [0,1] 0.13348284741257577 Centerline is valid? [False, False] Translation: X:-146.95, Y:-115.84, Z:266.60 [[ 8.30690203e-01 1.38841111e-01 5.39144631e-01 -1.46946510e+02] [ 3.83958090e-01 5.58382557e-01 -7.35380925e-01 -1.15843764e+02] [-4.03150062e-01 8.17882672e-01 4.10533752e-01 2.66598400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03907232899996 meters Centerline goodness [0,1] 0.34013676137426474 Centerline is valid? [False, False] Translation: X:-147.05, Y:-115.82, Z:266.81 [[ 8.22439859e-01 1.52963140e-01 5.47900499e-01 -1.47054396e+02] [ 3.77557227e-01 5.73651143e-01 -7.26894014e-01 -1.15817462e+02] [-4.25491738e-01 8.04690403e-01 4.14041226e-01 2.66811412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.069072329 meters Centerline goodness [0,1] 0.3269534497090607 Centerline is valid? [False, False] Translation: X:-147.16, Y:-115.79, Z:267.02 [[ 8.18781563e-01 1.55246992e-01 5.52716133e-01 -1.47162755e+02] [ 3.75518051e-01 5.83409584e-01 -7.20152380e-01 -1.15791075e+02] [-4.34261380e-01 7.97202377e-01 4.19386963e-01 2.67019154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09907232899997 meters Centerline goodness [0,1] 0.35647330243385367 Centerline is valid? [False, False] Translation: X:-147.28, Y:-115.76, Z:267.24 [[ 8.15522073e-01 1.55459345e-01 5.57455057e-01 -1.47277218e+02] [ 3.74687084e-01 5.92277293e-01 -7.13314235e-01 -1.15762438e+02] [-4.41059336e-01 7.90594713e-01 4.24766597e-01 2.67238416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.129072329 meters Centerline goodness [0,1] 0.36034332266511493 Centerline is valid? [False, False] Translation: X:-147.39, Y:-115.73, Z:267.46 [[ 8.12690470e-01 1.56014719e-01 5.61421060e-01 -1.47394315e+02] [ 3.73501907e-01 6.00049592e-01 -7.07415587e-01 -1.15732552e+02] [-4.47247722e-01 7.84601743e-01 4.29382790e-01 2.67458234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15907232899997 meters Centerline goodness [0,1] 0.36230769230769233 Centerline is valid? [False, False] Translation: X:-147.51, Y:-115.70, Z:267.68 [[ 8.11836179e-01 1.57829840e-01 5.62149233e-01 -1.47512934e+02] [ 3.68414721e-01 6.08460931e-01 -7.02883980e-01 -1.15701078e+02] [-4.52981912e-01 7.77730697e-01 4.35823760e-01 2.67681412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.189072329 meters Centerline goodness [0,1] 0.36600233003245397 Centerline is valid? [False, False] Translation: X:-147.63, Y:-115.67, Z:267.90 [[ 8.11442436e-01 1.56047579e-01 5.63214281e-01 -1.47634380e+02] [ 3.66468054e-01 6.14841062e-01 -6.98334901e-01 -1.15667692e+02] [-4.55260737e-01 7.73058615e-01 4.41721677e-01 2.67903887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21907232899997 meters Centerline goodness [0,1] 0.37005285280286315 Centerline is valid? [False, False] Translation: X:-147.76, Y:-115.63, Z:268.13 [[ 8.11544816e-01 1.55625148e-01 5.63183652e-01 -1.47756254e+02] [ 3.64262219e-01 6.18881089e-01 -6.95916111e-01 -1.15631934e+02] [-4.56845759e-01 7.69913639e-01 4.45561377e-01 2.68129184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24907232899994 meters Centerline goodness [0,1] 0.3721970295793984 Centerline is valid? [False, False] Translation: X:-147.87, Y:-115.60, Z:268.35 [[ 8.10790175e-01 1.57929964e-01 5.63628795e-01 -1.47874867e+02] [ 3.58975867e-01 6.26410591e-01 -6.91914806e-01 -1.15595567e+02] [-4.62337127e-01 7.63326861e-01 4.51194507e-01 2.68348984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.279072329 meters Centerline goodness [0,1] 0.31338556426071007 Centerline is valid? [False, False] Translation: X:-148.00, Y:-115.56, Z:268.58 [[ 8.09708507e-01 1.58800178e-01 5.64937728e-01 -1.47995827e+02] [ 3.52447097e-01 6.38127162e-01 -6.84525215e-01 -1.15555907e+02] [-4.69204835e-01 7.53376552e-01 4.60728330e-01 2.68576397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30907232899995 meters Centerline goodness [0,1] 0.32210206080306725 Centerline is valid? [False, False] Translation: X:-148.11, Y:-115.52, Z:268.79 [[ 8.10097691e-01 1.56769306e-01 5.64947002e-01 -1.48111424e+02] [ 3.48833473e-01 6.45595750e-01 -6.79353616e-01 -1.15518913e+02] [-4.71229179e-01 7.47415221e-01 4.68309245e-01 2.68790111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.339072329 meters Centerline goodness [0,1] 0.3242697003792141 Centerline is valid? [False, False] Translation: X:-148.23, Y:-115.48, Z:269.01 [[ 8.10784497e-01 1.54303708e-01 5.64640474e-01 -1.48230333e+02] [ 3.46750490e-01 6.50544706e-01 -6.75689043e-01 -1.15479935e+02] [-4.71585196e-01 7.43627562e-01 4.73946676e-01 2.69007231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36907232899995 meters Centerline goodness [0,1] 0.3801599533469405 Centerline is valid? [False, False] Translation: X:-148.35, Y:-115.44, Z:269.22 [[ 8.10630613e-01 1.55269459e-01 5.64596673e-01 -1.48347712e+02] [ 3.44247519e-01 6.53609677e-01 -6.74008928e-01 -1.15441038e+02] [-4.73678851e-01 7.40733275e-01 4.76384888e-01 2.69222367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.399072329 meters Centerline goodness [0,1] 0.3380179054757443 Centerline is valid? [False, False] Translation: X:-148.48, Y:-115.40, Z:269.45 [[ 8.08388694e-01 1.54409549e-01 5.68036452e-01 -1.48475070e+02] [ 3.45042830e-01 6.57529280e-01 -6.69776598e-01 -1.15399105e+02] [-4.76920502e-01 7.37436734e-01 4.78261328e-01 2.69451426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42907232899995 meters Centerline goodness [0,1] 0.3369165193887098 Centerline is valid? [False, False] Translation: X:-148.59, Y:-115.36, Z:269.67 [[ 8.07285469e-01 1.56097192e-01 5.69143074e-01 -1.48593433e+02] [ 3.45116188e-01 6.57433366e-01 -6.69832954e-01 -1.15358576e+02] [-4.78732690e-01 7.37166898e-01 4.76864735e-01 2.69667293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.459072329 meters Centerline goodness [0,1] 0.3557130682408697 Centerline is valid? [False, False] Translation: X:-148.71, Y:-115.32, Z:269.88 [[ 8.06978186e-01 1.54203863e-01 5.70094182e-01 -1.48714756e+02] [ 3.44254291e-01 6.61529504e-01 -6.66233967e-01 -1.15316825e+02] [-4.79869973e-01 7.33893647e-01 4.80754537e-01 2.69884783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48907232899995 meters Centerline goodness [0,1] 0.30792416746351803 Centerline is valid? [False, False] Translation: X:-148.84, Y:-115.27, Z:270.10 [[ 8.07205294e-01 1.54219083e-01 5.69768451e-01 -1.48836360e+02] [ 3.41058279e-01 6.65973294e-01 -6.63444664e-01 -1.15272129e+02] [-4.81766400e-01 7.29860293e-01 4.84979473e-01 2.70102743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.519072329 meters Centerline goodness [0,1] 0.317949038221334 Centerline is valid? [False, False] Translation: X:-148.95, Y:-115.23, Z:270.31 [[ 8.09510362e-01 1.53400974e-01 5.66710787e-01 -1.48949746e+02] [ 3.35220602e-01 6.71683934e-01 -6.60657128e-01 -1.15227932e+02] [-4.81995978e-01 7.24781922e-01 4.92311937e-01 2.70309080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54907232899996 meters Centerline goodness [0,1] 0.31144742594250263 Centerline is valid? [False, False] Translation: X:-149.07, Y:-115.18, Z:270.52 [[ 8.10152765e-01 1.53689973e-01 5.65713611e-01 -1.49065286e+02] [ 3.31778203e-01 6.75382981e-01 -6.58620568e-01 -1.15183621e+02] [-4.83296722e-01 7.21274720e-01 4.96172407e-01 2.70516236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.579072329 meters Centerline goodness [0,1] 0.31534534847379936 Centerline is valid? [False, False] Translation: X:-149.18, Y:-115.14, Z:270.72 [[ 8.10032014e-01 1.53407369e-01 5.65963175e-01 -1.49180385e+02] [ 3.29915957e-01 6.78689040e-01 -6.56152915e-01 -1.15139081e+02] [-4.84771697e-01 7.18225150e-01 4.99148311e-01 2.70720251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60907232899996 meters Centerline goodness [0,1] 0.31311659659492985 Centerline is valid? [False, False] Translation: X:-149.29, Y:-115.09, Z:270.92 [[ 8.10707917e-01 1.55579323e-01 5.64400344e-01 -1.49291536e+02] [ 3.25217518e-01 6.81942329e-01 -6.55124588e-01 -1.15094851e+02] [-4.86812325e-01 7.14667569e-01 5.02258924e-01 2.70919980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.639072329 meters Centerline goodness [0,1] 0.3253491765686888 Centerline is valid? [False, False] Translation: X:-149.40, Y:-115.05, Z:271.12 [[ 8.11067003e-01 1.58643545e-01 5.63029788e-01 -1.49401079e+02] [ 3.18868764e-01 6.87030046e-01 -6.52926050e-01 -1.15047268e+02] [-4.90400884e-01 7.09099387e-01 5.06640930e-01 2.71119297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66907232899996 meters Centerline goodness [0,1] 0.32559642976309644 Centerline is valid? [False, False] Translation: X:-149.51, Y:-115.00, Z:271.32 [[ 8.09514296e-01 1.59267265e-01 5.65084546e-01 -1.49511382e+02] [ 3.14646492e-01 6.94908815e-01 -6.46606004e-01 -1.15000588e+02] [-4.95665402e-01 7.01238674e-01 5.12425733e-01 2.71319777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.699072329 meters Centerline goodness [0,1] 0.32660466280185174 Centerline is valid? [False, False] Translation: X:-149.62, Y:-114.95, Z:271.53 [[ 8.06032285e-01 1.63636932e-01 5.68801292e-01 -1.49621977e+02] [ 3.08829443e-01 7.03547622e-01 -6.40035248e-01 -1.14949539e+02] [-5.04912200e-01 6.91551660e-01 5.16546195e-01 2.71531347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72907232899996 meters Centerline goodness [0,1] 0.3375151085733339 Centerline is valid? [False, False] Translation: X:-149.73, Y:-114.90, Z:271.74 [[ 8.04405267e-01 1.64608216e-01 5.70820726e-01 -1.49734305e+02] [ 3.05633344e-01 7.09271162e-01 -6.35234349e-01 -1.14900687e+02] [-5.09431472e-01 6.85447704e-01 5.20231699e-01 2.71735472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.759072329 meters Centerline goodness [0,1] 0.35433251364981455 Centerline is valid? [False, False] Translation: X:-149.85, Y:-114.85, Z:271.94 [[ 8.03040427e-01 1.67375524e-01 5.71936629e-01 -1.49846067e+02] [ 2.99130711e-01 7.16859740e-01 -6.29788005e-01 -1.14849816e+02] [-5.15409440e-01 6.76829039e-01 5.25600192e-01 2.71940713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78907232899996 meters Centerline goodness [0,1] 0.32811232449297967 Centerline is valid? [False, False] Translation: X:-149.97, Y:-114.80, Z:272.15 [[ 8.02628740e-01 1.66140547e-01 5.72873829e-01 -1.49967371e+02] [ 2.95654674e-01 7.23330788e-01 -6.24003914e-01 -1.14796054e+02] [-5.18049630e-01 6.70216300e-01 5.31445850e-01 2.72152613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.819072329 meters Centerline goodness [0,1] 0.3320626588343124 Centerline is valid? [False, False] Translation: X:-150.09, Y:-114.74, Z:272.37 [[ 8.02189540e-01 1.64641464e-01 5.73920840e-01 -1.50090906e+02] [ 2.91979179e-01 7.30281094e-01 -6.17606414e-01 -1.14740172e+02] [-5.20807163e-01 6.63010341e-01 5.37751975e-01 2.72367174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84907232899997 meters Centerline goodness [0,1] 0.3518788839304333 Centerline is valid? [False, False] Translation: X:-150.21, Y:-114.68, Z:272.58 [[ 8.01702036e-01 1.64252372e-01 5.74712974e-01 -1.50214739e+02] [ 2.88160522e-01 7.36181612e-01 -6.12372557e-01 -1.14684104e+02] [-5.23676769e-01 6.56549917e-01 5.42867248e-01 2.72580010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.879072329 meters Centerline goodness [0,1] 0.3780139626966761 Centerline is valid? [False, False] Translation: X:-150.34, Y:-114.62, Z:272.80 [[ 7.99770572e-01 1.67982198e-01 5.76323706e-01 -1.50338313e+02] [ 2.80723722e-01 7.43953764e-01 -6.06404971e-01 -1.14623521e+02] [-5.30623430e-01 6.46772586e-01 5.47835739e-01 2.72796145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90907232899997 meters Centerline goodness [0,1] 0.35480440403703395 Centerline is valid? [False, False] Translation: X:-150.46, Y:-114.56, Z:273.01 [[ 7.98488337e-01 1.67423779e-01 5.78260887e-01 -1.50464970e+02] [ 2.76274691e-01 7.51516397e-01 -5.99078793e-01 -1.14563251e+02] [-5.34872574e-01 6.38116277e-01 5.53822125e-01 2.73011957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.939072329 meters Centerline goodness [0,1] 0.3604719026179757 Centerline is valid? [False, False] Translation: X:-150.59, Y:-114.50, Z:273.23 [[ 7.96857407e-01 1.69419029e-01 5.79927120e-01 -1.50591429e+02] [ 2.70378828e-01 7.58392368e-01 -5.93073609e-01 -1.14499910e+02] [-5.40290257e-01 6.29395114e-01 5.58523258e-01 2.73227776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96907232899997 meters Centerline goodness [0,1] 0.3661334390055686 Centerline is valid? [False, False] Translation: X:-150.72, Y:-114.44, Z:273.44 [[ 7.96753093e-01 1.68649513e-01 5.80294623e-01 -1.50719280e+02] [ 2.65012553e-01 7.65490296e-01 -5.86338600e-01 -1.14436299e+02] [-5.43095622e-01 6.20952453e-01 5.65212523e-01 2.73441815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99907232899994 meters Centerline goodness [0,1] 0.3669114272602111 Centerline is valid? [False, False] Translation: X:-150.85, Y:-114.37, Z:273.66 [[ 7.96009387e-01 1.67266151e-01 5.81713925e-01 -1.50851155e+02] [ 2.59528349e-01 7.73915931e-01 -5.77667005e-01 -1.14370233e+02] [-5.46821810e-01 6.10799613e-01 5.72634038e-01 2.73659198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.029072329 meters Centerline goodness [0,1] 0.3622006175415171 Centerline is valid? [False, False] Translation: X:-150.98, Y:-114.30, Z:273.87 [[ 7.95785876e-01 1.66492621e-01 5.82241400e-01 -1.50980179e+02] [ 2.54645767e-01 7.80328866e-01 -5.71176325e-01 -1.14302746e+02] [-5.49436414e-01 6.02799359e-01 5.78578049e-01 2.73871381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05907232899995 meters Centerline goodness [0,1] 0.3673494957088267 Centerline is valid? [False, False] Translation: X:-151.11, Y:-114.24, Z:274.08 [[ 7.96025189e-01 1.66215592e-01 5.81993363e-01 -1.51108297e+02] [ 2.50239797e-01 7.85146387e-01 -5.66502599e-01 -1.14236403e+02] [-5.51111551e-01 5.96588240e-01 5.83402546e-01 2.74079528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.089072329 meters Centerline goodness [0,1] 0.3563201602470475 Centerline is valid? [False, False] Translation: X:-151.24, Y:-114.17, Z:274.29 [[ 7.96492624e-01 1.66478672e-01 5.81278205e-01 -1.51237017e+02] [ 2.46873114e-01 7.88030799e-01 -5.63969082e-01 -1.14169634e+02] [-5.51953952e-01 5.92699174e-01 5.86561611e-01 2.74285292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11907232899995 meters Centerline goodness [0,1] 0.375622668250693 Centerline is valid? [False, False] Translation: X:-151.36, Y:-114.10, Z:274.49 [[ 7.96641048e-01 1.67074882e-01 5.80903628e-01 -1.51364214e+02] [ 2.42963243e-01 7.91476166e-01 -5.60833612e-01 -1.14102634e+02] [-5.53472586e-01 5.87921306e-01 5.89929347e-01 2.74486309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.149072329 meters Centerline goodness [0,1] 0.3747390832428822 Centerline is valid? [False, False] Translation: X:-151.50, Y:-114.03, Z:274.69 [[ 7.97633668e-01 1.63167218e-01 5.80652212e-01 -1.51497380e+02] [ 2.42790121e-01 7.94406312e-01 -5.56750903e-01 -1.14032404e+02] [-5.52117278e-01 5.85059886e-01 5.94029832e-01 2.74694005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17907232899995 meters Centerline goodness [0,1] 0.3740583853264612 Centerline is valid? [False, False] Translation: X:-151.63, Y:-113.96, Z:274.90 [[ 7.98181720e-01 1.60592502e-01 5.80616905e-01 -1.51631845e+02] [ 2.42081679e-01 7.97062562e-01 -5.53251962e-01 -1.13959974e+02] [-5.51636115e-01 5.82152317e-01 5.97324264e-01 2.74904135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.209072329 meters Centerline goodness [0,1] 0.33056627385545934 Centerline is valid? [False, False] Translation: X:-151.77, Y:-113.89, Z:275.11 [[ 7.99911205e-01 1.56324750e-01 5.79400239e-01 -1.51765738e+02] [ 2.43187394e-01 7.98214172e-01 -5.51102555e-01 -1.13888559e+02] [-5.48636452e-01 5.81735943e-01 6.00484251e-01 2.75109173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23907232899995 meters Centerline goodness [0,1] 0.36271016938558664 Centerline is valid? [False, False] Translation: X:-151.89, Y:-113.82, Z:275.30 [[ 8.01615265e-01 1.55902805e-01 5.77154469e-01 -1.51892303e+02] [ 2.42957587e-01 7.97130737e-01 -5.52769571e-01 -1.13817101e+02] [-5.46245894e-01 5.83332584e-01 6.01114398e-01 2.75304763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.269072329 meters Centerline goodness [0,1] 0.3517935677512142 Centerline is valid? [False, False] Translation: X:-152.02, Y:-113.74, Z:275.51 [[ 8.01927705e-01 1.55272345e-01 5.76890332e-01 -1.52024677e+02] [ 2.40997765e-01 7.99501938e-01 -5.50196991e-01 -1.13743100e+02] [-5.46655315e-01 5.80247491e-01 6.03722466e-01 2.75509561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29907232899996 meters Centerline goodness [0,1] 0.3463908084256099 Centerline is valid? [False, False] Translation: X:-152.15, Y:-113.67, Z:275.71 [[ 8.01809734e-01 1.54582540e-01 5.77239456e-01 -1.52152562e+02] [ 2.41500973e-01 7.99744515e-01 -5.49623499e-01 -1.13669674e+02] [-5.46606285e-01 5.80097362e-01 6.03911103e-01 2.75708010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.329072329 meters Centerline goodness [0,1] 0.3737083333333333 Centerline is valid? [False, False] Translation: X:-152.28, Y:-113.59, Z:275.91 [[ 8.01398171e-01 1.57584370e-01 5.76999252e-01 -1.52280116e+02] [ 2.36711802e-01 8.02353653e-01 -5.47901577e-01 -1.13594497e+02] [-5.49298183e-01 5.75669854e-01 6.05702671e-01 2.75905684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35907232899996 meters Centerline goodness [0,1] 0.36598174467553035 Centerline is valid? [False, False] Translation: X:-152.41, Y:-113.52, Z:276.11 [[ 8.01063714e-01 1.56923118e-01 5.77643541e-01 -1.52411535e+02] [ 2.34336107e-01 8.05784899e-01 -5.43872490e-01 -1.13515980e+02] [-5.50802610e-01 5.71039255e-01 6.08712292e-01 2.76110487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.389072329 meters Centerline goodness [0,1] 0.36525096525096523 Centerline is valid? [False, False] Translation: X:-152.54, Y:-113.44, Z:276.31 [[ 8.02538299e-01 1.57543936e-01 5.75423484e-01 -1.52536703e+02] [ 2.31123413e-01 8.07086875e-01 -5.43316431e-01 -1.13440235e+02] [-5.50012951e-01 5.69026084e-01 6.11306036e-01 2.76305122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41907232899996 meters Centerline goodness [0,1] 0.28731748018356273 Centerline is valid? [False, False] Translation: X:-152.66, Y:-113.37, Z:276.49 [[ 8.03546637e-01 1.58790272e-01 5.73671031e-01 -1.52658011e+02] [ 2.27820062e-01 8.08335922e-01 -5.42854544e-01 -1.13365756e+02] [-5.49918922e-01 5.66902714e-01 6.13360002e-01 2.76493957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.449072329 meters Centerline goodness [0,1] 0.3408280321201377 Centerline is valid? [False, False] Translation: X:-152.77, Y:-113.29, Z:276.67 [[ 8.05304178e-01 1.60617604e-01 5.70690079e-01 -1.52772647e+02] [ 2.25567473e-01 8.07198573e-01 -5.45481236e-01 -1.13293043e+02] [-5.48274106e-01 5.68007438e-01 6.13810276e-01 2.76674154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47907232899996 meters Centerline goodness [0,1] 0.3116571833510494 Centerline is valid? [False, False] Translation: X:-152.89, Y:-113.22, Z:276.86 [[ 8.07286802e-01 1.56481808e-01 5.69035555e-01 -1.52894177e+02] [ 2.28558815e-01 8.06061392e-01 -5.45917486e-01 -1.13219220e+02] [-5.44103747e-01 5.70770073e-01 6.14957426e-01 2.76860804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.509072329 meters Centerline goodness [0,1] 0.31411058293720295 Centerline is valid? [False, False] Translation: X:-153.01, Y:-113.14, Z:277.04 [[ 8.08971730e-01 1.57524096e-01 5.66348743e-01 -1.53011228e+02] [ 2.25097050e-01 8.06989795e-01 -5.45984239e-01 -1.13143147e+02] [-5.43043330e-01 5.69169246e-01 6.17373721e-01 2.77043963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53907232899996 meters Centerline goodness [0,1] 0.3257327631167206 Centerline is valid? [False, False] Translation: X:-153.13, Y:-113.07, Z:277.23 [[ 8.10244080e-01 1.55056278e-01 5.65209768e-01 -1.53132401e+02] [ 2.24096668e-01 8.09130272e-01 -5.43220844e-01 -1.13066395e+02] [-5.41558136e-01 5.66803099e-01 6.20845418e-01 2.77228284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.569072329 meters Centerline goodness [0,1] 0.28765553031408264 Centerline is valid? [False, False] Translation: X:-153.24, Y:-112.99, Z:277.40 [[ 8.11136632e-01 1.56393555e-01 5.63558710e-01 -1.53243626e+02] [ 2.20780111e-01 8.10411214e-01 -5.42669150e-01 -1.12993293e+02] [-5.41584257e-01 5.64601382e-01 6.22825636e-01 2.77400182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59907232899997 meters Centerline goodness [0,1] 0.31697350040656336 Centerline is valid? [False, False] Translation: X:-153.35, Y:-112.92, Z:277.56 [[ 8.12458811e-01 1.56320737e-01 5.61671173e-01 -1.53347477e+02] [ 2.19064537e-01 8.10940785e-01 -5.42573287e-01 -1.12922969e+02] [-5.40297518e-01 5.63860683e-01 6.24611657e-01 2.77564290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.629072329 meters Centerline goodness [0,1] 0.29521825190123974 Centerline is valid? [False, False] Translation: X:-153.46, Y:-112.85, Z:277.73 [[ 8.13242336e-01 1.53721125e-01 5.61254594e-01 -1.53456701e+02] [ 2.21434442e-01 8.10178025e-01 -5.42750730e-01 -1.12852133e+02] [-5.38148391e-01 5.65668970e-01 6.24831918e-01 2.77733373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65907232899997 meters Centerline goodness [0,1] 0.3214375104288336 Centerline is valid? [False, False] Translation: X:-153.56, Y:-112.78, Z:277.90 [[ 8.14841415e-01 1.53415570e-01 5.59014429e-01 -1.53560116e+02] [ 2.20225337e-01 8.10114930e-01 -5.43336545e-01 -1.12781710e+02] [-5.36222221e-01 5.65842260e-01 6.26329200e-01 2.77896727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.689072329 meters Centerline goodness [0,1] 0.3325763573482229 Centerline is valid? [False, False] Translation: X:-153.67, Y:-112.71, Z:278.06 [[ 8.16102528e-01 1.51422813e-01 5.57716591e-01 -1.53665626e+02] [ 2.20246907e-01 8.10733812e-01 -5.42403896e-01 -1.12710150e+02] [-5.34292021e-01 5.65492544e-01 6.28291508e-01 2.78059773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71907232899997 meters Centerline goodness [0,1] 0.3325763573482229 Centerline is valid? [False, False] Translation: X:-153.78, Y:-112.63, Z:278.23 [[ 8.15791729e-01 1.51628919e-01 5.58115155e-01 -1.53775812e+02] [ 2.18162778e-01 8.13048096e-01 -5.39775691e-01 -1.12632497e+02] [-5.35620068e-01 5.62104497e-01 6.30198125e-01 2.78233401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74907232899994 meters Centerline goodness [0,1] 0.3142077072174403 Centerline is valid? [False, False] Translation: X:-153.89, Y:-112.56, Z:278.40 [[ 8.16747699e-01 1.47989081e-01 5.57693847e-01 -1.53886688e+02] [ 2.19180147e-01 8.14523635e-01 -5.37132490e-01 -1.12555692e+02] [-5.33744563e-01 5.60937145e-01 6.32824036e-01 2.78404562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.779072329 meters Centerline goodness [0,1] 0.32346331516084736 Centerline is valid? [False, False] Translation: X:-153.99, Y:-112.48, Z:278.56 [[ 8.19608047e-01 1.45417407e-01 5.54162817e-01 -1.53989143e+02] [ 2.19953630e-01 8.13265569e-01 -5.38720256e-01 -1.12484809e+02] [-5.29020842e-01 5.63429580e-01 6.34573918e-01 2.78558912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80907232899995 meters Centerline goodness [0,1] 0.314665944685105 Centerline is valid? [False, False] Translation: X:-154.09, Y:-112.41, Z:278.72 [[ 8.20829326e-01 1.44840085e-01 5.52503907e-01 -1.54092840e+02] [ 2.19997323e-01 8.12510185e-01 -5.39841067e-01 -1.12410053e+02] [-5.27105677e-01 5.64666760e-01 6.35067757e-01 2.78720576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.839072329 meters Centerline goodness [0,1] 0.3241471182066066 Centerline is valid? [False, False] Translation: X:-154.19, Y:-112.34, Z:278.88 [[ 8.22341897e-01 1.43770010e-01 5.50530643e-01 -1.54194270e+02] [ 2.20163704e-01 8.11786669e-01 -5.40860747e-01 -1.12336108e+02] [-5.24672992e-01 5.65979318e-01 6.35913251e-01 2.78879035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86907232899995 meters Centerline goodness [0,1] 0.3317365768317574 Centerline is valid? [False, False] Translation: X:-154.29, Y:-112.26, Z:279.03 [[ 8.23580899e-01 1.45452473e-01 5.48231777e-01 -1.54292443e+02] [ 2.16386811e-01 8.12885132e-01 -5.40735158e-01 -1.12264424e+02] [-5.24300726e-01 5.63969273e-01 6.38002671e-01 2.79032732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.899072329 meters Centerline goodness [0,1] 0.32697275227064415 Centerline is valid? [False, False] Translation: X:-154.39, Y:-112.19, Z:279.19 [[ 8.25032046e-01 1.46851125e-01 5.45671027e-01 -1.54389349e+02] [ 2.13814508e-01 8.12723965e-01 -5.41999181e-01 -1.12190585e+02] [-5.23073110e-01 5.63839076e-01 6.39124415e-01 2.79185766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92907232899995 meters Centerline goodness [0,1] 0.3228325143666195 Centerline is valid? [False, False] Translation: X:-154.48, Y:-112.12, Z:279.33 [[ 8.26402319e-01 1.46605635e-01 5.43659816e-01 -1.54484910e+02] [ 2.11569041e-01 8.13919653e-01 -5.41085335e-01 -1.12120469e+02] [-5.21821568e-01 5.62175761e-01 6.41607875e-01 2.79332335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.959072329 meters Centerline goodness [0,1] 0.3444701180291013 Centerline is valid? [False, False] Translation: X:-154.58, Y:-112.05, Z:279.48 [[ 8.26512008e-01 1.45672258e-01 5.43743960e-01 -1.54578679e+02] [ 2.10476226e-01 8.15903577e-01 -5.38517513e-01 -1.12048401e+02] [-5.22089704e-01 5.59536367e-01 6.43693557e-01 2.79479171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98907232899995 meters Centerline goodness [0,1] 0.3277883033873956 Centerline is valid? [False, False] Translation: X:-154.67, Y:-111.98, Z:279.62 [[ 8.26547627e-01 1.45629471e-01 5.43701276e-01 -1.54672280e+02] [ 2.07622322e-01 8.18951568e-01 -5.34987196e-01 -1.11978019e+02] [-5.23174915e-01 5.55076919e-01 6.46666546e-01 2.79623679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.019072329 meters Centerline goodness [0,1] 0.34318626838311883 Centerline is valid? [False, False] Translation: X:-154.76, Y:-111.91, Z:279.77 [[ 8.26236563e-01 1.49002856e-01 5.43259874e-01 -1.54762503e+02] [ 2.02574924e-01 8.21279952e-01 -5.33350393e-01 -1.11907035e+02] [-5.25639175e-01 5.50724423e-01 6.48387282e-01 2.79766134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04907232899996 meters Centerline goodness [0,1] 0.3218922579972908 Centerline is valid? [False, False] Translation: X:-154.85, Y:-111.83, Z:279.91 [[ 8.25242914e-01 1.50122823e-01 5.44460532e-01 -1.54854311e+02] [ 1.99626838e-01 8.24263379e-01 -5.29848099e-01 -1.11834148e+02] [-5.28321170e-01 5.45942324e-01 6.50248968e-01 2.79914222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.079072329 meters Centerline goodness [0,1] 0.3449052355038469 Centerline is valid? [False, False] Translation: X:-154.95, Y:-111.76, Z:280.06 [[ 8.24625754e-01 1.51519391e-01 5.45008477e-01 -1.54945993e+02] [ 1.96547856e-01 8.26687085e-01 -5.27216658e-01 -1.11760381e+02] [-5.30435015e-01 5.41876682e-01 6.51926649e-01 2.80061419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10907232899996 meters Centerline goodness [0,1] 0.31222493377552507 Centerline is valid? [False, False] Translation: X:-155.04, Y:-111.68, Z:280.21 [[ 8.23269981e-01 1.53501562e-01 5.46501427e-01 -1.55036348e+02] [ 1.91186642e-01 8.31514184e-01 -5.21566707e-01 -1.11684877e+02] [-5.34484992e-01 5.33873985e-01 6.55213218e-01 2.80209044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.139072329 meters Centerline goodness [0,1] 0.3233491745872936 Centerline is valid? [False, False] Translation: X:-155.13, Y:-111.61, Z:280.36 [[ 8.22834694e-01 1.53742090e-01 5.47089057e-01 -1.55129797e+02] [ 1.87684311e-01 8.35168800e-01 -5.16979376e-01 -1.11608379e+02] [-5.36393201e-01 5.28068599e-01 6.58350885e-01 2.80359221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16907232899996 meters Centerline goodness [0,1] 0.3154405786829543 Centerline is valid? [False, False] Translation: X:-155.22, Y:-111.53, Z:280.51 [[ 8.22513419e-01 1.54289557e-01 5.47417947e-01 -1.55223277e+02] [ 1.84987445e-01 8.37590920e-01 -5.14024411e-01 -1.11532055e+02] [-5.37820901e-01 5.24057423e-01 6.60388140e-01 2.80507327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.199072329 meters Centerline goodness [0,1] 0.3076714613299979 Centerline is valid? [False, False] Translation: X:-155.31, Y:-111.46, Z:280.65 [[ 8.23023704e-01 1.55348689e-01 5.46350407e-01 -1.55312970e+02] [ 1.81773768e-01 8.39253377e-01 -5.12456892e-01 -1.11458733e+02] [-5.38135930e-01 5.21076341e-01 6.62487107e-01 2.80648243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22907232899996 meters Centerline goodness [0,1] 0.33219399345574285 Centerline is valid? [False, False] Translation: X:-155.40, Y:-111.39, Z:280.78 [[ 8.22602083e-01 1.56769878e-01 5.46579380e-01 -1.55401575e+02] [ 1.78180734e-01 8.41762043e-01 -5.09596201e-01 -1.11386721e+02] [-5.39979111e-01 5.16584812e-01 6.64501838e-01 2.80784985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.259072329 meters Centerline goodness [0,1] 0.30346079228988043 Centerline is valid? [False, False] Translation: X:-155.49, Y:-111.31, Z:280.93 [[ 8.22633451e-01 1.57820341e-01 5.46229755e-01 -1.55491562e+02] [ 1.74811773e-01 8.43964560e-01 -5.07114056e-01 -1.11311842e+02] [-5.41031468e-01 5.12656378e-01 6.66684624e-01 2.80925247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28907232899996 meters Centerline goodness [0,1] 0.33215857193501974 Centerline is valid? [False, False] Translation: X:-155.58, Y:-111.24, Z:281.06 [[ 8.22510533e-01 1.59532637e-01 5.45917357e-01 -1.55577555e+02] [ 1.70387202e-01 8.46652236e-01 -5.04131127e-01 -1.11238281e+02] [-5.42627519e-01 5.07670493e-01 6.69198062e-01 2.81060455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.319072329 meters Centerline goodness [0,1] 0.31915293135823075 Centerline is valid? [False, False] Translation: X:-155.67, Y:-111.16, Z:281.21 [[ 8.21725023e-01 1.57939202e-01 5.47561134e-01 -1.55672865e+02] [ 1.68792376e-01 8.50264136e-01 -4.98557954e-01 -1.11160094e+02] [-5.44313440e-01 5.02101691e-01 6.72024383e-01 2.81206918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34907232899997 meters Centerline goodness [0,1] 0.34151273818955097 Centerline is valid? [False, False] Translation: X:-155.76, Y:-111.09, Z:281.34 [[ 8.22263123e-01 1.59074107e-01 5.46423632e-01 -1.55761035e+02] [ 1.65775116e-01 8.51556174e-01 -4.97363743e-01 -1.11086091e+02] [-5.44428111e-01 4.99547305e-01 6.73832711e-01 2.81344237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.379072329 meters Centerline goodness [0,1] 0.322708997354332 Centerline is valid? [False, False] Translation: X:-155.86, Y:-111.01, Z:281.49 [[ 8.22033052e-01 1.57432274e-01 5.47244680e-01 -1.55856854e+02] [ 1.66159601e-01 8.52884924e-01 -4.94952819e-01 -1.11007983e+02] [-5.44658286e-01 4.97797534e-01 6.74940714e-01 2.81488656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40907232899997 meters Centerline goodness [0,1] 0.32742531471159264 Centerline is valid? [False, False] Translation: X:-155.95, Y:-110.93, Z:281.63 [[ 8.23482544e-01 1.55706711e-01 5.45556523e-01 -1.55948575e+02] [ 1.64758449e-01 8.54527645e-01 -4.92582133e-01 -1.10931851e+02] [-5.42891475e-01 4.95517834e-01 6.78034603e-01 2.81629235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.439072329 meters Centerline goodness [0,1] 0.33568911960306047 Centerline is valid? [False, False] Translation: X:-156.04, Y:-110.86, Z:281.76 [[ 8.24366316e-01 1.54932331e-01 5.44441135e-01 -1.56038220e+02] [ 1.63312555e-01 8.55817556e-01 -4.90821067e-01 -1.10856710e+02] [-5.41986334e-01 4.93530428e-01 6.80204771e-01 2.81763952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46907232899997 meters Centerline goodness [0,1] 0.3360787339185555 Centerline is valid? [False, False] Translation: X:-156.13, Y:-110.78, Z:281.90 [[ 8.24676118e-01 1.53115866e-01 5.44485841e-01 -1.56130369e+02] [ 1.62041992e-01 8.58348618e-01 -4.86805960e-01 -1.10779256e+02] [-5.41896386e-01 4.89686820e-01 6.83048406e-01 2.81903035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49907232899994 meters Centerline goodness [0,1] 0.34942773156545126 Centerline is valid? [False, False] Translation: X:-156.22, Y:-110.70, Z:282.04 [[ 8.25308466e-01 1.50949316e-01 5.44132558e-01 -1.56221509e+02] [ 1.61956571e-01 8.59849062e-01 -4.84179367e-01 -1.10703476e+02] [-5.40958414e-01 4.87723174e-01 6.85193476e-01 2.82038143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.529072329 meters Centerline goodness [0,1] 0.35390937917222964 Centerline is valid? [False, False] Translation: X:-156.31, Y:-110.63, Z:282.17 [[ 8.25353876e-01 1.51534272e-01 5.43901042e-01 -1.56313219e+02] [ 1.60199844e-01 8.60872762e-01 -4.82943163e-01 -1.10626056e+02] [-5.41412033e-01 4.85731873e-01 6.86248904e-01 2.82172280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55907232899995 meters Centerline goodness [0,1] 0.3137806682925812 Centerline is valid? [False, False] Translation: X:-156.41, Y:-110.55, Z:282.31 [[ 8.25286147e-01 1.51830628e-01 5.43921167e-01 -1.56406120e+02] [ 1.57921000e-01 8.62699887e-01 -4.80426751e-01 -1.10547072e+02] [-5.42184224e-01 4.82386117e-01 6.87997021e-01 2.82308538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.589072329 meters Centerline goodness [0,1] 0.34816639185155807 Centerline is valid? [False, False] Translation: X:-156.50, Y:-110.47, Z:282.44 [[ 8.24902598e-01 1.51026530e-01 5.44726253e-01 -1.56498166e+02] [ 1.57789073e-01 8.63825069e-01 -4.78444206e-01 -1.10467807e+02] [-5.42805961e-01 4.80621719e-01 6.88741208e-01 2.82442946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61907232899995 meters Centerline goodness [0,1] 0.32682571101156366 Centerline is valid? [False, False] Translation: X:-156.59, Y:-110.39, Z:282.58 [[ 8.25848504e-01 1.48870263e-01 5.43885919e-01 -1.56592135e+02] [ 1.60248944e-01 8.62793950e-01 -4.79486054e-01 -1.10386669e+02] [-5.40642695e-01 4.83139985e-01 6.88680791e-01 2.82581223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.649072329 meters Centerline goodness [0,1] 0.33137242630953123 Centerline is valid? [False, False] Translation: X:-156.68, Y:-110.31, Z:282.72 [[ 8.26228645e-01 1.47995336e-01 5.43547244e-01 -1.56684560e+02] [ 1.59170148e-01 8.64227480e-01 -4.77258554e-01 -1.10305275e+02] [-5.40380505e-01 4.80841183e-01 6.90493060e-01 2.82718970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67907232899995 meters Centerline goodness [0,1] 0.32973931178310745 Centerline is valid? [False, False] Translation: X:-156.78, Y:-110.23, Z:282.85 [[ 8.27151881e-01 1.45726957e-01 5.42755395e-01 -1.56775700e+02] [ 1.60343996e-01 8.64449818e-01 -4.76462292e-01 -1.10226008e+02] [-5.38618203e-01 4.81134250e-01 6.91664851e-01 2.82851806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.709072329 meters Centerline goodness [0,1] 0.33440366972477065 Centerline is valid? [False, False] Translation: X:-156.86, Y:-110.15, Z:282.98 [[ 8.27940997e-01 1.47595854e-01 5.41044517e-01 -1.56862197e+02] [ 1.58290651e-01 8.64018484e-01 -4.77929001e-01 -1.10147495e+02] [-5.38012802e-01 4.81339302e-01 6.91993281e-01 2.82979757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73907232899995 meters Centerline goodness [0,1] 0.32172951777073255 Centerline is valid? [False, False] Translation: X:-156.95, Y:-110.07, Z:283.11 [[ 8.28237428e-01 1.48517796e-01 5.40338067e-01 -1.56950320e+02] [ 1.56985533e-01 8.64136121e-01 -4.78146741e-01 -1.10068409e+02] [-5.37938942e-01 4.80844287e-01 6.92394733e-01 2.83109384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.769072329 meters Centerline goodness [0,1] 0.363274658889699 Centerline is valid? [False, False] Translation: X:-157.04, Y:-109.99, Z:283.24 [[ 8.28214535e-01 1.49926173e-01 5.39984099e-01 -1.57038667e+02] [ 1.55676805e-01 8.64075821e-01 -4.78683306e-01 -1.09988418e+02] [-5.38354360e-01 4.80515471e-01 6.92300127e-01 2.83239208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79907232899996 meters Centerline goodness [0,1] 0.3289802549362659 Centerline is valid? [False, False] Translation: X:-157.13, Y:-109.91, Z:283.37 [[ 8.27606747e-01 1.50290868e-01 5.40813949e-01 -1.57131523e+02] [ 1.55058828e-01 8.64782166e-01 -4.77607124e-01 -1.09905191e+02] [-5.39466248e-01 4.79128855e-01 6.92395629e-01 2.83374148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.829072329 meters Centerline goodness [0,1] 0.3368037480478917 Centerline is valid? [False, False] Translation: X:-157.22, Y:-109.82, Z:283.50 [[ 8.28300398e-01 1.50850072e-01 5.39594947e-01 -1.57217756e+02] [ 1.53943592e-01 8.64733361e-01 -4.78056048e-01 -1.09824492e+02] [-5.38720542e-01 4.79041199e-01 6.93036584e-01 2.83502662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85907232899996 meters Centerline goodness [0,1] 0.3302813384384884 Centerline is valid? [False, False] Translation: X:-157.30, Y:-109.75, Z:283.63 [[ 8.29105702e-01 1.51414695e-01 5.38198221e-01 -1.57303382e+02] [ 1.52691326e-01 8.64710573e-01 -4.78498678e-01 -1.09745495e+02] [-5.37837424e-01 4.78904182e-01 6.93816755e-01 2.83628454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.889072329 meters Centerline goodness [0,1] 0.3057057306828579 Centerline is valid? [False, False] Translation: X:-157.39, Y:-109.67, Z:283.75 [[ 8.30938094e-01 1.49857895e-01 5.35802664e-01 -1.57388781e+02] [ 1.54177280e-01 8.63303395e-01 -4.80558649e-01 -1.09668251e+02] [-5.34575766e-01 4.81923086e-01 6.94246995e-01 2.83753071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91907232899996 meters Centerline goodness [0,1] 0.30750993074475386 Centerline is valid? [False, False] Translation: X:-157.47, Y:-109.59, Z:283.88 [[ 8.31761971e-01 1.51229956e-01 5.34136242e-01 -1.57471939e+02] [ 1.52113773e-01 8.63262844e-01 -4.81288544e-01 -1.09590486e+02] [-5.33885216e-01 4.81566987e-01 6.95025045e-01 2.83875157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.949072329 meters Centerline goodness [0,1] 0.3122034462665446 Centerline is valid? [False, False] Translation: X:-157.56, Y:-109.51, Z:284.00 [[ 8.32903225e-01 1.49551117e-01 5.32828943e-01 -1.57556132e+02] [ 1.52623895e-01 8.63385412e-01 -4.80907035e-01 -1.09509942e+02] [-5.31956920e-01 4.81871449e-01 6.96291420e-01 2.84000453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97907232899996 meters Centerline goodness [0,1] 0.32420395421436 Centerline is valid? [False, False] Translation: X:-157.64, Y:-109.43, Z:284.12 [[ 8.34196630e-01 1.47112385e-01 5.31482764e-01 -1.57638502e+02] [ 1.52668990e-01 8.64486546e-01 -4.78910421e-01 -1.09431563e+02] [-5.29913354e-01 4.80646396e-01 6.98692264e-01 2.84122351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.009072329 meters Centerline goodness [0,1] 0.3618221167852832 Centerline is valid? [False, False] Translation: X:-157.72, Y:-109.35, Z:284.25 [[ 8.35038237e-01 1.45879451e-01 5.30500073e-01 -1.57721628e+02] [ 1.52277083e-01 8.65264939e-01 -4.77627758e-01 -1.09350728e+02] [-5.28699189e-01 4.79620445e-01 7.00315212e-01 2.84246771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03907232899996 meters Centerline goodness [0,1] 0.33622699641935216 Centerline is valid? [False, False] Translation: X:-157.81, Y:-109.27, Z:284.37 [[ 8.36305310e-01 1.44744836e-01 5.28812216e-01 -1.57805095e+02] [ 1.52246695e-01 8.65276877e-01 -4.77615819e-01 -1.09270713e+02] [-5.26701406e-01 4.79942558e-01 7.01598724e-01 2.84370049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.069072329 meters Centerline goodness [0,1] 0.3415639573617588 Centerline is valid? [False, False] Translation: X:-157.89, Y:-109.19, Z:284.49 [[ 8.37081049e-01 1.44300840e-01 5.27705016e-01 -1.57887646e+02] [ 1.51431191e-01 8.65782487e-01 -4.76958362e-01 -1.09191999e+02] [-5.25703254e-01 4.79163805e-01 7.02878465e-01 2.84491077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09907232899997 meters Centerline goodness [0,1] 0.25381333888253044 Centerline is valid? [False, False] Translation: X:-157.97, Y:-109.11, Z:284.61 [[ 8.38058860e-01 1.44175897e-01 5.26185004e-01 -1.57968552e+02] [ 1.51247745e-01 8.65253761e-01 -4.77974947e-01 -1.09112434e+02] [-5.24196020e-01 4.80155434e-01 7.03327301e-01 2.84610679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.129072329 meters Centerline goodness [0,1] 0.3352739369996881 Centerline is valid? [False, False] Translation: X:-158.05, Y:-109.04, Z:284.72 [[ 8.39654500e-01 1.44128774e-01 5.23647990e-01 -1.58048018e+02] [ 1.50963871e-01 8.64218533e-01 -4.79933575e-01 -1.09037272e+02] [-5.21718535e-01 4.82030314e-01 7.03886743e-01 2.84724937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15907232899997 meters Centerline goodness [0,1] 0.28545892916528104 Centerline is valid? [False, False] Translation: X:-158.13, Y:-108.96, Z:284.84 [[ 8.40482323e-01 1.43719227e-01 5.22431094e-01 -1.58127157e+02] [ 1.49961145e-01 8.64819223e-01 -4.79165280e-01 -1.08958078e+02] [-5.20673717e-01 4.81074313e-01 7.05312970e-01 2.84843674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.189072329 meters Centerline goodness [0,1] 0.27121602526805755 Centerline is valid? [False, False] Translation: X:-158.21, Y:-108.88, Z:284.96 [[ 8.39901969e-01 1.43412115e-01 5.23447846e-01 -1.58208378e+02] [ 1.48868223e-01 8.66592807e-01 -4.76293144e-01 -1.08876999e+02] [-5.21922345e-01 4.77964300e-01 7.06503499e-01 2.84964576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21907232899997 meters Centerline goodness [0,1] 0.12349629137146534 Centerline is valid? [False, False] Translation: X:-158.29, Y:-108.80, Z:285.08 [[ 8.39360371e-01 1.43261103e-01 5.24357153e-01 -1.58287657e+02] [ 1.48410432e-01 8.67596750e-01 -4.74605335e-01 -1.08796799e+02] [-5.22923046e-01 4.76184982e-01 7.06964887e-01 2.85084335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24907232899994 meters Centerline goodness [0,1] 0.1256146903205727 Centerline is valid? [False, False] Translation: X:-158.37, Y:-108.71, Z:285.20 [[ 8.39579784e-01 1.43470220e-01 5.23948549e-01 -1.58367235e+02] [ 1.50770538e-01 8.65062428e-01 -4.78471776e-01 -1.08714752e+02] [-5.21894655e-01 4.80711235e-01 7.04657844e-01 2.85204372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.279072329 meters Centerline goodness [0,1] 0.1255807200929152 Centerline is valid? [False, False] Translation: X:-158.45, Y:-108.63, Z:285.33 [[ 8.39829761e-01 1.41215990e-01 5.24160296e-01 -1.58452269e+02] [ 1.52483260e-01 8.65328915e-01 -4.77446043e-01 -1.08628841e+02] [-5.20994076e-01 4.80899067e-01 7.05195902e-01 2.85331579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30907232899995 meters Centerline goodness [0,1] 0.12581146945971167 Centerline is valid? [False, False] Translation: X:-158.53, Y:-108.55, Z:285.44 [[ 8.41355597e-01 1.43427752e-01 5.21103866e-01 -1.58527622e+02] [ 1.49021289e-01 8.65214562e-01 -4.78744626e-01 -1.08553533e+02] [-5.19531919e-01 4.80450040e-01 7.06579326e-01 2.85440845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.339072329 meters Centerline goodness [0,1] 0.12549279993360174 Centerline is valid? [False, False] Translation: X:-158.61, Y:-108.47, Z:285.56 [[ 8.41198579e-01 1.42567934e-01 5.21593074e-01 -1.58605078e+02] [ 1.48007609e-01 8.67067940e-01 -4.75696263e-01 -1.08473848e+02] [-5.20075666e-01 4.77354764e-01 7.08275180e-01 2.85557594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36907232899995 meters Centerline goodness [0,1] 0.12550288250176267 Centerline is valid? [False, False] Translation: X:-158.68, Y:-108.39, Z:285.67 [[ 8.41035142e-01 1.44795294e-01 5.21242950e-01 -1.58682592e+02] [ 1.45090095e-01 8.67842562e-01 -4.75182230e-01 -1.08392299e+02] [-5.21160968e-01 4.75272144e-01 7.08877729e-01 2.85673741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.399072329 meters Centerline goodness [0,1] 0.12577833125778326 Centerline is valid? [False, False] Translation: X:-158.76, Y:-108.31, Z:285.79 [[ 8.40012801e-01 1.46811091e-01 5.22326524e-01 -1.58756112e+02] [ 1.41269482e-01 8.70308971e-01 -4.71810585e-01 -1.08313788e+02] [-5.23852486e-01 4.70115728e-01 7.10330750e-01 2.85786247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42907232899995 meters Centerline goodness [0,1] 0.12851714184853713 Centerline is valid? [False, False] Translation: X:-158.83, Y:-108.23, Z:285.90 [[ 8.39921069e-01 1.45903538e-01 5.22728186e-01 -1.58831385e+02] [ 1.40322044e-01 8.72046989e-01 -4.68875007e-01 -1.08231730e+02] [-5.24254063e-01 4.67168285e-01 7.11977156e-01 2.85902547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.459072329 meters Centerline goodness [0,1] 0.12771299331867036 Centerline is valid? [False, False] Translation: X:-158.90, Y:-108.15, Z:286.01 [[ 8.39909394e-01 1.47942344e-01 5.22173604e-01 -1.58903068e+02] [ 1.36503567e-01 8.73616335e-01 -4.67077375e-01 -1.08154311e+02] [-5.25279912e-01 4.63581235e-01 7.13563910e-01 2.86011846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48907232899995 meters Centerline goodness [0,1] 0.12830838851638882 Centerline is valid? [False, False] Translation: X:-158.98, Y:-108.07, Z:286.13 [[ 8.37911476e-01 1.51556477e-01 5.24342439e-01 -1.58980379e+02] [ 1.32623357e-01 8.75348734e-01 -4.64946921e-01 -1.08071024e+02] [-5.29448207e-01 4.59124415e-01 7.13364820e-01 2.86129959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.519072329 meters Centerline goodness [0,1] 0.12881475488060412 Centerline is valid? [False, False] Translation: X:-159.06, Y:-107.99, Z:286.24 [[ 8.36775526e-01 1.53225442e-01 5.25669747e-01 -1.59056222e+02] [ 1.29683311e-01 8.77270557e-01 -4.62145656e-01 -1.07989881e+02] [-5.31967065e-01 4.54882768e-01 7.14207749e-01 2.86244548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54907232899996 meters Centerline goodness [0,1] 0.33486933599020274 Centerline is valid? [False, False] Translation: X:-159.13, Y:-107.91, Z:286.36 [[ 8.36623777e-01 1.54517882e-01 5.25532948e-01 -1.59131692e+02] [ 1.26311300e-01 8.79118302e-01 -4.59561167e-01 -1.07906695e+02] [-5.33016051e-01 4.50860549e-01 7.15973920e-01 2.86360741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.579072329 meters Centerline goodness [0,1] 0.351236323624058 Centerline is valid? [False, False] Translation: X:-159.21, Y:-107.83, Z:286.47 [[ 8.37923977e-01 1.54703211e-01 5.23402641e-01 -1.59205666e+02] [ 1.24747252e-01 8.79315521e-01 -4.59611071e-01 -1.07825780e+02] [-5.31339375e-01 4.50412178e-01 7.17500758e-01 2.86473018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60907232899996 meters Centerline goodness [0,1] 0.351236323624058 Centerline is valid? [False, False] Translation: X:-159.28, Y:-107.74, Z:286.59 [[ 8.37883601e-01 1.53841919e-01 5.23721047e-01 -1.59281713e+02] [ 1.23506466e-01 8.81146426e-01 -4.56428668e-01 -1.07742460e+02] [-5.31692791e-01 4.47117031e-01 7.19297669e-01 2.86588350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.639072329 meters Centerline goodness [0,1] 0.12947624089182286 Centerline is valid? [False, False] Translation: X:-159.36, Y:-107.66, Z:286.70 [[ 8.38206834e-01 1.52281747e-01 5.23659787e-01 -1.59358828e+02] [ 1.23399831e-01 8.82356370e-01 -4.54114212e-01 -1.07658784e+02] [-5.31207855e-01 4.45261165e-01 7.20805598e-01 2.86703830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66907232899996 meters Centerline goodness [0,1] 0.13037790697674423 Centerline is valid? [False, False] Translation: X:-159.43, Y:-107.58, Z:286.82 [[ 8.38068663e-01 1.50844788e-01 5.24296448e-01 -1.59433338e+02] [ 1.23644030e-01 8.83494258e-01 -4.51829669e-01 -1.07575481e+02] [-5.31369052e-01 4.43490413e-01 7.21777794e-01 2.86817121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.699072329 meters Centerline goodness [0,1] 0.12462686567164183 Centerline is valid? [False, False] Translation: X:-159.51, Y:-107.49, Z:286.93 [[ 8.38678669e-01 1.49327990e-01 5.23754945e-01 -1.59508736e+02] [ 1.25681454e-01 8.82655497e-01 -4.52905559e-01 -1.07491704e+02] [-5.29926658e-01 4.45668514e-01 7.21496578e-01 2.86929173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72907232899996 meters Centerline goodness [0,1] 0.13043568421707485 Centerline is valid? [False, False] Translation: X:-159.59, Y:-107.41, Z:287.04 [[ 8.38654220e-01 1.50684791e-01 5.23405381e-01 -1.59587169e+02] [ 1.23387263e-01 8.83424756e-01 -4.52035710e-01 -1.07406746e+02] [-5.30504178e-01 4.43683213e-01 7.22295316e-01 2.87043917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.759072329 meters Centerline goodness [0,1] 0.12832748926281723 Centerline is valid? [False, False] Translation: X:-159.66, Y:-107.32, Z:287.16 [[ 8.38856520e-01 1.52076812e-01 5.22678087e-01 -1.59663698e+02] [ 1.21087337e-01 8.83996162e-01 -4.51540300e-01 -1.07322168e+02] [-5.30714232e-01 4.42067222e-01 7.23131368e-01 2.87156701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78907232899996 meters Centerline goodness [0,1] 0.12762734723519042 Centerline is valid? [False, False] Translation: X:-159.74, Y:-107.24, Z:287.27 [[ 8.40002104e-01 1.50271990e-01 5.21358604e-01 -1.59739429e+02] [ 1.18751014e-01 8.86669508e-01 -4.46895268e-01 -1.07238268e+02] [-5.29428618e-01 4.37304829e-01 7.26959301e-01 2.87266184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.819072329 meters Centerline goodness [0,1] 0.1266817305499699 Centerline is valid? [False, False] Translation: X:-159.81, Y:-107.16, Z:287.37 [[ 8.40567264e-01 1.50451074e-01 5.20395185e-01 -1.59809402e+02] [ 1.16442175e-01 8.88019420e-01 -4.44817636e-01 -1.07159099e+02] [-5.29044322e-01 4.34495090e-01 7.28921204e-01 2.87369916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84907232899997 meters Centerline goodness [0,1] 0.12423494263366464 Centerline is valid? [False, False] Translation: X:-159.89, Y:-107.07, Z:287.48 [[ 8.40648461e-01 1.48182624e-01 5.20914652e-01 -1.59886331e+02] [ 1.17789548e-01 8.88790487e-01 -4.42918832e-01 -1.07074381e+02] [-5.28616863e-01 4.33697336e-01 7.29705991e-01 2.87482790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.879072329 meters Centerline goodness [0,1] 0.12700884514762678 Centerline is valid? [False, False] Translation: X:-159.96, Y:-106.99, Z:287.59 [[ 8.40625818e-01 1.48900579e-01 5.20746437e-01 -1.59959114e+02] [ 1.16508301e-01 8.89245526e-01 -4.42343996e-01 -1.06992315e+02] [-5.28936716e-01 4.32517066e-01 7.30174594e-01 2.87589657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90907232899997 meters Centerline goodness [0,1] 0.1265455148950294 Centerline is valid? [False, False] Translation: X:-160.03, Y:-106.91, Z:287.70 [[ 8.40827301e-01 1.47336920e-01 5.20865897e-01 -1.60032713e+02] [ 1.17549878e-01 8.89580352e-01 -4.41394181e-01 -1.06909036e+02] [-5.28385727e-01 4.32364001e-01 7.30664009e-01 2.87697669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.939072329 meters Centerline goodness [0,1] 0.1276313333471597 Centerline is valid? [False, False] Translation: X:-160.11, Y:-106.83, Z:287.80 [[ 8.41586913e-01 1.49417431e-01 5.19043254e-01 -1.60106656e+02] [ 1.14881906e-01 8.89467297e-01 -4.42323496e-01 -1.06826406e+02] [-5.27762841e-01 4.31882344e-01 7.31398677e-01 2.87803681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96907232899997 meters Centerline goodness [0,1] 0.12714940573727984 Centerline is valid? [False, False] Translation: X:-160.18, Y:-106.74, Z:287.91 [[ 8.41137757e-01 1.48660116e-01 5.19987927e-01 -1.60179920e+02] [ 1.13936457e-01 8.91190123e-01 -4.39088429e-01 -1.06741778e+02] [-5.28683042e-01 4.28579438e-01 7.32675854e-01 2.87911977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99907232899994 meters Centerline goodness [0,1] 0.12680001659957674 Centerline is valid? [False, False] Translation: X:-160.25, Y:-106.65, Z:288.02 [[ 8.41805519e-01 1.45695998e-01 5.19746230e-01 -1.60253903e+02] [ 1.13195705e-01 8.93824207e-01 -4.33895171e-01 -1.06654441e+02] [-5.27778552e-01 4.24088391e-01 7.35933989e-01 2.88021596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.029072329 meters Centerline goodness [0,1] 0.12818491161092205 Centerline is valid? [False, False] Translation: X:-160.32, Y:-106.57, Z:288.13 [[ 8.41998377e-01 1.48716032e-01 5.18577164e-01 -1.60324294e+02] [ 1.08629972e-01 8.94826703e-01 -4.32995034e-01 -1.06570140e+02] [-5.28429997e-01 4.20914139e-01 7.37287614e-01 2.88126697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05907232899995 meters Centerline goodness [0,1] 0.1285426572265017 Centerline is valid? [False, False] Translation: X:-160.39, Y:-106.49, Z:288.23 [[ 8.41267452e-01 1.50972026e-01 5.19111281e-01 -1.60392631e+02] [ 1.05382742e-01 8.96001680e-01 -4.31364657e-01 -1.06488231e+02] [-5.30248576e-01 4.17598416e-01 7.37867204e-01 2.88229069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.089072329 meters Centerline goodness [0,1] 0.1270216962524655 Centerline is valid? [False, False] Translation: X:-160.46, Y:-106.41, Z:288.33 [[ 8.39830665e-01 1.56654892e-01 5.19753498e-01 -1.60458483e+02] [ 9.75768041e-02 8.98297568e-01 -4.28415973e-01 -1.06406193e+02] [-5.34006762e-01 4.10512757e-01 7.39131960e-01 2.88329677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11907232899995 meters Centerline goodness [0,1] 0.3382117871748562 Centerline is valid? [False, False] Translation: X:-160.52, Y:-106.32, Z:288.43 [[ 8.38855450e-01 1.58849488e-01 5.20661478e-01 -1.60524827e+02] [ 9.38412895e-02 8.99956699e-01 -4.25760205e-01 -1.06324556e+02] [-5.36204576e-01 4.06010813e-01 7.40026940e-01 2.88430249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.149072329 meters Centerline goodness [0,1] 0.2876615550845697 Centerline is valid? [False, False] Translation: X:-160.59, Y:-106.24, Z:288.53 [[ 8.37191792e-01 1.60445110e-01 5.22845359e-01 -1.60594005e+02] [ 8.93344616e-02 9.03042001e-01 -4.20160087e-01 -1.06241587e+02] [-5.39563951e-01 3.98462685e-01 7.41686074e-01 2.88534024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17907232899995 meters Centerline goodness [0,1] 0.29752822069309603 Centerline is valid? [False, False] Translation: X:-160.66, Y:-106.15, Z:288.64 [[ 8.35410304e-01 1.64083923e-01 5.24562760e-01 -1.60662175e+02] [ 8.27025767e-02 9.06004328e-01 -4.15110156e-01 -1.06153556e+02] [-5.43369034e-01 3.90169994e-01 7.43315188e-01 2.88640793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.209072329 meters Centerline goodness [0,1] 0.29590691876168707 Centerline is valid? [False, False] Translation: X:-160.73, Y:-106.07, Z:288.74 [[ 8.34635213e-01 1.65620783e-01 5.25313067e-01 -1.60728930e+02] [ 7.98117237e-02 9.07291510e-01 -4.12858577e-01 -1.06071168e+02] [-5.44990046e-01 3.86512448e-01 7.44038962e-01 2.88741591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23907232899995 meters Centerline goodness [0,1] 0.35202427466954855 Centerline is valid? [False, False] Translation: X:-160.80, Y:-105.99, Z:288.85 [[ 8.33513301e-01 1.66274953e-01 5.26885393e-01 -1.60800000e+02] [ 7.72043179e-02 9.09230985e-01 -4.09070298e-01 -1.05985935e+02] [-5.47078670e-01 3.81643362e-01 7.45018975e-01 2.88848468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.269072329 meters Centerline goodness [0,1] 0.3556558451011792 Centerline is valid? [False, False] Translation: X:-160.87, Y:-105.90, Z:288.96 [[ 8.31046444e-01 1.72034228e-01 5.28929138e-01 -1.60869575e+02] [ 7.08442740e-02 9.10478686e-01 -4.07442820e-01 -1.05898057e+02] [-5.51672817e-01 3.76075507e-01 7.44462434e-01 2.88956277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29907232899996 meters Centerline goodness [0,1] 0.3502880076524777 Centerline is valid? [False, False] Translation: X:-160.94, Y:-105.81, Z:289.06 [[ 8.30525362e-01 1.72764788e-01 5.29509161e-01 -1.60938126e+02] [ 6.76562536e-02 9.12345774e-01 -4.03791803e-01 -1.05812524e+02] [-5.52856450e-01 3.71183939e-01 7.46037686e-01 2.89060544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.329072329 meters Centerline goodness [0,1] 0.29312101116354494 Centerline is valid? [False, False] Translation: X:-161.01, Y:-105.73, Z:289.16 [[ 8.30035396e-01 1.72903507e-01 5.30231664e-01 -1.61006293e+02] [ 6.41589913e-02 9.14813546e-01 -3.98747790e-01 -1.05729060e+02] [-5.54008000e-01 3.64993909e-01 7.48234310e-01 2.89161712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35907232899996 meters Centerline goodness [0,1] 0.2853339434656904 Centerline is valid? [False, False] Translation: X:-161.07, Y:-105.65, Z:289.26 [[ 8.29537556e-01 1.76614166e-01 5.29787579e-01 -1.61069979e+02] [ 5.52276632e-02 9.18078331e-01 -3.92532908e-01 -1.05646132e+02] [-5.55713368e-01 3.54879719e-01 7.51826467e-01 2.89258585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.389072329 meters Centerline goodness [0,1] 0.31250780177256277 Centerline is valid? [False, False] Translation: X:-161.13, Y:-105.57, Z:289.35 [[ 8.29538904e-01 1.78099974e-01 5.29287828e-01 -1.61133145e+02] [ 5.00631184e-02 9.20249296e-01 -3.88117143e-01 -1.05567110e+02] [-5.56200405e-01 3.48456069e-01 7.54466353e-01 2.89352507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41907232899996 meters Centerline goodness [0,1] 0.30613943808532773 Centerline is valid? [False, False] Translation: X:-161.20, Y:-105.49, Z:289.45 [[ 8.28972050e-01 1.81555349e-01 5.29001887e-01 -1.61196129e+02] [ 4.23275028e-02 9.22767166e-01 -3.83026292e-01 -1.05486448e+02] [-5.57686044e-01 3.39909419e-01 7.57263404e-01 2.89448023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.449072329 meters Centerline goodness [0,1] 0.31530087629831605 Centerline is valid? [False, False] Translation: X:-161.26, Y:-105.41, Z:289.53 [[ 8.29459973e-01 1.81360421e-01 5.28303465e-01 -1.61255915e+02] [ 3.72800370e-02 9.25736961e-01 -3.76326025e-01 -1.05413694e+02] [-5.57320691e-01 3.31842547e-01 7.61100632e-01 2.89533841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47907232899996 meters Centerline goodness [0,1] 0.3123608133702417 Centerline is valid? [False, False] Translation: X:-161.31, Y:-105.34, Z:289.62 [[ 8.31258479e-01 1.79859809e-01 5.25984592e-01 -1.61312653e+02] [ 3.24921115e-02 9.28870688e-01 -3.68976298e-01 -1.05341167e+02] [-5.54935676e-01 3.23805026e-01 7.66287610e-01 2.89617354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.509072329 meters Centerline goodness [0,1] 0.3073010048784556 Centerline is valid? [False, False] Translation: X:-161.38, Y:-105.27, Z:289.70 [[ 8.32510371e-01 1.75966355e-01 5.25321163e-01 -1.61375052e+02] [ 3.09331956e-02 9.31973544e-01 -3.61204168e-01 -1.05265529e+02] [-5.53145207e-01 3.16956078e-01 7.70434439e-01 2.89703621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53907232899996 meters Centerline goodness [0,1] 0.3081476540842487 Centerline is valid? [False, False] Translation: X:-161.44, Y:-105.19, Z:289.79 [[ 8.29386670e-01 1.83882855e-01 5.27546061e-01 -1.61436583e+02] [ 1.36694618e-02 9.37318779e-01 -3.48204899e-01 -1.05188003e+02] [-5.58507741e-01 2.96007773e-01 7.74886122e-01 2.89789165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.569072329 meters Centerline goodness [0,1] 0.3110345547551937 Centerline is valid? [False, False] Translation: X:-161.50, Y:-105.11, Z:289.88 [[ 8.26382272e-01 1.87605850e-01 5.30939155e-01 -1.61497440e+02] [ 3.55933545e-03 9.41111050e-01 -3.38078871e-01 -1.05109577e+02] [-5.63098279e-01 2.81272176e-01 7.77049735e-01 2.89876867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59907232899997 meters Centerline goodness [0,1] 0.3174973931178311 Centerline is valid? [False, False] Translation: X:-161.56, Y:-105.03, Z:289.97 [[ 8.20827304e-01 1.99991844e-01 5.35019438e-01 -1.61559556e+02] [-1.42370839e-02 9.43570087e-01 -3.30866734e-01 -1.05027041e+02] [-5.70998986e-01 2.63967333e-01 7.77355392e-01 2.89966132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.629072329 meters Centerline goodness [0,1] 0.3190814196242171 Centerline is valid? [False, False] Translation: X:-161.62, Y:-104.95, Z:290.05 [[ 8.19508130e-01 2.01543144e-01 5.36457627e-01 -1.61621594e+02] [-2.19305931e-02 9.46459742e-01 -3.22076087e-01 -1.04951929e+02] [-5.72647774e-01 2.52179138e-01 7.80051414e-01 2.90049894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65907232899997 meters Centerline goodness [0,1] 0.3328183070948344 Centerline is valid? [False, False] Translation: X:-161.68, Y:-104.87, Z:290.13 [[ 8.14113212e-01 2.14322593e-01 5.39708722e-01 -1.61679384e+02] [-4.80492922e-02 9.51075163e-01 -3.05200425e-01 -1.04874129e+02] [-5.78714907e-01 2.22535076e-01 7.84580905e-01 2.90129111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.689072329 meters Centerline goodness [0,1] 0.3264917964259588 Centerline is valid? [False, False] Translation: X:-161.74, Y:-104.80, Z:290.21 [[ 8.11471764e-01 2.18328320e-01 5.42075936e-01 -1.61740079e+02] [-6.16760938e-02 9.54405499e-01 -2.92072255e-01 -1.04798351e+02] [-5.81127899e-01 2.03575262e-01 7.87938753e-01 2.90208714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71907232899997 meters Centerline goodness [0,1] 0.3373834121042285 Centerline is valid? [False, False] Translation: X:-161.80, Y:-104.73, Z:290.28 [[ 8.08427632e-01 2.24085791e-01 5.44270449e-01 -1.61797452e+02] [-7.57117340e-02 9.56601430e-01 -2.81391964e-01 -1.04726247e+02] [-5.83705831e-01 1.86277379e-01 7.90308953e-01 2.90282787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74907232899994 meters Centerline goodness [0,1] 0.3445256697597453 Centerline is valid? [False, False] Translation: X:-161.86, Y:-104.65, Z:290.36 [[ 8.05256824e-01 2.30210633e-01 5.46410571e-01 -1.61855270e+02] [-8.92394002e-02 9.58107717e-01 -2.72150569e-01 -1.04653552e+02] [-5.86172140e-01 1.70389751e-01 7.92066636e-01 2.90357400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.779072329 meters Centerline goodness [0,1] 0.34842387659289065 Centerline is valid? [False, False] Translation: X:-161.90, Y:-104.58, Z:290.43 [[ 7.98105192e-01 2.50458494e-01 5.47995115e-01 -1.61903247e+02] [-1.16443123e-01 9.56477971e-01 -2.67564741e-01 -1.04582296e+02] [-5.91159117e-01 1.49734546e-01 7.92534204e-01 2.90425379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80907232899995 meters Centerline goodness [0,1] 0.3508554893902541 Centerline is valid? [False, False] Translation: X:-161.95, Y:-104.52, Z:290.49 [[ 7.94616829e-01 2.54235990e-01 5.51314933e-01 -1.61948699e+02] [-1.28135184e-01 9.57869994e-01 -2.57033946e-01 -1.04523825e+02] [-5.93435312e-01 1.33600658e-01 7.93716193e-01 2.90485444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.839072329 meters Centerline goodness [0,1] 0.33037531206075477 Centerline is valid? [False, False] Translation: X:-161.99, Y:-104.47, Z:290.54 [[ 7.91822240e-01 2.58195976e-01 5.53491082e-01 -1.61992111e+02] [-1.40105384e-01 9.58868260e-01 -2.46864623e-01 -1.04467361e+02] [-5.94464483e-01 1.17925818e-01 7.95427860e-01 2.90542211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86907232899995 meters Centerline goodness [0,1] 0.3727016451382169 Centerline is valid? [False, False] Translation: X:-162.03, Y:-104.41, Z:290.59 [[ 7.86052576e-01 2.71207645e-01 5.55488759e-01 -1.62026608e+02] [-1.64407996e-01 9.57973898e-01 -2.35065992e-01 -1.04411114e+02] [-5.95895426e-01 9.34474345e-02 7.97606556e-01 2.90592191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.899072329 meters Centerline goodness [0,1] 0.3817432619938612 Centerline is valid? [False, False] Translation: X:-162.07, Y:-104.36, Z:290.65 [[ 7.84977358e-01 2.71760656e-01 5.56737545e-01 -1.62068990e+02] [-1.75162424e-01 9.59342896e-01 -2.21312752e-01 -1.04356487e+02] [-5.94246307e-01 7.62060016e-02 8.00664706e-01 2.90646684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92907232899995 meters Centerline goodness [0,1] 0.35455483273332067 Centerline is valid? [False, False] Translation: X:-162.10, Y:-104.30, Z:290.69 [[ 7.80343232e-01 2.81616595e-01 5.58351622e-01 -1.62102797e+02] [-1.95847496e-01 9.58000089e-01 -2.09474552e-01 -1.04304313e+02] [-5.93892413e-01 5.41102818e-02 8.02722791e-01 2.90694116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.959072329 meters Centerline goodness [0,1] 0.35715337526558255 Centerline is valid? [False, False] Translation: X:-162.14, Y:-104.26, Z:290.74 [[ 7.79802260e-01 2.83935118e-01 5.57933046e-01 -1.62140620e+02] [-2.03585774e-01 9.57804500e-01 -2.02887584e-01 -1.04258070e+02] [-5.91997693e-01 4.46249656e-02 8.04703265e-01 2.90738748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98907232899995 meters Centerline goodness [0,1] 0.36282310347730906 Centerline is valid? [False, False] Translation: X:-162.18, Y:-104.21, Z:290.78 [[ 7.79589846e-01 2.85175384e-01 5.57597231e-01 -1.62179437e+02] [-2.10569301e-01 9.57837052e-01 -1.95470591e-01 -1.04211687e+02] [-5.89830689e-01 3.49740292e-02 8.06769221e-01 2.90783240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.019072329 meters Centerline goodness [0,1] 0.37122789308771265 Centerline is valid? [False, False] Translation: X:-162.21, Y:-104.17, Z:290.82 [[ 7.81036592e-01 2.85815378e-01 5.55239960e-01 -1.62214772e+02] [-2.14839460e-01 9.57822274e-01 -1.90841551e-01 -1.04165497e+02] [-5.86366651e-01 2.97667812e-02 8.09498666e-01 2.90824706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04907232899996 meters Centerline goodness [0,1] 0.3755808330354702 Centerline is valid? [False, False] Translation: X:-162.25, Y:-104.12, Z:290.87 [[ 7.85543597e-01 2.77035792e-01 5.53328499e-01 -1.62249570e+02] [-2.11542808e-01 9.60539201e-01 -1.80593699e-01 -1.04124897e+02] [-5.81524633e-01 2.48115594e-02 8.13150348e-01 2.90866780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.079072329 meters Centerline goodness [0,1] 0.3782915459241527 Centerline is valid? [False, False] Translation: X:-162.29, Y:-104.08, Z:290.91 [[ 7.90360073e-01 2.69191351e-01 5.50333509e-01 -1.62287883e+02] [-2.07233354e-01 9.62813239e-01 -1.73334944e-01 -1.04080418e+02] [-5.76528657e-01 2.29495598e-02 8.16754569e-01 2.90911015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10907232899996 meters Centerline goodness [0,1] 0.3575600941334678 Centerline is valid? [False, False] Translation: X:-162.33, Y:-104.03, Z:290.95 [[ 7.97062320e-01 2.53695713e-01 5.48023853e-01 -1.62330283e+02] [-1.92963374e-01 9.66898096e-01 -1.66952710e-01 -1.04034209e+02] [-5.72238407e-01 2.73231827e-02 8.19632021e-01 2.90954562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.139072329 meters Centerline goodness [0,1] 0.38073934047469016 Centerline is valid? [False, False] Translation: X:-162.37, Y:-103.99, Z:291.00 [[ 8.03008914e-01 2.40349599e-01 5.45351955e-01 -1.62371711e+02] [-1.82931425e-01 9.70301436e-01 -1.58275762e-01 -1.03989522e+02] [-5.67197301e-01 2.73348373e-02 8.23128197e-01 2.90998107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16907232899996 meters Centerline goodness [0,1] 0.3169557447703143 Centerline is valid? [False, False] Translation: X:-162.42, Y:-103.94, Z:291.05 [[ 8.11166156e-01 2.18661601e-01 5.42398904e-01 -1.62422506e+02] [-1.61366670e-01 9.75150955e-01 -1.51793979e-01 -1.03936367e+02] [-5.62112324e-01 3.56050329e-02 8.26294147e-01 2.91048105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.199072329 meters Centerline goodness [0,1] 0.3663299804708007 Centerline is valid? [False, False] Translation: X:-162.46, Y:-103.89, Z:291.09 [[ 8.18271851e-01 2.04957754e-01 5.37050740e-01 -1.62464304e+02] [-1.48454398e-01 9.77929388e-01 -1.47021781e-01 -1.03891763e+02] [-5.55330955e-01 4.05762405e-02 8.30638970e-01 2.91091930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22907232899996 meters Centerline goodness [0,1] 0.3232084127615895 Centerline is valid? [False, False] Translation: X:-162.52, Y:-103.84, Z:291.14 [[ 8.22960458e-01 1.93887467e-01 5.33988516e-01 -1.62518784e+02] [-1.35791570e-01 9.79846251e-01 -1.46499058e-01 -1.03838208e+02] [-5.51630976e-01 4.80517926e-02 8.32703003e-01 2.91139742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.259072329 meters Centerline goodness [0,1] 0.32632592809732197 Centerline is valid? [False, False] Translation: X:-162.58, Y:-103.79, Z:291.19 [[ 8.28845946e-01 1.80341805e-01 5.29614229e-01 -1.62575231e+02] [-1.21014238e-01 9.82003329e-01 -1.45000054e-01 -1.03786512e+02] [-5.46232508e-01 5.60918444e-02 8.35753404e-01 2.91186509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28907232899996 meters Centerline goodness [0,1] 0.32865668516385715 Centerline is valid? [False, False] Translation: X:-162.62, Y:-103.74, Z:291.23 [[ 8.31194968e-01 1.78803877e-01 5.26444773e-01 -1.62623536e+02] [-1.22650400e-01 9.82517824e-01 -1.40055718e-01 -1.03736560e+02] [-5.42283878e-01 5.18449458e-02 8.38594238e-01 2.91231438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.319072329 meters Centerline goodness [0,1] 0.37313558077576625 Centerline is valid? [False, False] Translation: X:-162.68, Y:-103.68, Z:291.28 [[ 8.33429150e-01 1.74384344e-01 5.24391031e-01 -1.62675699e+02] [-1.21029501e-01 9.83468143e-01 -1.34693250e-01 -1.03684338e+02] [-5.39210267e-01 4.87904958e-02 8.40756668e-01 2.91277462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34907232899997 meters Centerline goodness [0,1] 0.3568909045099521 Centerline is valid? [False, False] Translation: X:-162.73, Y:-103.63, Z:291.32 [[ 8.34754843e-01 1.70435573e-01 5.23580049e-01 -1.62729559e+02] [-1.19123356e-01 9.84268837e-01 -1.30477900e-01 -1.03631204e+02] [-5.37581602e-01 4.65464462e-02 8.41926036e-01 2.91323956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.379072329 meters Centerline goodness [0,1] 0.33217862316558544 Centerline is valid? [False, False] Translation: X:-162.78, Y:-103.58, Z:291.37 [[ 8.35645776e-01 1.68899158e-01 5.22655921e-01 -1.62780430e+02] [-1.17247318e-01 9.84467807e-01 -1.30675949e-01 -1.03582767e+02] [-5.36608986e-01 4.79187998e-02 8.42469338e-01 2.91367112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40907232899997 meters Centerline goodness [0,1] 0.33918374202216994 Centerline is valid? [False, False] Translation: X:-162.83, Y:-103.54, Z:291.41 [[ 8.36168561e-01 1.69578724e-01 5.21598690e-01 -1.62828476e+02] [-1.18023125e-01 9.84355219e-01 -1.30825626e-01 -1.03536232e+02] [-5.35623636e-01 4.78315679e-02 8.43101098e-01 2.91407837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.439072329 meters Centerline goodness [0,1] 0.33791958996765115 Centerline is valid? [False, False] Translation: X:-162.88, Y:-103.49, Z:291.45 [[ 8.37343347e-01 1.69345466e-01 5.19786719e-01 -1.62876406e+02] [-1.17609477e-01 9.84349860e-01 -1.31237814e-01 -1.03489566e+02] [-5.33876513e-01 4.87592668e-02 8.44155438e-01 2.91448065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46907232899997 meters Centerline goodness [0,1] 0.3339419888343198 Centerline is valid? [False, False] Translation: X:-162.92, Y:-103.44, Z:291.49 [[ 8.38096604e-01 1.70312442e-01 5.18254526e-01 -1.62922526e+02] [-1.18397444e-01 9.84159542e-01 -1.31954696e-01 -1.03442898e+02] [-5.32518663e-01 4.92307717e-02 8.44985328e-01 2.91486971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49907232899994 meters Centerline goodness [0,1] 0.3544643793935579 Centerline is valid? [False, False] Translation: X:-162.97, Y:-103.40, Z:291.53 [[ 8.39026815e-01 1.70856368e-01 5.16567619e-01 -1.62968453e+02] [-1.19132881e-01 9.84066921e-01 -1.31983530e-01 -1.03396851e+02] [-5.30887333e-01 4.91975322e-02 8.46013145e-01 2.91525624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.529072329 meters Centerline goodness [0,1] 0.3544643793935579 Centerline is valid? [False, False] Translation: X:-163.01, Y:-103.35, Z:291.56 [[ 8.39429560e-01 1.72030674e-01 5.15522513e-01 -1.63014719e+02] [-1.20648929e-01 9.83896849e-01 -1.31874281e-01 -1.03350934e+02] [-5.29907398e-01 4.85019303e-02 8.46667415e-01 2.91563886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55907232899995 meters Centerline goodness [0,1] 0.3499380733463484 Centerline is valid? [False, False] Translation: X:-163.06, Y:-103.30, Z:291.60 [[ 8.39909578e-01 1.73374380e-01 5.14289048e-01 -1.63060729e+02] [-1.23476718e-01 9.83795930e-01 -1.29996413e-01 -1.03304115e+02] [-5.28493520e-01 4.56825085e-02 8.47707324e-01 2.91601746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.589072329 meters Centerline goodness [0,1] 0.3543825787773256 Centerline is valid? [False, False] Translation: X:-163.10, Y:-103.26, Z:291.64 [[ 8.40547935e-01 1.75483683e-01 5.12527702e-01 -1.63104312e+02] [-1.26103339e-01 9.83472814e-01 -1.29919867e-01 -1.03258772e+02] [-5.26855878e-01 4.45724214e-02 8.48785122e-01 2.91637311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61907232899995 meters Centerline goodness [0,1] 0.30425286149322694 Centerline is valid? [False, False] Translation: X:-163.15, Y:-103.21, Z:291.67 [[ 8.41120046e-01 1.77457046e-01 5.10907101e-01 -1.63148322e+02] [-1.29211443e-01 9.83218713e-01 -1.28784183e-01 -1.03212005e+02] [-5.25187083e-01 4.23079142e-02 8.49934449e-01 2.91672775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.649072329 meters Centerline goodness [0,1] 0.3655927537145619 Centerline is valid? [False, False] Translation: X:-163.19, Y:-103.17, Z:291.71 [[ 8.41260093e-01 1.80509265e-01 5.09605594e-01 -1.63191216e+02] [-1.33948733e-01 9.82816277e-01 -1.27003550e-01 -1.03166127e+02] [-5.23773991e-01 3.85819946e-02 8.50983100e-01 2.91708815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67907232899995 meters Centerline goodness [0,1] 0.3065387931941027 Centerline is valid? [False, False] Translation: X:-163.23, Y:-103.12, Z:291.75 [[ 8.40981727e-01 1.84390814e-01 5.08674515e-01 -1.63233286e+02] [-1.39490942e-01 9.82246019e-01 -1.25439367e-01 -1.03119337e+02] [-5.22773384e-01 3.45367282e-02 8.51771802e-01 2.91745074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.709072329 meters Centerline goodness [0,1] 0.31127373667276514 Centerline is valid? [False, False] Translation: X:-163.27, Y:-103.08, Z:291.78 [[ 8.38259974e-01 1.85481054e-01 5.12754321e-01 -1.63265840e+02] [-1.44722239e-01 9.82321255e-01 -1.18745214e-01 -1.03079803e+02] [-5.25714455e-01 2.53324061e-02 8.50283823e-01 2.91776406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73907232899995 meters Centerline goodness [0,1] 0.31372961156885826 Centerline is valid? [False, False] Translation: X:-163.31, Y:-103.04, Z:291.81 [[ 8.38440848e-01 1.89079954e-01 5.11141581e-01 -1.63306694e+02] [-1.48116349e-01 9.81642280e-01 -1.20166471e-01 -1.03035563e+02] [-5.24479258e-01 2.50440530e-02 8.51054818e-01 2.91811538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.769072329 meters Centerline goodness [0,1] 0.32460249112562756 Centerline is valid? [False, False] Translation: X:-163.35, Y:-102.99, Z:291.85 [[ 8.38450770e-01 1.92199938e-01 5.09960282e-01 -1.63348834e+02] [-1.51503694e-01 9.81064540e-01 -1.20660680e-01 -1.02990912e+02] [-5.23494925e-01 2.39071737e-02 8.51693320e-01 2.91846696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79907232899996 meters Centerline goodness [0,1] 0.32566824724098864 Centerline is valid? [False, False] Translation: X:-163.38, Y:-102.96, Z:291.88 [[ 8.38608470e-01 1.89534746e-01 5.10697968e-01 -1.63380570e+02] [-1.51518885e-01 9.81680391e-01 -1.15523318e-01 -1.02955256e+02] [-5.23237864e-01 1.94984464e-02 8.51963584e-01 2.91877666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.829072329 meters Centerline goodness [0,1] 0.28792459167821305 Centerline is valid? [False, False] Translation: X:-163.41, Y:-102.92, Z:291.91 [[ 8.40729988e-01 1.83986307e-01 5.09236808e-01 -1.63413814e+02] [-1.49780443e-01 9.82823817e-01 -1.07810774e-01 -1.02918693e+02] [-5.20325770e-01 1.43660354e-02 8.53847006e-01 2.91910044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85907232899996 meters Centerline goodness [0,1] 0.33918901901523735 Centerline is valid? [False, False] Translation: X:-163.45, Y:-102.89, Z:291.94 [[ 8.42260644e-01 1.80215428e-01 5.08054531e-01 -1.63445059e+02] [-1.49073148e-01 9.83576664e-01 -1.01755305e-01 -1.02886295e+02] [-5.18048457e-01 9.96720013e-03 8.55293196e-01 2.91938342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.889072329 meters Centerline goodness [0,1] 0.3402538455072708 Centerline is valid? [False, False] Translation: X:-163.49, Y:-102.84, Z:291.97 [[ 8.43982787e-01 1.79885863e-01 5.05305978e-01 -1.63490244e+02] [-1.49083071e-01 9.83636170e-01 -1.01163845e-01 -1.02841452e+02] [-5.15235183e-01 1.00479774e-02 8.56989933e-01 2.91973747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91907232899996 meters Centerline goodness [0,1] 0.3497233400402414 Centerline is valid? [False, False] Translation: X:-163.53, Y:-102.80, Z:292.01 [[ 8.45108846e-01 1.80644105e-01 5.03148830e-01 -1.63534099e+02] [-1.48404682e-01 9.83461655e-01 -1.03823039e-01 -1.02799121e+02] [-5.13582601e-01 1.30721263e-02 8.57940576e-01 2.92006552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.949072329 meters Centerline goodness [0,1] 0.34513255745556914 Centerline is valid? [False, False] Translation: X:-163.57, Y:-102.77, Z:292.04 [[ 8.48884477e-01 1.72903807e-01 4.99499167e-01 -1.63573687e+02] [-1.42184249e-01 9.84849595e-01 -9.92719230e-02 -1.02765012e+02] [-5.09096046e-01 1.32494804e-02 8.60607731e-01 2.92039516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97907232899996 meters Centerline goodness [0,1] 0.34092341301516615 Centerline is valid? [False, False] Translation: X:-163.61, Y:-102.73, Z:292.07 [[ 8.52059870e-01 1.67199825e-01 4.96022374e-01 -1.63607342e+02] [-1.38985210e-01 9.85864016e-01 -9.35695111e-02 -1.02732298e+02] [-5.04655416e-01 1.07870514e-02 8.63253468e-01 2.92068858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.009072329 meters Centerline goodness [0,1] 0.3444987108810028 Centerline is valid? [False, False] Translation: X:-163.64, Y:-102.70, Z:292.10 [[ 8.54873341e-01 1.61877927e-01 4.92937225e-01 -1.63641291e+02] [-1.35679991e-01 9.86769873e-01 -8.87477180e-02 -1.02700145e+02] [-5.00781899e-01 8.98633987e-03 8.65526854e-01 2.92097938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03907232899996 meters Centerline goodness [0,1] 0.3653555219364599 Centerline is valid? [False, False] Translation: X:-163.69, Y:-102.66, Z:292.13 [[ 8.56095767e-01 1.59194070e-01 4.91688200e-01 -1.63691435e+02] [-1.31274750e-01 9.87156407e-01 -9.10448708e-02 -1.02658512e+02] [-4.99866961e-01 1.33968830e-02 8.65998583e-01 2.92132159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.069072329 meters Centerline goodness [0,1] 0.32270857814336074 Centerline is valid? [False, False] Translation: X:-163.74, Y:-102.61, Z:292.17 [[ 8.56851340e-01 1.57967415e-01 4.90766826e-01 -1.63740333e+02] [-1.27445533e-01 9.87259930e-01 -9.52652468e-02 -1.02614363e+02] [-4.99563227e-01 1.90821147e-02 8.66067235e-01 2.92167246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09907232899997 meters Centerline goodness [0,1] 0.3240606709043993 Centerline is valid? [False, False] Translation: X:-163.78, Y:-102.58, Z:292.20 [[ 8.57293453e-01 1.49721743e-01 4.92576223e-01 -1.63780963e+02] [-1.18968255e-01 9.88494961e-01 -9.34037816e-02 -1.02579331e+02] [-5.00893691e-01 2.14735167e-02 8.65242393e-01 2.92198456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.129072329 meters Centerline goodness [0,1] 0.3378477536216692 Centerline is valid? [False, False] Translation: X:-163.83, Y:-102.54, Z:292.23 [[ 8.58356264e-01 1.47999247e-01 4.91244080e-01 -1.63829483e+02] [-1.14555099e-01 9.88603185e-01 -9.76773906e-02 -1.02536872e+02] [-5.00101643e-01 2.75674859e-02 8.65527805e-01 2.92231825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15907232899997 meters Centerline goodness [0,1] 0.3359638289410336 Centerline is valid? [False, False] Translation: X:-163.88, Y:-102.50, Z:292.27 [[ 8.60550560e-01 1.41960922e-01 4.89182820e-01 -1.63882445e+02] [-1.05990259e-01 9.89262158e-01 -1.00630253e-01 -1.02496062e+02] [-4.98215615e-01 3.47488069e-02 8.66356578e-01 2.92265481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.189072329 meters Centerline goodness [0,1] 0.3398839328738137 Centerline is valid? [False, False] Translation: X:-163.93, Y:-102.45, Z:292.30 [[ 8.62218279e-01 1.39239408e-01 4.87023641e-01 -1.63932694e+02] [-1.02139910e-01 9.89519096e-01 -1.02075446e-01 -1.02451825e+02] [-4.96132118e-01 3.82667644e-02 8.67403353e-01 2.92299557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21907232899997 meters Centerline goodness [0,1] 0.35017392397636316 Centerline is valid? [False, False] Translation: X:-163.99, Y:-102.41, Z:292.33 [[ 8.65113267e-01 1.32007478e-01 4.83893647e-01 -1.63985561e+02] [-9.29708579e-02 9.90230529e-01 -1.03922655e-01 -1.02408383e+02] [-4.92884829e-01 4.49168598e-02 8.68934417e-01 2.92332659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24907232899994 meters Centerline goodness [0,1] 0.3471893398143686 Centerline is valid? [False, False] Translation: X:-164.03, Y:-102.37, Z:292.36 [[ 8.66170562e-01 1.31563351e-01 4.82119947e-01 -1.64034254e+02] [-9.13522646e-02 9.90152877e-01 -1.06075652e-01 -1.02366022e+02] [-4.91328121e-01 4.78368583e-02 8.69659883e-01 2.92364122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.279072329 meters Centerline goodness [0,1] 0.3512436558869175 Centerline is valid? [False, False] Translation: X:-164.08, Y:-102.32, Z:292.40 [[ 8.67459316e-01 1.30100959e-01 4.80195872e-01 -1.64084188e+02] [-8.88053123e-02 9.90192703e-01 -1.07851875e-01 -1.02320576e+02] [-4.89518081e-01 5.09131695e-02 8.70505542e-01 2.92397848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30907232899995 meters Centerline goodness [0,1] 0.3380367326400536 Centerline is valid? [False, False] Translation: X:-164.13, Y:-102.28, Z:292.43 [[ 8.68540526e-01 1.29830214e-01 4.78311060e-01 -1.64132852e+02] [-8.81912785e-02 9.90163328e-01 -1.08622656e-01 -1.02276824e+02] [-4.87708574e-01 5.21603149e-02 8.71446871e-01 2.92429023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.339072329 meters Centerline goodness [0,1] 0.3298871786268507 Centerline is valid? [False, False] Translation: X:-164.18, Y:-102.23, Z:292.46 [[ 8.68665706e-01 1.32219714e-01 4.77428359e-01 -1.64180181e+02] [-9.00229673e-02 9.89810152e-01 -1.10325560e-01 -1.02230426e+02] [-4.87150650e-01 5.28565132e-02 8.71716945e-01 2.92462489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36907232899995 meters Centerline goodness [0,1] 0.34534742315595257 Centerline is valid? [False, False] Translation: X:-164.23, Y:-102.18, Z:292.50 [[ 8.68702859e-01 1.35664277e-01 4.76393269e-01 -1.64226158e+02] [-9.30308202e-02 9.89333163e-01 -1.12094423e-01 -1.02183042e+02] [-4.86518868e-01 5.30574890e-02 8.72057506e-01 2.92497126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.399072329 meters Centerline goodness [0,1] 0.3231829994131947 Centerline is valid? [False, False] Translation: X:-164.27, Y:-102.14, Z:292.53 [[ 8.68509258e-01 1.39131287e-01 4.75745891e-01 -1.64272100e+02] [-9.55509807e-02 9.88790108e-01 -1.14735050e-01 -1.02135196e+02] [-4.86376066e-01 5.41904669e-02 8.72067495e-01 2.92531988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42907232899995 meters Centerline goodness [0,1] 0.3350840116339897 Centerline is valid? [False, False] Translation: X:-164.32, Y:-102.09, Z:292.57 [[ 8.66638209e-01 1.42803014e-01 4.78064342e-01 -1.64317854e+02] [-9.77355219e-02 9.88191233e-01 -1.18007857e-01 -1.02085003e+02] [-4.89270869e-01 5.55462499e-02 8.70361207e-01 2.92566743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.459072329 meters Centerline goodness [0,1] 0.3499466225692337 Centerline is valid? [False, False] Translation: X:-164.36, Y:-102.04, Z:292.60 [[ 8.66218459e-01 1.45648227e-01 4.77966709e-01 -1.64364023e+02] [-9.93956370e-02 9.87683624e-01 -1.20836937e-01 -1.02035635e+02] [-4.89679577e-01 5.71633801e-02 8.70026586e-01 2.92602665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48907232899995 meters Centerline goodness [0,1] 0.34502728356087053 Centerline is valid? [False, False] Translation: X:-164.41, Y:-101.99, Z:292.64 [[ 8.66204311e-01 1.48606028e-01 4.77081062e-01 -1.64408402e+02] [-1.01583775e-01 9.87186405e-01 -1.23059898e-01 -1.01988192e+02] [-4.89255381e-01 5.81313190e-02 8.70201081e-01 2.92637407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.519072329 meters Centerline goodness [0,1] 0.34500784108729743 Centerline is valid? [False, False] Translation: X:-164.45, Y:-101.94, Z:292.67 [[ 8.66644681e-01 1.50538036e-01 4.75673519e-01 -1.64452906e+02] [-1.03645379e-01 9.86917322e-01 -1.23498317e-01 -1.01942572e+02] [-4.88041630e-01 5.77277972e-02 8.70909219e-01 2.92670128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54907232899996 meters Centerline goodness [0,1] 0.32671340378779956 Centerline is valid? [False, False] Translation: X:-164.49, Y:-101.91, Z:292.70 [[ 8.65675020e-01 1.47718646e-01 4.78315754e-01 -1.64488906e+02] [-1.04256774e-01 9.87721142e-01 -1.16350641e-01 -1.01906501e+02] [-4.89629742e-01 5.08541856e-02 8.70446189e-01 2.92698341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.579072329 meters Centerline goodness [0,1] 0.3326860435980957 Centerline is valid? [False, False] Translation: X:-164.53, Y:-101.86, Z:292.73 [[ 8.66138598e-01 1.53414102e-01 4.75676405e-01 -1.64527949e+02] [-1.11438303e-01 9.87045206e-01 -1.15426449e-01 -1.01861794e+02] [-4.87222161e-01 4.69667313e-02 8.72014158e-01 2.92729876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60907232899996 meters Centerline goodness [0,1] 0.35796974256101644 Centerline is valid? [False, False] Translation: X:-164.56, Y:-101.83, Z:292.76 [[ 8.66383927e-01 1.48395937e-01 4.76820236e-01 -1.64562769e+02] [-1.08098080e-01 9.87918882e-01 -1.11045431e-01 -1.01827360e+02] [-4.87538405e-01 4.46646241e-02 8.71958356e-01 2.92756491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.639072329 meters Centerline goodness [0,1] 0.3434674573510681 Centerline is valid? [False, False] Translation: X:-164.60, Y:-101.79, Z:292.79 [[ 8.67192441e-01 1.53239617e-01 4.73808918e-01 -1.64602799e+02] [-1.14204559e-01 9.87315766e-01 -1.10294590e-01 -1.01785295e+02] [-4.84700515e-01 4.15354969e-02 8.73693432e-01 2.92785675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66907232899996 meters Centerline goodness [0,1] 0.33639502039962343 Centerline is valid? [False, False] Translation: X:-164.65, Y:-101.74, Z:292.82 [[ 8.68100535e-01 1.53327065e-01 4.72114682e-01 -1.64647965e+02] [-1.13251937e-01 9.87192025e-01 -1.12365047e-01 -1.01739764e+02] [-4.83296452e-01 4.40762554e-02 8.74346512e-01 2.92817298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.699072329 meters Centerline goodness [0,1] 0.33918924578081155 Centerline is valid? [False, False] Translation: X:-164.68, Y:-101.71, Z:292.84 [[ 8.67592829e-01 1.49746200e-01 4.74192744e-01 -1.64682745e+02] [-1.11883517e-01 9.87914482e-01 -1.07270943e-01 -1.01706409e+02] [-4.84525295e-01 4.00131490e-02 8.73861652e-01 2.92842466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72907232899996 meters Centerline goodness [0,1] 0.34166893177493884 Centerline is valid? [False, False] Translation: X:-164.72, Y:-101.67, Z:292.87 [[ 8.66967344e-01 1.46271438e-01 4.76416090e-01 -1.64718881e+02] [-1.09744172e-01 9.88525825e-01 -1.03792635e-01 -1.01673389e+02] [-4.86131506e-01 3.77009357e-02 8.73072046e-01 2.92870035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.759072329 meters Centerline goodness [0,1] 0.34214102054894746 Centerline is valid? [False, False] Translation: X:-164.76, Y:-101.64, Z:292.90 [[ 8.66721911e-01 1.40764469e-01 4.78516973e-01 -1.64756307e+02] [-1.05515700e-01 9.89384045e-01 -9.99282220e-02 -1.01638159e+02] [-4.87503401e-01 3.61189263e-02 8.72373691e-01 2.92898349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78907232899996 meters Centerline goodness [0,1] 0.3551579828415986 Centerline is valid? [False, False] Translation: X:-164.81, Y:-101.59, Z:292.93 [[ 8.68218101e-01 1.38152034e-01 4.76562005e-01 -1.64805551e+02] [-1.01834994e-01 9.89624215e-01 -1.01358507e-01 -1.01594436e+02] [-4.85620185e-01 3.94706017e-02 8.73278368e-01 2.92931445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.819072329 meters Centerline goodness [0,1] 0.34591905000836265 Centerline is valid? [False, False] Translation: X:-164.85, Y:-101.55, Z:292.96 [[ 8.69632128e-01 1.36971050e-01 4.74319400e-01 -1.64852312e+02] [-9.89055399e-02 9.89601498e-01 -1.04434524e-01 -1.01550032e+02] [-4.83691695e-01 4.39068010e-02 8.74136452e-01 2.92963221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84907232899997 meters Centerline goodness [0,1] 0.32302577933889476 Centerline is valid? [False, False] Translation: X:-164.90, Y:-101.51, Z:292.99 [[ 8.70781255e-01 1.35744426e-01 4.72560532e-01 -1.64900034e+02] [-9.64039911e-02 9.89614513e-01 -1.06627325e-01 -1.01505328e+02] [-4.82126826e-01 4.72923544e-02 8.74824072e-01 2.92994953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.879072329 meters Centerline goodness [0,1] 0.32772020725388606 Centerline is valid? [False, False] Translation: X:-164.95, Y:-101.46, Z:293.03 [[ 8.72226852e-01 1.32045716e-01 4.70939749e-01 -1.64950708e+02] [-9.12909014e-02 9.89898486e-01 -1.08475615e-01 -1.01461610e+02] [-4.80506284e-01 5.16228301e-02 8.75470613e-01 2.93026172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90907232899997 meters Centerline goodness [0,1] 0.3308383859502404 Centerline is valid? [False, False] Translation: X:-165.00, Y:-101.42, Z:293.06 [[ 8.72908168e-01 1.31901640e-01 4.69716178e-01 -1.64998650e+02] [-9.12033604e-02 9.89905335e-01 -1.08486745e-01 -1.01416396e+02] [-4.79284130e-01 5.18592719e-02 8.76126326e-01 2.93057195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.939072329 meters Centerline goodness [0,1] 0.3358232377126358 Centerline is valid? [False, False] Translation: X:-165.05, Y:-101.37, Z:293.09 [[ 8.73669120e-01 1.31179525e-01 4.68502082e-01 -1.65047216e+02] [-9.15418440e-02 9.90088308e-01 -1.06514001e-01 -1.01368329e+02] [-4.77830890e-01 5.01704491e-02 8.77017997e-01 2.93087958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96907232899997 meters Centerline goodness [0,1] 0.34079732133514706 Centerline is valid? [False, False] Translation: X:-165.09, Y:-101.32, Z:293.12 [[ 8.74164312e-01 1.34291898e-01 4.66693092e-01 -1.65090559e+02] [-9.44959698e-02 9.89673682e-01 -1.07779938e-01 -1.01322554e+02] [-4.76347843e-01 5.01167591e-02 8.77827456e-01 2.93117798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99907232899994 meters Centerline goodness [0,1] 0.3489901952568507 Centerline is valid? [False, False] Translation: X:-165.13, Y:-101.28, Z:293.15 [[ 8.74560913e-01 1.37473832e-01 4.65020597e-01 -1.65134567e+02] [-9.80998525e-02 9.89302092e-01 -1.07971246e-01 -1.01276160e+02] [-4.74889070e-01 4.88089794e-02 8.78691103e-01 2.93149123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.029072329 meters Centerline goodness [0,1] 0.3501686322977984 Centerline is valid? [False, False] Translation: X:-165.18, Y:-101.23, Z:293.18 [[ 8.74892647e-01 1.41986026e-01 4.63036526e-01 -1.65176420e+02] [-1.03164150e-01 9.88754434e-01 -1.08267390e-01 -1.01229413e+02] [-4.73201875e-01 4.69535738e-02 8.79701852e-01 2.93179924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05907232899995 meters Centerline goodness [0,1] 0.35080738056841265 Centerline is valid? [False, False] Translation: X:-165.22, Y:-101.18, Z:293.21 [[ 8.75081067e-01 1.48535824e-01 4.60619404e-01 -1.65215345e+02] [-1.10930882e-01 9.87959787e-01 -1.07841542e-01 -1.01180408e+02] [-4.71091781e-01 4.32731747e-02 8.81022115e-01 2.93210488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.089072329 meters Centerline goodness [0,1] 0.36182652612167066 Centerline is valid? [False, False] Translation: X:-165.25, Y:-101.14, Z:293.24 [[ 8.73338629e-01 1.48326831e-01 4.63981454e-01 -1.65248784e+02] [-1.14440758e-01 9.88329082e-01 -1.00543214e-01 -1.01142656e+02] [-4.73479621e-01 3.47098834e-02 8.80120601e-01 2.93236263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11907232899995 meters Centerline goodness [0,1] 0.35060112041291625 Centerline is valid? [False, False] Translation: X:-165.28, Y:-101.10, Z:293.26 [[ 8.69729106e-01 1.54559602e-01 4.68703117e-01 -1.65279554e+02] [-1.24976724e-01 9.87715599e-01 -9.38014577e-02 -1.01102684e+02] [-4.77443296e-01 2.30048777e-02 8.78361358e-01 2.93260750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.149072329 meters Centerline goodness [0,1] 0.3391342682005206 Centerline is valid? [False, False] Translation: X:-165.31, Y:-101.07, Z:293.29 [[ 8.68135691e-01 1.55101999e-01 4.71469820e-01 -1.65311234e+02] [-1.28766336e-01 9.87775951e-01 -8.78515889e-02 -1.01066432e+02] [-4.79332507e-01 1.55576587e-02 8.77495474e-01 2.93286283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17907232899995 meters Centerline goodness [0,1] 0.3535750905019983 Centerline is valid? [False, False] Translation: X:-165.34, Y:-101.03, Z:293.31 [[ 8.66871956e-01 1.56246034e-01 4.73413338e-01 -1.65340666e+02] [-1.31579307e-01 9.87652161e-01 -8.50299693e-02 -1.01033711e+02] [-4.80853302e-01 1.14186968e-02 8.76726705e-01 2.93308193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.209072329 meters Centerline goodness [0,1] 0.3455033782366025 Centerline is valid? [False, False] Translation: X:-165.38, Y:-100.99, Z:293.34 [[ 8.67843640e-01 1.62617053e-01 4.69471096e-01 -1.65376690e+02] [-1.37755147e-01 9.86628824e-01 -8.71038593e-02 -1.00986900e+02] [-4.77358288e-01 1.09204707e-02 8.78640887e-01 2.93338241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23907232899995 meters Centerline goodness [0,1] 0.34576072386058976 Centerline is valid? [False, False] Translation: X:-165.41, Y:-100.96, Z:293.36 [[ 8.67679291e-01 1.61968871e-01 4.69998652e-01 -1.65405573e+02] [-1.38763781e-01 9.86766898e-01 -8.38790942e-02 -1.00956230e+02] [-4.77364914e-01 7.56136279e-03 8.78672615e-01 2.93359506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.269072329 meters Centerline goodness [0,1] 0.35107186307001725 Centerline is valid? [False, False] Translation: X:-165.44, Y:-100.92, Z:293.38 [[ 8.67140841e-01 1.61883543e-01 4.71020678e-01 -1.65435451e+02] [-1.40845273e-01 9.86805587e-01 -7.98582698e-02 -1.00924720e+02] [-4.77733577e-01 2.90733133e-03 8.78499959e-01 2.93382381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29907232899996 meters Centerline goodness [0,1] 0.32264903442485304 Centerline is valid? [False, False] Translation: X:-165.47, Y:-100.88, Z:293.41 [[ 8.68285341e-01 1.68107996e-01 4.66712191e-01 -1.65469399e+02] [-1.46962936e-01 9.85765877e-01 -8.16549551e-02 -1.00880963e+02] [-4.73795803e-01 2.31040659e-03 8.80631705e-01 2.93409746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.329072329 meters Centerline goodness [0,1] 0.32512801141610004 Centerline is valid? [False, False] Translation: X:-165.50, Y:-100.85, Z:293.43 [[ 8.68295220e-01 1.67481583e-01 4.66918976e-01 -1.65496950e+02] [-1.48528106e-01 9.85872912e-01 -7.74209525e-02 -1.00851165e+02] [-4.73289355e-01 -2.12634810e-03 8.80904459e-01 2.93429699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35907232899996 meters Centerline goodness [0,1] 0.32770043609527 Centerline is valid? [False, False] Translation: X:-165.53, Y:-100.82, Z:293.45 [[ 8.67823688e-01 1.66962508e-01 4.67980306e-01 -1.65525742e+02] [-1.49249430e-01 9.85951726e-01 -7.49920053e-02 -1.00819449e+02] [-4.73926844e-01 -4.76595555e-03 8.80551323e-01 2.93451792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.389072329 meters Centerline goodness [0,1] 0.36309086712963934 Centerline is valid? [False, False] Translation: X:-165.56, Y:-100.79, Z:293.47 [[ 8.67511343e-01 1.65261966e-01 4.69161542e-01 -1.65556820e+02] [-1.48792589e-01 9.86224054e-01 -7.22694949e-02 -1.00789169e+02] [-4.74641797e-01 -7.11315387e-03 8.80150310e-01 2.93473263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41907232899996 meters Centerline goodness [0,1] 0.36309086712963934 Centerline is valid? [False, False] Translation: X:-165.59, Y:-100.76, Z:293.49 [[ 8.67527341e-01 1.62290015e-01 4.70168335e-01 -1.65588187e+02] [-1.47754998e-01 9.86687010e-01 -6.79500231e-02 -1.00758754e+02] [-4.74936599e-01 -1.05212183e-02 8.79957119e-01 2.93494430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.449072329 meters Centerline goodness [0,1] 0.33548089232125244 Centerline is valid? [False, False] Translation: X:-165.62, Y:-100.73, Z:293.52 [[ 8.67292860e-01 1.60254810e-01 4.71297667e-01 -1.65619579e+02] [-1.46531603e-01 9.87004497e-01 -6.59591760e-02 -1.00728269e+02] [-4.75743192e-01 -1.18540801e-02 8.79504347e-01 2.93516442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47907232899996 meters Centerline goodness [0,1] 0.3301227573182247 Centerline is valid? [False, False] Translation: X:-165.65, Y:-100.70, Z:293.54 [[ 8.67396117e-01 1.58428625e-01 4.71724863e-01 -1.65649634e+02] [-1.45543961e-01 9.87282438e-01 -6.39557835e-02 -1.00699064e+02] [-4.75858100e-01 -1.31817066e-02 8.79423284e-01 2.93537265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.509072329 meters Centerline goodness [0,1] 0.3378684331893841 Centerline is valid? [False, False] Translation: X:-165.68, Y:-100.67, Z:293.56 [[ 8.68421224e-01 1.53178589e-01 4.71572792e-01 -1.65683065e+02] [-1.41316544e-01 9.88100603e-01 -6.07192991e-02 -1.00667496e+02] [-4.75262256e-01 -1.39111093e-02 8.79734204e-01 2.93560582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53907232899996 meters Centerline goodness [0,1] 0.31841724506699653 Centerline is valid? [False, False] Translation: X:-165.72, Y:-100.63, Z:293.59 [[ 8.70341188e-01 1.53808834e-01 4.67813061e-01 -1.65724140e+02] [-1.40333397e-01 9.88048514e-01 -6.37704607e-02 -1.00626870e+02] [-4.72030460e-01 -1.01477373e-02 8.81523833e-01 2.93586458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.569072329 meters Centerline goodness [0,1] 0.34914244978403997 Centerline is valid? [False, False] Translation: X:-165.76, Y:-100.59, Z:293.61 [[ 8.74565510e-01 1.45597225e-01 4.62532827e-01 -1.65759895e+02] [-1.33147919e-01 9.89299171e-01 -5.96555198e-02 -1.00594978e+02] [-4.66269021e-01 -9.41262344e-03 8.84592902e-01 2.93612037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59907232899997 meters Centerline goodness [0,1] 0.3486121294647533 Centerline is valid? [False, False] Translation: X:-165.80, Y:-100.56, Z:293.64 [[ 8.76331768e-01 1.44320827e-01 4.59580385e-01 -1.65803414e+02] [-1.29274288e-01 9.89526033e-01 -6.42369668e-02 -1.00556134e+02] [-4.64037488e-01 -3.11903231e-03 8.85810071e-01 2.93636758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.629072329 meters Centerline goodness [0,1] 0.35966622638740386 Centerline is valid? [False, False] Translation: X:-165.84, Y:-100.53, Z:293.66 [[ 8.77578322e-01 1.38147639e-01 4.59098593e-01 -1.65839250e+02] [-1.24079807e-01 9.90405207e-01 -6.08418159e-02 -1.00525572e+02] [-4.63098791e-01 -3.57140591e-03 8.86299473e-01 2.93661150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65907232899997 meters Centerline goodness [0,1] 0.328767410200021 Centerline is valid? [False, False] Translation: X:-165.88, Y:-100.50, Z:293.69 [[ 8.80033270e-01 1.27462640e-01 4.57487399e-01 -1.65879097e+02] [-1.11949491e-01 9.91840322e-01 -6.09925201e-02 -1.00495154e+02] [-4.61528716e-01 2.45996549e-03 8.87121859e-01 2.93686507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.689072329 meters Centerline goodness [0,1] 0.32693677462605275 Centerline is valid? [False, False] Translation: X:-165.92, Y:-100.45, Z:293.71 [[ 8.81365317e-01 1.27425247e-01 4.54926351e-01 -1.65924666e+02] [-1.09888523e-01 9.91821884e-01 -6.49142781e-02 -1.00454213e+02] [-4.59477628e-01 7.22200851e-03 8.88159981e-01 2.93713729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71907232899997 meters Centerline goodness [0,1] 0.33380782918149465 Centerline is valid? [False, False] Translation: X:-165.97, Y:-100.41, Z:293.74 [[ 8.82863455e-01 1.25783311e-01 4.52471743e-01 -1.65971414e+02] [-1.05269705e-01 9.91952066e-01 -7.03518834e-02 -1.00410940e+02] [-4.57679373e-01 1.44795400e-02 8.88999401e-01 2.93742448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74907232899994 meters Centerline goodness [0,1] 0.3548879092409586 Centerline is valid? [False, False] Translation: X:-166.01, Y:-100.38, Z:293.77 [[ 8.83784177e-01 1.15870606e-01 4.53320560e-01 -1.66013181e+02] [-9.59932414e-02 9.93144344e-01 -6.67054000e-02 -1.00378896e+02] [-4.57941945e-01 1.54374671e-02 8.88848052e-01 2.93768293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.779072329 meters Centerline goodness [0,1] 0.36627055525335783 Centerline is valid? [False, False] Translation: X:-166.06, Y:-100.33, Z:293.80 [[ 8.84524456e-01 1.15611301e-01 4.51940831e-01 -1.66061649e+02] [-9.44807269e-02 9.93123102e-01 -6.91367950e-02 -1.00332225e+02] [-4.56825875e-01 1.84534878e-02 8.89364711e-01 2.93797784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80907232899995 meters Centerline goodness [0,1] 0.3628111273792094 Centerline is valid? [False, False] Translation: X:-166.11, Y:-100.29, Z:293.83 [[ 8.85491705e-01 1.15964558e-01 4.49951843e-01 -1.66108310e+02] [-9.30574591e-02 9.92996631e-01 -7.27873606e-02 -1.00287599e+02] [-4.55241418e-01 2.25812288e-02 8.90081647e-01 2.93826154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.839072329 meters Centerline goodness [0,1] 0.3659174619119371 Centerline is valid? [False, False] Translation: X:-166.16, Y:-100.24, Z:293.85 [[ 8.86301150e-01 1.15854912e-01 4.48383665e-01 -1.66155942e+02] [-9.13105711e-02 9.92913321e-01 -7.60625856e-02 -1.00242585e+02] [-4.54018338e-01 2.64721886e-02 8.90598996e-01 2.93854880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86907232899995 meters Centerline goodness [0,1] 0.35852332148086175 Centerline is valid? [False, False] Translation: X:-166.20, Y:-100.20, Z:293.88 [[ 8.87227608e-01 1.18027146e-01 4.45978436e-01 -1.66200269e+02] [-9.17923888e-02 9.92554098e-01 -8.00657228e-02 -1.00196950e+02] [-4.52107653e-01 3.00990937e-02 8.91455391e-01 2.93884358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.899072329 meters Centerline goodness [0,1] 0.3684915172687907 Centerline is valid? [False, False] Translation: X:-166.25, Y:-100.15, Z:293.92 [[ 8.87434415e-01 1.21364675e-01 4.44669286e-01 -1.66246070e+02] [-9.36078970e-02 9.92063373e-01 -8.39513340e-02 -1.00147789e+02] [-4.51328838e-01 3.28767462e-02 8.91751871e-01 2.93915151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92907232899995 meters Centerline goodness [0,1] 0.373044625468557 Centerline is valid? [False, False] Translation: X:-166.29, Y:-100.10, Z:293.94 [[ 8.88087509e-01 1.24211799e-01 4.42574293e-01 -1.66289791e+02] [-9.59296945e-02 9.91681065e-01 -8.58263268e-02 -1.00100710e+02] [-4.49553189e-01 3.37652720e-02 8.92615167e-01 2.93944047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.959072329 meters Centerline goodness [0,1] 0.38078179989944694 Centerline is valid? [False, False] Translation: X:-166.33, Y:-100.06, Z:293.97 [[ 8.88660881e-01 1.27155764e-01 4.40582853e-01 -1.66332405e+02] [-9.87154402e-02 9.91306318e-01 -8.69887729e-02 -1.00056236e+02] [-4.47813690e-01 3.38111892e-02 8.93487382e-01 2.93970817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98907232899995 meters Centerline goodness [0,1] 0.3568484696332559 Centerline is valid? [False, False] Translation: X:-166.37, Y:-100.02, Z:294.00 [[ 8.89534299e-01 1.32391220e-01 4.37265703e-01 -1.66370596e+02] [-1.04262296e-01 9.90663008e-01 -8.78417757e-02 -1.00015553e+02] [-4.44812437e-01 3.25479461e-02 8.95032138e-01 2.93995671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.019072329 meters Centerline goodness [0,1] 0.3643537414965986 Centerline is valid? [False, False] Translation: X:-166.41, Y:-99.98, Z:294.02 [[ 8.89152798e-01 1.28975270e-01 4.39058858e-01 -1.66405294e+02] [-1.02652884e-01 9.91224057e-01 -8.32901787e-02 -9.99809539e+01] [-4.45948076e-01 2.89870373e-02 8.94589328e-01 2.94019471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04907232899996 meters Centerline goodness [0,1] 0.3705174287386107 Centerline is valid? [False, False] Translation: X:-166.44, Y:-99.95, Z:294.04 [[ 8.88895149e-01 1.26902619e-01 4.40183074e-01 -1.66438332e+02] [-1.01594193e-01 9.91547234e-01 -8.07013194e-02 -9.99491205e+01] [-4.46703518e-01 2.70149671e-02 8.94274096e-01 2.94042126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.079072329 meters Centerline goodness [0,1] 0.38356020942408375 Centerline is valid? [False, False] Translation: X:-166.47, Y:-99.92, Z:294.07 [[ 8.88445380e-01 1.24009613e-01 4.41912234e-01 -1.66473197e+02] [-1.00870366e-01 9.92024098e-01 -7.55867601e-02 -9.99163199e+01] [-4.47761070e-01 2.25788592e-02 8.93868122e-01 2.94065491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10907232899996 meters Centerline goodness [0,1] 0.33199388878424474 Centerline is valid? [False, False] Translation: X:-166.51, Y:-99.88, Z:294.09 [[ 8.88509840e-01 1.20551697e-01 4.42738695e-01 -1.66507219e+02] [-9.87504056e-02 9.92499236e-01 -7.20667981e-02 -9.98841078e+01] [-4.48105592e-01 2.03114335e-02 8.93749867e-01 2.94088259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.139072329 meters Centerline goodness [0,1] 0.3742898471730153 Centerline is valid? [False, False] Translation: X:-166.55, Y:-99.84, Z:294.11 [[ 8.89954032e-01 1.21033133e-01 4.39696261e-01 -1.66551829e+02] [-9.80536014e-02 9.92373355e-01 -7.47035188e-02 -9.98412301e+01] [-4.45384454e-01 2.33688959e-02 8.95034403e-01 2.94114882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16907232899996 meters Centerline goodness [0,1] 0.3573999665159886 Centerline is valid? [False, False] Translation: X:-166.58, Y:-99.81, Z:294.14 [[ 8.90687106e-01 1.17146152e-01 4.39264452e-01 -1.66583987e+02] [-9.52054965e-02 9.92869272e-01 -7.17392599e-02 -9.98118352e+01] [-4.44536155e-01 2.20768435e-02 8.95488816e-01 2.94135695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.199072329 meters Centerline goodness [0,1] 0.3738589732853195 Centerline is valid? [False, False] Translation: X:-166.63, Y:-99.77, Z:294.16 [[ 8.92104215e-01 1.14406466e-01 4.37105514e-01 -1.66631620e+02] [-8.97517674e-02 9.93004256e-01 -7.67278758e-02 -9.97686713e+01] [-4.42825801e-01 2.92182689e-02 8.96131465e-01 2.94161636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22907232899996 meters Centerline goodness [0,1] 0.3514288705118811 Centerline is valid? [False, False] Translation: X:-166.67, Y:-99.74, Z:294.18 [[ 8.91797504e-01 1.11350431e-01 4.38518293e-01 -1.66667107e+02] [-8.93377812e-02 9.93496748e-01 -7.05901703e-02 -9.97355289e+01] [-4.43526744e-01 2.37758864e-02 8.95945721e-01 2.94184540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.259072329 meters Centerline goodness [0,1] 0.36372950819672134 Centerline is valid? [False, False] Translation: X:-166.71, Y:-99.69, Z:294.21 [[ 8.92719182e-01 1.11880959e-01 4.36503280e-01 -1.66712554e+02] [-8.81726525e-02 9.93332131e-01 -7.42755769e-02 -9.96894327e+01] [-4.41902756e-01 2.78195802e-02 8.96631488e-01 2.94211938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28907232899996 meters Centerline goodness [0,1] 0.35815306079752296 Centerline is valid? [False, False] Translation: X:-166.76, Y:-99.64, Z:294.24 [[ 8.93774289e-01 1.09692146e-01 4.34896715e-01 -1.66762289e+02] [-8.48966054e-02 9.93478927e-01 -7.61064202e-02 -9.96440926e+01] [-4.40408999e-01 3.11007068e-02 8.97258413e-01 2.94239678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.319072329 meters Centerline goodness [0,1] 0.3536156678942083 Centerline is valid? [False, False] Translation: X:-166.81, Y:-99.60, Z:294.27 [[ 8.94548975e-01 1.10415370e-01 4.33117280e-01 -1.66809211e+02] [-8.42775647e-02 9.93293210e-01 -7.91573784e-02 -9.95988814e+01] [-4.38952644e-01 3.43080821e-02 8.97854961e-01 2.94267916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34907232899997 meters Centerline goodness [0,1] 0.3530209746425963 Centerline is valid? [False, False] Translation: X:-166.85, Y:-99.55, Z:294.30 [[ 8.95588596e-01 1.11680849e-01 4.30637266e-01 -1.66854435e+02] [-8.45690200e-02 9.93065532e-01 -8.16635131e-02 -9.95546016e+01] [-4.36771276e-01 3.67183395e-02 8.98822906e-01 2.94295310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.379072329 meters Centerline goodness [0,1] 0.36261416598741825 Centerline is valid? [False, False] Translation: X:-166.90, Y:-99.51, Z:294.32 [[ 8.96133199e-01 1.12818990e-01 4.29205270e-01 -1.66901212e+02] [-8.55037501e-02 9.92918682e-01 -8.24718070e-02 -9.95099145e+01] [-4.35470318e-01 3.72070641e-02 8.99433842e-01 2.94322176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40907232899997 meters Centerline goodness [0,1] 0.3576852469959947 Centerline is valid? [False, False] Translation: X:-166.94, Y:-99.47, Z:294.35 [[ 8.95703983e-01 1.07381364e-01 4.31489998e-01 -1.66938823e+02] [-8.11928048e-02 9.93584708e-01 -7.87220173e-02 -9.94737050e+01] [-4.37175141e-01 3.54777412e-02 8.98676374e-01 2.94345084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.439072329 meters Centerline goodness [0,1] 0.35884318229275425 Centerline is valid? [False, False] Translation: X:-166.99, Y:-99.43, Z:294.37 [[ 8.96502974e-01 1.07497516e-01 4.29798444e-01 -1.66986292e+02] [-8.01620098e-02 9.93463324e-01 -8.12691615e-02 -9.94278815e+01] [-4.35725224e-01 3.84045378e-02 8.99260041e-01 2.94373275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46907232899997 meters Centerline goodness [0,1] 0.35806438144545116 Centerline is valid? [False, False] Translation: X:-167.04, Y:-99.38, Z:294.40 [[ 8.96978564e-01 1.06384270e-01 4.29082559e-01 -1.67035838e+02] [-7.71745277e-02 9.93390631e-01 -8.49655609e-02 -9.93816253e+01] [-4.35285593e-01 4.30980430e-02 8.99260258e-01 2.94401714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49907232899994 meters Centerline goodness [0,1] 0.3549539387102839 Centerline is valid? [False, False] Translation: X:-167.08, Y:-99.33, Z:294.43 [[ 8.97275373e-01 1.07089260e-01 4.28285882e-01 -1.67084918e+02] [-7.71789759e-02 9.93243961e-01 -8.66593268e-02 -9.93334638e+01] [-4.34672649e-01 4.47026140e-02 8.99478385e-01 2.94431390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.529072329 meters Centerline goodness [0,1] 0.36004759717757084 Centerline is valid? [False, False] Translation: X:-167.13, Y:-99.29, Z:294.46 [[ 8.97589242e-01 1.07689483e-01 4.27476933e-01 -1.67133346e+02] [-7.60963875e-02 9.92996587e-01 -9.03721048e-02 -9.92863846e+01] [-4.34215261e-01 4.85875787e-02 8.99497835e-01 2.94460872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55907232899995 meters Centerline goodness [0,1] 0.36018611250208643 Centerline is valid? [False, False] Translation: X:-167.18, Y:-99.24, Z:294.49 [[ 8.97871260e-01 1.09187359e-01 4.26503601e-01 -1.67180762e+02] [-7.66516346e-02 9.92731902e-01 -9.27787585e-02 -9.92385832e+01] [-4.33533998e-01 5.06111826e-02 8.99714833e-01 2.94490576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.589072329 meters Centerline goodness [0,1] 0.3644239400455086 Centerline is valid? [False, False] Translation: X:-167.23, Y:-99.19, Z:294.52 [[ 8.97937985e-01 1.10618887e-01 4.25993941e-01 -1.67228981e+02] [-7.77331226e-02 9.92543760e-01 -9.38852845e-02 -9.91898995e+01] [-4.33203114e-01 5.11893239e-02 8.99841495e-01 2.94519411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61907232899995 meters Centerline goodness [0,1] 0.3668461249530487 Centerline is valid? [False, False] Translation: X:-167.28, Y:-99.14, Z:294.55 [[ 8.98197838e-01 1.11758295e-01 4.25147890e-01 -1.67276124e+02] [-7.84248660e-02 9.92366342e-01 -9.51765869e-02 -9.91427143e+01] [-4.32539229e-01 5.21452383e-02 9.00105932e-01 2.94546688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.649072329 meters Centerline goodness [0,1] 0.37340094743212504 Centerline is valid? [False, False] Translation: X:-167.32, Y:-99.10, Z:294.57 [[ 8.98787199e-01 1.12904068e-01 4.23596791e-01 -1.67322939e+02] [-7.99709518e-02 9.92279328e-01 -9.47965277e-02 -9.90963991e+01] [-4.31029253e-01 5.13264671e-02 9.00877004e-01 2.94573429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67907232899995 meters Centerline goodness [0,1] 0.3701948173978409 Centerline is valid? [False, False] Translation: X:-167.36, Y:-99.06, Z:294.60 [[ 8.98408593e-01 1.08501421e-01 4.25546052e-01 -1.67360816e+02] [-7.79572330e-02 9.93011451e-01 -8.86054649e-02 -9.90594985e+01] [-4.32185921e-01 4.64295183e-02 9.00588491e-01 2.94598733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.709072329 meters Centerline goodness [0,1] 0.3733997748217339 Centerline is valid? [False, False] Translation: X:-167.41, Y:-99.01, Z:294.63 [[ 8.98817074e-01 1.10785677e-01 4.24092444e-01 -1.67406932e+02] [-7.96828127e-02 9.92708472e-01 -9.04463358e-02 -9.90121907e+01] [-4.31020320e-01 4.75018322e-02 9.01091038e-01 2.94625839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73907232899995 meters Centerline goodness [0,1] 0.3797600417318727 Centerline is valid? [False, False] Translation: X:-167.45, Y:-98.97, Z:294.65 [[ 8.99232206e-01 1.12701812e-01 4.22705266e-01 -1.67453085e+02] [-8.12602228e-02 9.92461551e-01 -9.17433700e-02 -9.89650588e+01] [-4.29858368e-01 4.81494688e-02 9.01611564e-01 2.94653267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.769072329 meters Centerline goodness [0,1] 0.36470072627097416 Centerline is valid? [False, False] Translation: X:-167.49, Y:-98.93, Z:294.68 [[ 8.99099326e-01 1.08090252e-01 4.24189697e-01 -1.67490141e+02] [-7.85115726e-02 9.93139714e-01 -8.66570312e-02 -9.89286876e+01] [-4.30646415e-01 4.46094782e-02 9.01417583e-01 2.94678334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79907232899996 meters Centerline goodness [0,1] 0.37129560063444356 Centerline is valid? [False, False] Translation: X:-167.54, Y:-98.88, Z:294.71 [[ 8.99625669e-01 1.09751002e-01 4.22644501e-01 -1.67536576e+02] [-7.91542747e-02 9.92851322e-01 -8.93356247e-02 -9.88822135e+01] [-4.29427825e-01 4.69145022e-02 9.01881795e-01 2.94705483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.829072329 meters Centerline goodness [0,1] 0.3752998852612913 Centerline is valid? [False, False] Translation: X:-167.58, Y:-98.84, Z:294.73 [[ 9.00017712e-01 1.10972955e-01 4.21489172e-01 -1.67583906e+02] [-7.96965437e-02 9.92640988e-01 -9.11719808e-02 -9.88360002e+01] [-4.28505052e-01 4.84651673e-02 9.02238631e-01 2.94732766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85907232899996 meters Centerline goodness [0,1] 0.3768980477223427 Centerline is valid? [False, False] Translation: X:-167.62, Y:-98.80, Z:294.76 [[ 8.99670913e-01 1.06603651e-01 4.23353175e-01 -1.67621233e+02] [-7.72631716e-02 9.93300914e-01 -8.59284356e-02 -9.88000876e+01] [-4.29677380e-01 4.45977051e-02 9.01880476e-01 2.94757366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.889072329 meters Centerline goodness [0,1] 0.36888666332832587 Centerline is valid? [False, False] Translation: X:-167.67, Y:-98.75, Z:294.79 [[ 9.00440594e-01 1.05150018e-01 4.22078441e-01 -1.67670275e+02] [-7.56309859e-02 9.93408635e-01 -8.61349988e-02 -9.87504384e+01] [-4.28353465e-01 4.56372409e-02 9.02458061e-01 2.94786126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91907232899996 meters Centerline goodness [0,1] 0.37064951875900365 Centerline is valid? [False, False] Translation: X:-167.72, Y:-98.70, Z:294.81 [[ 9.00852200e-01 1.06046055e-01 4.20974522e-01 -1.67718333e+02] [-7.63074703e-02 9.93288221e-01 -8.69234190e-02 -9.87022209e+01] [-4.27366920e-01 4.61816524e-02 9.02897985e-01 2.94814060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.949072329 meters Centerline goodness [0,1] 0.3769396236660193 Centerline is valid? [False, False] Translation: X:-167.77, Y:-98.66, Z:294.84 [[ 9.01376102e-01 1.05764909e-01 4.19922501e-01 -1.67766399e+02] [-7.45349012e-02 9.93135441e-01 -9.01473513e-02 -9.86557170e+01] [-4.26574344e-01 4.99577860e-02 9.03071729e-01 2.94841359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97907232899996 meters Centerline goodness [0,1] 0.33869250203578816 Centerline is valid? [False, False] Translation: X:-167.81, Y:-98.61, Z:294.87 [[ 9.01549740e-01 1.07791463e-01 4.19033491e-01 -1.67813724e+02] [-7.65152496e-02 9.92925718e-01 -9.07961137e-02 -9.86071769e+01] [-4.25856176e-01 4.97947606e-02 9.03419614e-01 2.94869509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.009072329 meters Centerline goodness [0,1] 0.34647411148444185 Centerline is valid? [False, False] Translation: X:-167.85, Y:-98.57, Z:294.89 [[ 9.00530702e-01 1.04999883e-01 4.21923547e-01 -1.67849628e+02] [-7.54706887e-02 9.93420220e-01 -8.61419910e-02 -9.85699687e+01] [-4.28192282e-01 4.57306469e-02 9.02529821e-01 2.94891743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03907232899996 meters Centerline goodness [0,1] 0.3655824240021699 Centerline is valid? [False, False] Translation: X:-167.89, Y:-98.52, Z:294.92 [[ 9.01015736e-01 1.07173675e-01 4.20338491e-01 -1.67894603e+02] [-7.72070734e-02 9.93148148e-01 -8.77258448e-02 -9.85217603e+01] [-4.26860295e-01 4.65892619e-02 9.03116675e-01 2.94917670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.069072329 meters Centerline goodness [0,1] 0.34406939074093423 Centerline is valid? [False, False] Translation: X:-167.94, Y:-98.47, Z:294.94 [[ 9.01269118e-01 1.10740562e-01 4.18868123e-01 -1.67940102e+02] [-8.19402120e-02 9.92902906e-01 -8.61952522e-02 -9.84724534e+01] [-4.25440688e-01 4.33629761e-02 9.03946831e-01 2.94944552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09907232899997 meters Centerline goodness [0,1] 0.3528797124467107 Centerline is valid? [False, False] Translation: X:-167.97, Y:-98.44, Z:294.97 [[ 9.00832885e-01 1.08874265e-01 4.20293358e-01 -1.67973177e+02] [-8.24295173e-02 9.93328976e-01 -8.06406814e-02 -9.84379366e+01] [-4.26269266e-01 3.79991990e-02 9.03797861e-01 2.94965468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.129072329 meters Centerline goodness [0,1] 0.3621226365820537 Centerline is valid? [False, False] Translation: X:-168.01, Y:-98.39, Z:294.99 [[ 9.01533862e-01 1.14626360e-01 4.17249917e-01 -1.68013376e+02] [-8.83783808e-02 9.92725422e-01 -8.17649017e-02 -9.83887451e+01] [-4.23587013e-01 3.68379555e-02 9.05106075e-01 2.94991061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15907232899997 meters Centerline goodness [0,1] 0.3484601562826459 Centerline is valid? [False, False] Translation: X:-168.05, Y:-98.35, Z:295.01 [[ 9.00678513e-01 1.14794328e-01 4.19047108e-01 -1.68045390e+02] [-9.13566147e-02 9.92940589e-01 -7.56502241e-02 -9.83541833e+01] [-4.24773099e-01 2.98538062e-02 9.04807474e-01 2.95012143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.189072329 meters Centerline goodness [0,1] 0.35210502111292274 Centerline is valid? [False, False] Translation: X:-168.08, Y:-98.32, Z:295.03 [[ 8.98933564e-01 1.17487718e-01 4.22036828e-01 -1.68077281e+02] [-9.65739724e-02 9.92813045e-01 -7.06804529e-02 -9.83156097e+01] [-4.27307753e-01 2.27792585e-02 9.03819224e-01 2.95034936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21907232899997 meters Centerline goodness [0,1] 0.3608928272864069 Centerline is valid? [False, False] Translation: X:-168.12, Y:-98.27, Z:295.06 [[ 8.99782277e-01 1.20330902e-01 4.19419036e-01 -1.68119208e+02] [-9.85959478e-02 9.92430999e-01 -7.32089575e-02 -9.82685617e+01] [-4.25053752e-01 2.45191051e-02 9.04835964e-01 2.95060551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24907232899994 meters Centerline goodness [0,1] 0.34984746541852985 Centerline is valid? [False, False] Translation: X:-168.15, Y:-98.24, Z:295.08 [[ 8.99828145e-01 1.20643394e-01 4.19230821e-01 -1.68147577e+02] [-1.01542403e-01 9.92526751e-01 -6.76741354e-02 -9.82354894e+01] [-4.24262242e-01 1.83253867e-02 9.05353925e-01 2.95080459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.279072329 meters Centerline goodness [0,1] 0.35286499133086835 Centerline is valid? [False, False] Translation: X:-168.18, Y:-98.20, Z:295.10 [[ 8.99234540e-01 1.19621746e-01 4.20794343e-01 -1.68179559e+02] [-1.02483005e-01 9.92724880e-01 -6.32024306e-02 -9.82002981e+01] [-4.25293399e-01 1.37095399e-02 9.04951697e-01 2.95101071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30907232899995 meters Centerline goodness [0,1] 0.35572139303482586 Centerline is valid? [False, False] Translation: X:-168.22, Y:-98.16, Z:295.12 [[ 9.00377389e-01 1.24141580e-01 4.17024491e-01 -1.68217686e+02] [-1.06559923e-01 9.92160883e-01 -6.52821953e-02 -9.81556167e+01] [-4.21859622e-01 1.43405148e-02 9.06547742e-01 2.95124515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.339072329 meters Centerline goodness [0,1] 0.35572139303482586 Centerline is valid? [False, False] Translation: X:-168.25, Y:-98.12, Z:295.14 [[ 9.00635345e-01 1.21825888e-01 4.17150367e-01 -1.68247517e+02] [-1.05616562e-01 9.92483475e-01 -6.18198471e-02 -9.81248843e+01] [-4.21546104e-01 1.16191516e-02 9.06732528e-01 2.95142900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36907232899995 meters Centerline goodness [0,1] 0.360507208470214 Centerline is valid? [False, False] Translation: X:-168.28, Y:-98.09, Z:295.16 [[ 9.00637218e-01 1.19587039e-01 4.17793659e-01 -1.68278560e+02] [-1.05172928e-01 9.92793067e-01 -5.74506806e-02 -9.80915635e+01] [-4.21653005e-01 7.80163883e-03 9.06723705e-01 2.95162276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.399072329 meters Centerline goodness [0,1] 0.3633682008368201 Centerline is valid? [False, False] Translation: X:-168.31, Y:-98.05, Z:295.18 [[ 9.02240019e-01 1.24180620e-01 4.12967458e-01 -1.68314752e+02] [-1.08950271e-01 9.92214728e-01 -6.03305278e-02 -9.80482452e+01] [-4.17244276e-01 9.43970003e-03 9.08745347e-01 2.95184616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42907232899995 meters Centerline goodness [0,1] 0.37611109949177 Centerline is valid? [False, False] Translation: X:-168.34, Y:-98.02, Z:295.20 [[ 9.02819238e-01 1.23371117e-01 4.11942947e-01 -1.68341794e+02] [-1.09861734e-01 9.92344352e-01 -5.64188426e-02 -9.80170017e+01] [-4.15749713e-01 5.67924995e-03 9.09461336e-01 2.95202196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.459072329 meters Centerline goodness [0,1] 0.3652033678213882 Centerline is valid? [False, False] Translation: X:-168.37, Y:-97.98, Z:295.22 [[ 9.03126291e-01 1.23411038e-01 4.11257363e-01 -1.68369593e+02] [-1.11657500e-01 9.92354394e-01 -5.25866874e-02 -9.79845751e+01] [-4.14602829e-01 1.57245094e-03 9.10001111e-01 2.95220116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48907232899995 meters Centerline goodness [0,1] 0.3852078188439161 Centerline is valid? [False, False] Translation: X:-168.39, Y:-97.96, Z:295.24 [[ 9.04070067e-01 1.23220897e-01 4.09235780e-01 -1.68394983e+02] [-1.12534661e-01 9.92379041e-01 -5.01975102e-02 -9.79556417e+01] [-4.12302393e-01 -6.71143229e-04 9.11046808e-01 2.95236534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.519072329 meters Centerline goodness [0,1] 0.3625789715911468 Centerline is valid? [False, False] Translation: X:-168.42, Y:-97.93, Z:295.25 [[ 9.05089623e-01 1.23790118e-01 4.06803124e-01 -1.68418700e+02] [-1.14832402e-01 9.92297494e-01 -4.64672147e-02 -9.79276726e+01] [-4.09421903e-01 -4.65718625e-03 9.12333281e-01 2.95251975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54907232899996 meters Centerline goodness [0,1] 0.38020909719457774 Centerline is valid? [False, False] Translation: X:-168.44, Y:-97.90, Z:295.27 [[ 9.05961295e-01 1.23735183e-01 4.04874964e-01 -1.68443807e+02] [-1.16832359e-01 9.92270636e-01 -4.18232674e-02 -9.78970464e+01] [-4.06920548e-01 -9.41223552e-03 9.13415063e-01 2.95267740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.579072329 meters Centerline goodness [0,1] 0.3727573775989269 Centerline is valid? [False, False] Translation: X:-168.47, Y:-97.87, Z:295.28 [[ 9.06835427e-01 1.22005930e-01 4.03440282e-01 -1.68471727e+02] [-1.16205938e-01 9.92461844e-01 -3.89315845e-02 -9.78670523e+01] [-4.05148970e-01 -1.15776162e-02 9.14177374e-01 2.95284956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60907232899996 meters Centerline goodness [0,1] 0.35515390421873694 Centerline is valid? [False, False] Translation: X:-168.50, Y:-97.84, Z:295.30 [[ 9.05336912e-01 1.26245868e-01 4.05496062e-01 -1.68499662e+02] [-1.20541590e-01 9.91914506e-01 -3.96905382e-02 -9.78384761e+01] [-4.07228192e-01 -1.29458307e-02 9.13234693e-01 2.95300483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.639072329 meters Centerline goodness [0,1] 0.3804015256297414 Centerline is valid? [False, False] Translation: X:-168.52, Y:-97.81, Z:295.32 [[ 9.06115717e-01 1.25828758e-01 4.03882943e-01 -1.68524655e+02] [-1.19742830e-01 9.91982388e-01 -4.04053975e-02 -9.78124733e+01] [-4.05728927e-01 -1.17501210e-02 9.13917924e-01 2.95315236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66907232899996 meters Centerline goodness [0,1] 0.3704410161817725 Centerline is valid? [False, False] Translation: X:-168.55, Y:-97.79, Z:295.33 [[ 9.07360639e-01 1.24874092e-01 4.01376547e-01 -1.68548854e+02] [-1.18728693e-01 9.92110221e-01 -4.02592525e-02 -9.77865700e+01] [-4.03237113e-01 -1.11252520e-02 9.15027901e-01 2.95329957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.699072329 meters Centerline goodness [0,1] 0.3674328939924145 Centerline is valid? [False, False] Translation: X:-168.58, Y:-97.76, Z:295.35 [[ 9.07898194e-01 1.21989781e-01 4.01047830e-01 -1.68577839e+02] [-1.16674250e-01 9.92452437e-01 -3.77528888e-02 -9.77554142e+01] [-4.02626363e-01 -1.25161754e-02 9.15278841e-01 2.95346763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72907232899996 meters Centerline goodness [0,1] 0.3776721592931471 Centerline is valid? [False, False] Translation: X:-168.60, Y:-97.73, Z:295.36 [[ 9.09449158e-01 1.21191354e-01 3.97762346e-01 -1.68600286e+02] [-1.17085431e-01 9.92515560e-01 -3.46967444e-02 -9.77290566e+01] [-3.98990264e-01 -1.50172507e-02 9.16832183e-01 2.95360468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.759072329 meters Centerline goodness [0,1] 0.37550019903207554 Centerline is valid? [False, False] Translation: X:-168.63, Y:-97.70, Z:295.38 [[ 9.10514121e-01 1.18183174e-01 3.96228184e-01 -1.68627274e+02] [-1.14797996e-01 9.92862266e-01 -3.23410046e-02 -9.76990342e+01] [-3.97222175e-01 -1.60392601e-02 9.17582305e-01 2.95375360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78907232899996 meters Centerline goodness [0,1] 0.38131561851673335 Centerline is valid? [False, False] Translation: X:-168.65, Y:-97.67, Z:295.39 [[ 9.12053263e-01 1.18434414e-01 3.92596656e-01 -1.68649113e+02] [-1.15235702e-01 9.92829079e-01 -3.17986228e-02 -9.76732944e+01] [-3.93547428e-01 -1.62391135e-02 9.19160874e-01 2.95389481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.819072329 meters Centerline goodness [0,1] 0.3737720712984103 Centerline is valid? [False, False] Translation: X:-168.67, Y:-97.65, Z:295.40 [[ 9.13469666e-01 1.18843298e-01 3.89165054e-01 -1.68671234e+02] [-1.15433519e-01 9.92792280e-01 -3.22271761e-02 -9.76485033e+01] [-3.90190046e-01 -1.54841438e-02 9.20604133e-01 2.95402353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84907232899997 meters Centerline goodness [0,1] 0.35730892486856713 Centerline is valid? [False, False] Translation: X:-168.70, Y:-97.61, Z:295.42 [[ 9.15778781e-01 1.25687608e-01 3.81512581e-01 -1.68699747e+02] [-1.19760062e-01 9.92022865e-01 -3.93466892e-02 -9.76127967e+01] [-3.83414596e-01 -9.65710735e-03 9.23525846e-01 2.95419365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.879072329 meters Centerline goodness [0,1] 0.35204839958969203 Centerline is valid? [False, False] Translation: X:-168.72, Y:-97.59, Z:295.43 [[ 9.17947821e-01 1.26348201e-01 3.76042457e-01 -1.68717359e+02] [-1.20744016e-01 9.91935270e-01 -3.85396132e-02 -9.75880861e+01] [-3.77879188e-01 -1.00275226e-02 9.25800609e-01 2.95431638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90907232899997 meters Centerline goodness [0,1] 0.36643219026085505 Centerline is valid? [False, False] Translation: X:-168.73, Y:-97.56, Z:295.44 [[ 9.19969773e-01 1.28341979e-01 3.70383521e-01 -1.68733859e+02] [-1.23056674e-01 9.91672856e-01 -3.79737092e-02 -9.75643990e+01] [-3.72172905e-01 -1.06434995e-02 9.28102389e-01 2.95443429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.939072329 meters Centerline goodness [0,1] 0.35520006700307794 Centerline is valid? [False, False] Translation: X:-168.75, Y:-97.54, Z:295.45 [[ 9.21115912e-01 1.33999625e-01 3.65499078e-01 -1.68749480e+02] [-1.29044560e-01 9.90907576e-01 -3.80746417e-02 -9.75411383e+01] [-3.67277793e-01 -1.20945093e-02 9.30032658e-01 2.95453571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96907232899997 meters Centerline goodness [0,1] 0.3466912457841925 Centerline is valid? [False, False] Translation: X:-168.76, Y:-97.52, Z:295.46 [[ 9.22462584e-01 1.38646311e-01 3.60333152e-01 -1.68764284e+02] [-1.32225042e-01 9.90306331e-01 -4.25430343e-02 -9.75211523e+01] [-3.62738637e-01 -8.40070873e-03 9.31853051e-01 2.95462613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99907232899994 meters Centerline goodness [0,1] 0.35586302172729933 Centerline is valid? [False, False] Translation: X:-168.78, Y:-97.50, Z:295.47 [[ 9.22307382e-01 1.44560158e-01 3.58401248e-01 -1.68782027e+02] [-1.36101919e-01 9.89489053e-01 -4.88639168e-02 -9.75009967e+01] [-3.61697887e-01 -3.71154651e-03 9.32287972e-01 2.95473743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.029072329 meters Centerline goodness [0,1] 0.35553463067587365 Centerline is valid? [False, False] Translation: X:-168.80, Y:-97.48, Z:295.48 [[ 9.23961423e-01 1.47548005e-01 3.52880822e-01 -1.68797493e+02] [-1.37775674e-01 9.89054881e-01 -5.28044184e-02 -9.74810247e+01] [-3.56809686e-01 1.70852365e-04 9.34177081e-01 2.95484076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05907232899995 meters Centerline goodness [0,1] 0.3528390309217959 Centerline is valid? [False, False] Translation: X:-168.81, Y:-97.47, Z:295.49 [[ 9.22508969e-01 1.47113291e-01 3.56840135e-01 -1.68807630e+02] [-1.38908862e-01 9.89108613e-01 -4.86670349e-02 -9.74734198e+01] [-3.60113218e-01 -4.67248101e-03 9.32896906e-01 2.95488142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.089072329 meters Centerline goodness [0,1] 0.35973707898097174 Centerline is valid? [False, False] Translation: X:-168.82, Y:-97.46, Z:295.49 [[ 9.21133465e-01 1.45551250e-01 3.61009657e-01 -1.68820045e+02] [-1.39252930e-01 9.89298611e-01 -4.35531717e-02 -9.74645270e+01] [-3.63485571e-01 -1.01533685e-02 9.31544496e-01 2.95493225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11907232899995 meters Centerline goodness [0,1] 0.35535684369241083 Centerline is valid? [False, False] Translation: X:-168.84, Y:-97.45, Z:295.50 [[ 9.20181485e-01 1.40277691e-01 3.65497201e-01 -1.68840113e+02] [-1.36197839e-01 9.89988113e-01 -3.70632571e-02 -9.74488325e+01] [-3.67037033e-01 -1.56750059e-02 9.30074250e-01 2.95502790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.149072329 meters Centerline goodness [0,1] 0.3563987783960172 Centerline is valid? [False, False] Translation: X:-168.85, Y:-97.43, Z:295.51 [[ 9.23398043e-01 1.37985593e-01 3.58184352e-01 -1.68854183e+02] [-1.32815621e-01 9.90368139e-01 -3.91274759e-02 -9.74295641e+01] [-3.60133398e-01 -1.14422426e-02 9.32830644e-01 2.95513263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17907232899995 meters Centerline goodness [0,1] 0.3536208265429778 Centerline is valid? [False, False] Translation: X:-168.88, Y:-97.41, Z:295.53 [[ 9.25568194e-01 1.34285526e-01 3.53964570e-01 -1.68876937e+02] [-1.28221568e-01 9.90912258e-01 -4.06463526e-02 -9.74077367e+01] [-3.56206048e-01 -7.76492108e-03 9.34375169e-01 2.95525347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.209072329 meters Centerline goodness [0,1] 0.3634635073862805 Centerline is valid? [False, False] Translation: X:-168.89, Y:-97.39, Z:295.53 [[ 9.28438532e-01 1.31919621e-01 3.47273821e-01 -1.68892940e+02] [-1.25667517e-01 9.91242427e-01 -4.05724799e-02 -9.73896502e+01] [-3.49584851e-01 -5.97198508e-03 9.36885675e-01 2.95534880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23907232899995 meters Centerline goodness [0,1] 0.3735745018588913 Centerline is valid? [False, False] Translation: X:-168.91, Y:-97.37, Z:295.54 [[ 9.31309406e-01 1.30169344e-01 3.40174562e-01 -1.68907598e+02] [-1.23656699e-01 9.91483645e-01 -4.08558715e-02 -9.73723693e+01] [-3.42595697e-01 -4.01540614e-03 9.39474356e-01 2.95544036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.269072329 meters Centerline goodness [0,1] 0.3624172289181794 Centerline is valid? [False, False] Translation: X:-168.93, Y:-97.35, Z:295.55 [[ 9.33703946e-01 1.26454510e-01 3.34971936e-01 -1.68928255e+02] [-1.19661382e-01 9.91970653e-01 -4.09313639e-02 -9.73531810e+01] [-3.37458286e-01 -1.86542886e-03 9.41338635e-01 2.95553148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29907232899996 meters Centerline goodness [0,1] 0.3698086404278432 Centerline is valid? [False, False] Translation: X:-168.94, Y:-97.34, Z:295.56 [[ 9.36869743e-01 1.24655441e-01 3.26704921e-01 -1.68939611e+02] [-1.18114165e-01 9.92199321e-01 -3.98691786e-02 -9.73403959e+01] [-3.29126311e-01 -1.23625168e-03 9.44285096e-01 2.95560028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.329072329 meters Centerline goodness [0,1] 0.3747804265997491 Centerline is valid? [False, False] Translation: X:-168.96, Y:-97.33, Z:295.57 [[ 9.36048339e-01 1.19362926e-01 3.31007553e-01 -1.68958595e+02] [-1.14403494e-01 9.92835050e-01 -3.45022225e-02 -9.73282056e+01] [-3.32754186e-01 -5.57267242e-03 9.42997135e-01 2.95566905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35907232899996 meters Centerline goodness [0,1] 0.37676645204448533 Centerline is valid? [False, False] Translation: X:-168.98, Y:-97.31, Z:295.58 [[ 9.35996852e-01 1.11766127e-01 3.33793688e-01 -1.68980212e+02] [-1.07916318e-01 9.93703676e-01 -3.01176401e-02 -9.73146188e+01] [-3.35058147e-01 -7.83176937e-03 9.42164901e-01 2.95577283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.389072329 meters Centerline goodness [0,1] 0.3588344725235677 Centerline is valid? [False, False] Translation: X:-169.00, Y:-97.29, Z:295.59 [[ 9.37993767e-01 1.05928229e-01 3.30071059e-01 -1.69004623e+02] [-1.00645256e-01 9.94371417e-01 -3.31061465e-02 -9.72938746e+01] [-3.31720102e-01 -2.16672707e-03 9.43375365e-01 2.95588287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41907232899996 meters Centerline goodness [0,1] 0.35753081261750574 Centerline is valid? [False, False] Translation: X:-169.02, Y:-97.28, Z:295.60 [[ 9.40509168e-01 1.02978703e-01 3.23786801e-01 -1.69022319e+02] [-9.73873725e-02 9.94683560e-01 -3.34711182e-02 -9.72762775e+01] [-3.25512220e-01 -5.28522821e-05 9.45537832e-01 2.95597096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.449072329 meters Centerline goodness [0,1] 0.35816996196129247 Centerline is valid? [False, False] Translation: X:-169.04, Y:-97.26, Z:295.61 [[ 9.43054906e-01 9.97085135e-02 3.17341546e-01 -1.69039739e+02] [-9.38429773e-02 9.95014570e-01 -3.37565116e-02 -9.72569825e+01] [-3.19125274e-01 2.05396837e-03 9.47710315e-01 2.95606366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47907232899996 meters Centerline goodness [0,1] 0.3660962410413924 Centerline is valid? [False, False] Translation: X:-169.05, Y:-97.24, Z:295.61 [[ 9.45780045e-01 9.69913956e-02 3.09988349e-01 -1.69054558e+02] [-9.10688196e-02 9.95279039e-01 -3.35574895e-02 -9.72407360e+01] [-3.11779694e-01 3.50773088e-03 9.50147946e-01 2.95614788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.509072329 meters Centerline goodness [0,1] 0.3525471127157376 Centerline is valid? [False, False] Translation: X:-169.08, Y:-97.23, Z:295.62 [[ 9.44584589e-01 9.08455430e-02 3.15447369e-01 -1.69076200e+02] [-8.63223668e-02 9.95864876e-01 -2.83125142e-02 -9.72276420e+01] [-3.16715020e-01 -4.86598892e-04 9.48520616e-01 2.95620773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53907232899996 meters Centerline goodness [0,1] 0.35639531240208056 Centerline is valid? [False, False] Translation: X:-169.09, Y:-97.21, Z:295.63 [[ 9.46733130e-01 8.90642533e-02 3.09457493e-01 -1.69094804e+02] [-8.42206001e-02 9.96024903e-01 -2.90048943e-02 -9.72064532e+01] [-3.10810668e-01 1.39719860e-03 9.50470818e-01 2.95630678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.569072329 meters Centerline goodness [0,1] 0.37556929762252955 Centerline is valid? [False, False] Translation: X:-169.12, Y:-97.19, Z:295.64 [[ 9.48936031e-01 8.51522634e-02 3.03758953e-01 -1.69115318e+02] [-7.94573078e-02 9.96353531e-01 -3.10833834e-02 -9.71850204e+01] [-3.05298126e-01 5.36027378e-03 9.52241735e-01 2.95640962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59907232899997 meters Centerline goodness [0,1] 0.37053366208366423 Centerline is valid? [False, False] Translation: X:-169.14, Y:-97.17, Z:295.65 [[ 9.50963045e-01 8.31259765e-02 2.97925090e-01 -1.69135762e+02] [-7.69251005e-02 9.96507025e-01 -3.25004242e-02 -9.71662953e+01] [-2.99586075e-01 7.98878490e-03 9.54035829e-01 2.95650485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.629072329 meters Centerline goodness [0,1] 0.36522210862353166 Centerline is valid? [False, False] Translation: X:-169.15, Y:-97.15, Z:295.66 [[ 9.53212387e-01 8.06969642e-02 2.91331675e-01 -1.69153740e+02] [-7.40315995e-02 9.96681273e-01 -3.38491012e-02 -9.71450630e+01] [-2.93096344e-01 1.06976326e-02 9.56023061e-01 2.95660841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65907232899997 meters Centerline goodness [0,1] 0.3457444588220562 Centerline is valid? [False, False] Translation: X:-169.17, Y:-97.12, Z:295.67 [[ 9.55248013e-01 7.93856841e-02 2.84954641e-01 -1.69171539e+02] [-7.27615782e-02 9.96777290e-01 -3.37755302e-02 -9.71236190e+01] [-2.86717608e-01 1.15302587e-02 9.57945753e-01 2.95670368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.689072329 meters Centerline goodness [0,1] 0.3538930532645689 Centerline is valid? [False, False] Translation: X:-169.18, Y:-97.11, Z:295.68 [[ 9.57661314e-01 7.91400200e-02 2.76806185e-01 -1.69183938e+02] [-7.26445668e-02 9.96789760e-01 -3.36591835e-02 -9.71063059e+01] [-2.78581360e-01 1.21256325e-02 9.60336084e-01 2.95678218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71907232899997 meters Centerline goodness [0,1] 0.3574589787482777 Centerline is valid? [False, False] Translation: X:-169.20, Y:-97.09, Z:295.69 [[ 9.59966013e-01 7.78493381e-02 2.69081279e-01 -1.69197643e+02] [-7.16818593e-02 9.96891834e-01 -3.26861119e-02 -9.70877538e+01] [-2.70789521e-01 1.20893102e-02 9.62562665e-01 2.95685838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74907232899994 meters Centerline goodness [0,1] 0.35133610513340163 Centerline is valid? [False, False] Translation: X:-169.21, Y:-97.07, Z:295.69 [[ 9.62194374e-01 7.89981944e-02 2.60655467e-01 -1.69209880e+02] [-7.31870489e-02 9.96806596e-01 -3.19416074e-02 -9.70713964e+01] [-2.62346418e-01 1.16574306e-02 9.64903343e-01 2.95693408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.779072329 meters Centerline goodness [0,1] 0.355677326250183 Centerline is valid? [False, False] Translation: X:-169.22, Y:-97.05, Z:295.70 [[ 9.64484664e-01 7.99118272e-02 2.51760664e-01 -1.69220483e+02] [-7.37157112e-02 9.96700817e-01 -3.39628534e-02 -9.70543753e+01] [-2.53644094e-01 1.41979348e-02 9.67193410e-01 2.95701314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80907232899995 meters Centerline goodness [0,1] 0.3613881049440786 Centerline is valid? [False, False] Translation: X:-169.23, Y:-97.04, Z:295.71 [[ 9.66908237e-01 7.73737611e-02 2.43108539e-01 -1.69226521e+02] [-7.13223438e-02 9.96886921e-01 -3.36093860e-02 -9.70405858e+01] [-2.44952207e-01 1.51581213e-02 9.69416653e-01 2.95713107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.839072329 meters Centerline goodness [0,1] 0.3643968546093358 Centerline is valid? [False, False] Translation: X:-169.24, Y:-97.02, Z:295.72 [[ 9.68484173e-01 7.96752188e-02 2.35987852e-01 -1.69240862e+02] [-7.30260739e-02 9.96650957e-01 -3.67975984e-02 -9.70228526e+01] [-2.38129375e-01 1.84046253e-02 9.71059046e-01 2.95720481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86907232899995 meters Centerline goodness [0,1] 0.37737978307663367 Centerline is valid? [False, False] Translation: X:-169.24, Y:-97.02, Z:295.72 [[ 9.68084763e-01 8.17027970e-02 2.36931520e-01 -1.69243313e+02] [-7.56147289e-02 9.96533652e-01 -3.46856330e-02 -9.70185913e+01] [-2.38944146e-01 1.56631202e-02 9.70906979e-01 2.95722860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.899072329 meters Centerline goodness [0,1] 0.3540913743759009 Centerline is valid? [False, False] Translation: X:-169.25, Y:-97.01, Z:295.73 [[ 9.67337850e-01 8.07250345e-02 2.40293471e-01 -1.69252839e+02] [-7.50921292e-02 9.96646120e-01 -3.25220387e-02 -9.70126649e+01] [-2.42112898e-01 1.34156506e-02 9.70155330e-01 2.95725098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92907232899995 meters Centerline goodness [0,1] 0.3596991538702601 Centerline is valid? [False, False] Translation: X:-169.26, Y:-97.00, Z:295.73 [[ 9.69506743e-01 7.74961987e-02 2.32488741e-01 -1.69261085e+02] [-7.27538788e-02 9.96930620e-01 -2.89173458e-02 -9.70011491e+01] [-2.34016129e-01 1.11211041e-02 9.72169107e-01 2.95733790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.959072329 meters Centerline goodness [0,1] 0.3645802866335186 Centerline is valid? [False, False] Translation: X:-169.27, Y:-97.00, Z:295.74 [[ 9.68742537e-01 7.56775331e-02 2.36243111e-01 -1.69271949e+02] [-7.13924117e-02 9.97092141e-01 -2.66530840e-02 -9.69953642e+01] [-2.37573189e-01 8.95401072e-03 9.71328372e-01 2.95735416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98907232899995 meters Centerline goodness [0,1] 0.3542741379670433 Centerline is valid? [False, False] Translation: X:-169.28, Y:-96.98, Z:295.74 [[ 9.71098164e-01 7.31154437e-02 2.27205826e-01 -1.69283245e+02] [-6.85037156e-02 9.97254258e-01 -2.81280421e-02 -9.69808678e+01] [-2.28638572e-01 1.17506467e-02 9.73440458e-01 2.95741844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.019072329 meters Centerline goodness [0,1] 0.3681219970754126 Centerline is valid? [False, False] Translation: X:-169.29, Y:-96.98, Z:295.74 [[ 9.70463042e-01 7.13826811e-02 2.30447386e-01 -1.69292757e+02] [-6.69378758e-02 9.97390163e-01 -2.70588853e-02 -9.69763223e+01] [-2.31777492e-01 1.08339896e-02 9.72708496e-01 2.95743945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04907232899996 meters Centerline goodness [0,1] 0.38261124121779855 Centerline is valid? [False, False] Translation: X:-169.31, Y:-96.96, Z:295.75 [[ 9.72375373e-01 7.15048247e-02 2.22200797e-01 -1.69305396e+02] [-6.73676576e-02 9.97385392e-01 -2.61529956e-02 -9.69604392e+01] [-2.23489894e-01 1.04613817e-02 9.74650105e-01 2.95749637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.079072329 meters Centerline goodness [0,1] 0.3637845292323123 Centerline is valid? [False, False] Translation: X:-169.32, Y:-96.95, Z:295.76 [[ 9.74373011e-01 7.13565406e-02 2.13320132e-01 -1.69316382e+02] [-6.76019953e-02 9.97402776e-01 -2.48530311e-02 -9.69450618e+01] [-2.14539519e-01 9.79525617e-03 9.76666191e-01 2.95755091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10907232899996 meters Centerline goodness [0,1] 0.3617955905116512 Centerline is valid? [False, False] Translation: X:-169.32, Y:-96.93, Z:295.76 [[ 9.76323478e-01 7.37444610e-02 2.03357371e-01 -1.69324755e+02] [-6.97793333e-02 9.97207479e-01 -2.66099358e-02 -9.69270312e+01] [-2.04751827e-01 1.17897633e-02 9.78742914e-01 2.95762951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.139072329 meters Centerline goodness [0,1] 0.357080108763857 Centerline is valid? [False, False] Translation: X:-169.33, Y:-96.91, Z:295.77 [[ 9.78475661e-01 7.48673743e-02 1.92302514e-01 -1.69330293e+02] [-7.02267857e-02 9.97054045e-01 -3.08452434e-02 -9.69131065e+01] [-1.94045302e-01 1.66765325e-02 9.80850811e-01 2.95770188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16907232899996 meters Centerline goodness [0,1] 0.3438402007948128 Centerline is valid? [False, False] Translation: X:-169.34, Y:-96.90, Z:295.78 [[ 9.80332507e-01 7.64646357e-02 1.81937723e-01 -1.69337615e+02] [-7.13384094e-02 9.96853100e-01 -3.45648348e-02 -9.68980954e+01] [-1.84008170e-01 2.09058834e-02 9.82702365e-01 2.95777320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.199072329 meters Centerline goodness [0,1] 0.347460815047022 Centerline is valid? [False, False] Translation: X:-169.34, Y:-96.90, Z:295.78 [[ 9.80018322e-01 7.89097010e-02 1.82585179e-01 -1.69339724e+02] [-7.43104062e-02 9.96724601e-01 -3.19066459e-02 -9.68955292e+01] [-1.84504884e-01 1.77011187e-02 9.82672183e-01 2.95779643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22907232899996 meters Centerline goodness [0,1] 0.347460815047022 Centerline is valid? [False, False] Translation: X:-169.34, Y:-96.90, Z:295.78 [[ 9.80018322e-01 7.89097010e-02 1.82585179e-01 -1.69339724e+02] [-7.43104062e-02 9.96724601e-01 -3.19066459e-02 -9.68955292e+01] [-1.84504884e-01 1.77011187e-02 9.82672183e-01 2.95779643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.259072329 meters Centerline goodness [0,1] 0.34804423724207134 Centerline is valid? [False, False] Translation: X:-169.34, Y:-96.89, Z:295.78 [[ 9.79647890e-01 8.10708501e-02 1.83623334e-01 -1.69342536e+02] [-7.68976998e-02 9.96595149e-01 -2.97464733e-02 -9.68916649e+01] [-1.85409696e-01 1.50208578e-02 9.82546497e-01 2.95781807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28907232899996 meters Centerline goodness [0,1] 0.3516230848017391 Centerline is valid? [False, False] Translation: X:-169.35, Y:-96.88, Z:295.78 [[ 9.78879466e-01 8.08385403e-02 1.87776784e-01 -1.69354903e+02] [-7.74294594e-02 9.96673416e-01 -2.54318774e-02 -9.68831356e+01] [-1.89208005e-01 1.03552877e-02 9.81882426e-01 2.95783999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.319072329 meters Centerline goodness [0,1] 0.3599213652333947 Centerline is valid? [False, False] Translation: X:-169.37, Y:-96.87, Z:295.79 [[ 9.80471627e-01 8.24206028e-02 1.78555964e-01 -1.69365452e+02] [-7.90088493e-02 9.96530945e-01 -2.61472424e-02 -9.68654522e+01] [-1.80091615e-01 1.15291280e-02 9.83582274e-01 2.95790781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34907232899997 meters Centerline goodness [0,1] 0.3613213464352917 Centerline is valid? [False, False] Translation: X:-169.37, Y:-96.85, Z:295.80 [[ 9.82476678e-01 8.25896984e-02 1.67088356e-01 -1.69370776e+02] [-7.87298000e-02 9.96456270e-01 -2.96060750e-02 -9.68516416e+01] [-1.68941397e-01 1.59324454e-02 9.85497317e-01 2.95798343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.379072329 meters Centerline goodness [0,1] 0.36806891360709204 Centerline is valid? [False, False] Translation: X:-169.37, Y:-96.85, Z:295.80 [[ 9.82145241e-01 8.51897267e-02 1.67730250e-01 -1.69372595e+02] [-8.17815020e-02 9.96280788e-01 -2.71362805e-02 -9.68479868e+01] [-1.69418157e-01 1.29345370e-02 9.85459378e-01 2.95800470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40907232899997 meters Centerline goodness [0,1] 0.3576579778005393 Centerline is valid? [False, False] Translation: X:-169.38, Y:-96.85, Z:295.80 [[ 9.81884140e-01 8.65611069e-02 1.68554773e-01 -1.69375947e+02] [-8.33921320e-02 9.96182686e-01 -2.58032698e-02 -9.68452392e+01] [-1.70144906e-01 1.12796795e-02 9.85354495e-01 2.95803688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.439072329 meters Centerline goodness [0,1] 0.3761995358658611 Centerline is valid? [False, False] Translation: X:-169.38, Y:-96.84, Z:295.80 [[ 9.81921831e-01 8.63617514e-02 1.68437426e-01 -1.69375979e+02] [-8.30801581e-02 9.96191873e-01 -2.64469368e-02 -9.68432421e+01] [-1.70079999e-01 1.19750166e-02 9.85357495e-01 2.95804426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46907232899997 meters Centerline goodness [0,1] 0.35063550464085624 Centerline is valid? [False, False] Translation: X:-169.38, Y:-96.84, Z:295.81 [[ 9.81622986e-01 8.98412716e-02 1.68359315e-01 -1.69375446e+02] [-8.72385912e-02 9.95926322e-01 -2.28076528e-02 -9.68413390e+01] [-1.69722542e-01 7.70108684e-03 9.85461796e-01 2.95805485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49907232899994 meters Centerline goodness [0,1] 0.35186734139099163 Centerline is valid? [False, False] Translation: X:-169.38, Y:-96.83, Z:295.81 [[ 9.83470227e-01 8.86657129e-02 1.57875598e-01 -1.69383637e+02] [-8.57526184e-02 9.95998152e-01 -2.51827339e-02 -9.68268858e+01] [-1.59476649e-01 1.12282230e-02 9.87137845e-01 2.95811740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.529072329 meters Centerline goodness [0,1] 0.36821632473806387 Centerline is valid? [False, False] Translation: X:-169.39, Y:-96.81, Z:295.82 [[ 9.85092652e-01 8.71295565e-02 1.48327028e-01 -1.69394079e+02] [-8.42951470e-02 9.96119547e-01 -2.53016898e-02 -9.68126735e+01] [-1.49955977e-01 1.24212600e-02 9.88614645e-01 2.95816859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55907232899995 meters Centerline goodness [0,1] 0.3624491498904767 Centerline is valid? [False, False] Translation: X:-169.39, Y:-96.81, Z:295.82 [[ 9.85108013e-01 8.76353780e-02 1.47926481e-01 -1.69392694e+02] [-8.48875598e-02 9.96081852e-01 -2.48001185e-02 -9.68129872e+01] [-1.49520251e-01 1.18736774e-02 9.88687367e-01 2.95816199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.589072329 meters Centerline goodness [0,1] 0.3758888981845562 Centerline is valid? [False, False] Translation: X:-169.41, Y:-96.80, Z:295.82 [[ 9.84592302e-01 8.73388986e-02 1.51492298e-01 -1.69406240e+02] [-8.53158784e-02 9.96156890e-01 -1.98154524e-02 -9.68035814e+01] [-1.52640756e-01 6.58544341e-03 9.88259800e-01 2.95819607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61907232899995 meters Centerline goodness [0,1] 0.35970364789351417 Centerline is valid? [False, False] Translation: X:-169.41, Y:-96.80, Z:295.82 [[ 9.84243523e-01 8.96173421e-02 1.52425130e-01 -1.69408403e+02] [-8.79288943e-02 9.95967779e-01 -1.77958871e-02 -9.67988024e+01] [-1.53405338e-01 4.11291351e-03 9.88154789e-01 2.95821291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.649072329 meters Centerline goodness [0,1] 0.37406687158898433 Centerline is valid? [False, False] Translation: X:-169.41, Y:-96.80, Z:295.82 [[ 9.84261776e-01 8.96943099e-02 1.52261900e-01 -1.69408276e+02] [-8.80165922e-02 9.95961082e-01 -1.77370339e-02 -9.67988799e+01] [-1.53237837e-01 4.05631091e-03 9.88181012e-01 2.95821707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67907232899995 meters Centerline goodness [0,1] 0.3688516015649518 Centerline is valid? [False, False] Translation: X:-169.41, Y:-96.80, Z:295.82 [[ 9.84240552e-01 8.93600431e-02 1.52595275e-01 -1.69409388e+02] [-8.75881319e-02 9.95988514e-01 -1.83084648e-02 -9.67975730e+01] [-1.53619186e-01 4.65439844e-03 9.88119164e-01 2.95822316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.709072329 meters Centerline goodness [0,1] 0.37837781310131346 Centerline is valid? [False, False] Translation: X:-169.42, Y:-96.79, Z:295.83 [[ 9.84408551e-01 8.32706915e-02 1.54938041e-01 -1.69424636e+02] [-8.17964671e-02 9.96522580e-01 -1.58772025e-02 -9.67887167e+01] [-1.55721362e-01 2.95626956e-03 9.87796597e-01 2.95825077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73907232899995 meters Centerline goodness [0,1] 0.36748916933509135 Centerline is valid? [False, False] Translation: X:-169.44, Y:-96.78, Z:295.83 [[ 9.86045427e-01 8.08480452e-02 1.45526664e-01 -1.69435602e+02] [-7.93841053e-02 9.96718109e-01 -1.58484821e-02 -9.67766961e+01] [-1.46330380e-01 4.07481931e-03 9.89227383e-01 2.95829687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.769072329 meters Centerline goodness [0,1] 0.3634879437374414 Centerline is valid? [False, False] Translation: X:-169.45, Y:-96.76, Z:295.84 [[ 9.87602166e-01 7.66398513e-02 1.36997429e-01 -1.69446189e+02] [-7.55008011e-02 9.97054363e-01 -1.34991103e-02 -9.67648877e+01] [-1.37628454e-01 2.98833487e-03 9.90479418e-01 2.95835362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79907232899996 meters Centerline goodness [0,1] 0.3495332579848466 Centerline is valid? [False, False] Translation: X:-169.46, Y:-96.75, Z:295.84 [[ 9.89090480e-01 7.38935727e-02 1.27435328e-01 -1.69456798e+02] [-7.27419697e-02 9.97257058e-01 -1.36735801e-02 -9.67532955e+01] [-1.28096170e-01 4.25451109e-03 9.91752626e-01 2.95839367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.829072329 meters Centerline goodness [0,1] 0.351808439383791 Centerline is valid? [False, False] Translation: X:-169.46, Y:-96.74, Z:295.85 [[ 9.90406626e-01 7.42153331e-02 1.16562428e-01 -1.69463934e+02] [-7.26019974e-02 9.97197969e-01 -1.80322269e-02 -9.67398664e+01] [-1.17574085e-01 9.39657188e-03 9.93019657e-01 2.95845505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85907232899996 meters Centerline goodness [0,1] 0.3815882967607106 Centerline is valid? [False, False] Translation: X:-169.47, Y:-96.74, Z:295.85 [[ 9.90377645e-01 7.34549319e-02 1.17288076e-01 -1.69466503e+02] [-7.17575210e-02 9.97247999e-01 -1.86356467e-02 -9.67397314e+01] [-1.18334179e-01 1.00400263e-02 9.92923068e-01 2.95846693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.889072329 meters Centerline goodness [0,1] 0.35571998913066194 Centerline is valid? [False, False] Translation: X:-169.46, Y:-96.75, Z:295.85 [[ 9.91174039e-01 6.73282575e-02 1.14196895e-01 -1.69457495e+02] [-6.63118229e-02 9.97718370e-01 -1.26805723e-02 -9.67463717e+01] [-1.14790101e-01 4.99604978e-03 9.93377205e-01 2.95852118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91907232899996 meters Centerline goodness [0,1] 0.3900064757368762 Centerline is valid? [False, False] Translation: X:-169.47, Y:-96.74, Z:295.86 [[ 9.91343604e-01 6.21028811e-02 1.15676667e-01 -1.69473223e+02] [-6.12955536e-02 9.98064147e-01 -1.05267910e-02 -9.67366051e+01] [-1.16106478e-01 3.34520156e-03 9.93231139e-01 2.95856828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.949072329 meters Centerline goodness [0,1] 0.3666757157474889 Centerline is valid? [False, False] Translation: X:-169.47, Y:-96.74, Z:295.86 [[ 9.91385648e-01 6.22088634e-02 1.15258645e-01 -1.69472267e+02] [-6.13818224e-02 9.98056849e-01 -1.07143761e-02 -9.67355206e+01] [-1.15701209e-01 3.54729298e-03 9.93277729e-01 2.95856952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97907232899996 meters Centerline goodness [0,1] 0.36573899962391876 Centerline is valid? [False, False] Translation: X:-169.49, Y:-96.72, Z:295.86 [[ 9.92183606e-01 5.71835681e-02 1.10913175e-01 -1.69485365e+02] [-5.66991281e-02 9.98362993e-01 -7.51951093e-03 -9.67223395e+01] [-1.11161602e-01 1.17205516e-03 9.93801653e-01 2.95863699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.009072329 meters Centerline goodness [0,1] 0.3899084486434513 Centerline is valid? [False, False] Translation: X:-169.50, Y:-96.71, Z:295.87 [[ 9.93398704e-01 5.34998717e-02 1.01473044e-01 -1.69496691e+02] [-5.27412523e-02 9.98556666e-01 -1.01461611e-02 -9.67079259e+01] [-1.01869403e-01 4.72736789e-03 9.94786548e-01 2.95867847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03907232899996 meters Centerline goodness [0,1] 0.37944515292789494 Centerline is valid? [False, False] Translation: X:-169.50, Y:-96.70, Z:295.87 [[ 9.94587533e-01 5.32338047e-02 8.92289210e-02 -1.69500520e+02] [-5.22419844e-02 9.98544335e-01 -1.34159167e-02 -9.66973372e+01] [-8.98132138e-02 8.68180757e-03 9.95920786e-01 2.95873843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.069072329 meters Centerline goodness [0,1] 0.3719392239755557 Centerline is valid? [False, False] Translation: X:-169.51, Y:-96.68, Z:295.88 [[ 9.95470240e-01 5.14178237e-02 7.99700447e-02 -1.69511829e+02] [-5.05484543e-02 9.98638821e-01 -1.28592260e-02 -9.66835541e+01] [-8.05223845e-02 8.75861470e-03 9.96714318e-01 2.95877371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09907232899997 meters Centerline goodness [0,1] 0.3596773519455009 Centerline is valid? [False, False] Translation: X:-169.51, Y:-96.68, Z:295.88 [[ 9.95463544e-01 5.14956623e-02 8.00033068e-02 -1.69511917e+02] [-5.06442530e-02 9.98636811e-01 -1.26364331e-02 -9.66843259e+01] [-8.05449687e-02 8.52740075e-03 9.96714498e-01 2.95877319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.129072329 meters Centerline goodness [0,1] 0.3616576847558174 Centerline is valid? [False, False] Translation: X:-169.51, Y:-96.68, Z:295.88 [[ 9.95494098e-01 5.15198414e-02 7.96065766e-02 -1.69511420e+02] [-5.06415589e-02 9.98632099e-01 -1.30139294e-02 -9.66827630e+01] [-8.01681583e-02 8.92388878e-03 9.96741406e-01 2.95878241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15907232899997 meters Centerline goodness [0,1] 0.3665858349360315 Centerline is valid? [False, False] Translation: X:-169.51, Y:-96.68, Z:295.88 [[ 9.95526637e-01 5.17684310e-02 7.90363476e-02 -1.69510473e+02] [-5.08968802e-02 9.98619255e-01 -1.30035353e-02 -9.66823393e+01] [-7.96003911e-02 8.92266228e-03 9.96786920e-01 2.95878901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.189072329 meters Centerline goodness [0,1] 0.36707724425887267 Centerline is valid? [False, False] Translation: X:-169.51, Y:-96.68, Z:295.88 [[ 9.95534055e-01 5.17113636e-02 7.89802559e-02 -1.69510450e+02] [-5.08233514e-02 9.98620238e-01 -1.32138983e-02 -9.66815429e+01] [-7.95545906e-02 9.14084447e-03 9.96788599e-01 2.95879137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21907232899997 meters Centerline goodness [0,1] 0.37012295680855056 Centerline is valid? [False, False] Translation: X:-169.51, Y:-96.68, Z:295.88 [[ 9.95556755e-01 5.20776981e-02 7.84516512e-02 -1.69509066e+02] [-5.12174397e-02 9.98603699e-01 -1.29393564e-02 -9.66815920e+01] [-7.90159609e-02 8.86377099e-03 9.96833944e-01 2.95878968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24907232899994 meters Centerline goodness [0,1] 0.3460125260960334 Centerline is valid? [False, False] Translation: X:-169.51, Y:-96.68, Z:295.88 [[ 9.95581727e-01 5.23465893e-02 7.79542094e-02 -1.69507657e+02] [-5.14921543e-02 9.98589664e-01 -1.29321452e-02 -9.66806872e+01] [-7.85212214e-02 8.86097725e-03 9.96873062e-01 2.95878758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.279072329 meters Centerline goodness [0,1] 0.3554357817330993 Centerline is valid? [False, False] Translation: X:-169.52, Y:-96.67, Z:295.88 [[ 9.95870106e-01 4.71023555e-02 7.76150728e-02 -1.69518171e+02] [-4.68024545e-02 9.98888019e-01 -5.67947922e-03 -9.66738569e+01] [-7.77962832e-02 2.02344766e-03 9.96967223e-01 2.95882312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30907232899995 meters Centerline goodness [0,1] 0.3562070334538312 Centerline is valid? [False, False] Translation: X:-169.53, Y:-96.66, Z:295.89 [[ 9.96743368e-01 4.43164913e-02 6.73699298e-02 -1.69528210e+02] [-4.37721011e-02 9.98996029e-01 -9.53611401e-03 -9.66603728e+01] [-6.77248995e-02 6.55613501e-03 9.97682492e-01 2.95887455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.339072329 meters Centerline goodness [0,1] 0.35576541378517856 Centerline is valid? [False, False] Translation: X:-169.53, Y:-96.66, Z:295.89 [[ 9.96732721e-01 4.43091919e-02 6.75320583e-02 -1.69528807e+02] [-4.37696952e-02 9.98996969e-01 -9.44826837e-03 -9.66609398e+01] [-6.78829666e-02 6.46154064e-03 9.97672367e-01 2.95887651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36907232899995 meters Centerline goodness [0,1] 0.35733244163932376 Centerline is valid? [False, False] Translation: X:-169.53, Y:-96.66, Z:295.89 [[ 9.96711748e-01 4.37001438e-02 6.82348000e-02 -1.69530871e+02] [-4.31249711e-02 9.99020828e-01 -9.88042004e-03 -9.66607624e+01] [-6.85997622e-02 6.90530695e-03 9.97620363e-01 2.95888087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.399072329 meters Centerline goodness [0,1] 0.3558230917147396 Centerline is valid? [False, False] Translation: X:-169.53, Y:-96.66, Z:295.89 [[ 9.96720943e-01 4.37174094e-02 6.80892787e-02 -1.69530646e+02] [-4.31449037e-02 9.99020200e-01 -9.85685184e-03 -9.66605263e+01] [-6.84534809e-02 6.88682529e-03 9.97630539e-01 2.95888306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42907232899995 meters Centerline goodness [0,1] 0.35530331535599313 Centerline is valid? [False, False] Translation: X:-169.53, Y:-96.66, Z:295.89 [[ 9.96725633e-01 4.34637949e-02 6.81829267e-02 -1.69530966e+02] [-4.28589109e-02 9.99027936e-01 -1.03100632e-02 -9.66592106e+01] [-6.85647630e-02 7.35405829e-03 9.97619562e-01 2.95888489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.459072329 meters Centerline goodness [0,1] 0.3566183392958011 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.65, Z:295.89 [[ 9.96898600e-01 3.86657722e-02 6.85429817e-02 -1.69546197e+02] [-3.82241110e-02 9.99239185e-01 -7.74392863e-03 -9.66478406e+01] [-6.87902582e-02 5.09991707e-03 9.97618109e-01 2.95892924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48907232899995 meters Centerline goodness [0,1] 0.3289999790659214 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.64, Z:295.90 [[ 9.97620973e-01 3.56161490e-02 5.90244356e-02 -1.69557649e+02] [-3.51615058e-02 9.99343567e-01 -8.72373941e-03 -9.66352807e+01] [-5.92963960e-02 6.62759737e-03 9.98218419e-01 2.95896423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.519072329 meters Centerline goodness [0,1] 0.32822143649183 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.64, Z:295.90 [[ 9.97596963e-01 3.54042299e-02 5.95553501e-02 -1.69558977e+02] [-3.49424711e-02 9.99350780e-01 -8.77741002e-03 -9.66357347e+01] [-5.98274430e-02 6.67530647e-03 9.98186414e-01 2.95896359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54907232899996 meters Centerline goodness [0,1] 0.3401219435539632 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.62, Z:295.90 [[ 9.98226514e-01 3.48824033e-02 4.82394424e-02 -1.69566462e+02] [-3.43195696e-02 9.99333395e-01 -1.24472049e-02 -9.66227662e+01] [-4.86414742e-02 1.07695731e-02 9.98758241e-01 2.95902184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.579072329 meters Centerline goodness [0,1] 0.3386073962453695 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.63, Z:295.91 [[ 9.98483401e-01 3.24980621e-02 4.44384249e-02 -1.69555948e+02] [-3.23690399e-02 9.99469429e-01 -3.62007671e-03 -9.66282731e+01] [-4.45324926e-02 2.17615736e-03 9.99005566e-01 2.95907307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60907232899996 meters Centerline goodness [0,1] 0.34251910794681184 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.63, Z:295.91 [[ 9.98501572e-01 3.25530537e-02 4.39875951e-02 -1.69554982e+02] [-3.24136222e-02 9.99467011e-01 -3.87951451e-03 -9.66269582e+01] [-4.40904402e-02 2.44790405e-03 9.99024545e-01 2.95907571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.639072329 meters Centerline goodness [0,1] 0.34573276674132847 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.61, Z:295.91 [[ 9.99003854e-01 2.83908442e-02 3.44276098e-02 -1.69566498e+02] [-2.81946139e-02 9.99583398e-01 -6.17204036e-03 -9.66122438e+01] [-3.45884966e-02 5.19521894e-03 9.99388136e-01 2.95910675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66907232899996 meters Centerline goodness [0,1] 0.34719926345964724 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.61, Z:295.91 [[ 9.98998731e-01 2.85767678e-02 3.44224418e-02 -1.69566123e+02] [-2.83911968e-02 9.99579666e-01 -5.86787087e-03 -9.66129067e+01] [-3.45756576e-02 4.88470123e-03 9.99390146e-01 2.95910093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.699072329 meters Centerline goodness [0,1] 0.3447352455072282 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.61, Z:295.91 [[ 9.99003477e-01 2.87950016e-02 3.41013177e-02 -1.69565164e+02] [-2.86145147e-02 9.99573873e-01 -5.76903174e-03 -9.66125002e+01] [-3.42529055e-02 4.78749011e-03 9.99401730e-01 2.95909951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72907232899996 meters Centerline goodness [0,1] 0.3510064024772984 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.62, Z:295.92 [[ 9.99245522e-01 2.44247178e-02 3.01963511e-02 -1.69557323e+02] [-2.43914235e-02 9.99701403e-01 -1.47050715e-03 -9.66165133e+01] [-3.02232513e-02 7.32865702e-04 9.99542905e-01 2.95916022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.759072329 meters Centerline goodness [0,1] 0.3564648323157983 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.62, Z:295.92 [[ 9.99242768e-01 2.42463755e-02 3.04302965e-02 -1.69558085e+02] [-2.42081057e-02 9.99705619e-01 -1.62546054e-03 -9.66163113e+01] [-3.04607500e-02 8.87569852e-04 9.99535570e-01 2.95916242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78907232899996 meters Centerline goodness [0,1] 0.3603246468735004 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.62, Z:295.92 [[ 9.99336401e-01 2.07542751e-02 2.99335450e-02 -1.69557145e+02] [-2.06124439e-02 9.99774842e-01 -5.03905013e-03 -9.66180806e+01] [-3.00313871e-02 4.41870271e-03 9.99539189e-01 2.95916331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.819072329 meters Centerline goodness [0,1] 0.35743257369851555 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.92 [[ 9.99635586e-01 1.81621145e-02 1.99708180e-02 -1.69567826e+02] [-1.80378488e-02 9.99816917e-01 -6.38500658e-03 -9.66046198e+01] [-2.00831269e-02 6.02244920e-03 9.99780175e-01 2.95920207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84907232899997 meters Centerline goodness [0,1] 0.3733637238091255 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.93 [[ 9.99869617e-01 1.19678536e-02 1.08406557e-02 -1.69573090e+02] [-1.19877069e-02 9.99926581e-01 1.76825132e-03 -9.65979844e+01] [-1.08186976e-02 -1.89797537e-03 9.99939675e-01 2.95927557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.879072329 meters Centerline goodness [0,1] 0.37866962398778015 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.93 [[ 9.99867660e-01 1.21100948e-02 1.08631584e-02 -1.69572803e+02] [-1.21331572e-02 9.99924269e-01 2.05959889e-03 -9.65985644e+01] [-1.08373938e-02 -2.19113073e-03 9.99938873e-01 2.95927057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90907232899997 meters Centerline goodness [0,1] 0.3521992846834411 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.93 [[ 9.99910961e-01 8.63688275e-03 1.01721979e-02 -1.69570805e+02] [-8.62161957e-03 9.99961642e-01 -1.54337817e-03 -9.65990666e+01] [-1.01851377e-02 1.45553993e-03 9.99947071e-01 2.95926626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.939072329 meters Centerline goodness [0,1] 0.3779843342036554 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.92 [[ 9.99931294e-01 6.81609654e-03 9.53668215e-03 -1.69567262e+02] [-6.78798939e-03 9.99972531e-01 -2.97653756e-03 -9.66030029e+01] [-9.55670856e-03 2.91159816e-03 9.99950095e-01 2.95924083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96907232899997 meters Centerline goodness [0,1] 0.36715774494621856 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.92 [[ 9.99931329e-01 7.21914951e-03 9.23154797e-03 -1.69566598e+02] [-7.19626748e-03 9.99970958e-01 -2.50949703e-03 -9.66042600e+01] [-9.24939629e-03 2.44289201e-03 9.99954239e-01 2.95924078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99907232899994 meters Centerline goodness [0,1] 0.36917943905744965 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.92 [[ 9.99932409e-01 7.24830993e-03 9.09062116e-03 -1.69566396e+02] [-7.22375184e-03 9.99970178e-01 -2.73140768e-03 -9.66031443e+01] [-9.11014815e-03 2.66555467e-03 9.99954949e-01 2.95924401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.029072329 meters Centerline goodness [0,1] 0.36160126965564765 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.92 [[ 9.99933764e-01 7.01169323e-03 9.12710159e-03 -1.69566884e+02] [-6.98314185e-03 9.99970636e-01 -3.15631740e-03 -9.66019952e+01] [-9.14896471e-03 3.09237250e-03 9.99953366e-01 2.95924954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05907232899995 meters Centerline goodness [0,1] 0.3605480480480481 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.93 [[ 9.99935116e-01 7.10509554e-03 8.90402851e-03 -1.69566659e+02] [-7.07737078e-03 9.99970021e-01 -3.14138290e-03 -9.66018713e+01] [-8.92608140e-03 3.07816197e-03 9.99955424e-01 2.95925442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.089072329 meters Centerline goodness [0,1] 0.2907302197343137 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.93 [[ 9.99938930e-01 7.06934618e-03 8.49476207e-03 -1.69566559e+02] [-7.03912734e-03 9.99968809e-01 -3.58199929e-03 -9.66002947e+01] [-8.51981950e-03 3.52198482e-03 9.99957503e-01 2.95926811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11907232899995 meters Centerline goodness [0,1] 0.37427169259684656 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.61, Z:295.93 [[ 9.99988023e-01 1.38017654e-03 4.69564823e-03 -1.69557596e+02] [-1.38492957e-03 9.99998532e-01 1.00911916e-03 -9.66050862e+01] [-4.69424857e-03 -1.01561022e-03 9.99988466e-01 2.95932952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.149072329 meters Centerline goodness [0,1] 0.37427169259684656 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.61, Z:295.93 [[ 9.99988023e-01 1.38017654e-03 4.69564823e-03 -1.69557596e+02] [-1.38492957e-03 9.99998532e-01 1.00911916e-03 -9.66050862e+01] [-4.69424857e-03 -1.01561022e-03 9.99988466e-01 2.95932952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17907232899995 meters Centerline goodness [0,1] 0.3525534045393859 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.60, Z:295.93 [[ 9.99988232e-01 1.39373028e-03 4.64687464e-03 -1.69557578e+02] [-1.39840387e-03 9.99998520e-01 1.00265075e-03 -9.66049784e+01] [-4.64547034e-03 -1.00913716e-03 9.99988701e-01 2.95933066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.209072329 meters Centerline goodness [0,1] 0.35561726204146393 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.61, Z:295.93 [[ 9.99988113e-01 1.35090601e-03 4.68497255e-03 -1.69557888e+02] [-1.35584634e-03 9.99998528e-01 1.05148879e-03 -9.66054935e+01] [-4.68354519e-03 -1.05782839e-03 9.99988473e-01 2.95933251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23907232899995 meters Centerline goodness [0,1] 0.35883310379366473 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.61, Z:295.93 [[ 9.99988373e-01 1.67352881e-03 4.52255672e-03 -1.69557036e+02] [-1.68037125e-03 9.99997449e-01 1.50958188e-03 -9.66063889e+01] [-4.52001885e-03 -1.51716390e-03 9.99988634e-01 2.95932581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.269072329 meters Centerline goodness [0,1] 0.3622022565816966 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99987278e-01 3.64200315e-03 3.49002868e-03 -1.69553353e+02] [-3.65271488e-03 9.99988623e-01 3.06779609e-03 -9.66071354e+01] [-3.47881605e-03 -3.08050514e-03 9.99989204e-01 2.95931357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29907232899996 meters Centerline goodness [0,1] 0.31525600835945666 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99988286e-01 4.05190807e-03 2.64769881e-03 -1.69551445e+02] [-4.05966625e-03 9.99987463e-01 2.93138623e-03 -9.66057325e+01] [-2.63578791e-03 -2.94210066e-03 9.99992198e-01 2.95931713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.329072329 meters Centerline goodness [0,1] 0.3138963780383305 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.60, Z:295.93 [[ 9.99989147e-01 4.05352990e-03 2.29667531e-03 -1.69550919e+02] [-4.05957249e-03 9.99988295e-01 2.63249041e-03 -9.66045803e+01] [-2.28597755e-03 -2.64178536e-03 9.99993898e-01 2.95932233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35907232899996 meters Centerline goodness [0,1] 0.32915386705117755 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.60, Z:295.93 [[ 9.99989537e-01 3.96418123e-03 2.28263957e-03 -1.69551407e+02] [-3.96969467e-03 9.99989202e-01 2.41593577e-03 -9.66043446e+01] [-2.27303771e-03 -2.42497187e-03 9.99994476e-01 2.95932855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.389072329 meters Centerline goodness [0,1] 0.3284230761194342 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.60, Z:295.93 [[ 9.99989413e-01 4.00316460e-03 2.26915866e-03 -1.69551363e+02] [-4.00867006e-03 9.99989020e-01 2.42687854e-03 -9.66043491e+01] [-2.25941855e-03 -2.43594916e-03 9.99994481e-01 2.95932788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41907232899996 meters Centerline goodness [0,1] 0.36342335934394676 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.60, Z:295.93 [[ 9.99988640e-01 4.47303282e-03 1.64676061e-03 -1.69549738e+02] [-4.47738413e-03 9.99986470e-01 2.64821022e-03 -9.66041724e+01] [-1.63489280e-03 -2.65555332e-03 9.99995138e-01 2.95932642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.449072329 meters Centerline goodness [0,1] 0.3353362364961059 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.60, Z:295.93 [[ 9.99989101e-01 4.34588193e-03 1.70631475e-03 -1.69549839e+02] [-4.35021245e-03 9.99987306e-01 2.54247914e-03 -9.66040160e+01] [-1.69524378e-03 -2.54987426e-03 9.99995312e-01 2.95932522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47907232899996 meters Centerline goodness [0,1] 0.3403361344537815 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.60, Z:295.93 [[ 9.99987922e-01 4.68081386e-03 1.49865470e-03 -1.69548887e+02] [-4.68515379e-03 9.99984803e-01 2.90559163e-03 -9.66044829e+01] [-1.48503140e-03 -2.91257796e-03 9.99994656e-01 2.95931951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.509072329 meters Centerline goodness [0,1] 0.38076496325915377 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.60, Z:295.93 [[ 9.99989544e-01 4.11348882e-03 1.99757188e-03 -1.69550481e+02] [-4.11822630e-03 9.99988704e-01 2.37332450e-03 -9.66038240e+01] [-1.98778667e-03 -2.38152614e-03 9.99995189e-01 2.95932311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53907232899996 meters Centerline goodness [0,1] 0.34460604792298843 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.60, Z:295.93 [[ 9.99989421e-01 4.04574037e-03 2.18852295e-03 -1.69551253e+02] [-4.05096392e-03 9.99988944e-01 2.38765045e-03 -9.66042932e+01] [-2.17883894e-03 -2.39649082e-03 9.99994755e-01 2.95932631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.569072329 meters Centerline goodness [0,1] 0.34888438133874244 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99998380e-01 4.87525131e-04 1.73269224e-03 -1.69549887e+02] [-4.85559280e-04 9.99999238e-01 -1.13480427e-03 -9.66052265e+01] [-1.73324416e-03 1.13396111e-03 9.99997855e-01 2.95932365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59907232899997 meters Centerline goodness [0,1] 0.3537057580007117 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.60, Z:295.93 [[ 9.99997912e-01 3.15376787e-04 2.01902990e-03 -1.69550444e+02] [-3.12787231e-04 9.99999128e-01 -1.28276183e-03 -9.66047187e+01] [-2.01943269e-03 1.28212762e-03 9.99997139e-01 2.95932172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.629072329 meters Centerline goodness [0,1] 0.35286741347600736 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99992852e-01 -3.34714324e-03 1.75866199e-03 -1.69549447e+02] [ 3.35533460e-03 9.99983440e-01 -4.67560438e-03 -9.66062959e+01] [-1.74298294e-03 4.68147186e-03 9.99987523e-01 2.95931783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65907232899997 meters Centerline goodness [0,1] 0.3651288271708215 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99995001e-01 -2.80107059e-03 1.46715103e-03 -1.69548443e+02] [ 2.80692067e-03 9.99988058e-01 -4.00061420e-03 -9.66076103e+01] [-1.45592750e-03 4.00471237e-03 9.99990921e-01 2.95931408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.689072329 meters Centerline goodness [0,1] 0.35905689561473186 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99995334e-01 -2.68146509e-03 1.46315804e-03 -1.69548356e+02] [ 2.68692031e-03 9.99989399e-01 -3.73924748e-03 -9.66082738e+01] [-1.45311587e-03 3.74316142e-03 9.99991939e-01 2.95931268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71907232899997 meters Centerline goodness [0,1] 0.3693733174732361 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99995848e-01 -2.67333754e-03 1.07565927e-03 -1.69547567e+02] [ 2.67776149e-03 9.99987876e-01 -4.13258086e-03 -9.66063629e+01] [-1.06459844e-03 4.13544406e-03 9.99990882e-01 2.95931636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74907232899994 meters Centerline goodness [0,1] 0.35978083566857666 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99996157e-01 -2.65201177e-03 8.08428517e-04 -1.69547140e+02] [ 2.65547059e-03 9.99987195e-01 -4.30783243e-03 -9.66054410e+01] [-7.96993743e-04 4.30996263e-03 9.99990394e-01 2.95932040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.779072329 meters Centerline goodness [0,1] 0.3750758352335726 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.60, Z:295.93 [[ 9.99997703e-01 -2.13203315e-03 2.17863876e-04 -1.69545495e+02] [ 2.13291394e-03 9.99989214e-01 -4.12589961e-03 -9.66047409e+01] [-2.09064972e-04 4.12635482e-03 9.99991465e-01 2.95931923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80907232899995 meters Centerline goodness [0,1] 0.3873707996819684 Centerline is valid? [False, False] Translation: X:-169.54, Y:-96.61, Z:295.93 [[ 9.99998505e-01 -1.72842885e-03 5.18660835e-05 -1.69544881e+02] [ 1.72860601e-03 9.99991896e-01 -3.63598738e-03 -9.66056226e+01] [-4.55811177e-05 3.63607160e-03 9.99993388e-01 2.95931632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.839072329 meters Centerline goodness [0,1] 0.3829555908672744 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99997344e-01 -2.17472525e-03 7.62756675e-04 -1.69546640e+02] [ 2.17753879e-03 9.99990757e-01 -3.70742048e-03 -9.66063159e+01] [-7.54687003e-04 3.70907157e-03 9.99992837e-01 2.95931448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86907232899995 meters Centerline goodness [0,1] 0.35609348914858097 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99997763e-01 -1.98686601e-03 7.25850275e-04 -1.69546568e+02] [ 1.98933394e-03 9.99992189e-01 -3.41531113e-03 -9.66069937e+01] [-7.19058840e-04 3.41674745e-03 9.99993904e-01 2.95931448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.899072329 meters Centerline goodness [0,1] 0.3667077836549518 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99997852e-01 -1.89626858e-03 8.37105471e-04 -1.69546579e+02] [ 1.89898165e-03 9.99992908e-01 -3.25220803e-03 -9.66071315e+01] [-8.30932475e-04 3.25379069e-03 9.99994361e-01 2.95931084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92907232899995 meters Centerline goodness [0,1] 0.36081569545141134 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99995925e-01 -2.34029633e-03 1.63510522e-03 -1.69548572e+02] [ 2.34562186e-03 9.99991926e-01 -3.26270535e-03 -9.66080482e+01] [-1.62745632e-03 3.26652739e-03 9.99993341e-01 2.95930934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.959072329 meters Centerline goodness [0,1] 0.3745897698530488 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99974450e-01 -6.65545982e-03 2.60838184e-03 -1.69550332e+02] [ 6.67252157e-03 9.99956037e-01 -6.58793873e-03 -9.66115437e+01] [-2.56442141e-03 6.60517490e-03 9.99974897e-01 2.95929821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98907232899995 meters Centerline goodness [0,1] 0.35832654170062483 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99971713e-01 -6.77209701e-03 3.27293919e-03 -1.69551878e+02] [ 6.79232860e-03 9.99957647e-01 -6.21040512e-03 -9.66132895e+01] [-3.23074310e-03 6.23246032e-03 9.99975359e-01 2.95929503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.019072329 meters Centerline goodness [0,1] 0.36533115973833263 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.61, Z:295.93 [[ 9.99966543e-01 -7.14560170e-03 3.98155344e-03 -1.69553437e+02] [ 7.17031914e-03 9.99954894e-01 -6.22868962e-03 -9.66135291e+01] [-3.93686612e-03 6.25703024e-03 9.99972675e-01 2.95929232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04907232899996 meters Centerline goodness [0,1] 0.36366867369125266 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.61, Z:295.93 [[ 9.99960054e-01 -7.58692222e-03 4.72527996e-03 -1.69555270e+02] [ 7.61696319e-03 9.99950687e-01 -6.37228750e-03 -9.66136883e+01] [-4.67670089e-03 6.40802524e-03 9.99968532e-01 2.95929156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.079072329 meters Centerline goodness [0,1] 0.3701712923263547 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.61, Z:295.93 [[ 9.99953882e-01 -7.92155985e-03 5.42988412e-03 -1.69556930e+02] [ 7.95638592e-03 9.99947723e-01 -6.42246751e-03 -9.66141071e+01] [-5.37872430e-03 6.46537357e-03 9.99964634e-01 2.95928947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10907232899996 meters Centerline goodness [0,1] 0.3608426425672566 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.62, Z:295.93 [[ 9.99909363e-01 -1.18868947e-02 6.32203804e-03 -1.69558116e+02] [ 1.19445673e-02 9.99886665e-01 -9.16430527e-03 -9.66188333e+01] [-6.21238640e-03 9.23898865e-03 9.99938022e-01 2.95927295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.139072329 meters Centerline goodness [0,1] 0.35659643842488087 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.62, Z:295.93 [[ 9.99898126e-01 -1.22755587e-02 7.28349230e-03 -1.69560123e+02] [ 1.23397734e-02 9.99884803e-01 -8.83802507e-03 -9.66206481e+01] [-7.17416157e-03 8.92700134e-03 9.99934418e-01 2.95926558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16907232899996 meters Centerline goodness [0,1] 0.3769462581617278 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.62, Z:295.93 [[ 9.99875305e-01 -1.32443255e-02 8.60018853e-03 -1.69562832e+02] [ 1.33170868e-02 9.99875542e-01 -8.45901546e-03 -9.66236367e+01] [-8.48708421e-03 8.57249012e-03 9.99927238e-01 2.95925329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.199072329 meters Centerline goodness [0,1] 0.371316758747698 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.62, Z:295.93 [[ 9.99866826e-01 -1.34258429e-02 9.27775676e-03 -1.69564376e+02] [ 1.35026898e-02 9.99874630e-01 -8.27052713e-03 -9.66246789e+01] [-9.16555481e-03 8.39470038e-03 9.99922758e-01 2.95925016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22907232899996 meters Centerline goodness [0,1] 0.3754496779051284 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.62, Z:295.92 [[ 9.99853109e-01 -1.39165945e-02 1.00044295e-02 -1.69565982e+02] [ 1.40035038e-02 9.99864356e-01 -8.67016795e-03 -9.66239591e+01] [-9.88241324e-03 8.80899144e-03 9.99912366e-01 2.95924731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.259072329 meters Centerline goodness [0,1] 0.35363712374581935 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.62, Z:295.92 [[ 9.99836084e-01 -1.45813009e-02 1.07327245e-02 -1.69567944e+02] [ 1.46781936e-02 9.99851719e-01 -9.00505572e-03 -9.66237448e+01] [-1.05998276e-02 9.16111665e-03 9.99901854e-01 2.95924909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28907232899996 meters Centerline goodness [0,1] 0.3687036456701138 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.62, Z:295.92 [[ 9.99829242e-01 -1.47143847e-02 1.11791313e-02 -1.69568853e+02] [ 1.48144768e-02 9.99850435e-01 -8.92405295e-03 -9.66240417e+01] [-1.10461473e-02 9.08814208e-03 9.99897689e-01 2.95924587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.319072329 meters Centerline goodness [0,1] 0.3529473200484605 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.63, Z:295.92 [[ 9.99746418e-01 -1.90880960e-02 1.19475389e-02 -1.69570382e+02] [ 1.92388300e-02 9.99735125e-01 -1.26311680e-02 -9.66262393e+01] [-1.17032694e-02 1.28578216e-02 9.99848844e-01 2.95924173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34907232899997 meters Centerline goodness [0,1] 0.3583947857694959 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.63, Z:295.92 [[ 9.99696383e-01 -2.08061790e-02 1.32001527e-02 -1.69574147e+02] [ 2.09851164e-02 9.99687757e-01 -1.35651887e-02 -9.66266861e+01] [-1.29137913e-02 1.38380768e-02 9.99820855e-01 2.95924688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.379072329 meters Centerline goodness [0,1] 0.3560507957725887 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.63, Z:295.92 [[ 9.99742695e-01 -1.75601827e-02 1.43590848e-02 -1.69577147e+02] [ 1.76996177e-02 9.99796859e-01 -9.64184611e-03 -9.66272749e+01] [-1.41868553e-02 9.89351553e-03 9.99850415e-01 2.95924361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40907232899997 meters Centerline goodness [0,1] 0.3561689599732738 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.63, Z:295.92 [[ 9.99652372e-01 -2.16733133e-02 1.50134316e-02 -1.69577814e+02] [ 2.18732590e-02 9.99672493e-01 -1.32841142e-02 -9.66291365e+01] [-1.47206038e-02 1.36078889e-02 9.99799044e-01 2.95923177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.439072329 meters Centerline goodness [0,1] 0.331259395356606 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.63, Z:295.92 [[ 9.99650049e-01 -2.14950423e-02 1.54188850e-02 -1.69578623e+02] [ 2.16916539e-02 9.99684048e-01 -1.26994945e-02 -9.66311636e+01] [-1.51410372e-02 1.30295114e-02 9.99800471e-01 2.95922728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46907232899997 meters Centerline goodness [0,1] 0.3526966620712704 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.63, Z:295.92 [[ 9.99635222e-01 -2.18769670e-02 1.58373404e-02 -1.69579821e+02] [ 2.20853223e-02 9.99670223e-01 -1.31028066e-02 -9.66301751e+01] [-1.55454679e-02 1.34477998e-02 9.99788725e-01 2.95922945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49907232899994 meters Centerline goodness [0,1] 0.3177271493307161 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.63, Z:295.92 [[ 9.99618742e-01 -2.23177215e-02 1.62570116e-02 -1.69580713e+02] [ 2.25396691e-02 9.99653447e-01 -1.35995692e-02 -9.66286778e+01] [-1.59478663e-02 1.39608120e-02 9.99775355e-01 2.95922731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.529072329 meters Centerline goodness [0,1] 0.34622452388907454 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.63, Z:295.92 [[ 9.99644226e-01 -2.02672602e-02 1.73395651e-02 -1.69584095e+02] [ 2.04611148e-02 9.99729290e-01 -1.10764922e-02 -9.66268688e+01] [-1.71103810e-02 1.14273383e-02 9.99788303e-01 2.95923269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55907232899995 meters Centerline goodness [0,1] 0.3544724626772049 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.63, Z:295.92 [[ 9.99667927e-01 -1.81735710e-02 1.82690402e-02 -1.69587547e+02] [ 1.83316616e-02 9.99795629e-01 -8.52356407e-03 -9.66261117e+01] [-1.81104029e-02 8.85563548e-03 9.99796775e-01 2.95924266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.589072329 meters Centerline goodness [0,1] 0.35915492957746475 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.63, Z:295.92 [[ 9.99661055e-01 -1.81794912e-02 1.86354803e-02 -1.69588422e+02] [ 1.83381647e-02 9.99796728e-01 -8.37935081e-03 -9.66267100e+01] [-1.84793599e-02 8.71825118e-03 9.99791231e-01 2.95924128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61907232899995 meters Centerline goodness [0,1] 0.3611917239075516 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.63, Z:295.92 [[ 9.99631218e-01 -1.87426174e-02 1.96504891e-02 -1.69590715e+02] [ 1.89085162e-02 9.99786842e-01 -8.29092811e-03 -9.66281121e+01] [-1.94909068e-02 8.65943216e-03 9.99772534e-01 2.95923666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.649072329 meters Centerline goodness [0,1] 0.35230074810883105 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.63, Z:295.92 [[ 9.99658319e-01 -1.62667354e-02 2.04606633e-02 -1.69594103e+02] [ 1.63833232e-02 9.99850417e-01 -5.54347560e-03 -9.66269511e+01] [-2.03674285e-02 5.87679516e-03 9.99775290e-01 2.95924980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67907232899995 meters Centerline goodness [0,1] 0.32126138928362447 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.63, Z:295.92 [[ 9.99665093e-01 -1.60852198e-02 2.02723353e-02 -1.69593489e+02] [ 1.61994052e-02 9.99853758e-01 -5.48098918e-03 -9.66264289e+01] [-2.01812077e-02 5.80755333e-03 9.99779471e-01 2.95924807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.709072329 meters Centerline goodness [0,1] 0.34758352660941516 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.63, Z:295.93 [[ 9.99666362e-01 -1.60698552e-02 2.02218887e-02 -1.69593603e+02] [ 1.61852123e-02 9.99853586e-01 -5.55387839e-03 -9.66259645e+01] [-2.01296779e-02 5.87932096e-03 9.99780091e-01 2.95925165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73907232899995 meters Centerline goodness [0,1] 0.34531067312510444 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.62, Z:295.93 [[ 9.99641254e-01 -1.69642773e-02 2.07262474e-02 -1.69595946e+02] [ 1.71063255e-02 9.99831257e-01 -6.69556623e-03 -9.66236573e+01] [-2.06091645e-02 7.04771415e-03 9.99762768e-01 2.95926741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.769072329 meters Centerline goodness [0,1] 0.33826815059196924 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.62, Z:295.93 [[ 9.99629931e-01 -1.72546636e-02 2.10303960e-02 -1.69596972e+02] [ 1.74061076e-02 9.99823721e-01 -7.03953281e-03 -9.66227980e+01] [-2.09052240e-02 7.40298503e-03 9.99754053e-01 2.95927130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79907232899996 meters Centerline goodness [0,1] 0.34167189132706377 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.62, Z:295.93 [[ 9.99654706e-01 -1.45032528e-02 2.19117235e-02 -1.69599826e+02] [ 1.45983564e-02 9.99884674e-01 -4.18659814e-03 -9.66205737e+01] [-2.18484772e-02 4.50502769e-03 9.99751143e-01 2.95927738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.829072329 meters Centerline goodness [0,1] 0.35146600906982095 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.62, Z:295.93 [[ 9.99679759e-01 -1.36080183e-02 2.13354264e-02 -1.69596881e+02] [ 1.36841506e-02 9.99900497e-01 -3.42642257e-03 -9.66199474e+01] [-2.12866767e-02 3.71728248e-03 9.99766502e-01 2.95925932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85907232899996 meters Centerline goodness [0,1] 0.28521266590030303 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.62, Z:295.93 [[ 9.99678925e-01 -1.35986667e-02 2.13804299e-02 -1.69596645e+02] [ 1.36739115e-02 9.99900805e-01 -3.37707575e-03 -9.66198015e+01] [-2.13323853e-02 3.66834556e-03 9.99765709e-01 2.95925405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.889072329 meters Centerline goodness [0,1] 0.3503728700579094 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.62, Z:295.92 [[ 9.99693514e-01 -1.29505022e-02 2.10988583e-02 -1.69595512e+02] [ 1.30078411e-02 9.99912059e-01 -2.58265459e-03 -9.66213603e+01] [-2.10635562e-02 2.85631364e-03 9.99774059e-01 2.95924734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91907232899996 meters Centerline goodness [0,1] 0.35299154223660856 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.93 [[ 9.99869875e-01 -1.35567648e-02 8.74341349e-03 -1.69599186e+02] [ 1.36216526e-02 9.99879801e-01 -7.40497864e-03 -9.66100281e+01] [-8.64197499e-03 7.52311480e-03 9.99934357e-01 2.95930453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.949072329 meters Centerline goodness [0,1] 0.34398496240601506 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.93 [[ 9.99913513e-01 -9.58260239e-03 9.00776759e-03 -1.69599895e+02] [ 9.61445177e-03 9.99947658e-01 -3.49913944e-03 -9.66090031e+01] [-8.97376524e-03 3.58544156e-03 9.99953307e-01 2.95930320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97907232899996 meters Centerline goodness [0,1] 0.31981210855949893 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.93 [[ 9.99940534e-01 -6.05699988e-03 9.06864922e-03 -1.69600716e+02] [ 6.06179028e-03 9.99981502e-01 -5.00843383e-04 -9.66055715e+01] [-9.06544786e-03 5.55785850e-04 9.99958754e-01 2.95931180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.009072329 meters Centerline goodness [0,1] 0.31988135522412997 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.93 [[ 9.99944758e-01 -5.80286569e-03 8.76395738e-03 -1.69599896e+02] [ 5.80668886e-03 9.99983057e-01 -4.10855245e-04 -9.66051470e+01] [-8.76142475e-03 4.61722123e-04 9.99961511e-01 2.95931152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03907232899996 meters Centerline goodness [0,1] 0.31988135522412997 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.93 [[ 9.99944758e-01 -5.80286569e-03 8.76395738e-03 -1.69599896e+02] [ 5.80668886e-03 9.99983057e-01 -4.10855245e-04 -9.66051470e+01] [-8.76142475e-03 4.61722123e-04 9.99961511e-01 2.95931152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.069072329 meters Centerline goodness [0,1] 0.3593152317050229 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.93 [[ 9.99959553e-01 -4.57371517e-03 7.74423528e-03 -1.69597135e+02] [ 4.57032153e-03 9.99989452e-01 4.55855891e-04 -9.66056647e+01] [-7.74623855e-03 -4.20443808e-04 9.99969909e-01 2.95930877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09907232899997 meters Centerline goodness [0,1] 0.3320031756643824 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.60, Z:295.93 [[ 9.99963501e-01 -4.40820816e-03 7.31870873e-03 -1.69595899e+02] [ 4.40558491e-03 9.99990225e-01 3.74513205e-04 -9.66045902e+01] [-7.32028813e-03 -3.42256343e-04 9.99973148e-01 2.95930714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.129072329 meters Centerline goodness [0,1] 0.34749284714825723 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.60, Z:295.93 [[ 9.99964746e-01 -4.46007932e-03 7.11439010e-03 -1.69595339e+02] [ 4.45900372e-03 9.99990045e-01 1.67041250e-04 -9.66035550e+01] [-7.11506429e-03 -1.35312269e-04 9.99974678e-01 2.95930699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15907232899997 meters Centerline goodness [0,1] 0.3446505707309948 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.93 [[ 9.99970679e-01 -4.18451184e-03 6.41330635e-03 -1.69593871e+02] [ 4.18520268e-03 9.99991238e-01 -9.43015873e-05 -9.66015607e+01] [-6.41285555e-03 1.21139809e-04 9.99979430e-01 2.95931296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.189072329 meters Centerline goodness [0,1] 0.3450016688918558 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.93 [[ 9.99971475e-01 -4.22032135e-03 6.26403071e-03 -1.69593900e+02] [ 4.22234730e-03 9.99991038e-01 -3.10235976e-04 -9.66007823e+01] [-6.26266527e-03 3.36676040e-04 9.99980333e-01 2.95931904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21907232899997 meters Centerline goodness [0,1] 0.34414297929135995 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.93 [[ 9.99972699e-01 -4.09105181e-03 6.15344292e-03 -1.69593940e+02] [ 4.09235464e-03 9.99991606e-01 -1.99147288e-04 -9.66008347e+01] [-6.15257655e-03 2.24323922e-04 9.99981048e-01 2.95932362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24907232899994 meters Centerline goodness [0,1] 0.3546467935871743 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.60, Z:295.93 [[ 9.99966329e-01 -4.49987820e-03 6.86234998e-03 -1.69595654e+02] [ 4.50212825e-03 9.99989817e-01 -3.12470301e-04 -9.66013726e+01] [-6.86087402e-03 3.43354959e-04 9.99976405e-01 2.95932149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.279072329 meters Centerline goodness [0,1] 0.35664788144437487 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.60, Z:295.93 [[ 9.99966328e-01 -4.34511627e-03 6.96154139e-03 -1.69595728e+02] [ 4.34536824e-03 9.99990559e-01 -2.10693800e-05 -9.66021003e+01] [-6.96138411e-03 5.13191313e-05 9.99975768e-01 2.95931875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30907232899995 meters Centerline goodness [0,1] 0.3651161818789702 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.93 [[ 9.99977263e-01 -2.87808929e-03 6.09832374e-03 -1.69592579e+02] [ 2.86965633e-03 9.99994915e-01 1.39113140e-03 -9.66041079e+01] [-6.10229653e-03 -1.37359968e-03 9.99980437e-01 2.95930511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.339072329 meters Centerline goodness [0,1] 0.3684397385293319 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.93 [[ 9.99981982e-01 -2.57819917e-03 5.42107097e-03 -1.69590854e+02] [ 2.57079756e-03 9.99995754e-01 1.37186665e-03 -9.66033077e+01] [-5.42458490e-03 -1.35790546e-03 9.99984365e-01 2.95930474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36907232899995 meters Centerline goodness [0,1] 0.36989103661336786 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.93 [[ 9.99989241e-01 -9.26023267e-04 4.54529842e-03 -1.69587476e+02] [ 9.15129399e-04 9.99996706e-01 2.39822816e-03 -9.66024978e+01] [-4.54750426e-03 -2.39404283e-03 9.99986794e-01 2.95929312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.399072329 meters Centerline goodness [0,1] 0.3700114858515192 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.93 [[ 9.99993487e-01 -4.01821959e-04 3.58664461e-03 -1.69585035e+02] [ 3.93755882e-04 9.99997393e-01 2.24934316e-03 -9.66005454e+01] [-3.58753910e-03 -2.24791625e-03 9.99991038e-01 2.95929409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42907232899995 meters Centerline goodness [0,1] 0.3784015025041736 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99996347e-01 1.03700220e-04 2.70097166e-03 -1.69583025e+02] [-1.09477736e-04 9.99997706e-01 2.13899096e-03 -9.65989787e+01] [-2.70074365e-03 -2.13927885e-03 9.99994065e-01 2.95929853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.459072329 meters Centerline goodness [0,1] 0.3698447153114043 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99996455e-01 9.35785959e-05 2.66094155e-03 -1.69583014e+02] [-9.89499163e-05 9.99997958e-01 2.01851887e-03 -9.65985301e+01] [-2.66074723e-03 -2.01877501e-03 9.99994422e-01 2.95929975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48907232899995 meters Centerline goodness [0,1] 0.3588571667084064 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99996900e-01 1.79183194e-04 2.48363254e-03 -1.69582515e+02] [-1.84198506e-04 9.99997944e-01 2.01926386e-03 -9.65982039e+01] [-2.48326561e-03 -2.01971508e-03 9.99994877e-01 2.95929885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.519072329 meters Centerline goodness [0,1] 0.38660149150842893 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99997074e-01 3.55189204e-04 2.39289581e-03 -1.69582005e+02] [-3.60492613e-04 9.99997479e-01 2.21624738e-03 -9.65985562e+01] [-2.39210259e-03 -2.21710352e-03 9.99994681e-01 2.95929457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54907232899996 meters Centerline goodness [0,1] 0.347284618760056 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99997899e-01 5.41185442e-04 1.97691656e-03 -1.69581134e+02] [-5.45674907e-04 9.99997272e-01 2.27111034e-03 -9.65983200e+01] [-1.97568208e-03 -2.27218433e-03 9.99995467e-01 2.95929698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.579072329 meters Centerline goodness [0,1] 0.34624302813812124 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99998160e-01 5.29914108e-04 1.84376455e-03 -1.69581090e+02] [-5.33852231e-04 9.99997576e-01 2.13607813e-03 -9.65978418e+01] [-1.84262815e-03 -2.13705850e-03 9.99996019e-01 2.95930090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60907232899996 meters Centerline goodness [0,1] 0.348963124007024 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99997150e-01 2.14131429e-03 1.05557879e-03 -1.69578221e+02] [-2.14492587e-03 9.99991809e-01 3.43224785e-03 -9.65988175e+01] [-1.04822062e-03 -3.43450221e-03 9.99993553e-01 2.95929074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.639072329 meters Centerline goodness [0,1] 0.3608562051882356 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99997196e-01 2.25682999e-03 7.17809041e-04 -1.69577447e+02] [-2.25924689e-03 9.99991721e-01 3.38425998e-03 -9.65984263e+01] [-7.10165400e-04 -3.38587219e-03 9.99994016e-01 2.95929160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66907232899996 meters Centerline goodness [0,1] 0.36194560669456066 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99996410e-01 2.67946952e-03 6.99616305e-06 -1.69575404e+02] [-2.67947802e-03 9.99990972e-01 3.29798531e-03 -9.65965306e+01] [ 1.84075125e-06 -3.29799222e-03 9.99994562e-01 2.95929024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.699072329 meters Centerline goodness [0,1] 0.3653050131705482 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.93 [[ 9.99996554e-01 2.61077263e-03 -2.73980566e-04 -1.69574813e+02] [-2.60994548e-03 9.99992162e-01 2.97713964e-03 -9.65952508e+01] [ 2.81751053e-04 -2.97641431e-03 9.99995531e-01 2.95929240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72907232899996 meters Centerline goodness [0,1] 0.369514770137771 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99996073e-01 2.71064984e-03 -7.11592097e-04 -1.69573891e+02] [-2.70866174e-03 9.99992467e-01 2.78011999e-03 -9.65941893e+01] [ 7.19122668e-04 -2.77818161e-03 9.99995882e-01 2.95929501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.759072329 meters Centerline goodness [0,1] 0.3769316019488531 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99995325e-01 2.85569935e-03 -1.09301588e-03 -1.69573174e+02] [-2.85275866e-03 9.99992333e-01 2.68260252e-03 -9.65936593e+01] [ 1.10066821e-03 -2.67947187e-03 9.99995804e-01 2.95929822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78907232899996 meters Centerline goodness [0,1] 0.37735454602471097 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99993747e-01 3.04608741e-03 -1.79623576e-03 -1.69571790e+02] [-3.04224091e-03 9.99993082e-01 2.14028195e-03 -9.65911737e+01] [ 1.80274282e-03 -2.13480399e-03 9.99996096e-01 2.95930537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.819072329 meters Centerline goodness [0,1] 0.3715317647550054 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99994173e-01 2.85249047e-03 -1.87549711e-03 -1.69572007e+02] [-2.84926143e-03 9.99994458e-01 1.72212306e-03 -9.65899516e+01] [ 1.88039906e-03 -1.71676925e-03 9.99996758e-01 2.95931129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84907232899997 meters Centerline goodness [0,1] 0.38532684719293486 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99993188e-01 2.91736655e-03 -2.26101706e-03 -1.69571350e+02] [-2.91397587e-03 9.99994627e-01 1.50147426e-03 -9.65889411e+01] [ 2.26538526e-03 -1.49487549e-03 9.99996317e-01 2.95931605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.879072329 meters Centerline goodness [0,1] 0.39071643537869927 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99995122e-01 2.47307370e-03 -1.90775145e-03 -1.69572601e+02] [-2.47122306e-03 9.99996474e-01 9.71814052e-04 -9.65878292e+01] [ 1.91014809e-03 -9.67094833e-04 9.99997708e-01 2.95932102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90907232899997 meters Centerline goodness [0,1] 0.36526546364869095 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99995578e-01 2.35251289e-03 -1.81945584e-03 -1.69572926e+02] [-2.35093485e-03 9.99996859e-01 8.68963706e-04 -9.65873617e+01] [ 1.82149437e-03 -8.64682441e-04 9.99997967e-01 2.95932309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.939072329 meters Centerline goodness [0,1] 0.35456785997744267 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99996612e-01 2.19891536e-03 -1.39329066e-03 -1.69573911e+02] [-2.19766357e-03 9.99997181e-01 8.99340480e-04 -9.65878499e+01] [ 1.39526430e-03 -8.96275449e-04 9.99998625e-01 2.95932107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96907232899997 meters Centerline goodness [0,1] 0.3669470125425215 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99998033e-01 -4.74367495e-05 -1.98298733e-03 -1.69571144e+02] [ 4.55752465e-05 9.99999558e-01 -9.38771344e-04 -9.65919721e+01] [ 1.98303099e-03 9.38679122e-04 9.99997593e-01 2.95930428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99907232899994 meters Centerline goodness [0,1] 0.36808368480394205 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99999202e-01 -3.93597232e-04 -1.20041777e-03 -1.69572980e+02] [ 3.92394514e-04 9.99999421e-01 -1.00198778e-03 -9.65923136e+01] [ 1.20081145e-03 1.00151594e-03 9.99998778e-01 2.95930165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.029072329 meters Centerline goodness [0,1] 0.39040223766881665 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99999538e-01 -5.18675840e-04 -8.08937165e-04 -1.69573883e+02] [ 5.17851454e-04 9.99999347e-01 -1.01897375e-03 -9.65923819e+01] [ 8.09465154e-04 1.01855437e-03 9.99999154e-01 2.95930039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05907232899995 meters Centerline goodness [0,1] 0.38355278258873615 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99999633e-01 -8.03003545e-04 -2.98122433e-04 -1.69575399e+02] [ 8.02646835e-04 9.99998964e-01 -1.19472160e-03 -9.65923545e+01] [ 2.99081490e-04 1.19448187e-03 9.99999242e-01 2.95930352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.089072329 meters Centerline goodness [0,1] 0.35608320988169506 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99999674e-01 -7.62319923e-04 -2.67897040e-04 -1.69575599e+02] [ 7.62022098e-04 9.99999094e-01 -1.11006145e-03 -9.65924957e+01] [ 2.68743019e-04 1.10985694e-03 9.99999348e-01 2.95930519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11907232899995 meters Centerline goodness [0,1] 0.37307170441498805 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99999738e-01 -7.12474044e-04 1.29950438e-04 -1.69576031e+02] [ 7.12574948e-04 9.99999443e-01 -7.78087998e-04 -9.65933495e+01] [-1.29395998e-04 7.78180394e-04 9.99999689e-01 2.95929705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.149072329 meters Centerline goodness [0,1] 0.37159211983203455 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99999739e-01 -6.26794168e-04 3.58936499e-04 -1.69576219e+02] [ 6.26975197e-04 9.99999676e-01 -5.04457688e-04 -9.65940102e+01] [-3.58620192e-04 5.04682600e-04 9.99999808e-01 2.95929122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17907232899995 meters Centerline goodness [0,1] 0.3750261276702479 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99999718e-01 -4.97361358e-04 5.62343795e-04 -1.69576397e+02] [ 4.97457486e-04 9.99999862e-01 -1.70814965e-04 -9.65949170e+01] [-5.62258761e-04 1.71094659e-04 9.99999827e-01 2.95928590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.209072329 meters Centerline goodness [0,1] 0.28608425053779163 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99999120e-01 -6.12226067e-04 1.17732544e-03 -1.69577752e+02] [ 6.12073215e-04 9.99999804e-01 1.30186005e-04 -9.65963951e+01] [-1.17740491e-03 -1.29465281e-04 9.99999298e-01 2.95928219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23907232899995 meters Centerline goodness [0,1] 0.36258520470037214 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99997998e-01 -7.17997152e-04 1.86797226e-03 -1.69579173e+02] [ 7.17387787e-04 9.99999689e-01 3.26866712e-04 -9.65973773e+01] [-1.86820637e-03 -3.25525997e-04 9.99998202e-01 2.95927702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.269072329 meters Centerline goodness [0,1] 0.37634768073547853 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99996375e-01 -9.57296192e-04 2.51671682e-03 -1.69580866e+02] [ 9.56462327e-04 9.99999487e-01 3.32513231e-04 -9.65979529e+01] [-2.51703384e-03 -3.30104881e-04 9.99996778e-01 2.95927726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29907232899996 meters Centerline goodness [0,1] 0.3849740715958515 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99991831e-01 -1.89630768e-03 3.56959423e-03 -1.69583937e+02] [ 1.89688844e-03 9.99998188e-01 -1.59318254e-04 -9.65982199e+01] [-3.56928564e-03 1.66088075e-04 9.99993616e-01 2.95928123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.329072329 meters Centerline goodness [0,1] 0.37596697178840255 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99977610e-01 -5.67937898e-03 3.53901780e-03 -1.69583658e+02] [ 5.69268748e-03 9.99976721e-01 -3.76184921e-03 -9.65994920e+01] [-3.51757045e-03 3.78191150e-03 9.99986662e-01 2.95927961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35907232899996 meters Centerline goodness [0,1] 0.3578788955542086 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.93 [[ 9.99977718e-01 -5.42014589e-03 3.89675502e-03 -1.69584445e+02] [ 5.43210383e-03 9.99980550e-01 -3.06468581e-03 -9.66017987e+01] [-3.88006818e-03 3.08578510e-03 9.99987711e-01 2.95927721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.389072329 meters Centerline goodness [0,1] 0.3750757845002404 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.93 [[ 9.99962057e-01 -6.88531515e-03 5.33633681e-03 -1.69587699e+02] [ 6.90251651e-03 9.99971020e-01 -3.21175283e-03 -9.66038869e+01] [-5.31406823e-03 3.24846512e-03 9.99980604e-01 2.95926838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41907232899996 meters Centerline goodness [0,1] 0.31908087312871125 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.93 [[ 9.99951975e-01 -7.45635929e-03 6.36009540e-03 -1.69590011e+02] [ 7.47798412e-03 9.99966317e-01 -3.38310301e-03 -9.66042476e+01] [-6.33465554e-03 3.43050123e-03 9.99974052e-01 2.95926410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.449072329 meters Centerline goodness [0,1] 0.32558625154001963 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.61, Z:295.93 [[ 9.99946756e-01 -7.60920705e-03 6.97033491e-03 -1.69591288e+02] [ 7.63170646e-03 9.99965736e-01 -3.20698918e-03 -9.66051361e+01] [-6.94569343e-03 3.26001398e-03 9.99970564e-01 2.95926001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47907232899996 meters Centerline goodness [0,1] 0.3760699820451794 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.61, Z:295.93 [[ 9.99936824e-01 -8.11169834e-03 7.78132291e-03 -1.69593473e+02] [ 8.13866505e-03 9.99960963e-01 -3.44018540e-03 -9.66051571e+01] [-7.75311340e-03 3.50329764e-03 9.99963807e-01 2.95926218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.509072329 meters Centerline goodness [0,1] 0.3328602437802638 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.61, Z:295.93 [[ 9.99933772e-01 -8.17931819e-03 8.09634787e-03 -1.69594174e+02] [ 8.20741220e-03 9.99960392e-01 -3.44283866e-03 -9.66050387e+01] [-8.06786712e-03 3.50906072e-03 9.99961297e-01 2.95926117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53907232899996 meters Centerline goodness [0,1] 0.3667091437046941 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.61, Z:295.93 [[ 9.99933519e-01 -8.00156462e-03 8.30252110e-03 -1.69594091e+02] [ 8.02650376e-03 9.99963362e-01 -2.97484317e-03 -9.66060883e+01] [-8.27841352e-03 3.04128562e-03 9.99961108e-01 2.95925274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.569072329 meters Centerline goodness [0,1] 0.3248475482415838 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.61, Z:295.93 [[ 9.99933932e-01 -7.85374754e-03 8.39351469e-03 -1.69594304e+02] [ 7.87613045e-03 9.99965506e-01 -2.63697133e-03 -9.66070530e+01] [-8.37251506e-03 2.70290553e-03 9.99961297e-01 2.95925194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59907232899997 meters Centerline goodness [0,1] 0.32251525537072645 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.61, Z:295.93 [[ 9.99939998e-01 -7.43021327e-03 8.04942375e-03 -1.69593347e+02] [ 7.44910838e-03 9.99969564e-01 -2.31995415e-03 -9.66071341e+01] [-8.03194100e-03 2.37977598e-03 9.99964912e-01 2.95925117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.629072329 meters Centerline goodness [0,1] 0.35503749660546047 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.93 [[ 9.99923340e-01 -8.42622951e-03 9.07266237e-03 -1.69596188e+02] [ 8.45496110e-03 9.99959348e-01 -3.13314696e-03 -9.66061468e+01] [-9.04589293e-03 3.20961578e-03 9.99953934e-01 2.95925506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65907232899997 meters Centerline goodness [0,1] 0.3546574770258981 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.93 [[ 9.99915985e-01 -8.65710010e-03 9.64772248e-03 -1.69597823e+02] [ 8.68800827e-03 9.99957245e-01 -3.16638245e-03 -9.66064778e+01] [-9.61989831e-03 3.24993592e-03 9.99948446e-01 2.95925750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.689072329 meters Centerline goodness [0,1] 0.36246421331995904 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.93 [[ 9.99916192e-01 -8.48435447e-03 9.77876524e-03 -1.69597955e+02] [ 8.51271977e-03 9.99959668e-01 -2.86273952e-03 -9.66071932e+01] [-9.75408235e-03 2.94574349e-03 9.99948089e-01 2.95925454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71907232899997 meters Centerline goodness [0,1] 0.3595106880427522 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.93 [[ 9.99914757e-01 -8.38194006e-03 1.00110867e-02 -1.69598335e+02] [ 8.40771342e-03 9.99961441e-01 -2.53517538e-03 -9.66081492e+01] [-9.98945098e-03 2.61912962e-03 9.99946674e-01 2.95925135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74907232899994 meters Centerline goodness [0,1] 0.35773800822770274 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.92 [[ 9.99910979e-01 -8.43005473e-03 1.03425195e-02 -1.69598767e+02] [ 8.45513058e-03 9.99961415e-01 -2.38321428e-03 -9.66086475e+01] [-1.03220299e-02 2.47044948e-03 9.99943675e-01 2.95924568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.779072329 meters Centerline goodness [0,1] 0.3828125 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.92 [[ 9.99901901e-01 -8.78476466e-03 1.09094925e-02 -1.69600041e+02] [ 8.81381445e-03 9.99957732e-01 -2.61758104e-03 -9.66081023e+01] [-1.08860365e-02 2.71347850e-03 9.99937064e-01 2.95924422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80907232899995 meters Centerline goodness [0,1] 0.35244515873181526 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.92 [[ 9.99903040e-01 -8.68477424e-03 1.08850656e-02 -1.69599853e+02] [ 8.71206943e-03 9.99959017e-01 -2.46267742e-03 -9.66083167e+01] [-1.08632317e-02 2.55727008e-03 9.99937723e-01 2.95924246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.839072329 meters Centerline goodness [0,1] 0.3537025825173803 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.92 [[ 9.99887611e-01 -9.19387092e-03 1.18421865e-02 -1.69601906e+02] [ 9.22367047e-03 9.99954425e-01 -2.46423407e-03 -9.66090198e+01] [-1.18189909e-02 2.57318554e-03 9.99926842e-01 2.95923705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86907232899995 meters Centerline goodness [0,1] 0.3652337228714524 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.92 [[ 9.99878066e-01 -9.38322201e-03 1.24823511e-02 -1.69603282e+02] [ 9.41347951e-03 9.99952890e-01 -2.36748040e-03 -9.66096275e+01] [-1.24595485e-02 2.48469408e-03 9.99919290e-01 2.95923369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.899072329 meters Centerline goodness [0,1] 0.35054239909704654 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99852489e-01 -1.03227132e-02 1.37273847e-02 -1.69606325e+02] [ 1.03598897e-02 9.99942850e-01 -2.63985054e-03 -9.66104403e+01] [-1.36993498e-02 2.78167533e-03 9.99902290e-01 2.95923133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92907232899995 meters Centerline goodness [0,1] 0.3507389368506867 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99846015e-01 -1.03982492e-02 1.41358644e-02 -1.69607081e+02] [ 1.04356267e-02 9.99942237e-01 -2.57297685e-03 -9.66106357e+01] [-1.41082934e-02 2.72009725e-03 9.99896773e-01 2.95922786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.959072329 meters Centerline goodness [0,1] 0.3507389368506867 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99846015e-01 -1.03982492e-02 1.41358644e-02 -1.69607081e+02] [ 1.04356267e-02 9.99942237e-01 -2.57297685e-03 -9.66106357e+01] [-1.41082934e-02 2.72009725e-03 9.99896773e-01 2.95922786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98907232899995 meters Centerline goodness [0,1] 0.3582061467698098 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99844141e-01 -1.02996164e-02 1.43391468e-02 -1.69607423e+02] [ 1.03340347e-02 9.99943892e-01 -2.32828150e-03 -9.66111972e+01] [-1.43143619e-02 2.47609986e-03 9.99894478e-01 2.95922547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.019072329 meters Centerline goodness [0,1] 0.3419887194485064 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99830035e-01 -1.07794094e-02 1.49567613e-02 -1.69609056e+02] [ 1.08212424e-02 9.99937752e-01 -2.71882641e-03 -9.66104137e+01] [-1.49265229e-02 2.88021504e-03 9.99884445e-01 2.95922764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04907232899996 meters Centerline goodness [0,1] 0.3678403510604953 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99834334e-01 -1.06639274e-02 1.47507437e-02 -1.69608666e+02] [ 1.07049247e-02 9.99939047e-01 -2.70317541e-03 -9.66100075e+01] [-1.47210182e-02 2.86063319e-03 9.99887548e-01 2.95922978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.079072329 meters Centerline goodness [0,1] 0.34936333033642086 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99821612e-01 -1.09448051e-02 1.53933679e-02 -1.69610269e+02] [ 1.09889636e-02 9.99935736e-01 -2.78701691e-03 -9.66102003e+01] [-1.53618753e-02 2.95567690e-03 9.99877631e-01 2.95922951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10907232899996 meters Centerline goodness [0,1] 0.34810113368269413 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99823922e-01 -1.07440221e-02 1.53847462e-02 -1.69609996e+02] [ 1.07835031e-02 9.99938767e-01 -2.48559068e-03 -9.66106976e+01] [-1.53570989e-02 2.65105448e-03 9.99878558e-01 2.95922563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.139072329 meters Centerline goodness [0,1] 0.37713175054338743 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99827036e-01 -1.05842747e-02 1.52928643e-02 -1.69609722e+02] [ 1.06209580e-02 9.99940906e-01 -2.31949548e-03 -9.66108107e+01] [-1.52674104e-02 2.48151916e-03 9.99880367e-01 2.95922510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16907232899996 meters Centerline goodness [0,1] 0.37014588471345566 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99831881e-01 -1.03984296e-02 1.51024179e-02 -1.69609313e+02] [ 1.04326162e-02 9.99943188e-01 -2.18663452e-03 -9.66108165e+01] [-1.50788223e-02 2.34382464e-03 9.99883561e-01 2.95922651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.199072329 meters Centerline goodness [0,1] 0.3592293869363534 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99818510e-01 -1.08255258e-02 1.56766071e-02 -1.69610722e+02] [ 1.08674450e-02 9.99937590e-01 -2.59127838e-03 -9.66098630e+01] [-1.56475767e-02 2.76117276e-03 9.99873757e-01 2.95922636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22907232899996 meters Centerline goodness [0,1] 0.3586055735309467 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99831571e-01 -1.02315151e-02 1.52363099e-02 -1.69609439e+02] [ 1.02611131e-02 9.99945613e-01 -1.86568356e-03 -9.66114501e+01] [-1.52163924e-02 2.02171082e-03 9.99882180e-01 2.95922274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.259072329 meters Centerline goodness [0,1] 0.3152784448017373 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99834601e-01 -1.02552942e-02 1.50199684e-02 -1.69608819e+02] [ 1.02887512e-02 9.99944754e-01 -2.15192179e-03 -9.66100352e+01] [-1.49970700e-02 2.30610259e-03 9.99884878e-01 2.95922219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28907232899996 meters Centerline goodness [0,1] 0.37175738334934627 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99851716e-01 -9.64271915e-03 1.42675992e-02 -1.69606524e+02] [ 9.67124629e-03 9.99951366e-01 -1.93179046e-03 -9.66087859e+01] [-1.42482776e-02 2.06948947e-03 9.99896347e-01 2.95921828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.319072329 meters Centerline goodness [0,1] 0.3414934725848564 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99878854e-01 -6.09438923e-03 1.43225624e-02 -1.69607589e+02] [ 6.07808841e-03 9.99980830e-01 1.18137595e-03 -9.66058571e+01] [-1.43294876e-02 -1.09417903e-03 9.99896729e-01 2.95923039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34907232899997 meters Centerline goodness [0,1] 0.35556576776053306 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99882576e-01 -6.11282200e-03 1.40522991e-02 -1.69607300e+02] [ 6.09931089e-03 9.99980895e-01 1.00414410e-03 -9.66052802e+01] [-1.40581687e-02 -9.18316850e-04 9.99900757e-01 2.95923562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.379072329 meters Centerline goodness [0,1] 0.36027322860962563 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.60, Z:295.92 [[ 9.99884848e-01 -6.29130281e-03 1.38097983e-02 -1.69607499e+02] [ 6.28574528e-03 9.99980145e-01 4.45801462e-04 -9.66036542e+01] [-1.38123288e-02 -3.58945253e-04 9.99904541e-01 2.95924769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40907232899997 meters Centerline goodness [0,1] 0.3813746765712378 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.60, Z:295.93 [[ 9.99881230e-01 -6.42755455e-03 1.40075986e-02 -1.69608347e+02] [ 6.42332228e-03 9.99979310e-01 3.47110277e-04 -9.66036482e+01] [-1.40095399e-02 -2.57093730e-04 9.99901829e-01 2.95925267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.439072329 meters Centerline goodness [0,1] 0.3409280761841116 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.60, Z:295.93 [[ 9.99875785e-01 -6.61652293e-03 1.43051102e-02 -1.69609264e+02] [ 6.61473878e-03 9.99978108e-01 1.72033226e-04 -9.66033989e+01] [-1.43059353e-02 -7.73872895e-05 9.99897662e-01 2.95925454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46907232899997 meters Centerline goodness [0,1] 0.34204424390549604 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99855310e-01 -7.44274686e-03 1.52959071e-02 -1.69611410e+02] [ 7.43974850e-03 9.99972293e-01 2.52917595e-04 -9.66056621e+01] [-1.52973657e-02 -1.39083299e-04 9.99882979e-01 2.95924646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49907232899994 meters Centerline goodness [0,1] 0.33198202904607665 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99861853e-01 -6.96981366e-03 1.50896463e-02 -1.69610840e+02] [ 6.95637843e-03 9.99975360e-01 9.42666569e-04 -9.66075412e+01] [-1.50958446e-02 -8.37567052e-04 9.99885700e-01 2.95924437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.529072329 meters Centerline goodness [0,1] 0.3538403630204303 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99863096e-01 -6.84849576e-03 1.50628119e-02 -1.69610567e+02] [ 6.83191082e-03 9.99975998e-01 1.15223395e-03 -9.66080168e+01] [-1.50703414e-02 -1.04916841e-03 9.99885886e-01 2.95924065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55907232899995 meters Centerline goodness [0,1] 0.3432495714345445 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99865828e-01 -6.76149996e-03 1.49200747e-02 -1.69610223e+02] [ 6.74348575e-03 9.99976472e-01 1.25736102e-03 -9.66082803e+01] [-1.49282253e-02 -1.15657901e-03 9.99887899e-01 2.95924008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.589072329 meters Centerline goodness [0,1] 0.3473130182334635 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99844732e-01 -7.75108076e-03 1.58250380e-02 -1.69612377e+02] [ 7.74371629e-03 9.99969878e-01 5.26592858e-04 -9.66071537e+01] [-1.58286430e-02 -4.03966491e-04 9.99874638e-01 2.95923911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61907232899995 meters Centerline goodness [0,1] 0.3599381542383151 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99841437e-01 -7.80979627e-03 1.60033457e-02 -1.69612991e+02] [ 7.80211305e-03 9.99969416e-01 5.42479506e-04 -9.66074547e+01] [-1.60070929e-02 -4.17533576e-04 9.99871791e-01 2.95924105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.649072329 meters Centerline goodness [0,1] 0.3514731658459227 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.92 [[ 9.99825538e-01 -8.37678504e-03 1.66950050e-02 -1.69614972e+02] [ 8.37569526e-03 9.99964914e-01 1.35197053e-04 -9.66070610e+01] [-1.66955517e-02 4.65880790e-06 9.99860620e-01 2.95924405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67907232899995 meters Centerline goodness [0,1] 0.3624377380603575 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.61, Z:295.92 [[ 9.99807721e-01 -9.03743068e-03 1.74024746e-02 -1.69617152e+02] [ 9.04545611e-03 9.99959016e-01 -3.82506959e-04 -9.66065673e+01] [-1.73983045e-02 5.39846731e-04 9.99848492e-01 2.95924932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.709072329 meters Centerline goodness [0,1] 0.35741873525543333 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.61, Z:295.93 [[ 9.99809796e-01 -9.00044926e-03 1.73021292e-02 -1.69616970e+02] [ 9.00868143e-03 9.99959342e-01 -3.97906330e-04 -9.66063024e+01] [-1.72978444e-02 5.53700016e-04 9.99850228e-01 2.95925040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73907232899995 meters Centerline goodness [0,1] 0.35858723155099226 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.61, Z:295.93 [[ 9.99819004e-01 -8.90425118e-03 1.68129078e-02 -1.69616083e+02] [ 8.91638922e-03 9.99960039e-01 -6.47123732e-04 -9.66051241e+01] [-1.68064738e-02 7.96917035e-04 9.99858444e-01 2.95925536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.769072329 meters Centerline goodness [0,1] 0.3793890412679801 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.60, Z:295.93 [[ 9.99821919e-01 -8.88769309e-03 1.66475093e-02 -1.69615789e+02] [ 8.90196110e-03 9.99960070e-01 -7.83157442e-04 -9.66044336e+01] [-1.66398841e-02 9.31213456e-04 9.99861114e-01 2.95925700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79907232899996 meters Centerline goodness [0,1] 0.3601782687841316 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.60, Z:295.93 [[ 9.99821342e-01 -8.94644248e-03 1.66506817e-02 -1.69615581e+02] [ 8.96375298e-03 9.99959359e-01 -9.65284765e-04 -9.66036670e+01] [-1.66413691e-02 1.11436491e-03 9.99860902e-01 2.95925413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.829072329 meters Centerline goodness [0,1] 0.36306411811451755 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.60, Z:295.93 [[ 9.99817727e-01 -8.91019306e-03 1.68855559e-02 -1.69616346e+02] [ 8.92449227e-03 9.99959878e-01 -7.71665312e-04 -9.66046792e+01] [-1.68780027e-02 9.22219671e-04 9.99857131e-01 2.95925536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85907232899996 meters Centerline goodness [0,1] 0.35838210702341133 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.60, Z:295.93 [[ 9.99825746e-01 -8.69632710e-03 1.65182059e-02 -1.69615476e+02] [ 8.70921737e-03 9.99961823e-01 -7.08591252e-04 -9.66043024e+01] [-1.65114132e-02 8.52328423e-04 9.99863314e-01 2.95925615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.889072329 meters Centerline goodness [0,1] 0.3571353806862191 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.60, Z:295.93 [[ 9.99841393e-01 -8.27974211e-03 1.57681733e-02 -1.69613825e+02] [ 8.29076297e-03 9.99965430e-01 -6.33689140e-04 -9.66037279e+01] [-1.57623814e-02 7.64318820e-04 9.99875474e-01 2.95925900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91907232899996 meters Centerline goodness [0,1] 0.371564338196814 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.60, Z:295.92 [[ 9.99871856e-01 -6.26327239e-03 1.47323892e-02 -1.69609922e+02] [ 6.25016654e-03 9.99980030e-01 9.35469200e-04 -9.66039732e+01] [-1.47379541e-02 -8.43269439e-04 9.99891035e-01 2.95924404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.949072329 meters Centerline goodness [0,1] 0.36835059094237 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.60, Z:295.92 [[ 9.99876445e-01 -6.17100700e-03 1.44573111e-02 -1.69609366e+02] [ 6.15796561e-03 9.99980592e-01 9.46404821e-04 -9.66039703e+01] [-1.44628708e-02 -8.57260263e-04 9.99895040e-01 2.95924517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97907232899996 meters Centerline goodness [0,1] 0.3623333961040319 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.60, Z:295.93 [[ 9.99905214e-01 -1.88764124e-03 1.36381457e-02 -1.69607976e+02] [ 1.82576331e-03 9.99987990e-01 4.54814869e-03 -9.66015912e+01] [-1.36465672e-02 -4.52281756e-03 9.99896652e-01 2.95925432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.009072329 meters Centerline goodness [0,1] 0.3496021775544389 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.60, Z:295.93 [[ 9.99912477e-01 -2.04155134e-03 1.30717325e-02 -1.69606915e+02] [ 1.99262146e-03 9.99990964e-01 3.75511330e-03 -9.65986648e+01] [-1.30792806e-02 -3.72873762e-03 9.99907510e-01 2.95926002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03907232899996 meters Centerline goodness [0,1] 0.3525324403516116 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.60, Z:295.93 [[ 9.99916523e-01 -2.19966716e-03 1.27321453e-02 -1.69606418e+02] [ 2.15773963e-03 9.99992208e-01 3.30584630e-03 -9.65971446e+01] [-1.27393178e-02 -3.27809769e-03 9.99913478e-01 2.95926489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.069072329 meters Centerline goodness [0,1] 0.30780340771130743 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.93 [[ 9.99932680e-01 -1.39026794e-03 1.15196946e-02 -1.69603787e+02] [ 1.35456075e-03 9.99994256e-01 3.10688699e-03 -9.65948218e+01] [-1.15239478e-02 -3.09107371e-03 9.99928819e-01 2.95927326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09907232899997 meters Centerline goodness [0,1] 0.34793981626802273 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.93 [[ 9.99938998e-01 -1.44006100e-03 1.09511031e-02 -1.69602793e+02] [ 1.41236461e-03 9.99995786e-01 2.53640902e-03 -9.65926856e+01] [-1.09547096e-02 -2.52078734e-03 9.99936818e-01 2.95927970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.129072329 meters Centerline goodness [0,1] 0.352683988117652 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.93 [[ 9.99949435e-01 -8.34836998e-04 1.00215446e-02 -1.69600600e+02] [ 8.08247647e-04 9.99996144e-01 2.65697571e-03 -9.65917631e+01] [-1.00237241e-02 -2.64874147e-03 9.99946253e-01 2.95928211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15907232899997 meters Centerline goodness [0,1] 0.35985276278914125 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.93 [[ 9.99961637e-01 5.40613304e-04 8.74253373e-03 -1.69597341e+02] [-5.66743330e-04 9.99995379e-01 2.98663781e-03 -9.65897584e+01] [-8.74087872e-03 -2.99147800e-03 9.99957323e-01 2.95928469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.189072329 meters Centerline goodness [0,1] 0.3494573059790451 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.93 [[ 9.99965762e-01 7.95864140e-04 8.23659989e-03 -1.69596113e+02] [-8.20438536e-04 9.99995221e-01 2.98061212e-03 -9.65891690e+01] [-8.23418837e-03 -2.98726769e-03 9.99961636e-01 2.95928537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21907232899997 meters Centerline goodness [0,1] 0.3091422594142259 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.93 [[ 9.99966924e-01 9.25998705e-04 8.08041181e-03 -1.69595885e+02] [-9.51119452e-04 9.99994725e-01 3.10555611e-03 -9.65895691e+01] [-8.07749345e-03 -3.11313882e-03 9.99962531e-01 2.95928641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24907232899994 meters Centerline goodness [0,1] 0.33237852304089655 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.93 [[ 9.99966899e-01 7.74498362e-04 8.09943111e-03 -1.69596443e+02] [-7.97258595e-04 9.99995742e-01 2.80725155e-03 -9.65890904e+01] [-8.09722241e-03 -2.81361597e-03 9.99963259e-01 2.95929245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.279072329 meters Centerline goodness [0,1] 0.37268107000188233 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.93 [[ 9.99967759e-01 9.67609400e-04 7.97155494e-03 -1.69596311e+02] [-9.92236762e-04 9.99994746e-01 3.08602959e-03 -9.65900680e+01] [-7.96852699e-03 -3.09383976e-03 9.99963465e-01 2.95929394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30907232899995 meters Centerline goodness [0,1] 0.33512676115309736 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.93 [[ 9.99964278e-01 6.21759045e-04 8.42949073e-03 -1.69597573e+02] [-6.45115343e-04 9.99995960e-01 2.76834818e-03 -9.65896981e+01] [-8.42773543e-03 -2.77368728e-03 9.99960639e-01 2.95929467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.339072329 meters Centerline goodness [0,1] 0.3177974969653845 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.93 [[ 9.99971186e-01 1.45002725e-03 7.45154288e-03 -1.69595001e+02] [-1.47407064e-03 9.99993722e-01 3.22215331e-03 -9.65895142e+01] [-7.44682389e-03 -3.23304456e-03 9.99967046e-01 2.95929355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36907232899995 meters Centerline goodness [0,1] 0.3540703874866691 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.93 [[ 9.99973780e-01 1.39806984e-03 7.10529934e-03 -1.69594269e+02] [-1.41862975e-03 9.99994819e-01 2.88938622e-03 -9.65882387e+01] [-7.10122296e-03 -2.89939025e-03 9.99970583e-01 2.95929576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.399072329 meters Centerline goodness [0,1] 0.3551472280936735 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.93 [[ 9.99976225e-01 1.35159584e-03 6.76181285e-03 -1.69593688e+02] [-1.36944892e-03 9.99995587e-01 2.63634760e-03 -9.65873297e+01] [-6.75821974e-03 -2.64554488e-03 9.99973663e-01 2.95929940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42907232899995 meters Centerline goodness [0,1] 0.3587882084649664 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.93 [[ 9.99980710e-01 1.46414234e-03 6.03618651e-03 -1.69592599e+02] [-1.47722528e-03 9.99996568e-01 2.16353066e-03 -9.65853250e+01] [-6.03299808e-03 -2.17240573e-03 9.99979442e-01 2.95931075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.459072329 meters Centerline goodness [0,1] 0.3592798073903486 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99983272e-01 1.43948515e-03 5.60215336e-03 -1.69591902e+02] [-1.44949118e-03 9.99997361e-01 1.78245400e-03 -9.65839393e+01] [-5.59957275e-03 -1.79054445e-03 9.99982719e-01 2.95931645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48907232899995 meters Centerline goodness [0,1] 0.3628146381269224 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99987915e-01 2.17386349e-03 4.40952735e-03 -1.69589320e+02] [-2.18096048e-03 9.99996333e-01 1.60529827e-03 -9.65817157e+01] [-4.40602148e-03 -1.61489587e-03 9.99988989e-01 2.95932453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.519072329 meters Centerline goodness [0,1] 0.36578881259420537 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99989831e-01 2.54356957e-03 3.72390001e-03 -1.69587537e+02] [-2.54983412e-03 9.99995341e-01 1.67847718e-03 -9.65812019e+01] [-3.71961333e-03 -1.68795544e-03 9.99991658e-01 2.95932388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54907232899996 meters Centerline goodness [0,1] 0.3478861737546328 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99991043e-01 2.89030280e-03 3.09189227e-03 -1.69586045e+02] [-2.89582731e-03 9.99994216e-01 1.78379291e-03 -9.65808297e+01] [-3.08671868e-03 -1.79273052e-03 9.99993629e-01 2.95932531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.579072329 meters Centerline goodness [0,1] 0.35139380484637783 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99990612e-01 3.08253158e-03 3.04515606e-03 -1.69586303e+02] [-3.08867391e-03 9.99993201e-01 2.01444509e-03 -9.65816994e+01] [-3.03892577e-03 -2.02383167e-03 9.99993334e-01 2.95932923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60907232899996 meters Centerline goodness [0,1] 0.37246276629171116 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99991382e-01 2.75489645e-03 3.10581602e-03 -1.69587018e+02] [-2.75955164e-03 9.99995074e-01 1.49557282e-03 -9.65804328e+01] [-3.10168057e-03 -1.50413059e-03 9.99994059e-01 2.95933713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.639072329 meters Centerline goodness [0,1] 0.36944142031655636 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99991753e-01 3.00580782e-03 2.73107650e-03 -1.69586474e+02] [-3.01032475e-03 9.99994106e-01 1.65129553e-03 -9.65807187e+01] [-2.72609693e-03 -1.65950333e-03 9.99994907e-01 2.95934228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66907232899996 meters Centerline goodness [0,1] 0.3612914032075709 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99991962e-01 3.18263344e-03 2.43852877e-03 -1.69585979e+02] [-3.18688762e-03 9.99993403e-01 1.74267394e-03 -9.65809247e+01] [-2.43296639e-03 -1.75043125e-03 9.99995508e-01 2.95934491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.699072329 meters Centerline goodness [0,1] 0.35562246476811776 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99992393e-01 3.41885265e-03 1.87751323e-03 -1.69584560e+02] [-3.42215064e-03 9.99992602e-01 1.75617945e-03 -9.65803400e+01] [-1.87149522e-03 -1.76259122e-03 9.99996695e-01 2.95934483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72907232899996 meters Centerline goodness [0,1] 0.3529559380162697 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99991562e-01 3.92869170e-03 1.20070002e-03 -1.69582807e+02] [-3.93120481e-03 9.99990072e-01 2.09789338e-03 -9.65804259e+01] [-1.19244612e-03 -2.10259588e-03 9.99997079e-01 2.95934448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.759072329 meters Centerline goodness [0,1] 0.3610302586116637 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99991581e-01 3.98233289e-03 9.89786014e-04 -1.69582397e+02] [-3.98431999e-03 9.99990035e-01 2.01381414e-03 -9.65799958e+01] [-9.81756472e-04 -2.01774081e-03 9.99997482e-01 2.95934583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78907232899996 meters Centerline goodness [0,1] 0.36552186015361754 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99991380e-01 4.02818560e-03 1.00713688e-03 -1.69582229e+02] [-4.03025877e-03 9.99989746e-01 2.06499794e-03 -9.65799559e+01] [-9.98808353e-04 -2.06903916e-03 9.99997361e-01 2.95934259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.819072329 meters Centerline goodness [0,1] 0.35155841165511903 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99991899e-01 3.73295208e-03 1.50588434e-03 -1.69583546e+02] [-3.73591242e-03 9.99991085e-01 1.96784993e-03 -9.65802754e+01] [-1.49852503e-03 -1.97345984e-03 9.99996930e-01 2.95934245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84907232899997 meters Centerline goodness [0,1] 0.35155841165511903 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99991899e-01 3.73295208e-03 1.50588434e-03 -1.69583546e+02] [-3.73591242e-03 9.99991085e-01 1.96784993e-03 -9.65802754e+01] [-1.49852503e-03 -1.97345984e-03 9.99996930e-01 2.95934245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.879072329 meters Centerline goodness [0,1] 0.3492902983046595 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99997999e-01 1.79751504e-03 8.77976591e-04 -1.69580962e+02] [-1.79749828e-03 9.99998384e-01 -1.98700340e-05 -9.65813787e+01] [-8.78010889e-04 1.82918328e-05 9.99999614e-01 2.95933102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90907232899997 meters Centerline goodness [0,1] 0.35502822496341213 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99997987e-01 1.90010585e-03 6.44129565e-04 -1.69580289e+02] [-1.90006913e-03 9.99998193e-01 -5.76066846e-05 -9.65807773e+01] [-6.44237860e-04 5.63826780e-05 9.99999791e-01 2.95933013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.939072329 meters Centerline goodness [0,1] 0.35849214309595456 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99999438e-01 -1.05543042e-03 9.54988705e-05 -1.69577804e+02] [ 1.05569298e-03 9.99995544e-01 -2.79239454e-03 -9.65826090e+01] [-9.25512668e-05 2.79249379e-03 9.99996097e-01 2.95931775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96907232899997 meters Centerline goodness [0,1] 0.35900971482293953 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99998894e-01 -1.24855537e-03 8.08382901e-04 -1.69579650e+02] [ 1.25058819e-03 9.99996045e-01 -2.51907997e-03 -9.65840223e+01] [-8.05234493e-04 2.52008813e-03 9.99996500e-01 2.95931683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99907232899994 meters Centerline goodness [0,1] 0.38247595148473446 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99998391e-01 -1.31768534e-03 1.21722955e-03 -1.69580691e+02] [ 1.32048868e-03 9.99996471e-01 -2.30512860e-03 -9.65849231e+01] [-1.21418782e-03 2.30673223e-03 9.99996602e-01 2.95931632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.029072329 meters Centerline goodness [0,1] 0.37502611020595733 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99997745e-01 -1.42860332e-03 1.57160254e-03 -1.69581840e+02] [ 1.43211723e-03 9.99996472e-01 -2.23703164e-03 -9.65856253e+01] [-1.56840117e-03 2.23927732e-03 9.99996263e-01 2.95931898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05907232899995 meters Centerline goodness [0,1] 0.367223730937957 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99997465e-01 -1.46726099e-03 1.70810963e-03 -1.69581921e+02] [ 1.47106041e-03 9.99996442e-01 -2.22521855e-03 -9.65855341e+01] [-1.70483858e-03 2.22772564e-03 9.99996065e-01 2.95931503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.089072329 meters Centerline goodness [0,1] 0.37879674117401296 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99997042e-01 -1.44715424e-03 1.95496447e-03 -1.69582083e+02] [ 1.45108313e-03 9.99996928e-01 -2.00977773e-03 -9.65861922e+01] [-1.95205000e-03 2.01260860e-03 9.99996069e-01 2.95930768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11907232899995 meters Centerline goodness [0,1] 0.38016477082636335 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99999129e-01 6.39754673e-04 1.15406592e-03 -1.69577843e+02] [-6.39592206e-04 9.99999786e-01 -1.41141507e-04 -9.65873173e+01] [-1.15415597e-03 1.40403252e-04 9.99999324e-01 2.95928058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.149072329 meters Centerline goodness [0,1] 0.39209542311629175 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99997820e-01 2.06790474e-03 2.87933084e-04 -1.69574383e+02] [-2.06820135e-03 9.99997327e-01 1.03367011e-03 -9.65879554e+01] [-2.85794783e-04 -1.03426336e-03 9.99999424e-01 2.95926594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17907232899995 meters Centerline goodness [0,1] 0.3893070714674026 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99995845e-01 2.81360918e-03 -6.27424562e-04 -1.69572169e+02] [-2.81277151e-03 9.99995157e-01 1.33200858e-03 -9.65875481e+01] [ 6.31169275e-04 -1.33023824e-03 9.99998916e-01 2.95926776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.209072329 meters Centerline goodness [0,1] 0.38429061115291363 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.93 [[ 9.99993970e-01 3.12480774e-03 -1.51490410e-03 -1.69570574e+02] [-3.12357605e-03 9.99994790e-01 8.14730642e-04 -9.65850169e+01] [ 1.51744209e-03 -8.09993811e-04 9.99998521e-01 2.95927853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23907232899995 meters Centerline goodness [0,1] 0.36354340567612686 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.93 [[ 9.99991292e-01 3.44385877e-03 -2.35687973e-03 -1.69568734e+02] [-3.44285938e-03 9.99993982e-01 4.27954935e-04 -9.65826150e+01] [ 2.35833936e-03 -4.19836803e-04 9.99997131e-01 2.95928484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.269072329 meters Centerline goodness [0,1] 0.36540752973639656 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.93 [[ 9.99987823e-01 3.71079384e-03 -3.25317793e-03 -1.69567430e+02] [-3.71163406e-03 9.99993080e-01 -2.52278099e-04 -9.65796621e+01] [ 3.25221927e-03 2.64349633e-04 9.99994677e-01 2.95930011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29907232899996 meters Centerline goodness [0,1] 0.3711637831844522 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.93 [[ 9.99986081e-01 3.86450753e-03 -3.59203092e-03 -1.69566854e+02] [-3.86541074e-03 9.99992499e-01 -2.44538739e-04 -9.65794925e+01] [ 3.59105895e-03 2.58420010e-04 9.99993519e-01 2.95930380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.329072329 meters Centerline goodness [0,1] 0.367468744110071 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.93 [[ 9.99981637e-01 4.30998650e-03 -4.26020990e-03 -1.69565196e+02] [-4.31044201e-03 9.99990705e-01 -9.77443756e-05 -9.65790821e+01] [ 4.25974903e-03 1.16105968e-04 9.99990920e-01 2.95930426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35907232899996 meters Centerline goodness [0,1] 0.3676039835969537 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.93 [[ 9.99982629e-01 4.19070339e-03 -4.14493052e-03 -1.69565337e+02] [-4.19168746e-03 9.99991189e-01 -2.28755716e-04 -9.65786410e+01] [ 4.14393535e-03 2.46125995e-04 9.99991384e-01 2.95930178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.389072329 meters Centerline goodness [0,1] 0.3788675450908101 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99973883e-01 5.05710038e-03 -5.16319586e-03 -1.69562708e+02] [-5.05640417e-03 9.99987205e-01 1.47883950e-04 -9.65783179e+01] [ 5.16387766e-03 -1.21772883e-04 9.99986660e-01 2.95930125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41907232899996 meters Centerline goodness [0,1] 0.3796495928662633 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99970473e-01 5.18434649e-03 -5.67231977e-03 -1.69561447e+02] [-5.18489663e-03 9.99986555e-01 -8.22860753e-05 -9.65769100e+01] [ 5.67181690e-03 1.11694037e-04 9.99983909e-01 2.95930248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.449072329 meters Centerline goodness [0,1] 0.3836812462050627 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99968753e-01 5.23303195e-03 -5.92523605e-03 -1.69561056e+02] [-5.23477311e-03 9.99986260e-01 -2.78384297e-04 -9.65760735e+01] [ 5.92369784e-03 3.09392865e-04 9.99982407e-01 2.95930593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47907232899996 meters Centerline goodness [0,1] 0.370704638257774 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.57, Z:295.93 [[ 9.99967604e-01 5.17955035e-03 -6.16142725e-03 -1.69560738e+02] [-5.18328531e-03 9.99986392e-01 -5.90370405e-04 -9.65749811e+01] [ 6.15828555e-03 6.22287715e-04 9.99980844e-01 2.95931010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.509072329 meters Centerline goodness [0,1] 0.3786086628844181 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.57, Z:295.93 [[ 9.99967892e-01 5.11707103e-03 -6.16694428e-03 -1.69560889e+02] [-5.12159251e-03 9.99986627e-01 -7.17611924e-04 -9.65745559e+01] [ 6.16318974e-03 7.49173459e-04 9.99980727e-01 2.95931249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53907232899996 meters Centerline goodness [0,1] 0.37362614357192203 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.57, Z:295.93 [[ 9.99960366e-01 5.71673382e-03 -6.82527932e-03 -1.69558959e+02] [-5.71944691e-03 9.99983572e-01 -3.78054280e-04 -9.65743479e+01] [ 6.82300596e-03 4.17076119e-04 9.99976636e-01 2.95930953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.569072329 meters Centerline goodness [0,1] 0.3609628466771324 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.57, Z:295.93 [[ 9.99958477e-01 5.87752831e-03 -6.96409462e-03 -1.69558423e+02] [-5.87884459e-03 9.99982705e-01 -1.68554018e-04 -9.65746858e+01] [ 6.96298350e-03 2.09487850e-04 9.99975736e-01 2.95930677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59907232899997 meters Centerline goodness [0,1] 0.35575009948269 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99963752e-01 5.67120126e-03 -6.35070613e-03 -1.69559260e+02] [-5.67177276e-03 9.99983913e-01 -7.19839783e-05 -9.65751110e+01] [ 6.35019573e-03 1.08001131e-04 9.99979831e-01 2.95929605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.629072329 meters Centerline goodness [0,1] 0.3629283815186216 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.57, Z:295.93 [[ 9.99967060e-01 5.43477687e-03 -6.02851640e-03 -1.69559876e+02] [-5.43676042e-03 9.99985172e-01 -3.12688321e-04 -9.65744726e+01] [ 6.02672762e-03 3.45453620e-04 9.99981779e-01 2.95929320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65907232899997 meters Centerline goodness [0,1] 0.37006720120585346 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99967379e-01 5.52571406e-03 -5.89133017e-03 -1.69560199e+02] [-5.52563013e-03 9.99984733e-01 3.05225671e-05 -9.65757633e+01] [ 5.89140889e-03 2.03174012e-06 9.99982645e-01 2.95929176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.689072329 meters Centerline goodness [0,1] 0.38026693485867535 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99969035e-01 5.46797722e-03 -5.65953130e-03 -1.69560339e+02] [-5.46741986e-03 9.99985047e-01 1.13949242e-04 -9.65760173e+01] [ 5.66006974e-03 -8.30026802e-05 9.99983978e-01 2.95928504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71907232899997 meters Centerline goodness [0,1] 0.3436244139316812 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99975248e-01 3.12104432e-03 -6.30577452e-03 -1.69557340e+02] [-3.13453717e-03 9.99992817e-01 -2.13101197e-03 -9.65777166e+01] [ 6.29907824e-03 2.15072491e-03 9.99977848e-01 2.95926997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74907232899994 meters Centerline goodness [0,1] 0.36680272108843537 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99983152e-01 2.18516052e-03 -5.37785046e-03 -1.69560338e+02] [-2.19921944e-03 9.99994176e-01 -2.60970253e-03 -9.65779881e+01] [ 5.37211652e-03 2.62148563e-03 9.99982134e-01 2.95927641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.779072329 meters Centerline goodness [0,1] 0.3524485480392773 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99983094e-01 2.31673788e-03 -5.33342148e-03 -1.69560561e+02] [-2.32940479e-03 9.99994478e-01 -2.37002040e-03 -9.65786076e+01] [ 5.32790132e-03 2.38240403e-03 9.99982969e-01 2.95927752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80907232899995 meters Centerline goodness [0,1] 0.3717490008997133 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99984943e-01 2.05407163e-03 -5.08863048e-03 -1.69561186e+02] [-2.06785259e-03 9.99994205e-01 -2.70440668e-03 -9.65775638e+01] [ 5.08304594e-03 2.71488849e-03 9.99983396e-01 2.95927816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.839072329 meters Centerline goodness [0,1] 0.36256612926834364 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99980601e-01 2.60788663e-03 -5.65655257e-03 -1.69559164e+02] [-2.62107837e-03 9.99993860e-01 -2.32595729e-03 -9.65769516e+01] [ 5.65045201e-03 2.34073843e-03 9.99981296e-01 2.95927249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86907232899995 meters Centerline goodness [0,1] 0.3634770636460354 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99979015e-01 2.68461192e-03 -5.89601146e-03 -1.69558428e+02] [-2.69854037e-03 9.99993584e-01 -2.35566686e-03 -9.65762691e+01] [ 5.88964958e-03 2.37152805e-03 9.99979844e-01 2.95927141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.899072329 meters Centerline goodness [0,1] 0.37095357590966127 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99988010e-01 1.47817812e-03 -4.66847969e-03 -1.69561514e+02] [-1.49027674e-03 9.99995538e-01 -2.58914040e-03 -9.65774588e+01] [ 4.66463165e-03 2.59606669e-03 9.99985751e-01 2.95926769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92907232899995 meters Centerline goodness [0,1] 0.3706529008527002 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.93 [[ 9.99992366e-01 9.92986409e-04 -3.77908443e-03 -1.69563672e+02] [-1.00330004e-03 9.99995775e-01 -2.72821699e-03 -9.65777404e+01] [ 3.77635938e-03 2.73198772e-03 9.99989138e-01 2.95926573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.959072329 meters Centerline goodness [0,1] 0.35378669173717747 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.93 [[ 9.99995562e-01 6.24218691e-04 -2.91301775e-03 -1.69565875e+02] [-6.31754386e-04 9.99996455e-01 -2.58670061e-03 -9.65789757e+01] [ 2.91139275e-03 2.58852944e-03 9.99992412e-01 2.95926451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98907232899995 meters Centerline goodness [0,1] 0.3823234433765148 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.93 [[ 9.99998138e-01 -7.01099173e-04 -1.79768215e-03 -1.69569289e+02] [ 6.95007458e-04 9.99994022e-01 -3.38703806e-03 -9.65787501e+01] [ 1.80004605e-03 3.38578235e-03 9.99992648e-01 2.95927003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.019072329 meters Centerline goodness [0,1] 0.37010817357891657 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.93 [[ 9.99987742e-01 -4.84869385e-03 -1.00257565e-03 -1.69570839e+02] [ 4.84186202e-03 9.99965779e-01 -6.70797326e-03 -9.65820545e+01] [ 1.03506625e-03 6.70303671e-03 9.99976999e-01 2.95926205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04907232899996 meters Centerline goodness [0,1] 0.3545105085029039 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.93 [[ 9.99987213e-01 -5.05365173e-03 -1.87603412e-04 -1.69572497e+02] [ 5.05234826e-03 9.99966773e-01 -6.39734458e-03 -9.65835824e+01] [ 2.19927130e-04 6.39631494e-03 9.99979519e-01 2.95925504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.079072329 meters Centerline goodness [0,1] 0.35990469422731264 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.92 [[ 9.99982611e-01 -5.82636237e-03 9.11420157e-04 -1.69574808e+02] [ 5.83188705e-03 9.99963890e-01 -6.18118596e-03 -9.65855938e+01] [-8.75373417e-04 6.18639378e-03 9.99980481e-01 2.95924504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10907232899996 meters Centerline goodness [0,1] 0.36249294862419823 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.92 [[ 9.99980716e-01 -6.01796921e-03 1.53374188e-03 -1.69576351e+02] [ 6.02716145e-03 9.99963469e-01 -6.06090276e-03 -9.65864647e+01] [-1.49721152e-03 6.07002999e-03 9.99980456e-01 2.95924410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.139072329 meters Centerline goodness [0,1] 0.3726786013050025 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.92 [[ 9.99977999e-01 -6.26089273e-03 2.19165974e-03 -1.69578138e+02] [ 6.27392326e-03 9.99962378e-01 -5.99000262e-03 -9.65872508e+01] [-2.15407452e-03 6.00362114e-03 9.99979658e-01 2.95924510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16907232899996 meters Centerline goodness [0,1] 0.3613810688235417 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99976579e-01 -6.38870823e-03 2.45458591e-03 -1.69579405e+02] [ 6.40355517e-03 9.99960957e-01 -6.08917420e-03 -9.65872927e+01] [-2.41558812e-03 6.10474966e-03 9.99978448e-01 2.95925325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.199072329 meters Centerline goodness [0,1] 0.3678569189945885 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99972320e-01 -6.78026975e-03 3.06374217e-03 -1.69581020e+02] [ 6.79957125e-03 9.99956822e-01 -6.33409818e-03 -9.65868971e+01] [-3.02066299e-03 6.35475499e-03 9.99975246e-01 2.95925447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22907232899996 meters Centerline goodness [0,1] 0.3839336106523966 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.93 [[ 9.99966454e-01 -7.24311933e-03 3.82477386e-03 -1.69582879e+02] [ 7.26724557e-03 9.99953545e-01 -6.33212257e-03 -9.65876098e+01] [-3.77873186e-03 6.35970572e-03 9.99972637e-01 2.95925260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.259072329 meters Centerline goodness [0,1] 0.34287026023080613 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.92 [[ 9.99971108e-01 -6.76351668e-03 3.46945941e-03 -1.69581665e+02] [ 6.78381854e-03 9.99959740e-01 -5.87358578e-03 -9.65881878e+01] [-3.42959363e-03 5.89695226e-03 9.99976732e-01 2.95924790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28907232899996 meters Centerline goodness [0,1] 0.37116891256659357 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.92 [[ 9.99967185e-01 -7.05616724e-03 3.97981931e-03 -1.69582889e+02] [ 7.08011275e-03 9.99956724e-01 -6.03508473e-03 -9.65879536e+01] [-3.93706252e-03 6.06306426e-03 9.99973869e-01 2.95924686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.319072329 meters Centerline goodness [0,1] 0.3621338125287308 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.92 [[ 9.99961200e-01 -7.53302015e-03 4.56634880e-03 -1.69584300e+02] [ 7.56251779e-03 9.99950425e-01 -6.47731078e-03 -9.65869055e+01] [-4.51732872e-03 6.51159255e-03 9.99968596e-01 2.95924632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34907232899997 meters Centerline goodness [0,1] 0.35041895647449695 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.92 [[ 9.99959783e-01 -7.55154571e-03 4.83806237e-03 -1.69584831e+02] [ 7.58208741e-03 9.99951247e-01 -6.32586520e-03 -9.65872603e+01] [-4.79005644e-03 6.36229340e-03 9.99968288e-01 2.95924400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.379072329 meters Centerline goodness [0,1] 0.3543346563609776 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.92 [[ 9.99958690e-01 -7.48213870e-03 5.16100497e-03 -1.69585495e+02] [ 7.51321755e-03 9.99953600e-01 -6.02899084e-03 -9.65882079e+01] [-5.11565576e-03 6.06751753e-03 9.99968507e-01 2.95924146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40907232899997 meters Centerline goodness [0,1] 0.37453003592614253 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.92 [[ 9.99961825e-01 -7.27097507e-03 4.84586994e-03 -1.69584671e+02] [ 7.29996970e-03 9.99955397e-01 -5.99278436e-03 -9.65876175e+01] [-4.80208041e-03 6.02793028e-03 9.99970302e-01 2.95924157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.439072329 meters Centerline goodness [0,1] 0.36414893394867087 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99970553e-01 -5.15002131e-03 5.68954272e-03 -1.69588113e+02] [ 5.17272716e-03 9.99978688e-01 -3.98332366e-03 -9.65844226e+01] [-5.66890726e-03 4.01263681e-03 9.99975881e-01 2.95925677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46907232899997 meters Centerline goodness [0,1] 0.3483709273182958 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99967521e-01 -5.31611033e-03 6.05770585e-03 -1.69588934e+02] [ 5.34048371e-03 9.99977681e-01 -4.01448742e-03 -9.65844707e+01] [-6.03622919e-03 4.04670811e-03 9.99973594e-01 2.95925510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49907232899994 meters Centerline goodness [0,1] 0.35133555926544235 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.93 [[ 9.99964702e-01 -5.33515510e-03 6.49087429e-03 -1.69589721e+02] [ 5.35940672e-03 9.99978702e-01 -3.72462562e-03 -9.65854806e+01] [-6.47086459e-03 3.75928138e-03 9.99971997e-01 2.95925005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.529072329 meters Centerline goodness [0,1] 0.3455426316119198 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.92 [[ 9.99963882e-01 -5.20290853e-03 6.72048002e-03 -1.69589607e+02] [ 5.22560424e-03 9.99980688e-01 -3.36396349e-03 -9.65862950e+01] [-6.70284784e-03 3.39896055e-03 9.99971759e-01 2.95923993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55907232899995 meters Centerline goodness [0,1] 0.3530775012527142 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.92 [[ 9.99961051e-01 -5.07631670e-03 7.21999728e-03 -1.69590545e+02] [ 5.09590194e-03 9.99983379e-01 -2.69683327e-03 -9.65887999e+01] [-7.20618730e-03 2.73352063e-03 9.99970299e-01 2.95923328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.589072329 meters Centerline goodness [0,1] 0.35224971291366536 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.92 [[ 9.99969829e-01 -4.31732827e-03 6.45763573e-03 -1.69588496e+02] [ 4.33252906e-03 9.99987873e-01 -2.34179120e-03 -9.65883256e+01] [-6.44744713e-03 2.36969844e-03 9.99976407e-01 2.95923252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61907232899995 meters Centerline goodness [0,1] 0.35155891314328647 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.92 [[ 9.99975360e-01 -4.11067067e-03 5.69043190e-03 -1.69587167e+02] [ 4.12730188e-03 9.99987237e-01 -2.91401077e-03 -9.65855790e+01] [-5.67838073e-03 2.93742510e-03 9.99979564e-01 2.95924351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.649072329 meters Centerline goodness [0,1] 0.35391591440989634 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99976808e-01 -4.25047979e-03 5.32142588e-03 -1.69586338e+02] [ 4.26873841e-03 9.99985025e-01 -3.42450895e-03 -9.65834758e+01] [-5.30679038e-03 3.44714530e-03 9.99979977e-01 2.95924589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67907232899995 meters Centerline goodness [0,1] 0.3544028900164965 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99984867e-01 -3.12553308e-03 4.52743750e-03 -1.69583363e+02] [ 3.13645767e-03 9.99992182e-01 -2.40788801e-03 -9.65839469e+01] [-4.51987617e-03 2.42205168e-03 9.99986852e-01 2.95923507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.709072329 meters Centerline goodness [0,1] 0.3728292896997053 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99991575e-01 9.29986640e-04 3.99816076e-03 -1.69582158e+02] [-9.34123922e-04 9.99999030e-01 1.03305357e-03 -9.65809070e+01] [-3.99719615e-03 -1.03677964e-03 9.99991474e-01 2.95923763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73907232899995 meters Centerline goodness [0,1] 0.3621323529411765 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99993890e-01 1.20883024e-03 3.28016033e-03 -1.69580479e+02] [-1.21145143e-03 9.99998948e-01 7.97234754e-04 -9.65792105e+01] [-3.27919316e-03 -8.01203638e-04 9.99994302e-01 2.95924036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.769072329 meters Centerline goodness [0,1] 0.3621323529411765 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99993890e-01 1.20883024e-03 3.28016033e-03 -1.69580479e+02] [-1.21145143e-03 9.99998948e-01 7.97234754e-04 -9.65792105e+01] [-3.27919316e-03 -8.01203638e-04 9.99994302e-01 2.95924036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79907232899996 meters Centerline goodness [0,1] 0.34511721198445533 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99996041e-01 1.46159668e-03 2.40449616e-03 -1.69578656e+02] [-1.46255113e-03 9.99998852e-01 3.95235020e-04 -9.65771573e+01] [-2.40391572e-03 -3.98750154e-04 9.99997031e-01 2.95924654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.829072329 meters Centerline goodness [0,1] 0.37887432858904424 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99996955e-01 1.25087585e-03 2.12733499e-03 -1.69578731e+02] [-1.25004969e-03 9.99999143e-01 -3.89638488e-04 -9.65746638e+01] [-2.12782055e-03 3.86978027e-04 9.99997661e-01 2.95925864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85907232899996 meters Centerline goodness [0,1] 0.37649298219925953 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99997309e-01 1.35908800e-03 1.87991728e-03 -1.69578288e+02] [-1.35827650e-03 9.99998984e-01 -4.32876163e-04 -9.65742744e+01] [-1.88050369e-03 4.30321551e-04 9.99998139e-01 2.95926129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.889072329 meters Centerline goodness [0,1] 0.35477330211751923 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99996620e-01 1.15687235e-03 2.32832965e-03 -1.69579528e+02] [-1.15581873e-03 9.99999229e-01 -4.53816427e-04 -9.65745736e+01] [-2.32885286e-03 4.51123766e-04 9.99997186e-01 2.95926276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91907232899996 meters Centerline goodness [0,1] 0.3603394577872536 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99995721e-01 8.90813055e-04 2.78640993e-03 -1.69580730e+02] [-8.89195370e-04 9.99999435e-01 -5.81747095e-04 -9.65746243e+01] [-2.78692659e-03 5.79266943e-04 9.99995949e-01 2.95926317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.949072329 meters Centerline goodness [0,1] 0.34851046951003106 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99994812e-01 6.57294582e-04 3.15336620e-03 -1.69581528e+02] [-6.54950430e-04 9.99999508e-01 -7.44355853e-04 -9.65742538e+01] [-3.15385391e-03 7.42286693e-04 9.99994751e-01 2.95926143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97907232899996 meters Centerline goodness [0,1] 0.3778377022450772 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99996423e-01 1.24322496e-03 2.36804171e-03 -1.69579410e+02] [-1.24207337e-03 9.99999110e-01 -4.87714706e-04 -9.65736922e+01] [-2.36864594e-03 4.84771681e-04 9.99997077e-01 2.95926062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.009072329 meters Centerline goodness [0,1] 0.37155358301756447 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99996601e-01 1.16214212e-03 2.33415627e-03 -1.69579276e+02] [-1.16065342e-03 9.99999122e-01 -6.39041420e-04 -9.65730452e+01] [-2.33489687e-03 6.36330101e-04 9.99997072e-01 2.95926024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03907232899996 meters Centerline goodness [0,1] 0.3931688327996484 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99995139e-01 7.55451763e-04 3.02500637e-03 -1.69580820e+02] [-7.53299874e-04 9.99999462e-01 -7.12442790e-04 -9.65736395e+01] [-3.02554296e-03 7.10160590e-04 9.99995171e-01 2.95925672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.069072329 meters Centerline goodness [0,1] 0.3680260875018291 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99994903e-01 7.96751567e-04 3.09184936e-03 -1.69580877e+02] [-7.94920149e-04 9.99999508e-01 -5.93521072e-04 -9.65738980e+01] [-3.09232073e-03 5.91060274e-04 9.99995044e-01 2.95925478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09907232899997 meters Centerline goodness [0,1] 0.3676064586296327 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99993960e-01 6.88741564e-04 3.40656428e-03 -1.69581643e+02] [-6.86934801e-04 9.99999623e-01 -5.31518536e-04 -9.65743348e+01] [-3.40692908e-03 5.29175238e-04 9.99994056e-01 2.95925414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.129072329 meters Centerline goodness [0,1] 0.37566237302335326 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.57, Z:295.93 [[ 9.99993423e-01 5.81710085e-04 3.58001835e-03 -1.69582023e+02] [-5.79558134e-04 9.99999651e-01 -6.02108708e-04 -9.65741684e+01] [-3.58036735e-03 6.00029919e-04 9.99993410e-01 2.95925326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15907232899997 meters Centerline goodness [0,1] 0.38559180259305725 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.93 [[ 9.99990649e-01 6.63094538e-05 4.32397304e-03 -1.69584371e+02] [-6.40193641e-05 9.99999858e-01 -5.29762523e-04 -9.65760321e+01] [-4.32400756e-03 5.29480752e-04 9.99990511e-01 2.95925731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.189072329 meters Centerline goodness [0,1] 0.3559307848429686 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99988126e-01 -2.16341182e-04 4.86840934e-03 -1.69585786e+02] [ 2.19934157e-04 9.99999704e-01 -7.37495093e-04 -9.65758491e+01] [-4.86824835e-03 7.38557065e-04 9.99987877e-01 2.95925785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21907232899997 meters Centerline goodness [0,1] 0.40116437352097334 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.93 [[ 9.99986568e-01 -2.15407037e-04 5.17855653e-03 -1.69586046e+02] [ 2.17226657e-04 9.99999915e-01 -3.50816138e-04 -9.65768403e+01] [-5.17848052e-03 3.51936347e-04 9.99986530e-01 2.95925026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24907232899994 meters Centerline goodness [0,1] 0.3618491300797688 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99982624e-01 -5.73058197e-04 5.86720098e-03 -1.69587478e+02] [ 5.74748558e-04 9.99999794e-01 -2.86421291e-04 -9.65776284e+01] [-5.86703564e-03 2.89788480e-04 9.99982747e-01 2.95924528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.279072329 meters Centerline goodness [0,1] 0.3391685815750992 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99972231e-01 -4.12479610e-03 6.20671965e-03 -1.69587295e+02] [ 4.14394785e-03 9.99986683e-01 -3.07595816e-03 -9.65815788e+01] [-6.19394930e-03 3.10159307e-03 9.99976007e-01 2.95923062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30907232899995 meters Centerline goodness [0,1] 0.3481117271681138 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99967881e-01 -4.10883351e-03 6.88147569e-03 -1.69588828e+02] [ 4.12658928e-03 9.99988188e-01 -2.56801886e-03 -9.65835793e+01] [-6.87084284e-03 2.59633341e-03 9.99973025e-01 2.95922740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.339072329 meters Centerline goodness [0,1] 0.3626974483596598 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99964996e-01 -4.15795926e-03 7.26067417e-03 -1.69589846e+02] [ 4.17607783e-03 9.99988200e-01 -2.48206416e-03 -9.65839088e+01] [-7.25026818e-03 2.51229842e-03 9.99970561e-01 2.95922833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36907232899995 meters Centerline goodness [0,1] 0.34747538235910325 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99957361e-01 -4.71684265e-03 7.93899164e-03 -1.69591863e+02] [ 4.74043992e-03 9.99984395e-01 -2.95613718e-03 -9.65830676e+01] [-7.92492412e-03 2.99364545e-03 9.99964116e-01 2.95923331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.399072329 meters Centerline goodness [0,1] 0.3542499529062101 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99958493e-01 -4.47971896e-03 7.93371158e-03 -1.69591823e+02] [ 4.50010446e-03 9.99986614e-01 -2.55349261e-03 -9.65840405e+01] [-7.92216645e-03 2.58908915e-03 9.99965267e-01 2.95923272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42907232899995 meters Centerline goodness [0,1] 0.353080370230766 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99955967e-01 -4.60730213e-03 8.17536828e-03 -1.69592271e+02] [ 4.62922423e-03 9.99985735e-01 -2.66458726e-03 -9.65835108e+01] [-8.16297510e-03 2.70231554e-03 9.99963031e-01 2.95923093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.459072329 meters Centerline goodness [0,1] 0.3508746202995705 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99945835e-01 -5.20454697e-03 9.01333973e-03 -1.69594153e+02] [ 5.23064337e-03 9.99982190e-01 -2.87415978e-03 -9.65837581e+01] [-8.99822050e-03 2.92114966e-03 9.99955248e-01 2.95922741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48907232899995 meters Centerline goodness [0,1] 0.33996107076330606 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.58, Z:295.92 [[ 9.99936791e-01 -5.58776640e-03 9.75658734e-03 -1.69595826e+02] [ 5.61777459e-03 9.99979566e-01 -3.05099348e-03 -9.65837460e+01] [-9.73933974e-03 3.10561094e-03 9.99947749e-01 2.95922474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.519072329 meters Centerline goodness [0,1] 0.35437655781999455 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99917250e-01 -6.87549556e-03 1.08729096e-02 -1.69599192e+02] [ 6.91216643e-03 9.99970537e-01 -3.33870708e-03 -9.65862202e+01] [-1.08496340e-02 3.41358617e-03 9.99935314e-01 2.95922760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54907232899996 meters Centerline goodness [0,1] 0.32277447449962315 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99911402e-01 -7.05636736e-03 1.12869870e-02 -1.69600057e+02] [ 7.09626761e-03 9.99968700e-01 -3.49893188e-03 -9.65857319e+01] [-1.12619440e-02 3.57871736e-03 9.99930178e-01 2.95922540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.579072329 meters Centerline goodness [0,1] 0.3319017890811581 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99906259e-01 -7.15743296e-03 1.16723933e-02 -1.69601218e+02] [ 7.19689160e-03 9.99968517e-01 -3.34201632e-03 -9.65865802e+01] [-1.16481055e-02 3.42570799e-03 9.99926290e-01 2.95922768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60907232899996 meters Centerline goodness [0,1] 0.32525256750820974 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99902421e-01 -7.30428191e-03 1.19077714e-02 -1.69601788e+02] [ 7.34652450e-03 9.99966862e-01 -3.50760586e-03 -9.65859996e+01] [-1.18817562e-02 3.59474433e-03 9.99922948e-01 2.95922754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.639072329 meters Centerline goodness [0,1] 0.34252190826762596 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99904603e-01 -7.21162689e-03 1.17803956e-02 -1.69601152e+02] [ 7.25229766e-03 9.99967876e-01 -3.41334800e-03 -9.65857951e+01] [-1.17554014e-02 3.49845731e-03 9.99924783e-01 2.95922351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66907232899996 meters Centerline goodness [0,1] 0.33552411252511727 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99900462e-01 -7.28692238e-03 1.20816504e-02 -1.69601609e+02] [ 7.32733978e-03 9.99967695e-01 -3.30447048e-03 -9.65861081e+01] [-1.20571807e-02 3.39266792e-03 9.99921554e-01 2.95921893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.699072329 meters Centerline goodness [0,1] 0.34971340111292415 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99903804e-01 -6.99014270e-03 1.19799771e-02 -1.69600785e+02] [ 7.02534636e-03 9.99971120e-01 -2.89898181e-03 -9.65867249e+01] [-1.19593668e-02 2.98286643e-03 9.99924035e-01 2.95921111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72907232899996 meters Centerline goodness [0,1] 0.3387481683064685 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99905815e-01 -6.81148571e-03 1.19149179e-02 -1.69600348e+02] [ 6.84445623e-03 9.99972854e-01 -2.72857733e-03 -9.65867937e+01] [-1.18960088e-02 2.80987147e-03 9.99925292e-01 2.95920731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.759072329 meters Centerline goodness [0,1] 0.34476628673010556 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99899204e-01 -6.91007490e-03 1.24029458e-02 -1.69601401e+02] [ 6.94367834e-03 9.99972332e-01 -2.66829631e-03 -9.65871934e+01] [-1.23841645e-02 2.75414943e-03 9.99919520e-01 2.95920465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78907232899996 meters Centerline goodness [0,1] 0.310980580697757 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99898865e-01 -6.79704994e-03 1.24923587e-02 -1.69601867e+02] [ 6.82794551e-03 9.99973732e-01 -2.43217301e-03 -9.65880540e+01] [-1.24754990e-02 2.51722417e-03 9.99919009e-01 2.95920768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.819072329 meters Centerline goodness [0,1] 0.3566518314214673 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99897252e-01 -6.86284026e-03 1.25851641e-02 -1.69602062e+02] [ 6.89634342e-03 9.99972786e-01 -2.62065237e-03 -9.65871894e+01] [-1.25668365e-02 2.70717472e-03 9.99917369e-01 2.95920770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84907232899997 meters Centerline goodness [0,1] 0.3605091015486217 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99882791e-01 -7.46153859e-03 1.33689998e-02 -1.69604063e+02] [ 7.50182369e-03 9.99967463e-01 -2.96571102e-03 -9.65868795e+01] [-1.33464361e-02 3.06565529e-03 9.99906233e-01 2.95920819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.879072329 meters Centerline goodness [0,1] 0.3769717736038276 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99847953e-01 -9.41996302e-03 1.46743109e-02 -1.69607653e+02] [ 9.47804686e-03 9.99947502e-01 -3.89369364e-03 -9.65876609e+01] [-1.46368620e-02 4.03218542e-03 9.99884745e-01 2.95920946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90907232899997 meters Centerline goodness [0,1] 0.33477227227227224 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99835819e-01 -9.53266983e-03 1.54098249e-02 -1.69608942e+02] [ 9.58866377e-03 9.99947677e-01 -3.56385919e-03 -9.65887978e+01] [-1.53750455e-02 3.71103371e-03 9.99874910e-01 2.95920101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.939072329 meters Centerline goodness [0,1] 0.345635409918288 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99808309e-01 -1.03120903e-02 1.66434888e-02 -1.69611456e+02] [ 1.03643122e-02 9.99941624e-01 -3.05447830e-03 -9.65918813e+01] [-1.66110192e-02 3.22639110e-03 9.99856822e-01 2.95918957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96907232899997 meters Centerline goodness [0,1] 0.3413579085950724 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99802736e-01 -1.02690299e-02 1.70010727e-02 -1.69612243e+02] [ 1.03165224e-02 9.99943116e-01 -2.70815866e-03 -9.65929817e+01] [-1.69722954e-02 2.88301639e-03 9.99851804e-01 2.95918752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99907232899994 meters Centerline goodness [0,1] 0.34446279609458297 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99795894e-01 -1.03869026e-02 1.73286446e-02 -1.69613231e+02] [ 1.04355490e-02 9.99941851e-01 -2.71922365e-03 -9.65931626e+01] [-1.72993926e-02 2.89950256e-03 9.99846150e-01 2.95918972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.029072329 meters Centerline goodness [0,1] 0.3199039766203945 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99787957e-01 -1.06309510e-02 1.76358893e-02 -1.69614344e+02] [ 1.06851108e-02 9.99938473e-01 -2.97961366e-03 -9.65927311e+01] [-1.76031281e-02 3.16742328e-03 9.99840036e-01 2.95919457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05907232899995 meters Centerline goodness [0,1] 0.3510844832265203 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99790746e-01 -1.04719175e-02 1.75727998e-02 -1.69614390e+02] [ 1.05224390e-02 9.99940759e-01 -2.78498823e-03 -9.65931811e+01] [-1.75425946e-02 2.96931417e-03 9.99841708e-01 2.95919725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.089072329 meters Centerline goodness [0,1] 0.36887144914529024 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99800151e-01 -1.02976401e-02 1.71352202e-02 -1.69613117e+02] [ 1.03486483e-02 9.99942273e-01 -2.89079751e-03 -9.65918750e+01] [-1.71044627e-02 3.06754615e-03 9.99849002e-01 2.95919600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11907232899995 meters Centerline goodness [0,1] 0.343481622333201 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99804081e-01 -1.01749592e-02 1.69785076e-02 -1.69612658e+02] [ 1.02236130e-02 9.99943870e-01 -2.78127574e-03 -9.65917144e+01] [-1.69492552e-02 2.95431253e-03 9.99851986e-01 2.95919480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.149072329 meters Centerline goodness [0,1] 0.3423254261334001 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99816715e-01 -9.63740587e-03 1.65425512e-02 -1.69611141e+02] [ 9.67586355e-03 9.99950665e-01 -2.24631006e-03 -9.65922131e+01] [-1.65200865e-02 2.40596181e-03 9.99860639e-01 2.95918937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17907232899995 meters Centerline goodness [0,1] 0.34607103288249685 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99835212e-01 -8.83996858e-03 1.58556899e-02 -1.69609273e+02] [ 8.86735721e-03 9.99959310e-01 -1.65789732e-03 -9.65923988e+01] [-1.58403889e-02 1.79822218e-03 9.99872916e-01 2.95918731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.209072329 meters Centerline goodness [0,1] 0.3510293656599436 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99842121e-01 -8.60832624e-03 1.55444684e-02 -1.69608118e+02] [ 8.63313821e-03 9.99961564e-01 -1.52979519e-03 -9.65920000e+01] [-1.55307019e-02 1.66375121e-03 9.99878007e-01 2.95918229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23907232899995 meters Centerline goodness [0,1] 0.31073103332775076 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.59, Z:295.92 [[ 9.99848532e-01 -8.31782166e-03 1.52881282e-02 -1.69607118e+02] [ 8.33840906e-03 9.99964411e-01 -1.28337635e-03 -9.65920404e+01] [-1.52769092e-02 1.41066063e-03 9.99882306e-01 2.95917736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.269072329 meters Centerline goodness [0,1] 0.3527382221943416 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99868656e-01 -7.29526906e-03 1.44723974e-02 -1.69604927e+02] [ 7.30091439e-03 9.99973291e-01 -3.37279603e-04 -9.65933478e+01] [-1.44695503e-02 4.42897038e-04 9.99895212e-01 2.95917511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29907232899996 meters Centerline goodness [0,1] 0.35423420408675466 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99883419e-01 -6.81496257e-03 1.36639659e-02 -1.69603523e+02] [ 6.82301708e-03 9.99976576e-01 -5.42939947e-04 -9.65918349e+01] [-1.36599458e-02 6.36106124e-04 9.99906496e-01 2.95918518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.329072329 meters Centerline goodness [0,1] 0.3296489761805266 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99887592e-01 -6.81075299e-03 1.33573095e-02 -1.69603438e+02] [ 6.82271429e-03 9.99976364e-01 -8.50122129e-04 -9.65906847e+01] [-1.33512038e-02 9.41159675e-04 9.99910426e-01 2.95919526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35907232899996 meters Centerline goodness [0,1] 0.3549552937244088 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99899627e-01 -6.38512569e-03 1.26477808e-02 -1.69602205e+02] [ 6.39642307e-03 9.99979179e-01 -8.52978937e-04 -9.65898306e+01] [-1.26420710e-02 9.33793877e-04 9.99919650e-01 2.95920369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.389072329 meters Centerline goodness [0,1] 0.35046328250820946 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99899257e-01 -6.63384641e-03 1.25485858e-02 -1.69602322e+02] [ 6.65203293e-03 9.99976884e-01 -1.40810444e-03 -9.65881006e+01] [-1.25389545e-02 1.49143619e-03 9.99920272e-01 2.95920942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41907232899996 meters Centerline goodness [0,1] 0.36731066783757793 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99911760e-01 -6.03716998e-03 1.18331805e-02 -1.69600321e+02] [ 6.04977757e-03 9.99981170e-01 -1.02993740e-03 -9.65879006e+01] [-1.18267398e-02 1.10143462e-03 9.99929455e-01 2.95920729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.449072329 meters Centerline goodness [0,1] 0.3470903233903694 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99922761e-01 -5.18989759e-03 1.12932270e-02 -1.69597651e+02] [ 5.19252539e-03 9.99986498e-01 -2.03378849e-04 -9.65883041e+01] [-1.12920190e-02 2.62003508e-04 9.99936209e-01 2.95919056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47907232899996 meters Centerline goodness [0,1] 0.35336287254942944 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.59, Z:295.92 [[ 9.99927020e-01 -4.92047604e-03 1.10337100e-02 -1.69596530e+02] [ 4.91980166e-03 9.99987894e-01 8.82624066e-05 -9.65884795e+01] [-1.10340107e-02 -3.39723007e-05 9.99939123e-01 2.95918433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.509072329 meters Centerline goodness [0,1] 0.3527567612757597 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.92 [[ 9.99939436e-01 -4.02539863e-03 1.02430804e-02 -1.69593802e+02] [ 4.01969731e-03 9.99991754e-01 5.77129195e-04 -9.65880438e+01] [-1.02453191e-02 -5.35920159e-04 9.99947372e-01 2.95917590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53907232899996 meters Centerline goodness [0,1] 0.35922858099062915 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.92 [[ 9.99948824e-01 -3.43154066e-03 9.51705939e-03 -1.69592108e+02] [ 3.42293806e-03 9.99993718e-01 9.20054932e-04 -9.65880480e+01] [-9.52015682e-03 -8.87431543e-04 9.99954288e-01 2.95917798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.569072329 meters Centerline goodness [0,1] 0.36030796267626264 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.92 [[ 9.99955586e-01 -3.12348591e-03 8.89216981e-03 -1.69590647e+02] [ 3.11648101e-03 9.99994823e-01 8.01508477e-04 -9.65868127e+01] [-8.89462727e-03 -7.73760600e-04 9.99960143e-01 2.95918013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59907232899997 meters Centerline goodness [0,1] 0.37171658022419274 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.92 [[ 9.99969235e-01 -1.63409453e-03 7.67200166e-03 -1.69587501e+02] [ 1.62484633e-03 9.99997946e-01 1.21152670e-03 -9.65852682e+01] [-7.67396565e-03 -1.19902361e-03 9.99969836e-01 2.95918278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.629072329 meters Centerline goodness [0,1] 0.37108982937437274 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99975137e-01 -1.21459838e-03 6.94617501e-03 -1.69585585e+02] [ 1.20690825e-03 9.99998654e-01 1.11118761e-03 -9.65837078e+01] [-6.94751531e-03 -1.10277658e-03 9.99975258e-01 2.95918275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65907232899997 meters Centerline goodness [0,1] 0.37108982937437274 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.58, Z:295.92 [[ 9.99975137e-01 -1.21459838e-03 6.94617501e-03 -1.69585585e+02] [ 1.20690825e-03 9.99998654e-01 1.11118761e-03 -9.65837078e+01] [-6.94751531e-03 -1.10277658e-03 9.99975258e-01 2.95918275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.689072329 meters Centerline goodness [0,1] 0.36192048827390155 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99983933e-01 3.14860595e-04 5.65989405e-03 -1.69582222e+02] [-3.23923329e-04 9.99998667e-01 1.60037447e-03 -9.65819464e+01] [-5.65938261e-03 -1.60218213e-03 9.99982702e-01 2.95918490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71907232899997 meters Centerline goodness [0,1] 0.36765904105296143 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99985953e-01 2.18847276e-04 5.29592637e-03 -1.69581725e+02] [-2.24859034e-04 9.99999331e-01 1.13459759e-03 -9.65803587e+01] [-5.29567453e-03 -1.13577249e-03 9.99985333e-01 2.95919171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74907232899994 meters Centerline goodness [0,1] 0.3717477552724995 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99990489e-01 1.67182111e-03 4.02827804e-03 -1.69578797e+02] [-1.67742505e-03 9.99997630e-01 1.38817379e-03 -9.65788064e+01] [-4.02594772e-03 -1.39491773e-03 9.99990923e-01 2.95919945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.779072329 meters Centerline goodness [0,1] 0.3464693481391805 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99992412e-01 2.33168702e-03 3.12063523e-03 -1.69576585e+02] [-2.33681151e-03 9.99995926e-01 1.63949122e-03 -9.65782002e+01] [-3.11679974e-03 -1.64677111e-03 9.99993787e-01 2.95920093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80907232899995 meters Centerline goodness [0,1] 0.365005842096478 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99992578e-01 2.26802322e-03 3.11432851e-03 -1.69576583e+02] [-2.27278174e-03 9.99996254e-01 1.52525546e-03 -9.65778753e+01] [-3.11085752e-03 -1.53232233e-03 9.99993987e-01 2.95920114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.839072329 meters Centerline goodness [0,1] 0.3725342851775315 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99992261e-01 2.36200249e-03 3.14617363e-03 -1.69576221e+02] [-2.36761542e-03 9.99995610e-01 1.78151897e-03 -9.65786017e+01] [-3.14195186e-03 -1.78895411e-03 9.99993464e-01 2.95919439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86907232899995 meters Centerline goodness [0,1] 0.3523752004498407 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.92 [[ 9.99997005e-01 3.32229574e-04 2.42470333e-03 -1.69572800e+02] [-3.31615898e-04 9.99999913e-01 -2.53490924e-04 -9.65803762e+01] [-2.42478733e-03 2.52686095e-04 9.99997028e-01 2.95917679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.899072329 meters Centerline goodness [0,1] 0.3620215161371029 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.92 [[ 9.99995143e-01 -1.12422567e-04 3.11475968e-03 -1.69574720e+02] [ 1.13612458e-04 9.99999921e-01 -3.81842531e-04 -9.65808338e+01] [-3.11471650e-03 3.82194551e-04 9.99995076e-01 2.95917869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92907232899995 meters Centerline goodness [0,1] 0.35625377895461086 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99993292e-01 -4.12371679e-04 3.63942698e-03 -1.69576325e+02] [ 4.14385816e-04 9.99999761e-01 -5.52684921e-04 -9.65809025e+01] [-3.63919820e-03 5.54189341e-04 9.99993225e-01 2.95918252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.959072329 meters Centerline goodness [0,1] 0.3662638049593665 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99994112e-01 -4.16362862e-04 3.40619155e-03 -1.69575831e+02] [ 4.19113260e-04 9.99999587e-01 -8.06796182e-04 -9.65795981e+01] [-3.40585422e-03 8.08219012e-04 9.99993873e-01 2.95918461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98907232899995 meters Centerline goodness [0,1] 0.3614580943840844 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99993353e-01 -5.07211248e-04 3.61061922e-03 -1.69575761e+02] [ 5.09887034e-04 9.99999596e-01 -7.40205884e-04 -9.65793822e+01] [-3.61024232e-03 7.42041972e-04 9.99993208e-01 2.95917735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.019072329 meters Centerline goodness [0,1] 0.3673069302800893 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.92 [[ 9.99995425e-01 4.08156008e-04 2.99722865e-03 -1.69573298e+02] [-4.09041310e-04 9.99999873e-01 2.94766446e-04 -9.65810218e+01] [-2.99710796e-03 -2.95991088e-04 9.99995465e-01 2.95916520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04907232899996 meters Centerline goodness [0,1] 0.37484082416550113 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.92 [[ 9.99996123e-01 8.45501353e-04 2.65329935e-03 -1.69572099e+02] [-8.47442008e-04 9.99999374e-01 7.30372963e-04 -9.65816435e+01] [-2.65268016e-03 -7.32618649e-04 9.99996213e-01 2.95916036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.079072329 meters Centerline goodness [0,1] 0.3651148225469728 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.92 [[ 9.99996055e-01 9.18176302e-04 2.65458294e-03 -1.69572063e+02] [-9.20421647e-04 9.99999220e-01 8.44739256e-04 -9.65820488e+01] [-2.65380525e-03 -8.47179259e-04 9.99996120e-01 2.95915909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10907232899996 meters Centerline goodness [0,1] 0.366976501305483 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.92 [[ 9.99995522e-01 7.98725738e-04 2.88422127e-03 -1.69572967e+02] [-8.01004592e-04 9.99999368e-01 7.89042192e-04 -9.65821926e+01] [-2.88358922e-03 -7.91348933e-04 9.99995529e-01 2.95916316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.139072329 meters Centerline goodness [0,1] 0.365010213865844 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.92 [[ 9.99996432e-01 1.71099261e-03 2.05163993e-03 -1.69570683e+02] [-1.71397270e-03 9.99997477e-01 1.45166387e-03 -9.65825262e+01] [-2.04915097e-03 -1.45517515e-03 9.99996842e-01 2.95916148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16907232899996 meters Centerline goodness [0,1] 0.3842409809696894 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.92 [[ 9.99996684e-01 1.63401193e-03 1.99036866e-03 -1.69570749e+02] [-1.63639218e-03 9.99997947e-01 1.19484283e-03 -9.65815630e+01] [-1.98841219e-03 -1.19809589e-03 9.99997305e-01 2.95916435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.199072329 meters Centerline goodness [0,1] 0.3825079471306676 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.92 [[ 9.99996143e-01 1.42604313e-03 2.38320671e-03 -1.69571738e+02] [-1.42854001e-03 9.99998432e-01 1.04632371e-03 -9.65814749e+01] [-2.38171087e-03 -1.04972418e-03 9.99996613e-01 2.95916359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22907232899996 meters Centerline goodness [0,1] 0.39169120872235097 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99998198e-01 -8.75875432e-04 1.68432893e-03 -1.69568655e+02] [ 8.77815226e-04 9.99998952e-01 -1.15127780e-03 -9.65836067e+01] [-1.68331879e-03 1.15275426e-03 9.99997919e-01 2.95914844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.259072329 meters Centerline goodness [0,1] 0.3643517648777841 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99996106e-01 -1.29206441e-03 2.47338975e-03 -1.69570111e+02] [ 1.29510849e-03 9.99998405e-01 -1.22952664e-03 -9.65835882e+01] [-2.47179718e-03 1.23272516e-03 9.99996185e-01 2.95914103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28907232899996 meters Centerline goodness [0,1] 0.3738716148445336 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99992883e-01 -1.89121380e-03 3.26459028e-03 -1.69572201e+02] [ 1.89639826e-03 9.99996945e-01 -1.58572415e-03 -9.65833218e+01] [-3.26158137e-03 1.59190383e-03 9.99993414e-01 2.95914202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.319072329 meters Centerline goodness [0,1] 0.36854303253017084 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99991515e-01 -2.01259724e-03 3.59429280e-03 -1.69572852e+02] [ 2.01839296e-03 9.99996668e-01 -1.60958040e-03 -9.65830208e+01] [-3.59104139e-03 1.61682143e-03 9.99992245e-01 2.95914052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34907232899997 meters Centerline goodness [0,1] 0.3843759791122715 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99980861e-01 -4.01700050e-03 4.70538779e-03 -1.69576804e+02] [ 4.02959449e-03 9.99988316e-01 -2.67008877e-03 -9.65837335e+01] [-4.69460706e-03 2.68899847e-03 9.99985365e-01 2.95915113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.379072329 meters Centerline goodness [0,1] 0.37013448045439357 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.58, Z:295.92 [[ 9.99975312e-01 -4.35462623e-03 5.51469460e-03 -1.69578839e+02] [ 4.36875562e-03 9.99987199e-01 -2.55268624e-03 -9.65849425e+01] [-5.50350801e-03 2.57671557e-03 9.99981536e-01 2.95915033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40907232899997 meters Centerline goodness [0,1] 0.37866449511400646 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99973399e-01 -4.07432096e-03 6.04992406e-03 -1.69580083e+02] [ 4.08425906e-03 9.99990329e-01 -1.63123683e-03 -9.65881591e+01] [-6.04321937e-03 1.65590289e-03 9.99980369e-01 2.95914650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.439072329 meters Centerline goodness [0,1] 0.34950279936492024 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99976636e-01 -3.56252999e-03 5.83398940e-03 -1.69578951e+02] [ 3.56840111e-03 9.99993137e-01 -9.96264101e-04 -9.65891212e+01] [-5.83040014e-03 1.01705884e-03 9.99982486e-01 2.95913826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46907232899997 meters Centerline goodness [0,1] 0.39420949359161694 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99973555e-01 -3.65260297e-03 6.28877436e-03 -1.69579582e+02] [ 3.65778060e-03 9.99992981e-01 -8.12008280e-04 -9.65897415e+01] [-6.28576427e-03 8.34989763e-04 9.99979896e-01 2.95913070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49907232899994 meters Centerline goodness [0,1] 0.36921695177224967 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99972542e-01 -3.47028394e-03 6.54771290e-03 -1.69579461e+02] [ 3.47256954e-03 9.99993914e-01 -3.37730971e-04 -9.65906521e+01] [-6.54650103e-03 3.60459086e-04 9.99978506e-01 2.95911978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.529072329 meters Centerline goodness [0,1] 0.3600567281221323 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99972473e-01 -3.31607400e-03 6.63753412e-03 -1.69579544e+02] [ 3.31644683e-03 9.99994500e-01 -4.51646269e-05 -9.65913213e+01] [-6.63734784e-03 6.71764127e-05 9.99977970e-01 2.95911765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55907232899995 meters Centerline goodness [0,1] 0.3679968259934432 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99965781e-01 -3.75988024e-03 7.36883137e-03 -1.69581366e+02] [ 3.76182896e-03 9.99992893e-01 -2.50612097e-04 -9.65913742e+01] [-7.36783673e-03 2.78323805e-04 9.99972818e-01 2.95911681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.589072329 meters Centerline goodness [0,1] 0.3605337225059939 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99957174e-01 -4.26265871e-03 8.21461787e-03 -1.69583522e+02] [ 4.26539371e-03 9.99990853e-01 -3.15452598e-04 -9.65920412e+01] [-8.21319807e-03 3.50477668e-04 9.99966210e-01 2.95911714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61907232899995 meters Centerline goodness [0,1] 0.3529166405973013 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.91 [[ 9.99938205e-01 -6.00904702e-03 9.35299288e-03 -1.69587203e+02] [ 6.02247756e-03 9.99980873e-01 -1.40845908e-03 -9.65921036e+01] [-9.34435048e-03 1.46470023e-03 9.99955268e-01 2.95912415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.649072329 meters Centerline goodness [0,1] 0.3269972279538965 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99896717e-01 -1.01040502e-02 1.02207314e-02 -1.69588822e+02] [ 1.01511894e-02 9.99938029e-01 -4.57080539e-03 -9.65960352e+01] [-1.01739144e-02 4.67408588e-03 9.99937320e-01 2.95911543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67907232899995 meters Centerline goodness [0,1] 0.3706835358470082 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99899472e-01 -9.80770946e-03 1.02398758e-02 -1.69588834e+02] [ 9.84937104e-03 9.99943389e-01 -4.02608989e-03 -9.65974954e+01] [-1.01998094e-02 4.12654149e-03 9.99939466e-01 2.95911394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.709072329 meters Centerline goodness [0,1] 0.36519106285237 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99897892e-01 -9.78618859e-03 1.04132448e-02 -1.69589105e+02] [ 9.82751018e-03 9.99944008e-01 -3.92443279e-03 -9.65976244e+01] [-1.03742565e-02 4.02636835e-03 9.99938080e-01 2.95911162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73907232899995 meters Centerline goodness [0,1] 0.3487720764970216 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99892752e-01 -9.99172140e-03 1.07074970e-02 -1.69589823e+02] [ 1.00357219e-02 9.99941384e-01 -4.06349024e-03 -9.65972415e+01] [-1.06662681e-02 4.17051190e-03 9.99934417e-01 2.95911127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.769072329 meters Centerline goodness [0,1] 0.3541340350437525 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99888704e-01 -1.01782615e-02 1.09079294e-02 -1.69590306e+02] [ 1.02247043e-02 9.99938862e-01 -4.21042943e-03 -9.65967178e+01] [-1.08644077e-02 4.32149118e-03 9.99931642e-01 2.95911100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79907232899996 meters Centerline goodness [0,1] 0.3489617097806311 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99892014e-01 -9.95167865e-03 1.08131779e-02 -1.69590033e+02] [ 9.99417224e-03 9.99942518e-01 -3.88289101e-03 -9.65973969e+01] [-1.07739150e-02 3.99054048e-03 9.99933997e-01 2.95910979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.829072329 meters Centerline goodness [0,1] 0.3568801203812072 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99902840e-01 -9.32341282e-03 1.03626132e-02 -1.69588556e+02] [ 9.35776594e-03 9.99950863e-01 -3.27157224e-03 -9.65979942e+01] [-1.03316018e-02 3.36822528e-03 9.99940955e-01 2.95910529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85907232899996 meters Centerline goodness [0,1] 0.3550356478287232 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99900932e-01 -9.34631456e-03 1.05248923e-02 -1.69588923e+02] [ 9.38052977e-03 9.99950862e-01 -3.20622353e-03 -9.65981780e+01] [-1.04944087e-02 3.30463496e-03 9.99939472e-01 2.95910428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.889072329 meters Centerline goodness [0,1] 0.35890250533271995 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99901115e-01 -9.28268958e-03 1.05636808e-02 -1.69588874e+02] [ 9.31645293e-03 9.99951635e-01 -3.15146411e-03 -9.65980426e+01] [-1.05339158e-02 3.24956851e-03 9.99939237e-01 2.95910198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91907232899996 meters Centerline goodness [0,1] 0.3703293719584787 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99892110e-01 -9.61437816e-03 1.11054716e-02 -1.69590414e+02] [ 9.65290330e-03 9.99947559e-01 -3.42064497e-03 -9.65975965e+01] [-1.10720018e-02 3.52747596e-03 9.99932482e-01 2.95910438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.949072329 meters Centerline goodness [0,1] 0.3647432282856129 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99880220e-01 -1.00646319e-02 1.17579626e-02 -1.69592172e+02] [ 1.01098675e-02 9.99941696e-01 -3.79415100e-03 -9.65970554e+01] [-1.17190903e-02 3.91256798e-03 9.99923674e-01 2.95910600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97907232899996 meters Centerline goodness [0,1] 0.38001003050946625 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99882084e-01 -9.91268915e-03 1.17284381e-02 -1.69592365e+02] [ 9.95682357e-03 9.99943545e-01 -3.71063705e-03 -9.65968759e+01] [-1.16909935e-02 3.82697750e-03 9.99924335e-01 2.95911012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.009072329 meters Centerline goodness [0,1] 0.37867485739359363 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99878696e-01 -1.00947949e-02 1.18612139e-02 -1.69593034e+02] [ 1.01427096e-02 9.99940615e-01 -3.98642137e-03 -9.65961388e+01] [-1.18202674e-02 4.10624264e-03 9.99921707e-01 2.95911508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03907232899996 meters Centerline goodness [0,1] 0.37833827893175076 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.91 [[ 9.99883051e-01 -1.00368771e-02 1.15389072e-02 -1.69592214e+02] [ 1.00862437e-02 9.99940194e-01 -4.22806508e-03 -9.65946129e+01] [-1.14957805e-02 4.34395484e-03 9.99924486e-01 2.95911572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.069072329 meters Centerline goodness [0,1] 0.3819370470163126 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.59, Z:295.91 [[ 9.99883663e-01 -9.96683516e-03 1.15465011e-02 -1.69592211e+02] [ 1.00144872e-02 9.99941544e-01 -4.07652261e-03 -9.65948933e+01] [-1.15051961e-02 4.19168065e-03 9.99925027e-01 2.95911487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09907232899997 meters Centerline goodness [0,1] 0.3674160120340966 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99887393e-01 -9.60795291e-03 1.15277521e-02 -1.69591589e+02] [ 9.64879032e-03 9.99947351e-01 -3.49215797e-03 -9.65960800e+01] [-1.14935927e-02 3.60299360e-03 9.99927455e-01 2.95910592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.129072329 meters Centerline goodness [0,1] 0.3664850420659277 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99882781e-01 -9.65618617e-03 1.18820121e-02 -1.69592268e+02] [ 9.69655218e-03 9.99947395e-01 -3.34432920e-03 -9.65967403e+01] [-1.18490936e-02 3.45915174e-03 9.99923814e-01 2.95910214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15907232899997 meters Centerline goodness [0,1] 0.3697127937336815 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99901450e-01 -8.37956797e-03 1.12638273e-02 -1.69589615e+02] [ 8.40226517e-03 9.99962761e-01 -1.96924182e-03 -9.65986505e+01] [-1.12469065e-02 2.06368941e-03 9.99934622e-01 2.95908694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.189072329 meters Centerline goodness [0,1] 0.34301937207748834 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99902887e-01 -8.41907376e-03 1.11056741e-02 -1.69589090e+02] [ 8.44364812e-03 9.99962002e-01 -2.16774578e-03 -9.65975478e+01] [-1.10870017e-02 2.26130767e-03 9.99935980e-01 2.95908564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21907232899997 meters Centerline goodness [0,1] 0.36471276129220875 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.91 [[ 9.99921289e-01 -6.99591200e-03 1.04150310e-02 -1.69586164e+02] [ 7.00560074e-03 9.99975061e-01 -8.94072452e-04 -9.65982483e+01] [-1.04085164e-02 9.66965627e-04 9.99945362e-01 2.95907152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24907232899994 meters Centerline goodness [0,1] 0.36408821318185614 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.91 [[ 9.99935108e-01 -6.18760659e-03 9.56520900e-03 -1.69583713e+02] [ 6.19802678e-03 9.99980230e-01 -1.06012469e-03 -9.65953797e+01] [-9.55846027e-03 1.11934132e-03 9.99953690e-01 2.95907108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.279072329 meters Centerline goodness [0,1] 0.36991445858543714 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99941759e-01 -5.97145677e-03 8.98997710e-03 -1.69582374e+02] [ 5.98354316e-03 9.99981230e-01 -1.31813377e-03 -9.65936495e+01] [-8.98193718e-03 1.37184892e-03 9.99958721e-01 2.95907340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30907232899995 meters Centerline goodness [0,1] 0.33817384036773923 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99967311e-01 -1.57298366e-03 7.93115713e-03 -1.69580358e+02] [ 1.55978968e-03 9.99997390e-01 1.66947496e-03 -9.65885578e+01] [-7.93376249e-03 -1.65704945e-03 9.99967154e-01 2.95908458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.339072329 meters Centerline goodness [0,1] 0.38696078635974707 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99974579e-01 -1.17086334e-03 7.03347531e-03 -1.69578232e+02] [ 1.15965883e-03 9.99998053e-01 1.59689434e-03 -9.65871567e+01] [-7.03533136e-03 -1.58869731e-03 9.99973990e-01 2.95908721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36907232899995 meters Centerline goodness [0,1] 0.33534320884623414 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.59, Z:295.91 [[ 9.99982980e-01 3.10115262e-04 5.82614903e-03 -1.69575411e+02] [-3.21589042e-04 9.99998011e-01 1.96852552e-03 -9.65855229e+01] [-5.82552697e-03 -1.97036565e-03 9.99981090e-01 2.95909325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.399072329 meters Centerline goodness [0,1] 0.335338220245181 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99986794e-01 5.50149854e-04 5.10977135e-03 -1.69573987e+02] [-5.58390173e-04 9.99998546e-01 1.61137250e-03 -9.65836879e+01] [-5.10887743e-03 -1.61420447e-03 9.99985647e-01 2.95909903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42907232899995 meters Centerline goodness [0,1] 0.3614734425545236 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99987787e-01 4.01976100e-04 4.92597007e-03 -1.69573955e+02] [-4.08020412e-04 9.99999165e-01 1.22608621e-03 -9.65825616e+01] [-4.92547310e-03 -1.22808113e-03 9.99987116e-01 2.95910515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.459072329 meters Centerline goodness [0,1] 0.3706587076306562 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99990137e-01 6.42737748e-04 4.39468034e-03 -1.69573022e+02] [-6.47111093e-04 9.99999297e-01 9.93795628e-04 -9.65812878e+01] [-4.39403850e-03 -9.96629673e-04 9.99989850e-01 2.95911123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48907232899995 meters Centerline goodness [0,1] 0.3616176808506194 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99991905e-01 8.79604548e-04 3.92644478e-03 -1.69571860e+02] [-8.83465421e-04 9.99999128e-01 9.81673905e-04 -9.65807336e+01] [-3.92557787e-03 -9.85134836e-04 9.99991810e-01 2.95911119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.519072329 meters Centerline goodness [0,1] 0.34929548063876426 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99992286e-01 1.12353718e-03 3.76361185e-03 -1.69571293e+02] [-1.12827076e-03 9.99998575e-01 1.25583695e-03 -9.65813161e+01] [-3.76219550e-03 -1.26007364e-03 9.99992129e-01 2.95910834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54907232899996 meters Centerline goodness [0,1] 0.3312165775401069 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99994191e-01 1.66074273e-03 2.97641350e-03 -1.69568954e+02] [-1.66471302e-03 9.99997727e-01 1.33193788e-03 -9.65801533e+01] [-2.97419473e-03 -1.33688502e-03 9.99994683e-01 2.95910450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.579072329 meters Centerline goodness [0,1] 0.3312165775401069 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99994191e-01 1.66074273e-03 2.97641350e-03 -1.69568954e+02] [-1.66471302e-03 9.99997727e-01 1.33193788e-03 -9.65801533e+01] [-2.97419473e-03 -1.33688502e-03 9.99994683e-01 2.95910450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60907232899996 meters Centerline goodness [0,1] 0.3580190157768258 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99994650e-01 1.54296567e-03 2.88436753e-03 -1.69568624e+02] [-1.54603162e-03 9.99998242e-01 1.06102610e-03 -9.65790836e+01] [-2.88272534e-03 -1.06547975e-03 9.99995277e-01 2.95910347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.639072329 meters Centerline goodness [0,1] 0.35787316787588597 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.58, Z:295.91 [[ 9.99995728e-01 2.00590308e-03 2.12623679e-03 -1.69566811e+02] [-2.00847578e-03 9.99997253e-01 1.20853523e-03 -9.65786306e+01] [-2.12380675e-03 -1.21280056e-03 9.99997009e-01 2.95910532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66907232899996 meters Centerline goodness [0,1] 0.3444031098478515 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99995295e-01 2.82137398e-03 1.20419994e-03 -1.69564207e+02] [-2.82293915e-03 9.99995170e-01 1.30004327e-03 -9.65767055e+01] [-1.20052621e-03 -1.30343654e-03 9.99998430e-01 2.95910438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.699072329 meters Centerline goodness [0,1] 0.3444172574607357 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99995056e-01 3.10111899e-03 5.20064020e-04 -1.69562753e+02] [-3.10166687e-03 9.99994632e-01 1.05600663e-03 -9.65750997e+01] [-5.16786426e-04 -1.05761448e-03 9.99999307e-01 2.95910919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72907232899996 meters Centerline goodness [0,1] 0.3490459452673864 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.57, Z:295.91 [[ 9.99997990e-01 1.20764087e-03 1.60054301e-03 -1.69565642e+02] [-1.20624858e-03 9.99998894e-01 -8.70567728e-04 -9.65719465e+01] [-1.60159258e-03 8.68635326e-04 9.99998340e-01 2.95911167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.759072329 meters Centerline goodness [0,1] 0.35085740543475985 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99998774e-01 -1.32597348e-03 8.33442102e-04 -1.69562679e+02] [ 1.32855517e-03 9.99994298e-01 -3.10473493e-03 -9.65754256e+01] [-8.29320553e-04 3.10583840e-03 9.99994833e-01 2.95909801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78907232899996 meters Centerline goodness [0,1] 0.3512203276496155 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99999036e-01 -1.08850917e-03 8.61698429e-04 -1.69562836e+02] [ 1.09088348e-03 9.99995597e-01 -2.75972398e-03 -9.65764613e+01] [-8.58690650e-04 2.76066133e-03 9.99995821e-01 2.95909843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.819072329 meters Centerline goodness [0,1] 0.35986875104497573 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.57, Z:295.91 [[ 9.99999948e-01 -3.20167519e-04 -3.38405364e-05 -1.69560773e+02] [ 3.20076061e-04 9.99996387e-01 -2.66892452e-03 -9.65749083e+01] [ 3.46949171e-05 2.66891355e-03 9.99996438e-01 2.95910413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84907232899997 meters Centerline goodness [0,1] 0.36023831922232674 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.57, Z:295.91 [[ 9.99999632e-01 5.12358617e-04 -6.88412494e-04 -1.69558454e+02] [-5.13861079e-04 9.99997483e-01 -2.18410021e-03 -9.65740447e+01] [ 6.87291718e-04 2.18445315e-03 9.99997378e-01 2.95909844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.879072329 meters Centerline goodness [0,1] 0.35788024776324845 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.57, Z:295.91 [[ 9.99998087e-01 1.37536509e-03 -1.39084503e-03 -1.69555874e+02] [-1.37796651e-03 9.99997300e-01 -1.87116288e-03 -9.65719779e+01] [ 1.38826774e-03 1.87307584e-03 9.99997282e-01 2.95909270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90907232899997 meters Centerline goodness [0,1] 0.30252627619783945 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.57, Z:295.91 [[ 9.99998144e-01 1.30351716e-03 -1.41843483e-03 -1.69555736e+02] [-1.30643559e-03 9.99997028e-01 -2.05852260e-03 -9.65711018e+01] [ 1.41574729e-03 2.06037187e-03 9.99996875e-01 2.95909237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.939072329 meters Centerline goodness [0,1] 0.30852308335074163 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.57, Z:295.91 [[ 9.99995078e-01 2.26196904e-03 -2.17431312e-03 -1.69553143e+02] [-2.26538886e-03 9.99996199e-01 -1.57164976e-03 -9.65701706e+01] [ 2.17074983e-03 1.57656769e-03 9.99996401e-01 2.95908689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96907232899997 meters Centerline goodness [0,1] 0.3660923385747742 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.57, Z:295.91 [[ 9.99991977e-01 2.75189689e-03 -2.91077458e-03 -1.69551465e+02] [-2.75581576e-03 9.99995301e-01 -1.34318004e-03 -9.65698333e+01] [ 2.90706461e-03 1.35119082e-03 9.99994862e-01 2.95908988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99907232899994 meters Centerline goodness [0,1] 0.3153777147268062 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.57, Z:295.91 [[ 9.99986766e-01 3.57568371e-03 -3.69904826e-03 -1.69549212e+02] [-3.57935031e-03 9.99993109e-01 -9.85082707e-04 -9.65691408e+01] [ 3.69550042e-03 9.98309859e-04 9.99992673e-01 2.95908869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.029072329 meters Centerline goodness [0,1] 0.31873001275003654 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.57, Z:295.91 [[ 9.99982784e-01 3.97072937e-03 -4.32028868e-03 -1.69548311e+02] [-3.97564374e-03 9.99991459e-01 -1.12951592e-03 -9.65680307e+01] [ 4.31576678e-03 1.14667240e-03 9.99990030e-01 2.95909882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05907232899995 meters Centerline goodness [0,1] 0.32397074190177644 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.57, Z:295.91 [[ 9.99983610e-01 3.88892691e-03 -4.20186213e-03 -1.69548931e+02] [-3.89426359e-03 9.99991620e-01 -1.26264220e-03 -9.65676467e+01] [ 4.19691659e-03 1.27898466e-03 9.99990375e-01 2.95910346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.089072329 meters Centerline goodness [0,1] 0.37848638922017874 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.57, Z:295.91 [[ 9.99984966e-01 3.76370691e-03 -3.98780130e-03 -1.69549838e+02] [-3.76928833e-03 9.99991926e-01 -1.39303267e-03 -9.65674573e+01] [ 3.98252613e-03 1.40804290e-03 9.99991078e-01 2.95910866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11907232899995 meters Centerline goodness [0,1] 0.3550647340570162 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.57, Z:295.91 [[ 9.99986616e-01 3.79903929e-03 -3.51222290e-03 -1.69550655e+02] [-3.80252773e-03 9.99992283e-01 -9.87084546e-04 -9.65689239e+01] [ 3.50844582e-03 1.00042666e-03 9.99993345e-01 2.95910247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.149072329 meters Centerline goodness [0,1] 0.3604301524326582 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.57, Z:295.91 [[ 9.99992872e-01 3.50328067e-04 -3.75939564e-03 -1.69549061e+02] [-3.65651173e-04 9.99991626e-01 -4.07603648e-03 -9.65709776e+01] [ 3.75793621e-03 4.07738206e-03 9.99984626e-01 2.95909038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17907232899995 meters Centerline goodness [0,1] 0.35415881786596337 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.57, Z:295.91 [[ 9.99995752e-01 1.96943132e-04 -2.90824986e-03 -1.69550951e+02] [-2.07209611e-04 9.99993747e-01 -3.53024376e-03 -9.65734852e+01] [ 2.90753642e-03 3.53083138e-03 9.99989540e-01 2.95908458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.209072329 meters Centerline goodness [0,1] 0.3504418478033253 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.58, Z:295.91 [[ 9.99998244e-01 -1.87073348e-04 -1.86446063e-03 -1.69553208e+02] [ 1.81290457e-04 9.99995174e-01 -3.10132903e-03 -9.65756852e+01] [ 1.86503181e-03 3.10098558e-03 9.99993453e-01 2.95907708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23907232899995 meters Centerline goodness [0,1] 0.3518731807425711 Centerline is valid? [False, False] Translation: X:-169.55, Y:-96.58, Z:295.91 [[ 9.99999348e-01 -3.40998023e-04 -1.09014372e-03 -1.69554900e+02] [ 3.37970065e-04 9.99996088e-01 -2.77655496e-03 -9.65772855e+01] [ 1.09108626e-03 2.77618472e-03 9.99995551e-01 2.95907229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.269072329 meters Centerline goodness [0,1] 0.3579897771074242 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99999207e-01 -1.25826526e-03 5.99906444e-05 -1.69557771e+02] [ 1.25841741e-03 9.99995809e-01 -2.60755721e-03 -9.65797330e+01] [-5.67093943e-05 2.60763063e-03 9.99996599e-01 2.95906789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29907232899996 meters Centerline goodness [0,1] 0.36386470194239784 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99998925e-01 -1.34593981e-03 5.81565191e-04 -1.69559154e+02] [ 1.34728486e-03 9.99996404e-01 -2.31863835e-03 -9.65811328e+01] [-5.78442353e-04 2.31941939e-03 9.99997143e-01 2.95906770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.329072329 meters Centerline goodness [0,1] 0.3606100601261182 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99999773e-01 -6.41304272e-04 2.06576489e-04 -1.69557413e+02] [ 6.41661894e-04 9.99998288e-01 -1.73579623e-03 -9.65811713e+01] [-2.05462962e-04 1.73592839e-03 9.99998472e-01 2.95905860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35907232899996 meters Centerline goodness [0,1] 0.3646881287726358 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99999851e-01 -4.72109959e-04 2.75651313e-04 -1.69557369e+02] [ 4.72490227e-04 9.99998935e-01 -1.38109449e-03 -9.65819941e+01] [-2.74998991e-04 1.38122452e-03 9.99999008e-01 2.95905530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.389072329 meters Centerline goodness [0,1] 0.34374803281784416 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99999644e-01 -4.78343692e-04 6.95502657e-04 -1.69558257e+02] [ 4.79120031e-04 9.99999262e-01 -1.11648969e-03 -9.65828949e+01] [-6.94968078e-04 1.11682252e-03 9.99999135e-01 2.95905267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41907232899996 meters Centerline goodness [0,1] 0.3630339505525615 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99999124e-01 -5.89846492e-04 1.18454611e-03 -1.69559658e+02] [ 5.91109389e-04 9.99999257e-01 -1.06607726e-03 -9.65833963e+01] [-1.18391641e-03 1.06677652e-03 9.99998730e-01 2.95905476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.449072329 meters Centerline goodness [0,1] 0.34764890282131666 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99988431e-01 -4.61725944e-03 1.34891737e-03 -1.69560069e+02] [ 4.62379158e-03 9.99977402e-01 -4.88020160e-03 -9.65845020e+01] [-1.32635373e-03 4.88638225e-03 9.99987182e-01 2.95905597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47907232899996 meters Centerline goodness [0,1] 0.3551217877562989 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.58, Z:295.91 [[ 9.99983807e-01 -5.22165647e-03 2.26253259e-03 -1.69562682e+02] [ 5.23331368e-03 9.99972903e-01 -5.17736486e-03 -9.65846365e+01] [-2.23543686e-03 5.18912157e-03 9.99984038e-01 2.95905976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.509072329 meters Centerline goodness [0,1] 0.35198408543607995 Centerline is valid? [False, False] Translation: X:-169.56, Y:-96.59, Z:295.91 [[ 9.99981723e-01 -5.36586654e-03 2.78589091e-03 -1.69563975e+02] [ 5.38006531e-03 9.99972448e-01 -5.11444271e-03 -9.65851780e+01] [-2.75837074e-03 5.12933751e-03 9.99983040e-01 2.95905906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53907232899996 meters Centerline goodness [0,1] 0.3755470402244697 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.91 [[ 9.99979075e-01 -5.50981325e-03 3.38981033e-03 -1.69565185e+02] [ 5.52612909e-03 9.99973101e-01 -4.82281138e-03 -9.65862812e+01] [-3.36314635e-03 4.84144299e-03 9.99982625e-01 2.95905432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.569072329 meters Centerline goodness [0,1] 0.34255671225990236 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.90 [[ 9.99978996e-01 -5.36236302e-03 3.64047202e-03 -1.69565552e+02] [ 5.37813959e-03 9.99976129e-01 -4.33779306e-03 -9.65876997e+01] [-3.61712430e-03 4.35728092e-03 9.99983965e-01 2.95904988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59907232899997 meters Centerline goodness [0,1] 0.3166052278820375 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.90 [[ 9.99946671e-01 -9.40992488e-03 4.25533480e-03 -1.69566466e+02] [ 9.44262341e-03 9.99925536e-01 -7.73045326e-03 -9.65905025e+01] [-4.18227495e-03 7.77022253e-03 9.99961065e-01 2.95904093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.629072329 meters Centerline goodness [0,1] 0.32084240495729355 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.90 [[ 9.99942542e-01 -9.47160807e-03 5.02011704e-03 -1.69568187e+02] [ 9.50706158e-03 9.99929699e-01 -7.08611311e-03 -9.65932572e+01] [-4.95264724e-03 7.13343252e-03 9.99962292e-01 2.95903582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65907232899997 meters Centerline goodness [0,1] 0.35030391951372875 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.90 [[ 9.99933445e-01 -9.89064109e-03 5.93978006e-03 -1.69570337e+02] [ 9.93283018e-03 9.99925349e-01 -7.11581034e-03 -9.65938627e+01] [-5.86895672e-03 7.17433558e-03 9.99957041e-01 2.95903290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.689072329 meters Centerline goodness [0,1] 0.3437211836700478 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.59, Z:295.90 [[ 9.99924495e-01 -1.03030862e-02 6.69707243e-03 -1.69572067e+02] [ 1.03518333e-02 9.99919878e-01 -7.28541355e-03 -9.65936389e+01] [-6.62147360e-03 7.35419044e-03 9.99951035e-01 2.95903103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71907232899997 meters Centerline goodness [0,1] 0.36453129898631 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.90 [[ 9.99929025e-01 -9.91534675e-03 6.60542765e-03 -1.69571956e+02] [ 9.95932835e-03 9.99928231e-01 -6.65912203e-03 -9.65952383e+01] [-6.53892609e-03 6.72443502e-03 9.99956011e-01 2.95903202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74907232899994 meters Centerline goodness [0,1] 0.3527231610025755 Centerline is valid? [False, False] Translation: X:-169.57, Y:-96.60, Z:295.90 [[ 9.99873336e-01 -1.42169486e-02 7.15476639e-03 -1.69573385e+02] [ 1.42929725e-02 9.99840714e-01 -1.06891053e-02 -9.65961282e+01] [-7.00166027e-03 1.07900143e-02 9.99917273e-01 2.95903457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.779072329 meters Centerline goodness [0,1] 0.34955418812005523 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.90 [[ 9.99848090e-01 -1.53000289e-02 8.34902759e-03 -1.69576567e+02] [ 1.53912770e-02 9.99821295e-01 -1.09766335e-02 -9.65971312e+01] [-8.17959277e-03 1.11034683e-02 9.99904899e-01 2.95903507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80907232899995 meters Centerline goodness [0,1] 0.3486215486382952 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.90 [[ 9.99815190e-01 -1.66919076e-02 9.53762431e-03 -1.69580258e+02] [ 1.68024833e-02 9.99791147e-01 -1.16335645e-02 -9.65977426e+01] [-9.34144596e-03 1.17916703e-02 9.99886841e-01 2.95904169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.839072329 meters Centerline goodness [0,1] 0.36010032396279656 Centerline is valid? [False, False] Translation: X:-169.58, Y:-96.60, Z:295.90 [[ 9.99723258e-01 -2.10093682e-02 1.05836181e-02 -1.69582889e+02] [ 2.11671632e-02 9.99663047e-01 -1.50247590e-02 -9.66013955e+01] [-1.02643913e-02 1.52446262e-02 9.99831108e-01 2.95904194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86907232899995 meters Centerline goodness [0,1] 0.2887456577240196 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.90 [[ 9.99703782e-01 -2.13893274e-02 1.16122466e-02 -1.69585358e+02] [ 2.15600606e-02 9.99658265e-01 -1.47823497e-02 -9.66030639e+01] [-1.12920938e-02 1.50283316e-02 9.99823303e-01 2.95903892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.899072329 meters Centerline goodness [0,1] 0.3546848524151204 Centerline is valid? [False, False] Translation: X:-169.59, Y:-96.60, Z:295.90 [[ 9.99659407e-01 -2.26704191e-02 1.29275770e-02 -1.69588611e+02] [ 2.28656330e-02 9.99623625e-01 -1.51581892e-02 -9.66041030e+01] [-1.25790688e-02 1.54486237e-02 9.99801534e-01 2.95903624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92907232899995 meters Centerline goodness [0,1] 0.3265250601653239 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.90 [[ 9.99478808e-01 -2.71933148e-02 1.73964492e-02 -1.69599550e+02] [ 2.74141034e-02 9.99544982e-01 -1.25815341e-02 -9.66065978e+01] [-1.70463999e-02 1.30518847e-02 9.99769508e-01 2.95897781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.959072329 meters Centerline goodness [0,1] 0.30712448505886536 Centerline is valid? [False, False] Translation: X:-169.60, Y:-96.61, Z:295.90 [[ 9.99407798e-01 -2.87686884e-02 1.88789731e-02 -1.69603180e+02] [ 2.90225864e-02 9.99490065e-01 -1.33153877e-02 -9.66067322e+01] [-1.84862798e-02 1.38554190e-02 9.99733107e-01 2.95897561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98907232899995 meters Centerline goodness [0,1] 0.3090764364565659 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.90 [[ 9.99395057e-01 -2.87099079e-02 1.96280664e-02 -1.69605026e+02] [ 2.89582248e-02 9.99502635e-01 -1.24861072e-02 -9.66098486e+01] [-1.92598291e-02 1.30469478e-02 9.99729381e-01 2.95897278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.019072329 meters Centerline goodness [0,1] 0.31782783890431554 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.90 [[ 9.99249886e-01 -3.29224738e-02 2.03905774e-02 -1.69606514e+02] [ 3.32534797e-02 9.99317061e-01 -1.61126385e-02 -9.66120412e+01] [-1.98461840e-02 1.67786099e-02 9.99662247e-01 2.95897009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04907232899996 meters Centerline goodness [0,1] 0.319526379649387 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.90 [[ 9.99243026e-01 -3.29868467e-02 2.06214340e-02 -1.69607487e+02] [ 3.33214812e-02 9.99314998e-01 -1.61000928e-02 -9.66123827e+01] [-2.00762170e-02 1.67750422e-02 9.99657713e-01 2.95897526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.079072329 meters Centerline goodness [0,1] 0.32438637502087164 Centerline is valid? [False, False] Translation: X:-169.61, Y:-96.61, Z:295.90 [[ 9.99191322e-01 -3.38828927e-02 2.16483761e-02 -1.69610253e+02] [ 3.42464798e-02 9.99274698e-01 -1.66510411e-02 -9.66118757e+01] [-2.10684890e-02 1.73789565e-02 9.99626976e-01 2.95897741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10907232899996 meters Centerline goodness [0,1] 0.33076826565179207 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.61, Z:295.89 [[ 9.99106851e-01 -3.38206365e-02 2.53310879e-02 -1.69619474e+02] [ 3.41261096e-02 9.99348749e-01 -1.17254785e-02 -9.66115423e+01] [-2.49180278e-02 1.25794574e-02 9.99610349e-01 2.95894145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.139072329 meters Centerline goodness [0,1] 0.33361913923627085 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.61, Z:295.90 [[ 9.99157316e-01 -3.16113747e-02 2.61797480e-02 -1.69622960e+02] [ 3.18588642e-02 9.99451034e-01 -9.09084723e-03 -9.66102170e+01] [-2.58780021e-02 9.91724355e-03 9.99615915e-01 2.95895355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16907232899996 meters Centerline goodness [0,1] 0.3311763104437604 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.61, Z:295.90 [[ 9.99250966e-01 -2.81962008e-02 2.65043447e-02 -1.69624317e+02] [ 2.83581987e-02 9.99581252e-01 -5.75617880e-03 -9.66080790e+01] [-2.63309437e-02 6.50348271e-03 9.99632125e-01 2.95895697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.199072329 meters Centerline goodness [0,1] 0.33661874568397265 Centerline is valid? [False, False] Translation: X:-169.62, Y:-96.61, Z:295.90 [[ 9.99260084e-01 -2.80891123e-02 2.62732869e-02 -1.69624075e+02] [ 2.82510354e-02 9.99583962e-01 -5.81220873e-03 -9.66076238e+01] [-2.60990964e-02 6.55015574e-03 9.99637901e-01 2.95896133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22907232899996 meters Centerline goodness [0,1] 0.3539037813631323 Centerline is valid? [False, False] Translation: X:-169.63, Y:-96.61, Z:295.90 [[ 9.99217467e-01 -2.87057976e-02 2.72108580e-02 -1.69626623e+02] [ 2.88816074e-02 9.99564287e-01 -6.09008543e-03 -9.66077401e+01] [-2.70241811e-02 6.87121306e-03 9.99611164e-01 2.95896444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.259072329 meters Centerline goodness [0,1] 0.3369742623979912 Centerline is valid? [False, False] Translation: X:-169.63, Y:-96.61, Z:295.90 [[ 9.99165687e-01 -2.95521589e-02 2.81886480e-02 -1.69629617e+02] [ 2.97494337e-02 9.99535566e-01 -6.60476835e-03 -9.66078896e+01] [-2.79803710e-02 7.43785422e-03 9.99580801e-01 2.95897048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28907232899996 meters Centerline goodness [0,1] 0.34898177023378474 Centerline is valid? [False, False] Translation: X:-169.63, Y:-96.61, Z:295.90 [[ 9.99133953e-01 -2.99811501e-02 2.88526208e-02 -1.69631448e+02] [ 3.01890959e-02 9.99521084e-01 -6.79865928e-03 -9.66084079e+01] [-2.86349712e-02 7.66380586e-03 9.99560556e-01 2.95897111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.319072329 meters Centerline goodness [0,1] 0.3723606838679976 Centerline is valid? [False, False] Translation: X:-169.63, Y:-96.61, Z:295.90 [[ 9.99065398e-01 -3.10248742e-02 3.00963166e-02 -1.69634463e+02] [ 3.12501224e-02 9.99486782e-01 -7.04286509e-03 -9.66090584e+01] [-2.98623666e-02 7.97679639e-03 9.99522191e-01 2.95896872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34907232899997 meters Centerline goodness [0,1] 0.3493799535749388 Centerline is valid? [False, False] Translation: X:-169.64, Y:-96.61, Z:295.90 [[ 9.99029656e-01 -3.14614852e-02 3.08208060e-02 -1.69636502e+02] [ 3.17005145e-02 9.99470771e-01 -7.29764330e-03 -9.66088723e+01] [-3.05749001e-02 8.26759748e-03 9.99498285e-01 2.95897170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.379072329 meters Centerline goodness [0,1] 0.34632342186096077 Centerline is valid? [False, False] Translation: X:-169.64, Y:-96.61, Z:295.90 [[ 9.98928131e-01 -3.33760161e-02 3.20722737e-02 -1.69640608e+02] [ 3.36656114e-02 9.99396733e-01 -8.53212859e-03 -9.66081559e+01] [-3.17681571e-02 9.60271596e-03 9.99449134e-01 2.95898372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40907232899997 meters Centerline goodness [0,1] 0.36246840335081154 Centerline is valid? [False, False] Translation: X:-169.64, Y:-96.61, Z:295.90 [[ 9.98891390e-01 -3.38876582e-02 3.26744029e-02 -1.69642214e+02] [ 3.41937952e-02 9.99375980e-01 -8.85635333e-03 -9.66078892e+01] [-3.23538924e-02 9.96379694e-03 9.99426810e-01 2.95898449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.439072329 meters Centerline goodness [0,1] 0.34653486039123893 Centerline is valid? [False, False] Translation: X:-169.65, Y:-96.60, Z:295.90 [[ 9.99276743e-01 -3.21070805e-02 2.03746320e-02 -1.69645457e+02] [ 3.23295427e-02 9.99420151e-01 -1.06847016e-02 -9.65985150e+01] [-2.00197632e-02 1.13356764e-02 9.99735321e-01 2.95902433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46907232899997 meters Centerline goodness [0,1] 0.34653486039123893 Centerline is valid? [False, False] Translation: X:-169.65, Y:-96.60, Z:295.90 [[ 9.99276743e-01 -3.21070805e-02 2.03746320e-02 -1.69645457e+02] [ 3.23295427e-02 9.99420151e-01 -1.06847016e-02 -9.65985150e+01] [-2.00197632e-02 1.13356764e-02 9.99735321e-01 2.95902433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49907232899994 meters Centerline goodness [0,1] 0.358967925396228 Centerline is valid? [False, False] Translation: X:-169.65, Y:-96.60, Z:295.90 [[ 9.99348280e-01 -2.92926395e-02 2.10939698e-02 -1.69648418e+02] [ 2.94633554e-02 9.99535206e-01 -7.82826282e-03 -9.65963321e+01] [-2.08548549e-02 8.44466012e-03 9.99746849e-01 2.95903492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.529072329 meters Centerline goodness [0,1] 0.37318400669876495 Centerline is valid? [False, False] Translation: X:-169.65, Y:-96.59, Z:295.90 [[ 9.99427435e-01 -2.60854832e-02 2.15487732e-02 -1.69650766e+02] [ 2.61948176e-02 9.99645298e-01 -4.80717676e-03 -9.65939674e+01] [-2.14157323e-02 5.36889052e-03 9.99756241e-01 2.95904656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55907232899995 meters Centerline goodness [0,1] 0.3632387410011719 Centerline is valid? [False, False] Translation: X:-169.65, Y:-96.59, Z:295.90 [[ 9.99406476e-01 -2.64735307e-02 2.20419546e-02 -1.69651908e+02] [ 2.65940991e-02 9.99632816e-01 -5.19486026e-03 -9.65929825e+01] [-2.18963348e-02 5.77796291e-03 9.99743550e-01 2.95904524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.589072329 meters Centerline goodness [0,1] 0.3545298716501526 Centerline is valid? [False, False] Translation: X:-169.65, Y:-96.59, Z:295.90 [[ 9.99419020e-01 -2.62717594e-02 2.17121329e-02 -1.69651424e+02] [ 2.63878006e-02 9.99638897e-01 -5.07537237e-03 -9.65930153e+01] [-2.15709536e-02 5.64535911e-03 9.99751381e-01 2.95904918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61907232899995 meters Centerline goodness [0,1] 0.36417355717029987 Centerline is valid? [False, False] Translation: X:-169.66, Y:-96.59, Z:295.91 [[ 9.99316469e-01 -2.90312825e-02 2.28862115e-02 -1.69655696e+02] [ 2.92158051e-02 9.99542929e-01 -7.76983220e-03 -9.65896347e+01] [-2.26501826e-02 8.43316038e-03 9.99707883e-01 2.95906809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.649072329 meters Centerline goodness [0,1] 0.35016919413460335 Centerline is valid? [False, False] Translation: X:-169.66, Y:-96.59, Z:295.91 [[ 9.99302962e-01 -2.91531862e-02 2.33169674e-02 -1.69657256e+02] [ 2.93392356e-02 9.99540029e-01 -7.67717580e-03 -9.65904990e+01] [-2.30824282e-02 8.35592652e-03 9.99698645e-01 2.95907367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67907232899995 meters Centerline goodness [0,1] 0.3589882829633033 Centerline is valid? [False, False] Translation: X:-169.66, Y:-96.59, Z:295.91 [[ 9.99283755e-01 -2.93357546e-02 2.39037660e-02 -1.69658653e+02] [ 2.95253058e-02 9.99535020e-01 -7.61571696e-03 -9.65909220e+01] [-2.36692384e-02 8.31602824e-03 9.99685256e-01 2.95907216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.709072329 meters Centerline goodness [0,1] 0.3739210399816081 Centerline is valid? [False, False] Translation: X:-169.66, Y:-96.59, Z:295.91 [[ 9.99244562e-01 -2.98002641e-02 2.49449153e-02 -1.69660160e+02] [ 2.99874601e-02 9.99524600e-01 -7.16416403e-03 -9.65923009e+01] [-2.47195626e-02 7.90678660e-03 9.99663156e-01 2.95905479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73907232899995 meters Centerline goodness [0,1] 0.3245272003169374 Centerline is valid? [False, False] Translation: X:-169.66, Y:-96.59, Z:295.91 [[ 9.99223454e-01 -2.99796523e-02 2.55677549e-02 -1.69661740e+02] [ 3.01658091e-02 9.99520909e-01 -6.92648323e-03 -9.65934881e+01] [-2.53478521e-02 7.69237650e-03 9.99649095e-01 2.95905458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.769072329 meters Centerline goodness [0,1] 0.33225422419014594 Centerline is valid? [False, False] Translation: X:-169.66, Y:-96.59, Z:295.91 [[ 9.99167220e-01 -3.13486499e-02 2.61176090e-02 -1.69664711e+02] [ 3.15859543e-02 9.99462970e-01 -8.72344005e-03 -9.65899202e+01] [-2.58301150e-02 9.54112494e-03 9.99620814e-01 2.95907614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79907232899996 meters Centerline goodness [0,1] 0.37725725976493185 Centerline is valid? [False, False] Translation: X:-169.67, Y:-96.59, Z:295.91 [[ 9.99204664e-01 -2.92566350e-02 2.70940597e-02 -1.69668466e+02] [ 2.94466698e-02 9.99544288e-01 -6.64158395e-03 -9.65863009e+01] [-2.68874022e-02 7.43413149e-03 9.99610825e-01 2.95909089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.829072329 meters Centerline goodness [0,1] 0.3588607727187245 Centerline is valid? [False, False] Translation: X:-169.67, Y:-96.59, Z:295.91 [[ 9.99191583e-01 -2.95174510e-02 2.72928489e-02 -1.69669286e+02] [ 2.97166925e-02 9.99534383e-01 -6.92349257e-03 -9.65856436e+01] [-2.70757771e-02 7.72894871e-03 9.99603504e-01 2.95909452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85907232899996 meters Centerline goodness [0,1] 0.35577144050976706 Centerline is valid? [False, False] Translation: X:-169.68, Y:-96.57, Z:295.91 [[ 9.99387611e-01 -3.08135800e-02 1.65809295e-02 -1.69678374e+02] [ 3.09994729e-02 9.99458059e-01 -1.10734636e-02 -9.65705506e+01] [-1.62307305e-02 1.15806824e-02 9.99801206e-01 2.95914540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.889072329 meters Centerline goodness [0,1] 0.28944839114082743 Centerline is valid? [False, False] Translation: X:-169.68, Y:-96.57, Z:295.92 [[ 9.99442934e-01 -2.84003715e-02 1.75283018e-02 -1.69681878e+02] [ 2.85468684e-02 9.99559109e-01 -8.16484599e-03 -9.65697524e+01] [-1.72886891e-02 8.66067575e-03 9.99813029e-01 2.95915386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91907232899996 meters Centerline goodness [0,1] 0.2892166091413032 Centerline is valid? [False, False] Translation: X:-169.68, Y:-96.57, Z:295.92 [[ 9.99509442e-01 -2.53625716e-02 1.83743340e-02 -1.69684784e+02] [ 2.54560261e-02 9.99664080e-01 -4.87019773e-03 -9.65684796e+01] [-1.82446410e-02 5.33554614e-03 9.99819316e-01 2.95915948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.949072329 meters Centerline goodness [0,1] 0.30451049243374295 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.57, Z:295.92 [[ 9.99492471e-01 -2.57192173e-02 1.87968713e-02 -1.69686033e+02] [ 2.58226128e-02 9.99652603e-01 -5.27877514e-03 -9.65675055e+01] [-1.86545754e-02 5.76148034e-03 9.99809388e-01 2.95916199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97907232899996 meters Centerline goodness [0,1] 0.34737722048066877 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.56, Z:295.92 [[ 9.99527286e-01 -2.36324811e-02 1.96649457e-02 -1.69689537e+02] [ 2.36972025e-02 9.99714484e-01 -3.06468414e-03 -9.65649408e+01] [-1.95869050e-02 3.52923962e-03 9.99801929e-01 2.95917479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.009072329 meters Centerline goodness [0,1] 0.3100997219492819 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.56, Z:295.91 [[ 9.99575417e-01 -1.82720473e-02 2.26962164e-02 -1.69700313e+02] [ 1.84942014e-02 9.99782714e-01 -9.61710909e-03 -9.65564858e+01] [-2.25155606e-02 1.00327742e-02 9.99696150e-01 2.95911943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03907232899996 meters Centerline goodness [0,1] 0.303290863825603 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.55, Z:295.91 [[ 9.99615325e-01 -1.50991342e-02 2.32640993e-02 -1.69701982e+02] [ 1.52588052e-02 9.99861121e-01 -6.70124085e-03 -9.65530857e+01] [-2.31596854e-02 7.05364541e-03 9.99706895e-01 2.95912193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.069072329 meters Centerline goodness [0,1] 0.307861266839595 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.55, Z:295.91 [[ 9.99640276e-01 -1.23931869e-02 2.37850420e-02 -1.69704650e+02] [ 1.24983543e-02 9.99912741e-01 -4.27802062e-03 -9.65495095e+01] [-2.37299482e-02 4.57375559e-03 9.99707943e-01 2.95913813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09907232899997 meters Centerline goodness [0,1] 0.31444948850442456 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.55, Z:295.91 [[ 9.99648691e-01 -1.22247068e-02 2.35170510e-02 -1.69704373e+02] [ 1.23262400e-02 9.99915303e-01 -4.17731851e-03 -9.65496230e+01] [-2.34639927e-02 4.46572779e-03 9.99714708e-01 2.95914276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.129072329 meters Centerline goodness [0,1] 0.31227651966626935 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.55, Z:295.91 [[ 9.99652541e-01 -1.22107136e-02 2.33601230e-02 -1.69704419e+02] [ 1.23139889e-02 9.99915010e-01 -4.28227697e-03 -9.65493271e+01] [-2.33058479e-02 4.56844535e-03 9.99717944e-01 2.95914813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15907232899997 meters Centerline goodness [0,1] 0.3190879615103023 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.54, Z:295.92 [[ 9.99887357e-01 -9.67803389e-03 1.14720924e-02 -1.69708205e+02] [ 9.76842245e-03 9.99921480e-01 -7.84932129e-03 -9.65388448e+01] [-1.13952256e-02 7.96050136e-03 9.99903385e-01 2.95918975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.189072329 meters Centerline goodness [0,1] 0.32094347125426426 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.54, Z:295.92 [[ 9.99904068e-01 -6.60937315e-03 1.21725249e-02 -1.69711032e+02] [ 6.66421072e-03 9.99967803e-01 -4.46998957e-03 -9.65387735e+01] [-1.21425892e-02 4.55068102e-03 9.99915921e-01 2.95919967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21907232899997 meters Centerline goodness [0,1] 0.3218157465154242 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.54, Z:295.92 [[ 9.99910145e-01 -6.40558585e-03 1.17758353e-02 -1.69710170e+02] [ 6.45990703e-03 9.99968643e-01 -4.58070192e-03 -9.65377565e+01] [-1.17461240e-02 4.65636113e-03 9.99920170e-01 2.95920201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24907232899994 meters Centerline goodness [0,1] 0.3172544843283426 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.54, Z:295.92 [[ 9.99933539e-01 -4.94488188e-03 1.04147082e-02 -1.69707149e+02] [ 4.98941132e-03 9.99978504e-01 -4.25399587e-03 -9.65361542e+01] [-1.03934488e-02 4.30567641e-03 9.99936717e-01 2.95920978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.279072329 meters Centerline goodness [0,1] 0.32061180507605713 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99937581e-01 -1.73873226e-03 1.10367692e-02 -1.69708890e+02] [ 1.75343054e-03 9.99997589e-01 -1.32221856e-03 -9.65329171e+01] [-1.10344437e-02 1.34148824e-03 9.99938219e-01 2.95921200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30907232899995 meters Centerline goodness [0,1] 0.34497285741233674 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99945001e-01 3.18597850e-03 9.99226149e-03 -1.69706135e+02] [-3.21454228e-03 9.99990790e-01 2.84383265e-03 -9.65310053e+01] [-9.98310907e-03 -2.87579679e-03 9.99946032e-01 2.95921047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.339072329 meters Centerline goodness [0,1] 0.34311323323071763 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99952041e-01 3.67408242e-03 9.07837739e-03 -1.69703743e+02] [-3.70046234e-03 9.99988975e-01 2.89071091e-03 -9.65299233e+01] [-9.06765659e-03 -2.92416646e-03 9.99954612e-01 2.95920945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36907232899995 meters Centerline goodness [0,1] 0.3445423899160368 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99957129e-01 4.42369129e-03 8.13450305e-03 -1.69701695e+02] [-4.45064852e-03 9.99984655e-01 3.29882592e-03 -9.65300347e+01] [-8.11978523e-03 -3.33488831e-03 9.99961473e-01 2.95921352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.399072329 meters Centerline goodness [0,1] 0.350121359223301 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99960744e-01 4.50765242e-03 7.62836710e-03 -1.69701386e+02] [-4.52912927e-03 9.99985822e-01 2.80046413e-03 -9.65284453e+01] [-7.61563543e-03 -2.83490406e-03 9.99966982e-01 2.95922639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42907232899995 meters Centerline goodness [0,1] 0.3509979497050085 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99961947e-01 4.32008038e-03 7.57897610e-03 -1.69701740e+02] [-4.33817565e-03 9.99987775e-01 2.37274779e-03 -9.65273315e+01] [-7.56863299e-03 -2.40553643e-03 9.99968464e-01 2.95923253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.459072329 meters Centerline goodness [0,1] 0.34501578804291 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99963595e-01 5.33646798e-03 6.65811743e-03 -1.69699152e+02] [-5.35645848e-03 9.99981189e-01 2.98821416e-03 -9.65277441e+01] [-6.64204568e-03 -3.02376930e-03 9.99973370e-01 2.95922807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48907232899995 meters Centerline goodness [0,1] 0.33941384431939414 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99966141e-01 5.65496311e-03 5.97814334e-03 -1.69697540e+02] [-5.67277670e-03 9.99979508e-01 2.96704124e-03 -9.65269277e+01] [-5.96124233e-03 -3.00085345e-03 9.99977729e-01 2.95922901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.519072329 meters Centerline goodness [0,1] 0.35943447525829253 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.92 [[ 9.99966768e-01 6.68845875e-03 4.66130861e-03 -1.69694727e+02] [-6.70162886e-03 9.99973580e-01 2.81554142e-03 -9.65243870e+01] [-4.64235382e-03 -2.84668622e-03 9.99985172e-01 2.95923895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54907232899996 meters Centerline goodness [0,1] 0.3414659642080615 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.93 [[ 9.99969649e-01 6.49350283e-03 4.30529535e-03 -1.69694670e+02] [-6.50310315e-03 9.99976391e-01 2.21965004e-03 -9.65225939e+01] [-4.29078040e-03 -2.24758045e-03 9.99988269e-01 2.95925058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.579072329 meters Centerline goodness [0,1] 0.32941053511705687 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.93 [[ 9.99972341e-01 6.22878582e-03 4.06436062e-03 -1.69694305e+02] [-6.23513066e-03 9.99979360e-01 1.55029391e-03 -9.65203117e+01] [-4.05462028e-03 -1.57559285e-03 9.99990539e-01 2.95925439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60907232899996 meters Centerline goodness [0,1] 0.3779659245322463 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.93 [[ 9.99939641e-01 1.03236164e-02 3.75999748e-03 -1.69693603e+02] [-1.03427993e-02 9.99933411e-01 5.11865844e-03 -9.65178517e+01] [-3.70690403e-03 -5.15723838e-03 9.99979831e-01 2.95925678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.639072329 meters Centerline goodness [0,1] 0.3688983617519225 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.93 [[ 9.99936946e-01 1.08282564e-02 2.97554664e-03 -1.69691700e+02] [-1.08440164e-02 9.99926984e-01 5.33241317e-03 -9.65175813e+01] [-2.91758864e-03 -5.36434382e-03 9.99981356e-01 2.95925749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66907232899996 meters Centerline goodness [0,1] 0.3515424030116072 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.93 [[ 9.99914046e-01 1.29709933e-02 1.91132764e-03 -1.69688532e+02] [-1.29836705e-02 9.99892745e-01 6.77666553e-03 -9.65176699e+01] [-1.82322256e-03 -6.80089910e-03 9.99975212e-01 2.95925365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.699072329 meters Centerline goodness [0,1] 0.35275168908318866 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.93 [[ 9.99915296e-01 1.28972594e-02 1.74986399e-03 -1.69688513e+02] [-1.29083553e-02 9.99895652e-01 6.48528225e-03 -9.65166600e+01] [-1.66603903e-03 -6.50732078e-03 9.99977439e-01 2.95925918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72907232899996 meters Centerline goodness [0,1] 0.35361240569290897 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.93 [[ 9.99957927e-01 9.12613402e-03 9.25961091e-04 -1.69687084e+02] [-9.12816155e-03 9.99955896e-01 2.20957151e-03 -9.65155026e+01] [-9.05755407e-04 -2.21793087e-03 9.99997130e-01 2.95926759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.759072329 meters Centerline goodness [0,1] 0.332706806173381 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.51, Z:295.93 [[ 9.99984991e-01 5.47588990e-03 1.78795495e-04 -1.69685727e+02] [-5.47556776e-03 9.99983469e-01 -1.75507181e-03 -9.65146592e+01] [-1.88403119e-04 1.75406646e-03 9.99998444e-01 2.95927597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78907232899996 meters Centerline goodness [0,1] 0.34209756912538636 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.93 [[ 9.99987181e-01 4.97469663e-03 9.43675204e-04 -1.69687934e+02] [-4.97286265e-03 9.99985761e-01 -1.93594403e-03 -9.65151500e+01] [-9.53292502e-04 1.93122644e-03 9.99997681e-01 2.95927883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.819072329 meters Centerline goodness [0,1] 0.34710761067123486 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.93 [[ 9.99998000e-01 1.44731057e-03 1.38058006e-03 -1.69687970e+02] [-1.44128082e-03 9.99989463e-01 -4.35858985e-03 -9.65203284e+01] [-1.38687375e-03 4.35659133e-03 9.99989548e-01 2.95926102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84907232899997 meters Centerline goodness [0,1] 0.3518142842204329 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.52, Z:295.93 [[ 9.99996440e-01 1.31696775e-03 2.32057537e-03 -1.69689806e+02] [-1.30855959e-03 9.99992588e-01 -3.62110781e-03 -9.65234074e+01] [-2.32532705e-03 3.61805831e-03 9.99990751e-01 2.95925078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.879072329 meters Centerline goodness [0,1] 0.34480306231305036 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.53, Z:295.92 [[ 9.99994210e-01 -1.93079416e-03 2.80222226e-03 -1.69689474e+02] [ 1.94691518e-03 9.99981506e-01 -5.76166062e-03 -9.65291680e+01] [-2.79104586e-03 5.76708295e-03 9.99979475e-01 2.95922713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90907232899997 meters Centerline goodness [0,1] 0.36066567707135544 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.53, Z:295.92 [[ 9.99988149e-01 -2.75730856e-03 4.01230993e-03 -1.69692236e+02] [ 2.78140845e-03 9.99978051e-01 -6.01335759e-03 -9.65297278e+01] [-3.99564118e-03 6.02444620e-03 9.99973870e-01 2.95922207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.939072329 meters Centerline goodness [0,1] 0.3633967237808322 Centerline is valid? [False, False] Translation: X:-169.69, Y:-96.53, Z:295.92 [[ 9.99982650e-01 -3.24358051e-03 4.91715338e-03 -1.69694449e+02] [ 3.27361782e-03 9.99975957e-01 -6.11298822e-03 -9.65303532e+01] [-4.89720719e-03 6.12897904e-03 9.99969226e-01 2.95922025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96907232899997 meters Centerline goodness [0,1] 0.37351964408797544 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99971749e-01 -4.53830614e-03 5.99215412e-03 -1.69697380e+02] [ 4.58029087e-03 9.99964929e-01 -7.01158490e-03 -9.65293535e+01] [-5.96012325e-03 7.03883262e-03 9.99957465e-01 2.95922275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99907232899994 meters Centerline goodness [0,1] 0.3416769394705501 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99970006e-01 -4.61632789e-03 6.21912985e-03 -1.69697665e+02] [ 4.65952286e-03 9.99964999e-01 -6.94900810e-03 -9.65292683e+01] [-6.18683327e-03 6.97777785e-03 9.99956516e-01 2.95921882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.029072329 meters Centerline goodness [0,1] 0.36495405179615703 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99959202e-01 -5.49105827e-03 7.17229007e-03 -1.69700366e+02] [ 5.54258211e-03 9.99958836e-01 -7.18372406e-03 -9.65302249e+01] [-7.13254858e-03 7.22318399e-03 9.99948475e-01 2.95922107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05907232899995 meters Centerline goodness [0,1] 0.34239482200647253 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99952714e-01 -5.78998979e-03 7.81312387e-03 -1.69701644e+02] [ 5.84749615e-03 9.99955836e-01 -7.35756502e-03 -9.65298794e+01] [-7.77017858e-03 7.40290432e-03 9.99942409e-01 2.95921645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.089072329 meters Centerline goodness [0,1] 0.34663742690058474 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99947137e-01 -6.10927384e-03 8.27042663e-03 -1.69703301e+02] [ 6.17114948e-03 9.99953006e-01 -7.47682312e-03 -9.65303460e+01] [-8.22436001e-03 7.52746591e-03 9.99937847e-01 2.95922298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11907232899995 meters Centerline goodness [0,1] 0.3580604193125273 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99957776e-01 -5.43861178e-03 7.40732348e-03 -1.69701491e+02] [ 5.49510198e-03 9.99955812e-01 -7.62738354e-03 -9.65277868e+01] [-7.36551379e-03 7.66776547e-03 9.99943476e-01 2.95923180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.149072329 meters Centerline goodness [0,1] 0.32487013122483466 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.52, Z:295.92 [[ 9.99957480e-01 -4.02313575e-03 8.29777512e-03 -1.69705160e+02] [ 4.07499694e-03 9.99972212e-01 -6.24260254e-03 -9.65248725e+01] [-8.27242970e-03 6.27615051e-03 9.99946087e-01 2.95924813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17907232899995 meters Centerline goodness [0,1] 0.3357623201682247 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.52, Z:295.92 [[ 9.99960189e-01 -3.83787275e-03 8.05553823e-03 -1.69704097e+02] [ 3.88786928e-03 9.99973222e-01 -6.20002317e-03 -9.65241821e+01] [-8.03152762e-03 6.23109522e-03 9.99948333e-01 2.95924231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.209072329 meters Centerline goodness [0,1] 0.36772414945385434 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99957350e-01 -3.74587414e-03 8.44200954e-03 -1.69704414e+02] [ 3.79471718e-03 9.99976112e-01 -5.77714071e-03 -9.65252983e+01] [-8.42016744e-03 5.80892935e-03 9.99947677e-01 2.95923297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23907232899995 meters Centerline goodness [0,1] 0.3559686684073107 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99951726e-01 -3.92740826e-03 9.00673376e-03 -1.69705629e+02] [ 3.97845233e-03 9.99976088e-01 -5.65642646e-03 -9.65260515e+01] [-8.98430330e-03 5.69198626e-03 9.99943440e-01 2.95922936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.269072329 meters Centerline goodness [0,1] 0.3371018975173451 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99941020e-01 -4.26448154e-03 9.98854396e-03 -1.69707574e+02] [ 4.31512719e-03 9.99977917e-01 -5.05432195e-03 -9.65290974e+01] [-9.96676932e-03 5.09712568e-03 9.99937339e-01 2.95921923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29907232899996 meters Centerline goodness [0,1] 0.33965456026398777 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99935345e-01 -4.37635532e-03 1.04954286e-02 -1.69708520e+02] [ 4.42928925e-03 9.99977562e-01 -5.02559270e-03 -9.65291834e+01] [-1.04731993e-02 5.07175505e-03 9.99932292e-01 2.95921481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.329072329 meters Centerline goodness [0,1] 0.35627285072600023 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99925299e-01 -4.61158033e-03 1.13194405e-02 -1.69710503e+02] [ 4.66392568e-03 9.99978533e-01 -4.60234252e-03 -9.65315542e+01] [-1.12979735e-02 4.65479175e-03 9.99925342e-01 2.95921169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35907232899996 meters Centerline goodness [0,1] 0.35627285072600023 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99925299e-01 -4.61158033e-03 1.13194405e-02 -1.69710503e+02] [ 4.66392568e-03 9.99978533e-01 -4.60234252e-03 -9.65315542e+01] [-1.12979735e-02 4.65479175e-03 9.99925342e-01 2.95921169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.389072329 meters Centerline goodness [0,1] 0.35627285072600023 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99925299e-01 -4.61158033e-03 1.13194405e-02 -1.69710503e+02] [ 4.66392568e-03 9.99978533e-01 -4.60234252e-03 -9.65315542e+01] [-1.12979735e-02 4.65479175e-03 9.99925342e-01 2.95921169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41907232899996 meters Centerline goodness [0,1] 0.3511316377923136 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99905037e-01 -5.75013671e-03 1.25240927e-02 -1.69713040e+02] [ 5.81215002e-03 9.99971002e-01 -4.92076449e-03 -9.65328425e+01] [-1.24954344e-02 4.99308910e-03 9.99909462e-01 2.95920285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.449072329 meters Centerline goodness [0,1] 0.346105632625773 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99902255e-01 -5.80291419e-03 1.27203217e-02 -1.69713224e+02] [ 5.86534185e-03 9.99970911e-01 -4.87591106e-03 -9.65328115e+01] [-1.26916572e-02 4.95004350e-03 9.99907205e-01 2.95919871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47907232899996 meters Centerline goodness [0,1] 0.3570204763894693 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99909140e-01 -5.54113403e-03 1.22885084e-02 -1.69712527e+02] [ 5.60016045e-03 9.99972922e-01 -4.77418641e-03 -9.65326347e+01] [-1.22617212e-02 4.84257024e-03 9.99913096e-01 2.95920418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.509072329 meters Centerline goodness [0,1] 0.35699364973262027 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99906153e-01 -5.72305090e-03 1.24471955e-02 -1.69713211e+02] [ 5.78622101e-03 9.99970534e-01 -5.04497013e-03 -9.65318755e+01] [-1.24179561e-02 5.11651890e-03 9.99909804e-01 2.95920850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53907232899996 meters Centerline goodness [0,1] 0.35544944640213516 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99899771e-01 -6.10540960e-03 1.27738602e-02 -1.69713337e+02] [ 6.17511778e-03 9.99966219e-01 -5.42478915e-03 -9.65306522e+01] [-1.27403081e-02 5.50312552e-03 9.99903695e-01 2.95919918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.569072329 meters Centerline goodness [0,1] 0.3594778067885117 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99908261e-01 -5.49919098e-03 1.23785717e-02 -1.69711637e+02] [ 5.55942724e-03 9.99972848e-01 -4.83703257e-03 -9.65310409e+01] [-1.23516358e-02 4.90540659e-03 9.99911683e-01 2.95919031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59907232899997 meters Centerline goodness [0,1] 0.3657828203681648 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99905439e-01 -5.58625291e-03 1.25661106e-02 -1.69711815e+02] [ 5.64765368e-03 9.99972261e-01 -4.85605096e-03 -9.65307738e+01] [-1.25386349e-02 4.92656081e-03 9.99909252e-01 2.95918624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.629072329 meters Centerline goodness [0,1] 0.3514039012356004 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99912703e-01 -5.31548819e-03 1.20967823e-02 -1.69709978e+02] [ 5.37563639e-03 9.99973324e-01 -4.94517632e-03 -9.65290119e+01] [-1.20701735e-02 5.00977252e-03 9.99914603e-01 2.95917871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65907232899997 meters Centerline goodness [0,1] 0.353012476228292 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99926472e-01 -4.12437929e-03 1.14034703e-02 -1.69707366e+02] [ 4.16898203e-03 9.99983742e-01 -3.89032983e-03 -9.65295189e+01] [-1.13872397e-02 3.93758464e-03 9.99927410e-01 2.95916979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.689072329 meters Centerline goodness [0,1] 0.3464624514187805 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99941767e-01 -2.77191167e-03 1.04297050e-02 -1.69705172e+02] [ 2.80725449e-03 9.99990362e-01 -3.37555631e-03 -9.65282744e+01] [-1.04202478e-02 3.40463857e-03 9.99939912e-01 2.95917533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71907232899997 meters Centerline goodness [0,1] 0.3568180870145581 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99949778e-01 -2.34589810e-03 9.74365872e-03 -1.69703465e+02] [ 2.38005118e-03 9.99991060e-01 -3.49504456e-03 -9.65265214e+01] [-9.73537259e-03 3.51805944e-03 9.99946421e-01 2.95917711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74907232899994 meters Centerline goodness [0,1] 0.3479133142463062 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.52, Z:295.92 [[ 9.99956673e-01 -2.04953432e-03 9.08028527e-03 -1.69702221e+02] [ 2.08346203e-03 9.99990879e-01 -3.72853292e-03 -9.65248824e+01] [-9.07256069e-03 3.74728980e-03 9.99951822e-01 2.95918358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.779072329 meters Centerline goodness [0,1] 0.3724044286609568 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99964235e-01 -1.35550575e-03 8.34816673e-03 -1.69700482e+02] [ 1.38299938e-03 9.99993637e-01 -3.28848151e-03 -9.65250057e+01] [-8.34365605e-03 3.29990940e-03 9.99959746e-01 2.95918526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80907232899995 meters Centerline goodness [0,1] 0.37701768673390545 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.52, Z:295.92 [[ 9.99967457e-01 -1.17108260e-03 7.98209622e-03 -1.69699848e+02] [ 1.19780762e-03 9.99993691e-01 -3.34416285e-03 -9.65244568e+01] [-7.97812957e-03 3.35361504e-03 9.99962551e-01 2.95918915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.839072329 meters Centerline goodness [0,1] 0.3862406219305762 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.52, Z:295.92 [[ 9.99969441e-01 -1.15369643e-03 7.73208104e-03 -1.69699332e+02] [ 1.18144458e-03 9.99992876e-01 -3.58509872e-03 -9.65232060e+01] [-7.72788984e-03 3.59412419e-03 9.99963680e-01 2.95919109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86907232899995 meters Centerline goodness [0,1] 0.36127065015350557 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.52, Z:295.92 [[ 9.99966103e-01 -1.17423624e-03 8.14948418e-03 -1.69700432e+02] [ 1.20086508e-03 9.99993954e-01 -3.26342548e-03 -9.65246930e+01] [-8.14560288e-03 3.27310129e-03 9.99961467e-01 2.95919033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.899072329 meters Centerline goodness [0,1] 0.34342273040824434 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99960298e-01 -1.52670367e-03 8.77899494e-03 -1.69701769e+02] [ 1.55570335e-03 9.99993353e-01 -3.29742421e-03 -9.65250955e+01] [-8.77390240e-03 3.31095081e-03 9.99956027e-01 2.95918644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92907232899995 meters Centerline goodness [0,1] 0.322019746592356 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99955698e-01 -1.74961915e-03 9.24886779e-03 -1.69702593e+02] [ 1.77995076e-03 9.99993062e-01 -3.27228033e-03 -9.65253810e+01] [-9.24307838e-03 3.28859789e-03 9.99951874e-01 2.95918105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.959072329 meters Centerline goodness [0,1] 0.3284232927872478 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99958914e-01 -1.20495302e-03 8.98435597e-03 -1.69700747e+02] [ 1.22797432e-03 9.99995976e-01 -2.55730048e-03 -9.65261189e+01] [-8.98123839e-03 2.56822797e-03 9.99956370e-01 2.95916605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98907232899995 meters Centerline goodness [0,1] 0.3459398401874242 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99951656e-01 -1.68230242e-03 9.68792846e-03 -1.69702303e+02] [ 1.70944131e-03 9.99994636e-01 -2.79371090e-03 -9.65258989e+01] [-9.68317663e-03 2.81013678e-03 9.99949168e-01 2.95916297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.019072329 meters Centerline goodness [0,1] 0.35941126047960525 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.53, Z:295.92 [[ 9.99951329e-01 -1.69778794e-03 9.71888365e-03 -1.69702695e+02] [ 1.72580746e-03 9.99994377e-01 -2.87533735e-03 -9.65255860e+01] [-9.71394729e-03 2.89197032e-03 9.99948637e-01 2.95916732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04907232899996 meters Centerline goodness [0,1] 0.352200994941683 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.52, Z:295.92 [[ 9.99936038e-01 -3.10648037e-03 1.08751556e-02 -1.69705845e+02] [ 3.15323124e-03 9.99985851e-01 -4.28436565e-03 -9.65231877e+01] [-1.08616925e-02 4.31838350e-03 9.99931685e-01 2.95917116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.079072329 meters Centerline goodness [0,1] 0.3447404157526376 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.52, Z:295.92 [[ 9.99932618e-01 -2.99886712e-03 1.12145261e-02 -1.69706640e+02] [ 3.04217547e-03 9.99987974e-01 -3.84674578e-03 -9.65247672e+01] [-1.12028553e-02 3.88060314e-03 9.99929716e-01 2.95916928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10907232899996 meters Centerline goodness [0,1] 0.3498650825192964 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99936349e-01 -2.66844649e-03 1.09625578e-02 -1.69706161e+02] [ 2.70702550e-03 9.99990191e-01 -3.50583189e-03 -9.65253204e+01] [-1.09530952e-02 3.53528467e-03 9.99933764e-01 2.95917071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.139072329 meters Centerline goodness [0,1] 0.35272970487417443 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99939280e-01 -2.51272488e-03 1.07294745e-02 -1.69705417e+02] [ 2.54943148e-03 9.99990940e-01 -3.40879388e-03 -9.65250831e+01] [-1.07208120e-02 3.43594096e-03 9.99936627e-01 2.95916854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16907232899996 meters Centerline goodness [0,1] 0.34660529344073643 Centerline is valid? [False, False] Translation: X:-169.70, Y:-96.52, Z:295.92 [[ 9.99944025e-01 -2.21923156e-03 1.03451184e-02 -1.69704229e+02] [ 2.25293472e-03 9.99992189e-01 -3.24736564e-03 -9.65246359e+01] [-1.03378309e-02 3.27049075e-03 9.99941215e-01 2.95916603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.199072329 meters Centerline goodness [0,1] 0.34626391761191533 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.92 [[ 9.99936589e-01 -2.49620239e-03 1.09812533e-02 -1.69705595e+02] [ 2.53211429e-03 9.99991488e-01 -3.25760468e-03 -9.65250569e+01] [-1.09730282e-02 3.28520389e-03 9.99934398e-01 2.95916238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22907232899996 meters Centerline goodness [0,1] 0.30927059610120977 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.52, Z:295.92 [[ 9.99925061e-01 -3.00438440e-03 1.18678653e-02 -1.69707299e+02] [ 3.04656234e-03 9.99989102e-01 -3.53748383e-03 -9.65248838e+01] [-1.18571080e-02 3.57337493e-03 9.99923317e-01 2.95915479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.259072329 meters Centerline goodness [0,1] 0.33028576199720294 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.91 [[ 9.99905385e-01 -6.85546385e-03 1.19257828e-02 -1.69706933e+02] [ 6.94113177e-03 9.99950298e-01 -7.15692293e-03 -9.65264309e+01] [-1.18761260e-02 7.23902421e-03 9.99903272e-01 2.95914821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28907232899996 meters Centerline goodness [0,1] 0.3280998809946343 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.53, Z:295.91 [[ 9.99885396e-01 -7.86561270e-03 1.29354570e-02 -1.69709466e+02] [ 7.96683584e-03 9.99937902e-01 -7.79242266e-03 -9.65257571e+01] [-1.28733616e-02 7.89458428e-03 9.99885970e-01 2.95914721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.319072329 meters Centerline goodness [0,1] 0.36834736820109915 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.52, Z:295.91 [[ 9.99898793e-01 -4.17000325e-03 1.36020076e-02 -1.69711331e+02] [ 4.22505732e-03 9.99982989e-01 -4.02127418e-03 -9.65248381e+01] [-1.35850075e-02 4.07833646e-03 9.99899402e-01 2.95914871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34907232899997 meters Centerline goodness [0,1] 0.32967996492766327 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.52, Z:295.92 [[ 9.99893280e-01 -4.58669300e-03 1.38705341e-02 -1.69712117e+02] [ 4.65158218e-03 9.99978372e-01 -4.64956576e-03 -9.65229075e+01] [-1.38489080e-02 4.71358949e-03 9.99892989e-01 2.95915122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.379072329 meters Centerline goodness [0,1] 0.3479576715159358 Centerline is valid? [False, False] Translation: X:-169.71, Y:-96.52, Z:295.92 [[ 9.99889921e-01 -4.83482926e-03 1.40275116e-02 -1.69712354e+02] [ 4.90566511e-03 9.99975368e-01 -5.01977381e-03 -9.65211957e+01] [-1.40028963e-02 5.08803551e-03 9.99889009e-01 2.95915082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40907232899997 meters Centerline goodness [0,1] 0.33107191316146545 Centerline is valid? [False, False] Translation: X:-169.72, Y:-96.52, Z:295.92 [[ 9.99866896e-01 -6.02228270e-03 1.51631785e-02 -1.69715368e+02] [ 6.11259474e-03 9.99963814e-01 -5.91672497e-03 -9.65199079e+01] [-1.51269976e-02 6.00862379e-03 9.99867526e-01 2.95915316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.439072329 meters Centerline goodness [0,1] 0.35090502933255396 Centerline is valid? [False, False] Translation: X:-169.72, Y:-96.52, Z:295.92 [[ 9.99838805e-01 -7.48943314e-03 1.63178566e-02 -1.69719028e+02] [ 7.59709739e-03 9.99949716e-01 -6.54597258e-03 -9.65208582e+01] [-1.62680104e-02 6.66888575e-03 9.99845427e-01 2.95916044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46907232899997 meters Centerline goodness [0,1] 0.34365473754541276 Centerline is valid? [False, False] Translation: X:-169.72, Y:-96.52, Z:295.92 [[ 9.99838708e-01 -7.14173093e-03 1.64788863e-02 -1.69718943e+02] [ 7.23921643e-03 9.99956604e-01 -5.86373328e-03 -9.65226198e+01] [-1.64362939e-02 5.98208173e-03 9.99847020e-01 2.95915260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49907232899994 meters Centerline goodness [0,1] 0.3460679317759545 Centerline is valid? [False, False] Translation: X:-169.72, Y:-96.52, Z:295.91 [[ 9.99797815e-01 -1.10249150e-02 1.68160789e-02 -1.69718687e+02] [ 1.11821844e-02 9.99894348e-01 -9.28714277e-03 -9.65246977e+01] [-1.67119123e-02 9.47330555e-03 9.99815467e-01 2.95913759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.529072329 meters Centerline goodness [0,1] 0.34524579897714225 Centerline is valid? [False, False] Translation: X:-169.72, Y:-96.52, Z:295.91 [[ 9.99792165e-01 -1.10841745e-02 1.71104506e-02 -1.69719237e+02] [ 1.12425252e-02 9.99894603e-01 -9.18633567e-03 -9.65249357e+01] [-1.70068242e-02 9.37679110e-03 9.99811404e-01 2.95913468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55907232899995 meters Centerline goodness [0,1] 0.3382620136582921 Centerline is valid? [False, False] Translation: X:-169.72, Y:-96.52, Z:295.91 [[ 9.99765941e-01 -1.18242374e-02 1.81176740e-02 -1.69721921e+02] [ 1.20012169e-02 9.99881021e-01 -9.69094625e-03 -9.65243868e+01] [-1.80009304e-02 9.90611213e-03 9.99788895e-01 2.95913682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.589072329 meters Centerline goodness [0,1] 0.3445865587247272 Centerline is valid? [False, False] Translation: X:-169.72, Y:-96.53, Z:295.91 [[ 9.99690070e-01 -1.60113394e-02 1.90630722e-02 -1.69724039e+02] [ 1.62591147e-02 9.99784407e-01 -1.29143938e-02 -9.65283982e+01] [-1.88521856e-02 1.32203399e-02 9.99734874e-01 2.95913328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61907232899995 meters Centerline goodness [0,1] 0.33497506104305363 Centerline is valid? [False, False] Translation: X:-169.73, Y:-96.53, Z:295.91 [[ 9.99716441e-01 -1.27618266e-02 2.01040603e-02 -1.69726876e+02] [ 1.29500147e-02 9.99873281e-01 -9.25848882e-03 -9.65281284e+01] [-1.99833575e-02 9.51621137e-03 9.99755024e-01 2.95913356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.649072329 meters Centerline goodness [0,1] 0.3380965275897265 Centerline is valid? [False, False] Translation: X:-169.73, Y:-96.53, Z:295.91 [[ 9.99694878e-01 -1.32263140e-02 2.08618265e-02 -1.69728910e+02] [ 1.34239855e-02 9.99866048e-01 -9.36386433e-03 -9.65286626e+01] [-2.07351826e-02 9.64105606e-03 9.99738517e-01 2.95913440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67907232899995 meters Centerline goodness [0,1] 0.30760565730735534 Centerline is valid? [False, False] Translation: X:-169.73, Y:-96.53, Z:295.91 [[ 9.99613175e-01 -1.72916672e-02 2.17829863e-02 -1.69730638e+02] [ 1.75696795e-02 9.99765782e-01 -1.26367377e-02 -9.65321678e+01] [-2.15593740e-02 1.30145696e-02 9.99682857e-01 2.95912627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.709072329 meters Centerline goodness [0,1] 0.326528482267727 Centerline is valid? [False, False] Translation: X:-169.73, Y:-96.53, Z:295.91 [[ 9.99566826e-01 -1.82238657e-02 2.31095358e-02 -1.69733768e+02] [ 1.85218913e-02 9.99747177e-01 -1.27484097e-02 -9.65335709e+01] [-2.28713678e-02 1.31709197e-02 9.99651653e-01 2.95912206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73907232899995 meters Centerline goodness [0,1] 0.33460543877210547 Centerline is valid? [False, False] Translation: X:-169.73, Y:-96.54, Z:295.91 [[ 9.99479972e-01 -2.19430556e-02 2.36281315e-02 -1.69734457e+02] [ 2.23180069e-02 9.99627265e-01 -1.57238081e-02 -9.65374881e+01] [-2.32742960e-02 1.62429641e-02 9.99597155e-01 2.95911414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.769072329 meters Centerline goodness [0,1] 0.33191631241143615 Centerline is valid? [False, False] Translation: X:-169.74, Y:-96.54, Z:295.91 [[ 9.99438536e-01 -2.27020348e-02 2.46420503e-02 -1.69737034e+02] [ 2.31053473e-02 9.99601653e-01 -1.62073732e-02 -9.65369200e+01] [-2.42642939e-02 1.67676365e-02 9.99564951e-01 2.95911489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79907232899996 meters Centerline goodness [0,1] 0.3317840766986244 Centerline is valid? [False, False] Translation: X:-169.74, Y:-96.54, Z:295.91 [[ 9.99417676e-01 -2.30303423e-02 2.51775943e-02 -1.69738390e+02] [ 2.34466351e-02 9.99591121e-01 -1.63659746e-02 -9.65367660e+01] [-2.47903857e-02 1.69467742e-02 9.99549020e-01 2.95911521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.829072329 meters Centerline goodness [0,1] 0.3396666666666667 Centerline is valid? [False, False] Translation: X:-169.74, Y:-96.53, Z:295.91 [[ 9.99360576e-01 -2.42977407e-02 2.62308801e-02 -1.69741149e+02] [ 2.47668303e-02 9.99536394e-01 -1.77088081e-02 -9.65339889e+01] [-2.57884353e-02 1.83471405e-02 9.99499044e-01 2.95911827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85907232899996 meters Centerline goodness [0,1] 0.35886164295089484 Centerline is valid? [False, False] Translation: X:-169.74, Y:-96.53, Z:295.91 [[ 9.99299417e-01 -2.55260315e-02 2.73696339e-02 -1.69744113e+02] [ 2.60334098e-02 9.99492738e-01 -1.83447126e-02 -9.65338942e+01] [-2.68874826e-02 1.90443855e-02 9.99457040e-01 2.95911978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.889072329 meters Centerline goodness [0,1] 0.3590683721511604 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.53, Z:295.91 [[ 9.99322511e-01 -2.35293915e-02 2.82999367e-02 -1.69747632e+02] [ 2.39874434e-02 9.99584910e-01 -1.59564831e-02 -9.65325385e+01] [-2.79127433e-02 1.66245158e-02 9.99472113e-01 2.95913108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91907232899996 meters Centerline goodness [0,1] 0.35765373146777324 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.53, Z:295.91 [[ 9.99331092e-01 -2.16154271e-02 2.94981590e-02 -1.69750127e+02] [ 2.20256143e-02 9.99664189e-01 -1.36521313e-02 -9.65299909e+01] [-2.91931565e-02 1.42927143e-02 9.99471599e-01 2.95912441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.949072329 meters Centerline goodness [0,1] 0.3642974724427497 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.53, Z:295.91 [[ 9.99361920e-01 -1.87745415e-02 3.03853463e-02 -1.69752852e+02] [ 1.90997062e-02 9.99763006e-01 -1.04467135e-02 -9.65287125e+01] [-3.01820129e-02 1.10203988e-02 9.99483665e-01 2.95912747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97907232899996 meters Centerline goodness [0,1] 0.3790507569754348 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.53, Z:295.91 [[ 9.99369549e-01 -1.90000687e-02 2.99917057e-02 -1.69751917e+02] [ 1.93456528e-02 9.99749281e-01 -1.12748297e-02 -9.65253549e+01] [-2.97699636e-02 1.18479306e-02 9.99486556e-01 2.95912972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.009072329 meters Centerline goodness [0,1] 0.3640478971962616 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.53, Z:295.91 [[ 9.99393514e-01 -1.86032823e-02 2.94367610e-02 -1.69750817e+02] [ 1.89382150e-02 9.99758588e-01 -1.11404216e-02 -9.65250183e+01] [-2.92224062e-02 1.16911448e-02 9.99504561e-01 2.95913335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03907232899996 meters Centerline goodness [0,1] 0.37271419337350653 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.52, Z:295.91 [[ 9.99382701e-01 -1.88708864e-02 2.96328522e-02 -1.69751513e+02] [ 1.92224208e-02 9.99747667e-01 -1.16232523e-02 -9.65234696e+01] [-2.94060338e-02 1.21856924e-02 9.99493269e-01 2.95913649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.069072329 meters Centerline goodness [0,1] 0.3074017654055633 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.52, Z:295.91 [[ 9.99385521e-01 -1.88482106e-02 2.95520902e-02 -1.69751519e+02] [ 1.92015819e-02 9.99746942e-01 -1.17197132e-02 -9.65229586e+01] [-2.93237162e-02 1.22799585e-02 9.99494533e-01 2.95913917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09907232899997 meters Centerline goodness [0,1] 0.30745646052768794 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.52, Z:295.91 [[ 9.99406320e-01 -1.83167399e-02 2.91805679e-02 -1.69749985e+02] [ 1.86509449e-02 9.99763073e-01 -1.12222644e-02 -9.65233234e+01] [-2.89680990e-02 1.17598472e-02 9.99511158e-01 2.95913031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.129072329 meters Centerline goodness [0,1] 0.312768441682999 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.52, Z:295.91 [[ 9.99401196e-01 -1.84561480e-02 2.92680631e-02 -1.69750006e+02] [ 1.87962520e-02 9.99758477e-01 -1.13880549e-02 -9.65226576e+01] [-2.90508146e-02 1.19313656e-02 9.99506725e-01 2.95912731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15907232899997 meters Centerline goodness [0,1] 0.3289024796139125 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.52, Z:295.91 [[ 9.99413915e-01 -1.84218926e-02 2.88523970e-02 -1.69749010e+02] [ 1.87658041e-02 9.99755511e-01 -1.16945931e-02 -9.65210100e+01] [-2.86299064e-02 1.22291775e-02 9.99515270e-01 2.95912896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.189072329 meters Centerline goodness [0,1] 0.33717399442618856 Centerline is valid? [False, False] Translation: X:-169.75, Y:-96.52, Z:295.91 [[ 9.99399144e-01 -1.87023607e-02 2.91817031e-02 -1.69750167e+02] [ 1.90604998e-02 9.99745797e-01 -1.20431862e-02 -9.65200275e+01] [-2.89490490e-02 1.25921679e-02 9.99501571e-01 2.95913408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21907232899997 meters Centerline goodness [0,1] 0.31495307612095935 Centerline is valid? [False, False] Translation: X:-169.76, Y:-96.50, Z:295.92 [[ 9.99558318e-01 -2.18667428e-02 2.01249530e-02 -1.69763459e+02] [ 2.21657608e-02 9.99645394e-01 -1.47568982e-02 -9.65020924e+01] [-1.97951313e-02 1.51964652e-02 9.99688562e-01 2.95917487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24907232899994 meters Centerline goodness [0,1] 0.34618835952336235 Centerline is valid? [False, False] Translation: X:-169.76, Y:-96.50, Z:295.92 [[ 9.99538169e-01 -2.23590155e-02 2.05796740e-02 -1.69764322e+02] [ 2.26737188e-02 9.99627548e-01 -1.51877792e-02 -9.65009936e+01] [-2.02324253e-02 1.56473828e-02 9.99672851e-01 2.95917167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.279072329 meters Centerline goodness [0,1] 0.34618835952336235 Centerline is valid? [False, False] Translation: X:-169.76, Y:-96.50, Z:295.92 [[ 9.99538169e-01 -2.23590155e-02 2.05796740e-02 -1.69764322e+02] [ 2.26737188e-02 9.99627548e-01 -1.51877792e-02 -9.65009936e+01] [-2.02324253e-02 1.56473828e-02 9.99672851e-01 2.95917167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30907232899995 meters Centerline goodness [0,1] 0.33372304223470217 Centerline is valid? [False, False] Translation: X:-169.77, Y:-96.50, Z:295.92 [[ 9.99501728e-01 -2.31013245e-02 2.15087281e-02 -1.69766464e+02] [ 2.34405655e-02 9.99602636e-01 -1.56560081e-02 -9.65004260e+01] [-2.11385068e-02 1.61523839e-02 9.99646069e-01 2.95916883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.339072329 meters Centerline goodness [0,1] 0.32797810554464546 Centerline is valid? [False, False] Translation: X:-169.77, Y:-96.50, Z:295.92 [[ 9.99482141e-01 -2.32811777e-02 2.22134408e-02 -1.69767290e+02] [ 2.36280148e-02 9.99600944e-01 -1.54812396e-02 -9.65009182e+01] [-2.18441549e-02 1.59980820e-02 9.99633380e-01 2.95915526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36907232899995 meters Centerline goodness [0,1] 0.32743141103269724 Centerline is valid? [False, False] Translation: X:-169.77, Y:-96.50, Z:295.92 [[ 9.99474715e-01 -2.34165138e-02 2.24045026e-02 -1.69767775e+02] [ 2.37684073e-02 9.99596220e-01 -1.55711300e-02 -9.65006596e+01] [-2.20308345e-02 1.60954700e-02 9.99627720e-01 2.95915494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.399072329 meters Centerline goodness [0,1] 0.33890707420303146 Centerline is valid? [False, False] Translation: X:-169.77, Y:-96.50, Z:295.92 [[ 9.99452131e-01 -2.38579092e-02 2.29398604e-02 -1.69769406e+02] [ 2.42292312e-02 9.99577624e-01 -1.60473738e-02 -9.64995399e+01] [-2.25473143e-02 1.65943971e-02 9.99608045e-01 2.95915933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42907232899995 meters Centerline goodness [0,1] 0.3405382849989568 Centerline is valid? [False, False] Translation: X:-169.77, Y:-96.50, Z:295.92 [[ 9.99364027e-01 -2.61781730e-02 2.42124917e-02 -1.69773885e+02] [ 2.66150121e-02 9.99485500e-01 -1.78990795e-02 -9.64983768e+01] [-2.37314691e-02 1.85321119e-02 9.99546586e-01 2.95917580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.459072329 meters Centerline goodness [0,1] 0.33457838616113345 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.50, Z:295.92 [[ 9.99316551e-01 -2.69562231e-02 2.52941322e-02 -1.69777045e+02] [ 2.74278147e-02 9.99452836e-01 -1.84863283e-02 -9.64977108e+01] [-2.47819706e-02 1.91674567e-02 9.99509111e-01 2.95918174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48907232899995 meters Centerline goodness [0,1] 0.3453589973515734 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.50, Z:295.92 [[ 9.99184261e-01 -3.11957560e-02 2.56444519e-02 -1.69777867e+02] [ 3.17816761e-02 9.99235505e-01 -2.27668573e-02 -9.64978977e+01] [-2.49146175e-02 2.35633091e-02 9.99411843e-01 2.95918495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.519072329 meters Centerline goodness [0,1] 0.3486228989848561 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.50, Z:295.92 [[ 9.99031086e-01 -3.53202912e-02 2.62558022e-02 -1.69779379e+02] [ 3.60145967e-02 9.99000941e-01 -2.64588180e-02 -9.65002150e+01] [-2.52950379e-02 2.73787738e-02 9.99305040e-01 2.95918828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54907232899996 meters Centerline goodness [0,1] 0.34951537085569284 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.50, Z:295.91 [[ 9.98866252e-01 -3.62398159e-02 3.08688419e-02 -1.69790347e+02] [ 3.69151845e-02 9.99085000e-01 -2.15970377e-02 -9.64982257e+01] [-3.00579242e-02 2.27120811e-02 9.99290089e-01 2.95913974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.579072329 meters Centerline goodness [0,1] 0.33523865153538046 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.49, Z:295.91 [[ 9.98834106e-01 -4.29792432e-02 2.19821022e-02 -1.69799793e+02] [ 4.34796397e-02 9.98793744e-01 -2.28161909e-02 -9.64915915e+01] [-2.09749635e-02 2.37453635e-02 9.99497978e-01 2.95912885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60907232899996 meters Centerline goodness [0,1] 0.3235644060366961 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.49, Z:295.91 [[ 9.98798818e-01 -4.33275600e-02 2.28832778e-02 -1.69801879e+02] [ 4.38456998e-02 9.98781565e-01 -2.26481938e-02 -9.64928738e+01] [-2.18741050e-02 2.36243225e-02 9.99481573e-01 2.95912468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.639072329 meters Centerline goodness [0,1] 0.3631528449858168 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.49, Z:295.91 [[ 9.98905520e-01 -4.02575502e-02 2.38136782e-02 -1.69805235e+02] [ 4.07215095e-02 9.98983545e-01 -1.93296666e-02 -9.64916191e+01] [-2.30113076e-02 2.02782396e-02 9.99529526e-01 2.95913178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66907232899996 meters Centerline goodness [0,1] 0.35982800726377084 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.49, Z:295.91 [[ 9.98958348e-01 -3.83543525e-02 2.47217203e-02 -1.69809153e+02] [ 3.87941092e-02 9.99092903e-01 -1.75609869e-02 -9.64878321e+01] [-2.40257550e-02 1.85017516e-02 9.99540118e-01 2.95914923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.699072329 meters Centerline goodness [0,1] 0.32748440401427115 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.49, Z:295.92 [[ 9.99066653e-01 -3.49785491e-02 2.53441028e-02 -1.69811725e+02] [ 3.53428794e-02 9.99276157e-01 -1.40727833e-02 -9.64867956e+01] [-2.48335121e-02 1.49553820e-02 9.99579728e-01 2.95915650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72907232899996 meters Centerline goodness [0,1] 0.3647596585335309 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.48, Z:295.92 [[ 9.99129450e-01 -3.25512605e-02 2.60913332e-02 -1.69814922e+02] [ 3.28662888e-02 9.99390834e-01 -1.17374474e-02 -9.64835232e+01] [-2.56933706e-02 1.25847546e-02 9.99590654e-01 2.95916949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.759072329 meters Centerline goodness [0,1] 0.34546706162126084 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.48, Z:295.92 [[ 9.99290142e-01 -2.81134705e-02 2.50767603e-02 -1.69813755e+02] [ 2.83297529e-02 9.99564076e-01 -8.31158922e-03 -9.64800960e+01] [-2.48321611e-02 9.01610760e-03 9.99650976e-01 2.95918455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78907232899996 meters Centerline goodness [0,1] 0.3526774543331387 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.48, Z:295.92 [[ 9.99357148e-01 -2.51853426e-02 2.55145064e-02 -1.69815795e+02] [ 2.53418918e-02 9.99661837e-01 -5.83099175e-03 -9.64755868e+01] [-2.53590228e-02 6.47382914e-03 9.99657446e-01 2.95919499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.819072329 meters Centerline goodness [0,1] 0.3257390832655275 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.92 [[ 9.99628759e-01 -2.36435209e-02 1.35398545e-02 -1.69818330e+02] [ 2.37825884e-02 9.99665080e-01 -1.02037410e-02 -9.64629810e+01] [-1.32940674e-02 1.05219657e-02 9.99856268e-01 2.95923825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84907232899997 meters Centerline goodness [0,1] 0.33803022712090847 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.92 [[ 9.99701252e-01 -2.00217531e-02 1.40191282e-02 -1.69820324e+02] [ 2.01127682e-02 9.99777351e-01 -6.38158589e-03 -9.64627461e+01] [-1.38882363e-02 6.66164288e-03 9.99881363e-01 2.95924534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.879072329 meters Centerline goodness [0,1] 0.33252655079600224 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.93 [[ 9.99743957e-01 -1.70475227e-02 1.48796145e-02 -1.69823246e+02] [ 1.70992580e-02 9.99848163e-01 -3.35664795e-03 -9.64609008e+01] [-1.48201327e-02 3.61021887e-03 9.99883658e-01 2.95925245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90907232899997 meters Centerline goodness [0,1] 0.33732172315145437 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.93 [[ 9.99801389e-01 -1.33010842e-02 1.48412671e-02 -1.69823680e+02] [ 1.33022413e-02 9.99911521e-01 2.07510835e-05 -9.64584142e+01] [-1.48402300e-02 1.76675155e-04 9.99889862e-01 2.95925773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.939072329 meters Centerline goodness [0,1] 0.33654870028186656 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.92 [[ 9.99836073e-01 -1.15809411e-02 1.39179680e-02 -1.69820549e+02] [ 1.15603803e-02 9.99931965e-01 1.55682743e-03 -9.64598282e+01] [-1.39350506e-02 -1.39567522e-03 9.99901928e-01 2.95924735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96907232899997 meters Centerline goodness [0,1] 0.29246170243892244 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.92 [[ 9.99842510e-01 -1.14195465e-02 1.35848783e-02 -1.69819512e+02] [ 1.13987237e-02 9.99933738e-01 1.60923630e-03 -9.64594304e+01] [-1.36023549e-02 -1.45413259e-03 9.99906426e-01 2.95924432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99907232899994 meters Centerline goodness [0,1] 0.31776325405608574 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.92 [[ 9.99871957e-01 -9.91956196e-03 1.25567368e-02 -1.69816281e+02] [ 9.88657314e-03 9.99947518e-01 2.68653580e-03 -9.64599304e+01] [-1.25827271e-02 -2.56204871e-03 9.99917552e-01 2.95923682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.029072329 meters Centerline goodness [0,1] 0.35190132320407397 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.46, Z:295.92 [[ 9.99896749e-01 -8.86758024e-03 1.13074139e-02 -1.69813866e+02] [ 8.83931256e-03 9.99957688e-01 2.54745554e-03 -9.64575073e+01] [-1.13295252e-02 -2.44724274e-03 9.99932824e-01 2.95924926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05907232899995 meters Centerline goodness [0,1] 0.33011167936541075 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.46, Z:295.93 [[ 9.99904210e-01 -8.63920886e-03 1.08136438e-02 -1.69813134e+02] [ 8.61237807e-03 9.99959724e-01 2.52531126e-03 -9.64570493e+01] [-1.08350249e-02 -2.43193818e-03 9.99938342e-01 2.95925607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.089072329 meters Centerline goodness [0,1] 0.34669643975124176 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.46, Z:295.93 [[ 9.99893188e-01 -9.25100380e-03 1.13151399e-02 -1.69814636e+02] [ 9.23161747e-03 9.99955831e-01 1.76434151e-03 -9.64553017e+01] [-1.13309621e-02 -1.65969601e-03 9.99934425e-01 2.95925924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11907232899995 meters Centerline goodness [0,1] 0.3543670080727591 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.46, Z:295.93 [[ 9.99915141e-01 -8.04801824e-03 1.02440367e-02 -1.69811587e+02] [ 8.02143816e-03 9.99964361e-01 2.63313659e-03 -9.64559129e+01] [-1.02648631e-02 -2.55074124e-03 9.99944062e-01 2.95925497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.149072329 meters Centerline goodness [0,1] 0.3144091136705057 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.46, Z:295.93 [[ 9.99919781e-01 -7.86826677e-03 9.92586916e-03 -1.69810811e+02] [ 7.84107015e-03 9.99965405e-01 2.77592107e-03 -9.64561246e+01] [-9.94736746e-03 -2.69786895e-03 9.99946884e-01 2.95925460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17907232899995 meters Centerline goodness [0,1] 0.3179520387700535 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.45, Z:295.93 [[ 9.99938511e-01 -4.22093217e-03 1.02546850e-02 -1.69811643e+02] [ 4.15748355e-03 9.99972133e-01 6.20073981e-03 -9.64541410e+01] [-1.02805721e-02 -6.15772485e-03 9.99928194e-01 2.95925304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.209072329 meters Centerline goodness [0,1] 0.32277939057246086 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.45, Z:295.93 [[ 9.99937765e-01 -4.35990306e-03 1.02692837e-02 -1.69812202e+02] [ 4.29964124e-03 9.99973452e-01 5.88294797e-03 -9.64534493e+01] [-1.02946602e-02 -5.83842761e-03 9.99929964e-01 2.95925969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23907232899995 meters Centerline goodness [0,1] 0.3303472613752636 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.45, Z:295.93 [[ 9.99938813e-01 -4.38770601e-03 1.01547420e-02 -1.69812320e+02] [ 4.33044825e-03 9.99974641e-01 5.65365993e-03 -9.64527457e+01] [-1.01792910e-02 -5.60933941e-03 9.99932456e-01 2.95926478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.269072329 meters Centerline goodness [0,1] 0.3274332588866392 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.45, Z:295.93 [[ 9.99948791e-01 -3.77038304e-03 9.39142069e-03 -1.69811204e+02] [ 3.71438512e-03 9.99975263e-01 5.97298969e-03 -9.64531178e+01] [-9.41370884e-03 -5.93780047e-03 9.99938060e-01 2.95927428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29907232899996 meters Centerline goodness [0,1] 0.33496970963024864 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.93 [[ 9.99986977e-01 8.00699263e-04 5.04027534e-03 -1.69801489e+02] [-8.22315133e-04 9.99990468e-01 4.28801842e-03 -9.64506346e+01] [-5.03679388e-03 -4.29210728e-03 9.99978104e-01 2.95932972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.329072329 meters Centerline goodness [0,1] 0.3097143573562906 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.93 [[ 9.99990832e-01 1.15982635e-03 4.12202353e-03 -1.69799672e+02] [-1.17691587e-03 9.99990713e-01 4.14590142e-03 -9.64492382e+01] [-4.11717672e-03 -4.15071468e-03 9.99982910e-01 2.95933721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35907232899996 meters Centerline goodness [0,1] 0.3465903153670923 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.93 [[ 9.99979892e-01 5.47272478e-03 3.20392094e-03 -1.69797792e+02] [-5.49678983e-03 9.99956382e-01 7.55113168e-03 -9.64455910e+01] [-3.16245593e-03 -7.56859112e-03 9.99966357e-01 2.95934521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.389072329 meters Centerline goodness [0,1] 0.3402510460251046 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.44, Z:295.93 [[ 9.99980194e-01 5.77894515e-03 2.49316725e-03 -1.69796060e+02] [-5.79718915e-03 9.99956011e-01 7.37350669e-03 -9.64439284e+01] [-2.45044648e-03 -7.38781401e-03 9.99969707e-01 2.95934670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41907232899996 meters Centerline goodness [0,1] 0.3142647981593809 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.93 [[ 9.99980145e-01 5.99003098e-03 1.95681041e-03 -1.69794760e+02] [-6.00437413e-03 9.99954533e-01 7.40811924e-03 -9.64434627e+01] [-1.91234658e-03 -7.41972158e-03 9.99970645e-01 2.95934766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.449072329 meters Centerline goodness [0,1] 0.3591100144288074 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99980247e-01 6.01848788e-03 1.81226132e-03 -1.69794795e+02] [-6.03154735e-03 9.99955244e-01 7.28906649e-03 -9.64430805e+01] [-1.76831105e-03 -7.29985324e-03 9.99971792e-01 2.95935350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47907232899996 meters Centerline goodness [0,1] 0.3533391805538153 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99994603e-01 3.22160465e-03 6.44461979e-04 -1.69792077e+02] [-3.22411092e-03 9.99987094e-01 3.92645140e-03 -9.64432998e+01] [-6.31804188e-04 -3.92850802e-03 9.99992084e-01 2.95935664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.509072329 meters Centerline goodness [0,1] 0.3069964693839179 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99991375e-01 4.13422452e-03 -3.98038911e-04 -1.69789859e+02] [-4.13252061e-03 9.99982681e-01 4.19044127e-03 -9.64425352e+01] [ 4.15356242e-04 -4.18876022e-03 9.99991141e-01 2.95936298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53907232899996 meters Centerline goodness [0,1] 0.3335283791691047 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99987576e-01 4.78699659e-03 -1.39044076e-03 -1.69787664e+02] [-4.78090506e-03 9.99979102e-01 4.35177904e-03 -9.64418289e+01] [ 1.41124366e-03 -4.34507741e-03 9.99989564e-01 2.95936742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.569072329 meters Centerline goodness [0,1] 0.3130747366661093 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99985716e-01 4.92354068e-03 -2.07987536e-03 -1.69786307e+02] [-4.91521820e-03 9.99979969e-01 3.98776899e-03 -9.64401443e+01] [ 2.09946765e-03 -3.97748899e-03 9.99989886e-01 2.95937300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59907232899997 meters Centerline goodness [0,1] 0.3557418869187019 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99983265e-01 5.12538206e-03 -2.68335169e-03 -1.69785065e+02] [-5.11502365e-03 9.99979495e-01 3.85298503e-03 -9.64391200e+01] [ 2.70304468e-03 -3.83919514e-03 9.99988977e-01 2.95937687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.629072329 meters Centerline goodness [0,1] 0.32294410301434007 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99980993e-01 5.30680808e-03 -3.13867879e-03 -1.69784629e+02] [-5.29507315e-03 9.99979004e-01 3.73537989e-03 -9.64385426e+01] [ 3.15843584e-03 -3.71868936e-03 9.99988098e-01 2.95938662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65907232899997 meters Centerline goodness [0,1] 0.3363105821323237 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99978335e-01 5.50902380e-03 -3.60276685e-03 -1.69783496e+02] [-5.49557606e-03 9.99977935e-01 3.73192149e-03 -9.64379878e+01] [ 3.62324660e-03 -3.71204136e-03 9.99986546e-01 2.95938695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.689072329 meters Centerline goodness [0,1] 0.3335770540433266 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99970137e-01 6.43945954e-03 -4.27310709e-03 -1.69781299e+02] [-6.41937233e-03 9.99968360e-01 4.69802713e-03 -9.64396537e+01] [ 4.30322465e-03 -4.67045616e-03 9.99979834e-01 2.95937995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71907232899997 meters Centerline goodness [0,1] 0.33752826869922103 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99967425e-01 6.62845645e-03 -4.60567097e-03 -1.69780478e+02] [-6.60666283e-03 9.99966984e-01 4.73112030e-03 -9.64393032e+01] [ 4.63687893e-03 -4.70053807e-03 9.99978202e-01 2.95938006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74907232899994 meters Centerline goodness [0,1] 0.33823097883043385 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99968385e-01 6.51475882e-03 -4.55920898e-03 -1.69780939e+02] [-6.49411783e-03 9.99968663e-01 4.52757234e-03 -9.64388398e+01] [ 4.58856215e-03 -4.49782116e-03 9.99979357e-01 2.95938428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.779072329 meters Centerline goodness [0,1] 0.34471432456745954 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99982697e-01 2.78130474e-03 -5.18365722e-03 -1.69779926e+02] [-2.77821040e-03 9.99995958e-01 6.04046690e-04 -9.64388700e+01] [ 5.18531631e-03 -5.89634948e-04 9.99986382e-01 2.95939293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80907232899995 meters Centerline goodness [0,1] 0.34807635952610205 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99986125e-01 2.53469519e-03 -4.61799672e-03 -1.69781281e+02] [-2.53180518e-03 9.99996596e-01 6.31553721e-04 -9.64394946e+01] [ 4.61958180e-03 -6.19853090e-04 9.99989138e-01 2.95939120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.839072329 meters Centerline goodness [0,1] 0.35851072745558166 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99984898e-01 2.78800909e-03 -4.73606781e-03 -1.69780711e+02] [-2.78321761e-03 9.99995609e-01 1.01799150e-03 -9.64403445e+01] [ 4.73888518e-03 -1.00479462e-03 9.99988267e-01 2.95938713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86907232899995 meters Centerline goodness [0,1] 0.35607488377936924 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99983584e-01 2.93962798e-03 -4.91832162e-03 -1.69779605e+02] [-2.93407811e-03 9.99995051e-01 1.13524361e-03 -9.64397964e+01] [ 4.92163447e-03 -1.12079424e-03 9.99987261e-01 2.95937924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.899072329 meters Centerline goodness [0,1] 0.3768662185648177 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99988775e-01 2.35863456e-03 -4.10925857e-03 -1.69781698e+02] [-2.35504630e-03 9.99996842e-01 8.77832973e-04 -9.64399537e+01] [ 4.11131608e-03 -8.68145626e-04 9.99991172e-01 2.95937933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92907232899995 meters Centerline goodness [0,1] 0.32977275107341086 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99991705e-01 2.10715486e-03 -3.48554944e-03 -1.69783253e+02] [-2.10412566e-03 9.99997406e-01 8.72510643e-04 -9.64402895e+01] [ 3.48737891e-03 -8.65169372e-04 9.99993545e-01 2.95937893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.959072329 meters Centerline goodness [0,1] 0.3013546617533134 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99990732e-01 -3.60641609e-03 -2.35162155e-03 -1.69787123e+02] [ 3.59795805e-03 9.99987079e-01 -3.59104987e-03 -9.64433171e+01] [ 2.36454198e-03 3.58255555e-03 9.99990787e-01 2.95938698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98907232899995 meters Centerline goodness [0,1] 0.3402631083596511 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99991247e-01 -3.91440834e-03 -1.47790389e-03 -1.69789160e+02] [ 3.90909017e-03 9.99985936e-01 -3.58435615e-03 -9.64439213e+01] [ 1.49191374e-03 3.57854752e-03 9.99992484e-01 2.95938407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.019072329 meters Centerline goodness [0,1] 0.3190325006266188 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99989183e-01 -4.62933639e-03 -4.51420333e-04 -1.69791814e+02] [ 4.62757729e-03 9.99981985e-01 -3.82294592e-03 -9.64444899e+01] [ 4.69109903e-04 3.82081558e-03 9.99992591e-01 2.95938377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04907232899996 meters Centerline goodness [0,1] 0.31718172130633737 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.44, Z:295.94 [[ 9.99976558e-01 -6.77482026e-03 9.92155337e-04 -1.69795488e+02] [ 6.77964200e-03 9.99964816e-01 -4.93993323e-03 -9.64447998e+01] [-9.58653270e-04 4.94654389e-03 9.99987306e-01 2.95938138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.079072329 meters Centerline goodness [0,1] 0.3298637237689156 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.94 [[ 9.99975522e-01 -6.80653581e-03 1.62038105e-03 -1.69796552e+02] [ 6.81373189e-03 9.99966761e-01 -4.47767448e-03 -9.64465105e+01] [-1.58984974e-03 4.48860572e-03 9.99988662e-01 2.95937321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10907232899996 meters Centerline goodness [0,1] 0.32044060583302036 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.94 [[ 9.99975968e-01 -6.71816519e-03 1.71156418e-03 -1.69796169e+02] [ 6.72545799e-03 9.99968176e-01 -4.29138313e-03 -9.64466245e+01] [-1.68267949e-03 4.30279105e-03 9.99989327e-01 2.95936497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.139072329 meters Centerline goodness [0,1] 0.33116069190273256 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.94 [[ 9.99976656e-01 -6.63276043e-03 1.64149909e-03 -1.69796095e+02] [ 6.63967870e-03 9.99968944e-01 -4.24566468e-03 -9.64463205e+01] [-1.61328764e-03 4.25646460e-03 9.99989640e-01 2.95936702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16907232899996 meters Centerline goodness [0,1] 0.3158664188300161 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.94 [[ 9.99978884e-01 -6.39088479e-03 1.17790872e-03 -1.69795327e+02] [ 6.39578870e-03 9.99970695e-01 -4.20757830e-03 -9.64459551e+01] [-1.15098406e-03 4.21502311e-03 9.99990454e-01 2.95937283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.199072329 meters Centerline goodness [0,1] 0.3158664188300161 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.94 [[ 9.99978884e-01 -6.39088479e-03 1.17790872e-03 -1.69795327e+02] [ 6.39578870e-03 9.99970695e-01 -4.20757830e-03 -9.64459551e+01] [-1.15098406e-03 4.21502311e-03 9.99990454e-01 2.95937283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22907232899996 meters Centerline goodness [0,1] 0.28672425693907 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.94 [[ 9.99979381e-01 -6.36264811e-03 8.68458304e-04 -1.69794698e+02] [ 6.36640461e-03 9.99970083e-01 -4.39351415e-03 -9.64450152e+01] [-8.40477937e-04 4.39895251e-03 9.99989971e-01 2.95937514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.259072329 meters Centerline goodness [0,1] 0.2909509362904069 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99996991e-01 -2.23468199e-03 1.01251519e-03 -1.69794343e+02] [ 2.23500340e-03 9.99997452e-01 -3.16423927e-04 -9.64442204e+01] [-1.01180551e-03 3.18685950e-04 9.99999437e-01 2.95936474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28907232899996 meters Centerline goodness [0,1] 0.2891919022921198 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.94 [[ 9.99997278e-01 -2.03586973e-03 1.13986113e-03 -1.69794426e+02] [ 2.03582354e-03 9.99997927e-01 4.16832736e-05 -9.64450523e+01] [-1.13994363e-03 -3.93626040e-05 9.99999349e-01 2.95936162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.319072329 meters Centerline goodness [0,1] 0.29710281351323087 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99997666e-01 -1.91593821e-03 9.98294450e-04 -1.69794256e+02] [ 1.91591431e-03 9.99998164e-01 2.48979894e-05 -9.64447221e+01] [-9.98340321e-04 -2.29852847e-05 9.99999501e-01 2.95936426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34907232899997 meters Centerline goodness [0,1] 0.2990901882225283 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.94 [[ 9.99980889e-01 -6.07864470e-03 1.12807887e-03 -1.69795019e+02] [ 6.08314447e-03 9.99973380e-01 -4.02927096e-03 -9.64454650e+01] [-1.10355633e-03 4.03605623e-03 9.99991246e-01 2.95937093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.379072329 meters Centerline goodness [0,1] 0.3095307673039993 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99982885e-01 -5.79957929e-03 7.71644397e-04 -1.69794129e+02] [ 5.80263274e-03 9.99975102e-01 -4.01548931e-03 -9.64447649e+01] [-7.48337036e-04 4.01989815e-03 9.99991640e-01 2.95937163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40907232899997 meters Centerline goodness [0,1] 0.3080776455854728 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99987041e-01 -5.09005565e-03 -9.19392050e-05 -1.69792550e+02] [ 5.08968978e-03 9.99980504e-01 -3.61755571e-03 -9.64446932e+01] [ 1.10350972e-04 3.61704089e-03 9.99993452e-01 2.95938022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.439072329 meters Centerline goodness [0,1] 0.3041690152606418 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99985834e-01 -5.32141040e-03 1.22289064e-04 -1.69793333e+02] [ 5.32184450e-03 9.99978325e-01 -3.87646022e-03 -9.64439559e+01] [-1.01658178e-04 3.87705610e-03 9.99992479e-01 2.95938380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46907232899997 meters Centerline goodness [0,1] 0.3058735065586098 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.44, Z:295.94 [[ 9.99986855e-01 -5.12568158e-03 1.28655351e-04 -1.69792922e+02] [ 5.12610842e-03 9.99980483e-01 -3.57153230e-03 -9.64444210e+01] [-1.10346303e-04 3.57214485e-03 9.99993614e-01 2.95937779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49907232899994 meters Centerline goodness [0,1] 0.31899109792284863 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.94 [[ 9.99989398e-01 -4.60472715e-03 -8.89113538e-06 -1.69792115e+02] [ 4.60468492e-03 9.99985570e-01 -2.76713254e-03 -9.64462636e+01] [ 2.16328974e-05 2.76706226e-03 9.99996171e-01 2.95937112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.529072329 meters Centerline goodness [0,1] 0.32805316392209316 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.94 [[ 9.99991814e-01 -4.03012992e-03 -3.59240101e-04 -1.69790267e+02] [ 4.02936060e-03 9.99989641e-01 -2.11712633e-03 -9.64468541e+01] [ 3.67768674e-04 2.11566149e-03 9.99997694e-01 2.95935915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55907232899995 meters Centerline goodness [0,1] 0.27734938248385677 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.94 [[ 9.99993840e-01 -3.38661667e-03 -9.22703134e-04 -1.69788664e+02] [ 3.38524498e-03 9.99993169e-01 -1.48413015e-03 -9.64477132e+01] [ 9.27723010e-04 1.48099743e-03 9.99998473e-01 2.95935700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.589072329 meters Centerline goodness [0,1] 0.3434212452680233 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.94 [[ 9.99993696e-01 -3.39821405e-03 -1.02999851e-03 -1.69788112e+02] [ 3.39649850e-03 9.99992849e-01 -1.66278365e-03 -9.64466361e+01] [ 1.03564163e-03 1.65927478e-03 9.99998087e-01 2.95935366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61907232899995 meters Centerline goodness [0,1] 0.28273871763770964 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99995071e-01 -2.87856707e-03 -1.25358348e-03 -1.69787077e+02] [ 2.87723625e-03 9.99995297e-01 -1.06211931e-03 -9.64475919e+01] [ 1.25663497e-03 1.05850722e-03 9.99998650e-01 2.95934735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.649072329 meters Centerline goodness [0,1] 0.28260778655961194 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99995071e-01 -2.89597232e-03 -1.21286063e-03 -1.69787271e+02] [ 2.89467449e-03 9.99995237e-01 -1.07045058e-03 -9.64474720e+01] [ 1.21595485e-03 1.06693446e-03 9.99998692e-01 2.95934827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67907232899995 meters Centerline goodness [0,1] 0.2829364166684091 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.45, Z:295.93 [[ 9.99995441e-01 -2.30244768e-03 -1.95345516e-03 -1.69784905e+02] [ 2.30056490e-03 9.99996888e-01 -9.65522625e-04 -9.64455766e+01] [ 1.95567215e-03 9.61024173e-04 9.99997626e-01 2.95934481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.709072329 meters Centerline goodness [0,1] 0.29590770388329224 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.93 [[ 9.99994758e-01 -2.45494367e-03 -2.11099983e-03 -1.69784802e+02] [ 2.45203423e-03 9.99996042e-01 -1.37971461e-03 -9.64440523e+01] [ 2.11437860e-03 1.37453113e-03 9.99996820e-01 2.95934968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73907232899995 meters Centerline goodness [0,1] 0.3283104831967898 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99994202e-01 -2.25275429e-03 -2.55350932e-03 -1.69783856e+02] [ 2.24907955e-03 9.99996432e-01 -1.44105200e-03 -9.64430629e+01] [ 2.55674654e-03 1.43530060e-03 9.99995701e-01 2.95935292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.769072329 meters Centerline goodness [0,1] 0.3568590547887913 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99994067e-01 -1.99105150e-03 -2.81086399e-03 -1.69783190e+02] [ 1.98750716e-03 9.99997227e-01 -1.26317653e-03 -9.64428077e+01] [ 2.81337125e-03 1.25758243e-03 9.99995252e-01 2.95935355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79907232899996 meters Centerline goodness [0,1] 0.3295670914150608 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.44, Z:295.94 [[ 9.99994556e-01 -1.55254987e-03 -2.91154663e-03 -1.69782720e+02] [ 1.55073424e-03 9.99998602e-01 -6.25751531e-04 -9.64442078e+01] [ 2.91251407e-03 6.21233089e-04 9.99995566e-01 2.95935029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.829072329 meters Centerline goodness [0,1] 0.33385638965603814 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.45, Z:295.93 [[ 9.99994197e-01 -8.50564735e-04 -3.29897262e-03 -1.69781290e+02] [ 8.51105434e-04 9.99999625e-01 1.62498652e-04 -9.64455021e+01] [ 3.29883317e-03 -1.65305482e-04 9.99994545e-01 2.95934434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85907232899996 meters Centerline goodness [0,1] 0.3270998680711159 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.45, Z:295.93 [[ 9.99994621e-01 -7.86182849e-04 -3.18431159e-03 -1.69781291e+02] [ 7.86951433e-04 9.99999662e-01 2.40120053e-04 -9.64454312e+01] [ 3.18412173e-03 -2.42624660e-04 9.99994901e-01 2.95934039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.889072329 meters Centerline goodness [0,1] 0.33618001046572477 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.45, Z:295.93 [[ 9.99985924e-01 -4.12231281e-03 -3.34050347e-03 -1.69780463e+02] [ 4.11333184e-03 9.99987920e-01 -2.69093118e-03 -9.64486419e+01] [ 3.35155597e-03 2.67715270e-03 9.99990800e-01 2.95933371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91907232899996 meters Centerline goodness [0,1] 0.3189224237100249 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.45, Z:295.93 [[ 9.99987380e-01 -4.29108499e-03 -2.61259035e-03 -1.69782165e+02] [ 4.28454524e-03 9.99987687e-01 -2.50364178e-03 -9.64497436e+01] [ 2.62330152e-03 2.49241643e-03 9.99993453e-01 2.95933107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.949072329 meters Centerline goodness [0,1] 0.3537968854655057 Centerline is valid? [False, False] Translation: X:-169.78, Y:-96.45, Z:295.93 [[ 9.99987257e-01 -4.61990425e-03 -2.03525530e-03 -1.69783689e+02] [ 4.61459320e-03 9.99985956e-01 -2.60653796e-03 -9.64499210e+01] [ 2.04726868e-03 2.59711287e-03 9.99994532e-01 2.95933160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97907232899996 meters Centerline goodness [0,1] 0.31456891323895364 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99984773e-01 -5.36234835e-03 -1.30355386e-03 -1.69785708e+02] [ 5.35807168e-03 9.99980324e-01 -3.26242661e-03 -9.64487338e+01] [ 1.32102248e-03 3.25539240e-03 9.99993829e-01 2.95933400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.009072329 meters Centerline goodness [0,1] 0.33630187101494724 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99977371e-01 -6.72729530e-03 -3.95912793e-05 -1.69788353e+02] [ 6.72709396e-03 9.99970016e-01 -3.83576227e-03 -9.64487514e+01] [ 6.53943977e-05 3.83540914e-03 9.99992643e-01 2.95932606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03907232899996 meters Centerline goodness [0,1] 0.31981086679080273 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99980315e-01 -6.27422749e-03 -6.26154885e-05 -1.69787892e+02] [ 6.27400393e-03 9.99975539e-01 -3.09174643e-03 -9.64505935e+01] [ 8.20122773e-05 3.09129272e-03 9.99995219e-01 2.95931990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.069072329 meters Centerline goodness [0,1] 0.3359742458766227 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99977391e-01 -6.70201511e-03 5.48053599e-04 -1.69789172e+02] [ 6.70376049e-03 9.99972257e-01 -3.24739865e-03 -9.64504767e+01] [-5.26274279e-04 3.25099925e-03 9.99994577e-01 2.95931583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09907232899997 meters Centerline goodness [0,1] 0.2912107454442747 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99978532e-01 -6.49056210e-03 8.99412886e-04 -1.69789713e+02] [ 6.49292903e-03 9.99975398e-01 -2.65419332e-03 -9.64522988e+01] [-8.82163552e-04 2.65997617e-03 9.99996073e-01 2.95931023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.129072329 meters Centerline goodness [0,1] 0.3386506658861408 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99976184e-01 -6.70591174e-03 1.63136676e-03 -1.69791473e+02] [ 6.70973543e-03 9.99974729e-01 -2.34978912e-03 -9.64539385e+01] [-1.61556806e-03 2.36067919e-03 9.99995909e-01 2.95930751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15907232899997 meters Centerline goodness [0,1] 0.3406503895235907 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99974198e-01 -6.85354340e-03 2.15233807e-03 -1.69792814e+02] [ 6.85850043e-03 9.99973825e-01 -2.30421985e-03 -9.64543426e+01] [-2.13648967e-03 2.31892221e-03 9.99995029e-01 2.95930787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.189072329 meters Centerline goodness [0,1] 0.33682934982450274 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99970413e-01 -7.24133230e-03 2.59547397e-03 -1.69794066e+02] [ 7.24853044e-03 9.99969879e-01 -2.77474932e-03 -9.64531086e+01] [-2.57530291e-03 2.79348060e-03 9.99992782e-01 2.95931010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21907232899997 meters Centerline goodness [0,1] 0.3171393959647437 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.93 [[ 9.99966184e-01 -7.59387978e-03 3.15647163e-03 -1.69795643e+02] [ 7.60303019e-03 9.99966900e-01 -2.89711623e-03 -9.64533996e+01] [-3.13436680e-03 2.92101701e-03 9.99990822e-01 2.95931175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24907232899994 meters Centerline goodness [0,1] 0.37324193851748133 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.93 [[ 9.99968183e-01 -7.38023290e-03 3.02748781e-03 -1.69795172e+02] [ 7.38827638e-03 9.99969184e-01 -2.65429133e-03 -9.64537242e+01] [-3.00780523e-03 2.67657480e-03 9.99991894e-01 2.95930967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.279072329 meters Centerline goodness [0,1] 0.32431755049186495 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99973645e-01 -6.84554591e-03 2.41840100e-03 -1.69793506e+02] [ 6.85125079e-03 9.99973748e-01 -2.35858845e-03 -9.64533504e+01] [-2.40219169e-03 2.37509536e-03 9.99994294e-01 2.95930848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30907232899995 meters Centerline goodness [0,1] 0.3206365117153239 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99980296e-01 -5.98930957e-03 1.88059028e-03 -1.69791048e+02] [ 5.99283995e-03 9.99980281e-01 -1.87728400e-03 -9.64521597e+01] [-1.86930956e-03 1.88851709e-03 9.99996470e-01 2.95929727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.339072329 meters Centerline goodness [0,1] 0.32634786783276626 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99979498e-01 -6.01677841e-03 2.19136532e-03 -1.69791456e+02] [ 6.02060229e-03 9.99980358e-01 -1.74257962e-03 -9.64524086e+01] [-2.18083756e-03 1.75573723e-03 9.99996081e-01 2.95929196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36907232899995 meters Centerline goodness [0,1] 0.331816378932426 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99976946e-01 -6.15175983e-03 2.87459054e-03 -1.69792641e+02] [ 6.15571244e-03 9.99980117e-01 -1.36820007e-03 -9.64538615e+01] [-2.86611655e-03 1.38586368e-03 9.99994932e-01 2.95928353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.399072329 meters Centerline goodness [0,1] 0.33369524366308934 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99973393e-01 -6.41454391e-03 3.47388201e-03 -1.69794078e+02] [ 6.41948439e-03 9.99978397e-01 -1.41290161e-03 -9.64541491e+01] [-3.46474384e-03 1.43516455e-03 9.99992968e-01 2.95928182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42907232899995 meters Centerline goodness [0,1] 0.325901338176656 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99971433e-01 -6.57229836e-03 3.73329126e-03 -1.69794941e+02] [ 6.57824055e-03 9.99977112e-01 -1.58163119e-03 -9.64537939e+01] [-3.72281086e-03 1.60614450e-03 9.99991780e-01 2.95928472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.459072329 meters Centerline goodness [0,1] 0.3099987480699412 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.93 [[ 9.99969623e-01 -6.70208084e-03 3.97926901e-03 -1.69795983e+02] [ 6.70894387e-03 9.99976026e-01 -1.71386076e-03 -9.64536096e+01] [-3.96768718e-03 1.74050539e-03 9.99990614e-01 2.95929048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48907232899995 meters Centerline goodness [0,1] 0.33687107737859423 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.93 [[ 9.99968941e-01 -6.66831061e-03 4.20138528e-03 -1.69796794e+02] [ 6.67472641e-03 9.99976576e-01 -1.51490180e-03 -9.64544724e+01] [-4.19118503e-03 1.54289785e-03 9.99990027e-01 2.95929279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.519072329 meters Centerline goodness [0,1] 0.30767143304456734 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.46, Z:295.93 [[ 9.99977554e-01 -5.64158383e-03 3.61438496e-03 -1.69794162e+02] [ 5.64375777e-03 9.99983899e-01 -5.91553204e-04 -9.64550712e+01] [-3.61098947e-03 6.11938639e-04 9.99993293e-01 2.95927936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54907232899996 meters Centerline goodness [0,1] 0.3631291920015044 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99994037e-01 -1.30482310e-03 3.19748676e-03 -1.69792646e+02] [ 1.29358393e-03 9.99992987e-01 3.51455158e-03 -9.64538897e+01] [-3.20205020e-03 -3.51039440e-03 9.99988712e-01 2.95927264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.579072329 meters Centerline goodness [0,1] 0.3224410436527847 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99995020e-01 -1.06337455e-03 2.97137658e-03 -1.69791945e+02] [ 1.05231833e-03 9.99992527e-01 3.71999717e-03 -9.64541474e+01] [-2.97531013e-03 -3.71685181e-03 9.99988666e-01 2.95927042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60907232899996 meters Centerline goodness [0,1] 0.3479179302700103 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99996193e-01 -8.75605810e-04 2.61665567e-03 -1.69791273e+02] [ 8.65846449e-04 9.99992674e-01 3.72851601e-03 -9.64539183e+01] [-2.61990122e-03 -3.72623619e-03 9.99989626e-01 2.95927298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.639072329 meters Centerline goodness [0,1] 0.34971340111292415 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99995991e-01 -1.16452593e-03 2.58101996e-03 -1.69791716e+02] [ 1.15624912e-03 9.99994192e-01 3.20597297e-03 -9.64525723e+01] [-2.58473841e-03 -3.20297582e-03 9.99991530e-01 2.95928039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66907232899996 meters Centerline goodness [0,1] 0.35680525347164127 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99996736e-01 -1.19466467e-03 2.25836129e-03 -1.69791093e+02] [ 1.18823387e-03 9.99995242e-01 2.84675157e-03 -9.64510203e+01] [-2.26175145e-03 -2.84405882e-03 9.99993398e-01 2.95928362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.699072329 meters Centerline goodness [0,1] 0.3645221318502101 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.45, Z:295.93 [[ 9.99995505e-01 -1.60062699e-03 2.53517000e-03 -1.69791830e+02] [ 1.59481723e-03 9.99996102e-01 2.29202887e-03 -9.64494153e+01] [-2.53882880e-03 -2.28797544e-03 9.99994160e-01 2.95928470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72907232899996 meters Centerline goodness [0,1] 0.2697911658339779 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.93 [[ 9.99964130e-01 -7.39408367e-03 4.13120111e-03 -1.69795350e+02] [ 7.40448617e-03 9.99969440e-01 -2.50843838e-03 -9.64498793e+01] [-4.11252726e-03 2.53893782e-03 9.99988320e-01 2.95927746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.759072329 meters Centerline goodness [0,1] 0.2942539775337203 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.93 [[ 9.99953074e-01 -8.13154486e-03 5.26571894e-03 -1.69798551e+02] [ 8.14412703e-03 9.99964022e-01 -2.37243090e-03 -9.64520860e+01] [-5.24623796e-03 2.41520426e-03 9.99983322e-01 2.95927985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78907232899996 meters Centerline goodness [0,1] 0.33350719799707906 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.45, Z:295.93 [[ 9.99933703e-01 -9.45674561e-03 6.56966456e-03 -1.69802051e+02] [ 9.47803032e-03 9.99949910e-01 -3.21630217e-03 -9.64516603e+01] [-6.53891973e-03 3.27835642e-03 9.99973247e-01 2.95928111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.819072329 meters Centerline goodness [0,1] 0.32910150132592764 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.46, Z:295.92 [[ 9.99820350e-01 -1.58663217e-02 1.03695686e-02 -1.69809689e+02] [ 1.59150350e-02 9.99862618e-01 -4.63220026e-03 -9.64570401e+01] [-1.02946480e-02 4.79640013e-03 9.99935505e-01 2.95923194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84907232899997 meters Centerline goodness [0,1] 0.28411105780262413 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.46, Z:295.92 [[ 9.99787842e-01 -1.69711594e-02 1.16726402e-02 -1.69812746e+02] [ 1.70273120e-02 9.99843845e-01 -4.72816832e-03 -9.64585983e+01] [-1.15905749e-02 4.92591889e-03 9.99920694e-01 2.95922602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.879072329 meters Centerline goodness [0,1] 0.29354926226600164 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.92 [[ 9.99688643e-01 -1.98799404e-02 1.50799462e-02 -1.69819053e+02] [ 1.99376733e-02 9.99794423e-01 -3.68781212e-03 -9.64612249e+01] [-1.50035326e-02 3.98732293e-03 9.99879490e-01 2.95918040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90907232899997 meters Centerline goodness [0,1] 0.32285272871518644 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.92 [[ 9.99659283e-01 -2.04875158e-02 1.61733952e-02 -1.69821444e+02] [ 2.05486023e-02 9.99782302e-01 -3.61985622e-03 -9.64623642e+01] [-1.60957125e-02 3.95096354e-03 9.99862650e-01 2.95917372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.939072329 meters Centerline goodness [0,1] 0.3359019337593451 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.92 [[ 9.99646351e-01 -2.05810411e-02 1.68402152e-02 -1.69822373e+02] [ 2.06391955e-02 9.99781586e-01 -3.28680363e-03 -9.64633667e+01] [-1.67688912e-02 3.63320975e-03 9.99852791e-01 2.95916243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96907232899997 meters Centerline goodness [0,1] 0.29752532108175833 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.46, Z:295.91 [[ 9.99623504e-01 -2.08684352e-02 1.78145590e-02 -1.69823681e+02] [ 2.09220838e-02 9.99777103e-01 -2.83043916e-03 -9.64648413e+01] [-1.77515214e-02 3.20209121e-03 9.99837302e-01 2.95914599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99907232899994 meters Centerline goodness [0,1] 0.3404890680142836 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.47, Z:295.91 [[ 9.99600083e-01 -2.12767185e-02 1.86272800e-02 -1.69825689e+02] [ 2.13355172e-02 9.99767980e-01 -2.96355228e-03 -9.64650769e+01] [-1.85599034e-02 3.35978976e-03 9.99822105e-01 2.95914476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.029072329 meters Centerline goodness [0,1] 0.3325679455600551 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.46, Z:295.92 [[ 9.99544500e-01 -2.27160745e-02 1.98688919e-02 -1.69829276e+02] [ 2.28018961e-02 9.99731581e-01 -4.10353792e-03 -9.64636946e+01] [-1.97703424e-02 4.55471717e-03 9.99794173e-01 2.95915048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05907232899995 meters Centerline goodness [0,1] 0.322813965607087 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.47, Z:295.92 [[ 9.99447940e-01 -2.64125209e-02 2.01542471e-02 -1.69830440e+02] [ 2.65695821e-02 9.99618339e-01 -7.56534503e-03 -9.64661615e+01] [-1.99467352e-02 8.09665843e-03 9.99768259e-01 2.95915853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.089072329 meters Centerline goodness [0,1] 0.322813965607087 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.47, Z:295.92 [[ 9.99447940e-01 -2.64125209e-02 2.01542471e-02 -1.69830440e+02] [ 2.65695821e-02 9.99618339e-01 -7.56534503e-03 -9.64661615e+01] [-1.99467352e-02 8.09665843e-03 9.99768259e-01 2.95915853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11907232899995 meters Centerline goodness [0,1] 0.32270426759419324 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.46, Z:295.92 [[ 9.99388025e-01 -2.77902628e-02 2.12432839e-02 -1.69833581e+02] [ 2.79803706e-02 9.99570571e-01 -8.70479258e-03 -9.64646342e+01] [-2.09922529e-02 9.29386042e-03 9.99736440e-01 2.95916341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.149072329 meters Centerline goodness [0,1] 0.3297245727559316 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.47, Z:295.92 [[ 9.99355195e-01 -2.82635986e-02 2.21441311e-02 -1.69835405e+02] [ 2.84511341e-02 9.99561550e-01 -8.20001694e-03 -9.64668537e+01] [-2.19026600e-02 8.82475517e-03 9.99721160e-01 2.95915582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17907232899995 meters Centerline goodness [0,1] 0.3456463830849913 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.46, Z:295.92 [[ 9.99386927e-01 -2.62006020e-02 2.32228073e-02 -1.69839311e+02] [ 2.63487065e-02 9.99634234e-01 -6.09461945e-03 -9.64634469e+01] [-2.30546305e-02 6.70277394e-03 9.99711737e-01 2.95916671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.209072329 meters Centerline goodness [0,1] 0.3267347320704498 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.46, Z:295.92 [[ 9.99337325e-01 -2.73332633e-02 2.40375551e-02 -1.69841582e+02] [ 2.75137316e-02 9.99595428e-01 -7.20929602e-03 -9.64612997e+01] [-2.38307766e-02 7.86588144e-03 9.99685061e-01 2.95917013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23907232899995 meters Centerline goodness [0,1] 0.33082988328791063 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.46, Z:295.92 [[ 9.99318165e-01 -2.77041740e-02 2.44066220e-02 -1.69842480e+02] [ 2.78971788e-02 9.99581882e-01 -7.60314696e-03 -9.64601887e+01] [-2.41857782e-02 8.27883877e-03 9.99673201e-01 2.95916946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.269072329 meters Centerline goodness [0,1] 0.34316560231314874 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.46, Z:295.92 [[ 9.99284747e-01 -2.81831213e-02 2.52132134e-02 -1.69844502e+02] [ 2.83838762e-02 9.99567899e-01 -7.64008853e-03 -9.64607764e+01] [-2.49869973e-02 8.35027266e-03 9.99652901e-01 2.95916841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29907232899996 meters Centerline goodness [0,1] 0.33295915185531655 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.46, Z:295.92 [[ 9.99310095e-01 -2.74640486e-02 2.50011923e-02 -1.69843270e+02] [ 2.76398100e-02 9.99595414e-01 -6.71184577e-03 -9.64625031e+01] [-2.48067428e-02 7.39824344e-03 9.99664890e-01 2.95915846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.329072329 meters Centerline goodness [0,1] 0.36084920387137054 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.45, Z:295.92 [[ 9.99487037e-01 -2.94693079e-02 1.25388601e-02 -1.69845954e+02] [ 2.96222633e-02 9.99486797e-01 -1.21928114e-02 -9.64515770e+01] [-1.21731114e-02 1.25579863e-02 9.99847044e-01 2.95920105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35907232899996 meters Centerline goodness [0,1] 0.3636950232083759 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.45, Z:295.92 [[ 9.99464210e-01 -2.98597183e-02 1.34048769e-02 -1.69847584e+02] [ 3.00237014e-02 9.99474692e-01 -1.22031877e-02 -9.64520372e+01] [-1.30334514e-02 1.25991134e-02 9.99835682e-01 2.95919203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.389072329 meters Centerline goodness [0,1] 0.36067792375439833 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.45, Z:295.92 [[ 9.99548510e-01 -2.65014452e-02 1.41580215e-02 -1.69849612e+02] [ 2.66253555e-02 9.99608175e-01 -8.63631790e-03 -9.64509917e+01] [-1.39235992e-02 9.00938105e-03 9.99862473e-01 2.95918859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41907232899996 meters Centerline goodness [0,1] 0.3574224443056423 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.45, Z:295.92 [[ 9.99596338e-01 -2.41044893e-02 1.50377863e-02 -1.69852552e+02] [ 2.41980164e-02 9.99688764e-01 -6.06880754e-03 -9.64482616e+01] [-1.48868205e-02 6.43024239e-03 9.99868509e-01 2.95919367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.449072329 meters Centerline goodness [0,1] 0.3550633967300634 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.45, Z:295.92 [[ 9.99674127e-01 -2.04453980e-02 1.52848014e-02 -1.69853451e+02] [ 2.04885063e-02 9.99786526e-01 -2.66907493e-03 -9.64457983e+01] [-1.52269682e-02 2.98136790e-03 9.99879618e-01 2.95919340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47907232899996 meters Centerline goodness [0,1] 0.35490392230419743 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.45, Z:295.92 [[ 9.99673564e-01 -2.04675013e-02 1.52920758e-02 -1.69853558e+02] [ 2.05129372e-02 9.99785610e-01 -2.82026884e-03 -9.64450323e+01] [-1.52310735e-02 3.13303359e-03 9.99879092e-01 2.95919468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.509072329 meters Centerline goodness [0,1] 0.3816940118264346 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.44, Z:295.92 [[ 9.99709393e-01 -1.85672497e-02 1.53748959e-02 -1.69857179e+02] [ 1.85976784e-02 9.99825358e-01 -1.83849505e-03 -9.64397768e+01] [-1.53380750e-02 2.12389814e-03 9.99880109e-01 2.95923587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53907232899996 meters Centerline goodness [0,1] 0.3751953816976846 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.44, Z:295.93 [[ 9.99752229e-01 -1.57175910e-02 1.57619355e-02 -1.69859764e+02] [ 1.57099643e-02 9.99876406e-01 6.07576249e-04 -9.64361041e+01] [-1.57695371e-02 -3.59806264e-04 9.99875588e-01 2.95925385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.569072329 meters Centerline goodness [0,1] 0.3577530524648914 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.43, Z:295.93 [[ 9.99785677e-01 -1.45553891e-02 1.47220920e-02 -1.69857614e+02] [ 1.45432809e-02 9.99893809e-01 9.29181717e-04 -9.64346781e+01] [-1.47340533e-02 -7.14875051e-04 9.99891192e-01 2.95926039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59907232899997 meters Centerline goodness [0,1] 0.3666847508555212 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.43, Z:295.93 [[ 9.99836622e-01 -1.08967926e-02 1.44218310e-02 -1.69857450e+02] [ 1.08415795e-02 9.99933619e-01 3.90109901e-03 -9.64306208e+01] [-1.44633832e-02 -3.74410623e-03 9.99888390e-01 2.95926627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.629072329 meters Centerline goodness [0,1] 0.3397956838740678 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.43, Z:295.93 [[ 9.99904867e-01 -5.14769141e-03 1.27968255e-02 -1.69853625e+02] [ 5.04143135e-03 9.99952663e-01 8.32206276e-03 -9.64282780e+01] [-1.28390591e-02 -8.25675674e-03 9.99883485e-01 2.95927024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65907232899997 meters Centerline goodness [0,1] 0.34382966275230886 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.43, Z:295.93 [[ 9.99931847e-01 -3.03497036e-04 1.16708607e-02 -1.69850818e+02] [ 1.60431148e-04 9.99924863e-01 1.22573666e-02 -9.64255991e+01] [-1.16737038e-02 -1.22546589e-02 9.99856764e-01 2.95927105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.689072329 meters Centerline goodness [0,1] 0.2519329627617336 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.42, Z:295.93 [[ 9.99943307e-01 4.52511932e-04 1.06385302e-02 -1.69848222e+02] [-5.82847173e-04 9.99924780e-01 1.22513386e-02 -9.64237142e+01] [-1.06321861e-02 -1.22568447e-02 9.99868355e-01 2.95927219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71907232899997 meters Centerline goodness [0,1] 0.30683362250977275 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.42, Z:295.93 [[ 9.99953972e-01 1.81937326e-03 9.42037113e-03 -1.69845004e+02] [-1.93744769e-03 9.99919494e-01 1.25400286e-02 -9.64214854e+01] [-9.39679774e-03 -1.25577029e-02 9.99876995e-01 2.95927276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74907232899994 meters Centerline goodness [0,1] 0.3558762714342405 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.42, Z:295.93 [[ 9.99960659e-01 3.70182066e-03 8.06078691e-03 -1.69841671e+02] [-3.81138283e-03 9.99899989e-01 1.36193210e-02 -9.64211567e+01] [-8.00956446e-03 -1.36495080e-02 9.99874761e-01 2.95927576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.779072329 meters Centerline goodness [0,1] 0.31451966661792663 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.42, Z:295.93 [[ 9.99955086e-01 8.87407388e-03 3.32817466e-03 -1.69829603e+02] [-8.91029654e-03 9.99899451e-01 1.10314941e-02 -9.64181733e+01] [-3.22994572e-03 -1.10606537e-02 9.99933612e-01 2.95933348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80907232899995 meters Centerline goodness [0,1] 0.3198411039096801 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.42, Z:295.93 [[ 9.99947004e-01 1.00825897e-02 2.08115769e-03 -1.69826916e+02] [-1.01055267e-02 9.99884840e-01 1.13218701e-02 -9.64168874e+01] [-1.96676426e-03 -1.13423012e-02 9.99933740e-01 2.95934097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.839072329 meters Centerline goodness [0,1] 0.3151948785539447 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.42, Z:295.93 [[ 9.99930544e-01 1.17588332e-02 7.97820227e-04 -1.69823877e+02] [-1.17674969e-02 9.99859962e-01 1.18988409e-02 -9.64156438e+01] [-6.57792016e-04 -1.19074029e-02 9.99928888e-01 2.95934590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86907232899995 meters Centerline goodness [0,1] 0.35470228624068334 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.41, Z:295.94 [[ 9.99800422e-01 1.99724139e-02 4.67073443e-04 -1.69823012e+02] [-1.99777009e-02 9.99615955e-01 1.92050482e-02 -9.64115563e+01] [-8.33228952e-05 -1.92105463e-02 9.99815457e-01 2.95935055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.899072329 meters Centerline goodness [0,1] 0.36008458784363806 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.41, Z:295.94 [[ 9.99782096e-01 2.08627212e-02 -7.12898327e-04 -1.69820033e+02] [-2.08451115e-02 9.99596879e-01 1.92758941e-02 -9.64098598e+01] [ 1.11475855e-03 -1.92568333e-02 9.99813949e-01 2.95935259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92907232899995 meters Centerline goodness [0,1] 0.3286402681751519 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.41, Z:295.94 [[ 9.99689666e-01 2.44317246e-02 -4.86441046e-03 -1.69810706e+02] [-2.43428959e-02 9.99549580e-01 1.75516717e-02 -9.64080153e+01] [ 5.29103704e-03 -1.74278110e-02 9.99834124e-01 2.95940030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.959072329 meters Centerline goodness [0,1] 0.31611808334555513 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.41, Z:295.94 [[ 9.99690943e-01 2.42925694e-02 -5.28097482e-03 -1.69810115e+02] [-2.42001176e-02 9.99563987e-01 1.69171583e-02 -9.64058542e+01] [ 5.68963349e-03 -1.67841297e-02 9.99842948e-01 2.95940703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98907232899995 meters Centerline goodness [0,1] 0.2916083770070783 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.41, Z:295.94 [[ 9.99754893e-01 2.12035015e-02 -6.36905594e-03 -1.69807709e+02] [-2.11167196e-02 9.99687253e-01 1.33970269e-02 -9.64059645e+01] [ 6.65112792e-03 -1.32592496e-02 9.99889971e-01 2.95941026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.019072329 meters Centerline goodness [0,1] 0.2951509568276035 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.40, Z:295.94 [[ 9.99747944e-01 2.13665490e-02 -6.89343822e-03 -1.69807211e+02] [-2.12749015e-02 9.99687770e-01 1.31050251e-02 -9.64048221e+01] [ 7.17129504e-03 -1.29550647e-02 9.99890363e-01 2.95942143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04907232899996 meters Centerline goodness [0,1] 0.33782680593640757 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.40, Z:295.94 [[ 9.99741589e-01 2.14758374e-02 -7.45281054e-03 -1.69805841e+02] [-2.13792308e-02 9.99689385e-01 1.28086559e-02 -9.64030676e+01] [ 7.72557220e-03 -1.26460107e-02 9.99890191e-01 2.95942288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.079072329 meters Centerline goodness [0,1] 0.3070443783262792 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.40, Z:295.94 [[ 9.99742551e-01 2.13858672e-02 -7.58127477e-03 -1.69805549e+02] [-2.12892501e-02 9.99693911e-01 1.26036826e-02 -9.64022571e+01] [ 7.84849490e-03 -1.24390382e-02 9.99891830e-01 2.95942348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10907232899996 meters Centerline goodness [0,1] 0.33425460636515913 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.40, Z:295.94 [[ 9.99808225e-01 1.78129992e-02 -8.13698267e-03 -1.69803789e+02] [-1.77400550e-02 9.99802571e-01 8.95042605e-03 -9.64024583e+01] [ 8.29481013e-03 -8.80435906e-03 9.99926837e-01 2.95941752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.139072329 meters Centerline goodness [0,1] 0.3432538851422109 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.40, Z:295.94 [[ 9.99855178e-01 1.45014196e-02 -8.90678882e-03 -1.69801985e+02] [-1.44512272e-02 9.99879476e-01 5.67403703e-03 -9.64041505e+01] [ 8.98799693e-03 -5.54450128e-03 9.99944236e-01 2.95941643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16907232899996 meters Centerline goodness [0,1] 0.3057364860619516 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.41, Z:295.94 [[ 9.99896776e-01 1.09050163e-02 -9.35510382e-03 -1.69801063e+02] [-1.08859810e-02 9.99938576e-01 2.08327054e-03 -9.64053856e+01] [ 9.37724729e-03 -1.98121601e-03 9.99954070e-01 2.95941715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.199072329 meters Centerline goodness [0,1] 0.3087659823801452 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.41, Z:295.94 [[ 9.99918173e-01 7.86927133e-03 -1.00857407e-02 -1.69799378e+02] [-7.87896022e-03 9.99968536e-01 -9.21278177e-04 -9.64074412e+01] [ 1.00781736e-02 1.00066794e-03 9.99948713e-01 2.95941789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22907232899996 meters Centerline goodness [0,1] 0.3118578811910192 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.41, Z:295.94 [[ 9.99920372e-01 7.81374643e-03 -9.90938080e-03 -1.69799774e+02] [-7.82394391e-03 9.99968902e-01 -9.90724463e-04 -9.64073682e+01] [ 9.90133136e-03 1.06817601e-03 9.99950410e-01 2.95941670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.259072329 meters Centerline goodness [0,1] 0.3326702820410813 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.41, Z:295.94 [[ 9.99934091e-01 7.09371299e-03 -9.02739242e-03 -1.69801538e+02] [-7.10537369e-03 9.99973962e-01 -1.26028495e-03 -9.64073004e+01] [ 9.01821727e-03 1.32434488e-03 9.99958458e-01 2.95940881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28907232899996 meters Centerline goodness [0,1] 0.33397606522331436 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.41, Z:295.94 [[ 9.99946559e-01 6.51585452e-03 -8.02639667e-03 -1.69803829e+02] [-6.52626459e-03 9.99977895e-01 -1.27147162e-03 -9.64084250e+01] [ 8.01793452e-03 1.32378606e-03 9.99966980e-01 2.95940332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.319072329 meters Centerline goodness [0,1] 0.3336472459400637 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.41, Z:295.94 [[ 9.99966719e-01 2.40673664e-03 -7.79546393e-03 -1.69804007e+02] [-2.44558076e-03 9.99984623e-01 -4.97721946e-03 -9.64100126e+01] [ 7.78336520e-03 4.99611825e-03 9.99957228e-01 2.95939679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34907232899997 meters Centerline goodness [0,1] 0.2610725050234427 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.41, Z:295.94 [[ 9.99975600e-01 2.00543136e-03 -6.69156854e-03 -1.69806033e+02] [-2.03528058e-03 9.99987997e-01 -4.45689727e-03 -9.64120397e+01] [ 6.68255022e-03 4.47040774e-03 9.99967679e-01 2.95938356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.379072329 meters Centerline goodness [0,1] 0.3465118711431858 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.41, Z:295.94 [[ 9.99982314e-01 1.44918213e-03 -5.76821255e-03 -1.69808297e+02] [-1.47504856e-03 9.99988865e-01 -4.48258203e-03 -9.64128581e+01] [ 5.76165224e-03 4.49101114e-03 9.99973317e-01 2.95938120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40907232899997 meters Centerline goodness [0,1] 0.343802275008364 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.41, Z:295.94 [[ 9.99985913e-01 1.40985822e-03 -5.11717557e-03 -1.69809331e+02] [-1.43115830e-03 9.99990318e-01 -4.16119662e-03 -9.64138279e+01] [ 5.11125933e-03 4.16846149e-03 9.99978249e-01 2.95937206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.439072329 meters Centerline goodness [0,1] 0.3546042849064902 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.42, Z:295.94 [[ 9.99985501e-01 -2.82254386e-03 -4.58599795e-03 -1.69810310e+02] [ 2.78624569e-03 9.99964895e-01 -7.90220153e-03 -9.64156361e+01] [ 4.60814127e-03 7.88930924e-03 9.99958261e-01 2.95936575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46907232899997 meters Centerline goodness [0,1] 0.34995815899581595 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.42, Z:295.94 [[ 9.99987952e-01 -3.54992473e-03 -3.39022603e-03 -1.69813358e+02] [ 3.52410201e-03 9.99964966e-01 -7.59265145e-03 -9.64180938e+01] [ 3.41706059e-03 7.58061247e-03 9.99965428e-01 2.95936275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49907232899994 meters Centerline goodness [0,1] 0.29131389150203824 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.42, Z:295.94 [[ 9.99987932e-01 -3.98708544e-03 -2.87024473e-03 -1.69814610e+02] [ 3.96389372e-03 9.99959815e-01 -8.04089249e-03 -9.64169590e+01] [ 2.90218911e-03 8.02941811e-03 9.99963552e-01 2.95936194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.529072329 meters Centerline goodness [0,1] 0.383232782915475 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.42, Z:295.94 [[ 9.99985652e-01 -5.07810285e-03 -1.70555494e-03 -1.69817018e+02] [ 5.06323814e-03 9.99950118e-01 -8.60954984e-03 -9.64164068e+01] [ 1.74919005e-03 8.60079068e-03 9.99961483e-01 2.95935443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55907232899995 meters Centerline goodness [0,1] 0.34673209438296093 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.42, Z:295.94 [[ 9.99985699e-01 -5.25317243e-03 -1.00326561e-03 -1.69818722e+02] [ 5.24457225e-03 9.99951045e-01 -8.39061896e-03 -9.64175436e+01] [ 1.04729386e-03 8.38523727e-03 9.99964295e-01 2.95935231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.589072329 meters Centerline goodness [0,1] 0.36124801603876033 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.42, Z:295.94 [[ 9.99981301e-01 -6.11478386e-03 -7.80335542e-05 -1.69821495e+02] [ 6.11381220e-03 9.99939331e-01 -9.16273354e-03 -9.64161782e+01] [ 1.34056955e-04 9.16208513e-03 9.99958018e-01 2.95935785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61907232899995 meters Centerline goodness [0,1] 0.3071163392149502 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.42, Z:295.94 [[ 9.99944011e-01 -1.05768053e-02 3.25439033e-04 -1.69822839e+02] [ 1.05802273e-02 9.99853479e-01 -1.34565689e-02 -9.64163714e+01] [-1.83063839e-04 1.34592587e-02 9.99909403e-01 2.95936314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.649072329 meters Centerline goodness [0,1] 0.3631830415823405 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.42, Z:295.94 [[ 9.99930059e-01 -1.17087027e-02 1.66848107e-03 -1.69826063e+02] [ 1.17308111e-02 9.99834271e-01 -1.39218576e-02 -9.64165983e+01] [-1.50519766e-03 1.39404565e-02 9.99901694e-01 2.95935926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67907232899995 meters Centerline goodness [0,1] 0.3107705140235637 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.42, Z:295.93 [[ 9.99914072e-01 -1.27408798e-02 3.08524087e-03 -1.69829061e+02] [ 1.27829087e-02 9.99820153e-01 -1.40092299e-02 -9.64177279e+01] [-2.90619608e-03 1.40474645e-02 9.99897106e-01 2.95934865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.709072329 meters Centerline goodness [0,1] 0.31988051220989744 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.42, Z:295.93 [[ 9.99843542e-01 -1.60532098e-02 7.42868757e-03 -1.69838107e+02] [ 1.61370436e-02 9.99805183e-01 -1.13662737e-02 -9.64198526e+01] [-7.24477516e-03 1.14843725e-02 9.99907807e-01 2.95928472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73907232899995 meters Centerline goodness [0,1] 0.33819606535511837 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.42, Z:295.93 [[ 9.99798766e-01 -1.80585111e-02 8.73603457e-03 -1.69841772e+02] [ 1.81677101e-02 9.99755730e-01 -1.25862845e-02 -9.64193054e+01] [-8.50661106e-03 1.27424655e-02 9.99882627e-01 2.95928680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.769072329 meters Centerline goodness [0,1] 0.3172956499958254 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.42, Z:295.92 [[ 9.99657387e-01 -2.24989047e-02 1.33756402e-02 -1.69852392e+02] [ 2.26539647e-02 9.99676571e-01 -1.15564814e-02 -9.64180077e+01] [-1.31113060e-02 1.18555332e-02 9.99843758e-01 2.95923750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79907232899996 meters Centerline goodness [0,1] 0.32009009572670966 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.42, Z:295.92 [[ 9.99629393e-01 -2.30698715e-02 1.44519044e-02 -1.69854723e+02] [ 2.32386610e-02 9.99662385e-01 -1.16224037e-02 -9.64184953e+01] [-1.41788978e-02 1.19539392e-02 9.99828016e-01 2.95923151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.829072329 meters Centerline goodness [0,1] 0.3200342215637585 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.42, Z:295.92 [[ 9.99580496e-01 -2.43386873e-02 1.56990792e-02 -1.69858179e+02] [ 2.45343965e-02 9.99622124e-01 -1.23965150e-02 -9.64179320e+01] [-1.53914320e-02 1.27764821e-02 9.99799913e-01 2.95923438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85907232899996 meters Centerline goodness [0,1] 0.3237212209605167 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.42, Z:295.92 [[ 9.99534245e-01 -2.54265229e-02 1.68755924e-02 -1.69861035e+02] [ 2.56501480e-02 9.99584225e-01 -1.31699096e-02 -9.64168280e+01] [-1.65337109e-02 1.35966371e-02 9.99770858e-01 2.95923215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.889072329 meters Centerline goodness [0,1] 0.32998000499875035 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.41, Z:295.92 [[ 9.99283979e-01 -3.09529679e-02 2.17587436e-02 -1.69872839e+02] [ 3.12351792e-02 9.99430713e-01 -1.27519986e-02 -9.64140937e+01] [-2.13516445e-02 1.34225062e-02 9.99681921e-01 2.95918430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91907232899996 meters Centerline goodness [0,1] 0.3389226795534077 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.41, Z:295.92 [[ 9.99207237e-01 -3.24743442e-02 2.30285411e-02 -1.69876415e+02] [ 3.27926452e-02 9.99369891e-01 -1.35816937e-02 -9.64138764e+01] [-2.25729740e-02 1.43260934e-02 9.99642548e-01 2.95918771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.949072329 meters Centerline goodness [0,1] 0.33398567621585606 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.41, Z:295.92 [[ 9.99189136e-01 -3.26576260e-02 2.35488727e-02 -1.69878096e+02] [ 3.29815873e-02 9.99364750e-01 -1.35022805e-02 -9.64147535e+01] [-2.30929608e-02 1.42680111e-02 9.99631502e-01 2.95919120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97907232899996 meters Centerline goodness [0,1] 0.3352288112645546 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.41, Z:295.92 [[ 9.99311553e-01 -2.87168255e-02 2.34896659e-02 -1.69878204e+02] [ 2.89513518e-02 9.99533700e-01 -9.70577904e-03 -9.64130354e+01] [-2.31999935e-02 1.03791547e-02 9.99676965e-01 2.95918988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.009072329 meters Centerline goodness [0,1] 0.3352288112645546 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.41, Z:295.92 [[ 9.99311553e-01 -2.87168255e-02 2.34896659e-02 -1.69878204e+02] [ 2.89513518e-02 9.99533700e-01 -9.70577904e-03 -9.64130354e+01] [-2.31999935e-02 1.03791547e-02 9.99676965e-01 2.95918988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03907232899996 meters Centerline goodness [0,1] 0.3677095484085986 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.41, Z:295.92 [[ 9.99375610e-01 -2.57161211e-02 2.42295458e-02 -1.69880853e+02] [ 2.58873185e-02 9.99641884e-01 -6.77862258e-03 -9.64099952e+01] [-2.40465489e-02 7.40162805e-03 9.99683440e-01 2.95919661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.069072329 meters Centerline goodness [0,1] 0.3549713951643212 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.40, Z:295.91 [[ 9.99524868e-01 -1.63486602e-02 2.61296723e-02 -1.69891948e+02] [ 1.66312472e-02 9.99805138e-01 -1.06342946e-02 -9.63975089e+01] [-2.59507241e-02 1.10638109e-02 9.99601997e-01 2.95914606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09907232899997 meters Centerline goodness [0,1] 0.3469042799607688 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.40, Z:295.91 [[ 9.99546289e-01 -1.58533326e-02 2.56103272e-02 -1.69890506e+02] [ 1.61256148e-02 9.99815255e-01 -1.04604165e-02 -9.63968275e+01] [-2.54397633e-02 1.08686528e-02 9.99617272e-01 2.95914454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.129072329 meters Centerline goodness [0,1] 0.3186327636515215 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.40, Z:295.92 [[ 9.99544812e-01 -1.57745100e-02 2.57164144e-02 -1.69891286e+02] [ 1.60457246e-02 9.99817437e-01 -1.03743310e-02 -9.63970383e+01] [-2.55480696e-02 1.07822472e-02 9.99615446e-01 2.95915148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15907232899997 meters Centerline goodness [0,1] 0.3376089767655279 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.39, Z:295.92 [[ 9.99557726e-01 -1.40926136e-02 2.61868276e-02 -1.69894624e+02] [ 1.43377274e-02 9.99854920e-01 -9.19611620e-03 -9.63925622e+01] [-2.60534311e-02 9.56750859e-03 9.99614767e-01 2.95917828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.189072329 meters Centerline goodness [0,1] 0.3117411440731005 Centerline is valid? [False, False] Translation: X:-169.90, Y:-96.39, Z:295.92 [[ 9.99596865e-01 -1.05685159e-02 2.63517225e-02 -1.69896074e+02] [ 1.07300111e-02 9.99924463e-01 -5.99459202e-03 -9.63899964e+01] [-2.62863781e-02 6.27492967e-03 9.99634759e-01 2.95919053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21907232899997 meters Centerline goodness [0,1] 0.31055213443273144 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.39, Z:295.92 [[ 9.99628052e-01 -9.99895606e-03 2.53728000e-02 -1.69894166e+02] [ 1.01614459e-02 9.99928630e-01 -6.28326053e-03 -9.63875305e+01] [-2.53081631e-02 6.53874782e-03 9.99658312e-01 2.95919927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24907232899994 meters Centerline goodness [0,1] 0.3191738195184095 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.38, Z:295.92 [[ 9.99700379e-01 -5.23906123e-03 2.39103599e-02 -1.69891446e+02] [ 5.30799906e-03 9.99981934e-01 -2.82062167e-03 -9.63837204e+01] [-2.38951506e-02 2.94669272e-03 9.99710127e-01 2.95921404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.279072329 meters Centerline goodness [0,1] 0.3540826770831157 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.38, Z:295.92 [[ 9.99724216e-01 -5.01286959e-03 2.29426138e-02 -1.69889753e+02] [ 5.09383662e-03 9.99980999e-01 -3.47203143e-03 -9.63808817e+01] [-2.29247730e-02 3.58793983e-03 9.99730754e-01 2.95922525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30907232899995 meters Centerline goodness [0,1] 0.318963895218782 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.38, Z:295.92 [[ 9.99741258e-01 -4.81940470e-03 2.22304064e-02 -1.69888645e+02] [ 4.90613581e-03 9.99980559e-01 -3.84857454e-03 -9.63792445e+01] [-2.22114264e-02 3.95664414e-03 9.99745466e-01 2.95923492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.339072329 meters Centerline goodness [0,1] 0.32831520263921654 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.38, Z:295.92 [[ 9.99763879e-01 -4.20984279e-03 2.13181338e-02 -1.69887182e+02] [ 4.29308454e-03 9.99983333e-01 -3.86048006e-03 -9.63785596e+01] [-2.13015265e-02 3.95108908e-03 9.99765289e-01 2.95924673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36907232899995 meters Centerline goodness [0,1] 0.31159117499582145 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.38, Z:295.92 [[ 9.99763269e-01 -4.19542192e-03 2.13495599e-02 -1.69887402e+02] [ 4.27849546e-03 9.99983448e-01 -3.84692377e-03 -9.63786141e+01] [-2.13330671e-02 3.93735708e-03 9.99764671e-01 2.95924736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.399072329 meters Centerline goodness [0,1] 0.33439903042460717 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.38, Z:295.92 [[ 9.99782776e-01 -3.27504853e-03 2.05833507e-02 -1.69885271e+02] [ 3.33728136e-03 9.99989962e-01 -2.98983213e-03 -9.63800560e+01] [-2.05733523e-02 3.05787510e-03 9.99783670e-01 2.95924379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42907232899995 meters Centerline goodness [0,1] 0.33572174639649055 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.38, Z:295.92 [[ 9.99804713e-01 -2.04205054e-03 1.96561853e-02 -1.69882338e+02] [ 2.07954965e-03 9.99996056e-01 -1.88750062e-03 -9.63816245e+01] [-1.96522534e-02 1.92800803e-03 9.99805017e-01 2.95923525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.459072329 meters Centerline goodness [0,1] 0.3558064178948469 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.38, Z:295.92 [[ 9.99807693e-01 -2.18003631e-03 1.94890825e-02 -1.69882011e+02] [ 2.22442118e-03 9.99994981e-01 -2.25603458e-03 -9.63803876e+01] [-1.94840665e-02 2.29895266e-03 9.99807524e-01 2.95923621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48907232899995 meters Centerline goodness [0,1] 0.3610802889144771 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.38, Z:295.92 [[ 9.99813328e-01 -2.16206745e-03 1.91998552e-02 -1.69881193e+02] [ 2.21120995e-03 9.99994333e-01 -2.53866388e-03 -9.63791357e+01] [-1.91942576e-02 2.58064490e-03 9.99812443e-01 2.95923515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.519072329 meters Centerline goodness [0,1] 0.33238523475896686 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.38, Z:295.92 [[ 9.99815194e-01 -2.01570645e-03 1.91184377e-02 -1.69881329e+02] [ 2.06286598e-03 9.99994878e-01 -2.44730413e-03 -9.63794847e+01] [-1.91134067e-02 2.48629062e-03 9.99814231e-01 2.95923901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54907232899996 meters Centerline goodness [0,1] 0.3537487462387161 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.38, Z:295.92 [[ 9.99828409e-01 2.38289459e-03 1.83704903e-02 -1.69880129e+02] [-2.40977029e-03 9.99996058e-01 1.44098489e-03 -9.63776453e+01] [-1.83669842e-02 -1.48500630e-03 9.99830210e-01 2.95924901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.579072329 meters Centerline goodness [0,1] 0.36460772833723654 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.37, Z:295.93 [[ 9.99854854e-01 8.72311272e-03 1.46348203e-02 -1.69873329e+02] [-8.75717298e-03 9.99959090e-01 2.26487635e-03 -9.63726409e+01] [-1.46144649e-02 -2.39270726e-03 9.99890340e-01 2.95931686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60907232899996 meters Centerline goodness [0,1] 0.3480307055156979 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.37, Z:295.93 [[ 9.99865237e-01 9.14990747e-03 1.36303894e-02 -1.69871755e+02] [-9.17747448e-03 9.99955963e-01 1.96129131e-03 -9.63710191e+01] [-1.36118435e-02 -2.08611955e-03 9.99905178e-01 2.95933040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.639072329 meters Centerline goodness [0,1] 0.350130575577144 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.37, Z:295.94 [[ 9.99852585e-01 1.48399879e-02 8.63611044e-03 -1.69860155e+02] [-1.48430255e-02 9.99889795e-01 2.87730598e-04 -9.63713375e+01] [-8.63088877e-03 -4.15874189e-04 9.99962667e-01 2.95940062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66907232899996 meters Centerline goodness [0,1] 0.32861444523441097 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.37, Z:295.94 [[ 9.99841134e-01 1.62646382e-02 7.29166171e-03 -1.69857152e+02] [-1.62661675e-02 9.99867686e-01 1.50481923e-04 -9.63680089e+01] [-7.28824939e-03 -2.69065408e-04 9.99973404e-01 2.95941108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.699072329 meters Centerline goodness [0,1] 0.2750883503063508 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.37, Z:295.94 [[ 9.99841714e-01 1.65523105e-02 6.52438242e-03 -1.69855532e+02] [-1.65532697e-02 9.99862981e-01 9.30435532e-05 -9.63671965e+01] [-6.52194837e-03 -2.01028688e-04 9.99978712e-01 2.95941577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72907232899996 meters Centerline goodness [0,1] 0.272071129707113 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.37, Z:295.94 [[ 9.99829273e-01 1.76335625e-02 5.52102107e-03 -1.69852555e+02] [-1.76362646e-02 9.99844372e-01 4.41113949e-04 -9.63659846e+01] [-5.51238343e-03 -5.38408828e-04 9.99984662e-01 2.95941248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.759072329 meters Centerline goodness [0,1] 0.30480712911053465 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.37, Z:295.94 [[ 9.99812715e-01 1.88567498e-02 4.35405208e-03 -1.69849858e+02] [-1.88615709e-02 9.99821533e-01 1.06886734e-03 -9.63661429e+01] [-4.33311966e-03 -1.15079142e-03 9.99989950e-01 2.95941648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78907232899996 meters Centerline goodness [0,1] 0.30556369573408126 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.37, Z:295.94 [[ 9.99798493e-01 1.98151816e-02 3.21442535e-03 -1.69847587e+02] [-1.98194704e-02 9.99802720e-01 1.30790743e-03 -9.63652705e+01] [-3.18787478e-03 -1.37135208e-03 9.99993978e-01 2.95942539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.819072329 meters Centerline goodness [0,1] 0.31039604996129466 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.36, Z:295.94 [[ 9.99704839e-01 2.41537281e-02 2.61379834e-03 -1.69846731e+02] [-2.41665054e-02 9.99695581e-01 4.97251436e-03 -9.63630733e+01] [-2.49289789e-03 -5.03421304e-03 9.99984221e-01 2.95943828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84907232899997 meters Centerline goodness [0,1] 0.307077219349842 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.36, Z:295.95 [[ 9.99461657e-01 3.27544389e-02 -1.88214128e-03 -1.69835691e+02] [-3.27407536e-02 9.99440113e-01 6.89228344e-03 -9.63596632e+01] [ 2.10684037e-03 -6.82695031e-03 9.99974477e-01 2.95949415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.879072329 meters Centerline goodness [0,1] 0.32700479350260603 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.36, Z:295.95 [[ 9.99432896e-01 3.35422479e-02 -2.96709404e-03 -1.69832741e+02] [-3.35210801e-02 9.99414072e-01 6.91732718e-03 -9.63579409e+01] [ 3.19737824e-03 -6.81394414e-03 9.99971673e-01 2.95949397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90907232899997 meters Centerline goodness [0,1] 0.33595058626465657 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.36, Z:295.95 [[ 9.99267363e-01 3.81190087e-02 -3.41743741e-03 -1.69831048e+02] [-3.80798611e-02 9.99215584e-01 1.08693017e-02 -9.63563637e+01] [ 3.82908372e-03 -1.07312029e-02 9.99935088e-01 2.95949271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.939072329 meters Centerline goodness [0,1] 0.33636611391794724 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.35, Z:295.95 [[ 9.99219955e-01 3.92352419e-02 -4.48085003e-03 -1.69828334e+02] [-3.91835377e-02 9.99170418e-01 1.10961797e-02 -9.63549834e+01] [ 4.91249409e-03 -1.09119486e-02 9.99928396e-01 2.95949517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96907232899997 meters Centerline goodness [0,1] 0.33865761120194526 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.35, Z:295.95 [[ 9.99217208e-01 3.92614955e-02 -4.84833776e-03 -1.69827651e+02] [-3.92070639e-02 9.99172163e-01 1.08532944e-02 -9.63540181e+01] [ 5.27044070e-03 -1.06547094e-02 9.99929347e-01 2.95949877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99907232899994 meters Centerline goodness [0,1] 0.3418255901873477 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.35, Z:295.95 [[ 9.99195214e-01 3.97156890e-02 -5.62028461e-03 -1.69825939e+02] [-3.96542529e-02 9.99156701e-01 1.06501872e-02 -9.63524088e+01] [ 6.03852455e-03 -1.04187479e-02 9.99927490e-01 2.95950320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.029072329 meters Centerline goodness [0,1] 0.34638920323567624 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.35, Z:295.95 [[ 9.99177521e-01 4.00415977e-02 -6.39945114e-03 -1.69824755e+02] [-3.99736448e-02 9.99146449e-01 1.04154062e-02 -9.63510425e+01] [ 6.81103839e-03 -1.01510303e-02 9.99925280e-01 2.95951528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05907232899995 meters Centerline goodness [0,1] 0.3160075329566855 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.35, Z:295.95 [[ 9.99291264e-01 3.68805457e-02 -7.53624815e-03 -1.69822663e+02] [-3.68329463e-02 9.99301197e-01 6.36018259e-03 -9.63493178e+01] [ 7.76554880e-03 -6.07809267e-03 9.99951375e-01 2.95952436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.089072329 meters Centerline goodness [0,1] 0.318360765590317 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.35, Z:295.95 [[ 9.99297323e-01 3.66545798e-02 -7.82961411e-03 -1.69822838e+02] [-3.66099747e-02 9.99312994e-01 5.76633381e-03 -9.63477057e+01] [ 8.03559766e-03 -5.47563997e-03 9.99952722e-01 2.95953642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11907232899995 meters Centerline goodness [0,1] 0.3640910803231342 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.35, Z:295.96 [[ 9.99376808e-01 3.33843091e-02 -1.14666629e-02 -1.69814363e+02] [-3.32385107e-02 9.99367027e-01 1.26785768e-02 -9.63502380e+01] [ 1.18826703e-02 -1.22895408e-02 9.99853874e-01 2.95961547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.149072329 meters Centerline goodness [0,1] 0.3223794373744139 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.35, Z:295.96 [[ 9.99365466e-01 3.36029076e-02 -1.18114118e-02 -1.69813581e+02] [-3.34512647e-02 9.99358252e-01 1.28100090e-02 -9.63502502e+01] [ 1.22342854e-02 -1.24067739e-02 9.99848186e-01 2.95961675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17907232899995 meters Centerline goodness [0,1] 0.3329844247194774 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.35, Z:295.96 [[ 9.99349047e-01 3.38481880e-02 -1.24813197e-02 -1.69812542e+02] [-3.36899579e-02 9.99351931e-01 1.26769238e-02 -9.63494126e+01] [ 1.29023219e-02 -1.22481766e-02 9.99841744e-01 2.95962606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.209072329 meters Centerline goodness [0,1] 0.35954256032171583 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.35, Z:295.96 [[ 9.99313961e-01 3.45443878e-02 -1.33526456e-02 -1.69810376e+02] [-3.43757908e-02 9.99328836e-01 1.26563059e-02 -9.63476267e+01] [ 1.37808882e-02 -1.21886154e-02 9.99830748e-01 2.95962950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23907232899995 meters Centerline goodness [0,1] 0.3383883873400222 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.35, Z:295.96 [[ 9.99296936e-01 3.47794966e-02 -1.40007030e-02 -1.69808903e+02] [-3.46032815e-02 9.99321221e-01 1.26376336e-02 -9.63469161e+01] [ 1.44307301e-02 -1.21442783e-02 9.99822119e-01 2.95963192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.269072329 meters Centerline goodness [0,1] 0.3444609868103755 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.35, Z:295.96 [[ 9.99279180e-01 3.50964980e-02 -1.44691146e-02 -1.69807667e+02] [-3.49136626e-02 9.99309622e-01 1.27009847e-02 -9.63464112e+01] [ 1.49048855e-02 -1.21866598e-02 9.99814648e-01 2.95963200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29907232899996 meters Centerline goodness [0,1] 0.3455048525373635 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.35, Z:295.96 [[ 9.99269678e-01 3.53447802e-02 -1.45208979e-02 -1.69807313e+02] [-3.51571432e-02 9.99297499e-01 1.29801379e-02 -9.63470031e+01] [ 1.49694771e-02 -1.24601450e-02 9.99810312e-01 2.95962859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.329072329 meters Centerline goodness [0,1] 0.35338865836791145 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.96 [[ 9.99352131e-01 3.24106596e-02 -1.56482086e-02 -1.69804801e+02] [-3.22630138e-02 9.99433333e-01 9.59739399e-03 -9.63474911e+01] [ 1.59503992e-02 -9.08631777e-03 9.99831498e-01 2.95963012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35907232899996 meters Centerline goodness [0,1] 0.35305347515052343 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.96 [[ 9.99354642e-01 3.22851452e-02 -1.57470097e-02 -1.69804808e+02] [-3.21422478e-02 9.99440548e-01 9.24484442e-03 -9.63464008e+01] [ 1.60366711e-02 -8.73273390e-03 9.99833268e-01 2.95963360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.389072329 meters Centerline goodness [0,1] 0.3577893237241264 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.96 [[ 9.99444412e-01 2.87886333e-02 -1.67952828e-02 -1.69802811e+02] [-2.87064009e-02 9.99574789e-01 5.11691390e-03 -9.63451719e+01] [ 1.69354502e-02 -4.63193888e-03 9.99845856e-01 2.95964072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41907232899996 meters Centerline goodness [0,1] 0.3536549585044849 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.34, Z:295.97 [[ 9.99411341e-01 2.93823171e-02 -1.77101829e-02 -1.69801156e+02] [-2.92952078e-02 9.99557494e-01 5.15818276e-03 -9.63443601e+01] [ 1.78539054e-02 -4.63632286e-03 9.99829857e-01 2.95965037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.449072329 meters Centerline goodness [0,1] 0.37127643963692014 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.34, Z:295.97 [[ 9.99403824e-01 2.92991722e-02 -1.82634907e-02 -1.69800545e+02] [-2.92206916e-02 9.99562632e-01 4.54933189e-03 -9.63422179e+01] [ 1.83887945e-02 -4.01294786e-03 9.99822859e-01 2.95966202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47907232899996 meters Centerline goodness [0,1] 0.371870150568301 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.34, Z:295.97 [[ 9.99352332e-01 3.03101226e-02 -1.93962202e-02 -1.69797900e+02] [-3.02275083e-02 9.99532741e-01 4.53846613e-03 -9.63401982e+01] [ 1.95247186e-02 -3.94922730e-03 9.99801575e-01 2.95966909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.509072329 meters Centerline goodness [0,1] 0.3554066785303046 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.34, Z:295.97 [[ 9.99340920e-01 3.05098693e-02 -1.96691133e-02 -1.69797335e+02] [-3.04245528e-02 9.99526378e-01 4.62239943e-03 -9.63403899e+01] [ 1.98008264e-02 -4.02092892e-03 9.99795859e-01 2.95967044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53907232899996 meters Centerline goodness [0,1] 0.36268747254586153 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.34, Z:295.97 [[ 9.99345587e-01 3.03367051e-02 -1.96997784e-02 -1.69797368e+02] [-3.02580260e-02 9.99532958e-01 4.27983996e-03 -9.63393118e+01] [ 1.98204140e-02 -3.68096277e-03 9.99796780e-01 2.95967212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.569072329 meters Centerline goodness [0,1] 0.34817440177841164 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.34, Z:295.97 [[ 9.99348752e-01 3.02169137e-02 -1.97233207e-02 -1.69797515e+02] [-3.01418545e-02 9.99537255e-01 4.09192425e-03 -9.63389714e+01] [ 1.98378391e-02 -3.49476193e-03 9.99797103e-01 2.95967426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59907232899997 meters Centerline goodness [0,1] 0.3552011066630337 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.34, Z:295.97 [[ 9.99348892e-01 3.03729276e-02 -1.94750359e-02 -1.69797901e+02] [-3.02893721e-02 9.99530719e-01 4.57117261e-03 -9.63406027e+01] [ 1.96047365e-02 -3.97830967e-03 9.99799894e-01 2.95966942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.629072329 meters Centerline goodness [0,1] 0.3614236125632554 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.35, Z:295.97 [[ 9.99419815e-01 2.51372030e-02 -2.29816159e-02 -1.69788421e+02] [-2.48984836e-02 9.99633624e-01 1.06152439e-02 -9.63488265e+01] [ 2.32400335e-02 -1.00368777e-02 9.99679530e-01 2.95972683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65907232899997 meters Centerline goodness [0,1] 0.3636802349979018 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.35, Z:295.97 [[ 9.99435016e-01 2.48601054e-02 -2.26191028e-02 -1.69789758e+02] [-2.46303357e-02 9.99642729e-01 1.03807680e-02 -9.63486614e+01] [ 2.28690887e-02 -9.81778690e-03 9.99690260e-01 2.95973097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.689072329 meters Centerline goodness [0,1] 0.3678715196242871 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.35, Z:295.97 [[ 9.99436944e-01 2.46943403e-02 -2.27153005e-02 -1.69789931e+02] [-2.44717157e-02 9.99650236e-01 1.00270014e-02 -9.63476304e+01] [ 2.29549657e-02 -9.46547326e-03 9.99691690e-01 2.95973640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71907232899997 meters Centerline goodness [0,1] 0.3718698267010331 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.35, Z:295.97 [[ 9.99444574e-01 2.44386629e-02 -2.26560048e-02 -1.69790587e+02] [-2.42254457e-02 9.99660058e-01 9.63828163e-03 -9.63467862e+01] [ 2.28838497e-02 -9.08407647e-03 9.99696859e-01 2.95974247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74907232899994 meters Centerline goodness [0,1] 0.3762832600041902 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.35, Z:295.98 [[ 9.99457802e-01 2.39754847e-02 -2.25672070e-02 -1.69791673e+02] [-2.37774541e-02 9.99676737e-01 9.00298544e-03 -9.63453980e+01] [ 2.27757628e-02 -8.46151331e-03 9.99704790e-01 2.95975319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.779072329 meters Centerline goodness [0,1] 0.351487117232141 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.34, Z:295.98 [[ 9.99470013e-01 2.37020502e-02 -2.23138200e-02 -1.69792803e+02] [-2.35133588e-02 9.99685832e-01 8.68101827e-03 -9.63449292e+01] [ 2.25125676e-02 -8.15174459e-03 9.99713326e-01 2.95975840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80907232899995 meters Centerline goodness [0,1] 0.36552284517782363 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.35, Z:295.98 [[ 9.99504768e-01 2.12251359e-02 -2.32317214e-02 -1.69790252e+02] [-2.10958969e-02 9.99760667e-01 5.79408261e-03 -9.63458847e+01] [ 2.33491415e-02 -5.30111920e-03 9.99713317e-01 2.95975640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.839072329 meters Centerline goodness [0,1] 0.3887494772061899 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.35, Z:295.98 [[ 9.99530539e-01 2.05416554e-02 -2.27319750e-02 -1.69792860e+02] [-2.04292289e-02 9.99777950e-01 5.16699019e-03 -9.63459144e+01] [ 2.28330659e-02 -4.70016776e-03 9.99728243e-01 2.95976996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86907232899995 meters Centerline goodness [0,1] 0.35296945878713126 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.35, Z:295.98 [[ 9.99538300e-01 2.03922879e-02 -2.25242202e-02 -1.69793268e+02] [-2.02839865e-02 9.99781624e-01 5.02629146e-03 -9.63456942e+01] [ 2.26217990e-02 -4.56708985e-03 9.99733662e-01 2.95976763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.899072329 meters Centerline goodness [0,1] 0.35296945878713126 Centerline is valid? [False, False] Translation: X:-169.79, Y:-96.35, Z:295.98 [[ 9.99538300e-01 2.03922879e-02 -2.25242202e-02 -1.69793268e+02] [-2.02839865e-02 9.99781624e-01 5.02629146e-03 -9.63456942e+01] [ 2.26217990e-02 -4.56708985e-03 9.99733662e-01 2.95976763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92907232899995 meters Centerline goodness [0,1] 0.3720881558843844 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.98 [[ 9.99559748e-01 1.99339162e-02 -2.19760853e-02 -1.69795256e+02] [-1.98313367e-02 9.99791450e-01 4.87589563e-03 -9.63465860e+01] [ 2.20686979e-02 -4.43793386e-03 9.99746607e-01 2.95977231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.959072329 meters Centerline goodness [0,1] 0.35293008838436724 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.98 [[ 9.99572147e-01 1.98780672e-02 -2.14566115e-02 -1.69796480e+02] [-1.97671609e-02 9.99790196e-01 5.36866297e-03 -9.63489325e+01] [ 2.15588284e-02 -4.94222968e-03 9.99755366e-01 2.95976771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98907232899995 meters Centerline goodness [0,1] 0.37214124151796935 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.98 [[ 9.99599559e-01 1.92189115e-02 -2.07691026e-02 -1.69798474e+02] [-1.91207836e-02 9.99805110e-01 4.91301966e-03 -9.63486134e+01] [ 2.08594778e-02 -4.51393076e-03 9.99772227e-01 2.95976868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.019072329 meters Centerline goodness [0,1] 0.3623294550933289 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.98 [[ 9.99666594e-01 1.52646781e-02 -2.08252482e-02 -1.69798685e+02] [-1.52401715e-02 9.99882971e-01 1.33498124e-03 -9.63504814e+01] [ 2.08431891e-02 -1.01715580e-03 9.99782240e-01 2.95977015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04907232899996 meters Centerline goodness [0,1] 0.30729624513374354 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.98 [[ 9.99682012e-01 1.49891464e-02 -2.02780814e-02 -1.69800218e+02] [-1.49657196e-02 9.99887154e-01 1.30654593e-03 -9.63508644e+01] [ 2.02953771e-02 -1.00265438e-03 9.99793525e-01 2.95977076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.079072329 meters Centerline goodness [0,1] 0.375397689216343 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.98 [[ 9.99689651e-01 1.50267120e-02 -1.98695619e-02 -1.69801004e+02] [-1.49966347e-02 9.99886163e-01 1.66188357e-03 -9.63519748e+01] [ 1.98922727e-02 -1.36339124e-03 9.99801200e-01 2.95976623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10907232899996 meters Centerline goodness [0,1] 0.38198530181528867 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.98 [[ 9.99694432e-01 1.49995676e-02 -1.96482810e-02 -1.69801236e+02] [-1.49651995e-02 9.99886219e-01 1.89503911e-03 -9.63526342e+01] [ 1.96744702e-02 -1.60041960e-03 9.99805158e-01 2.95976120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.139072329 meters Centerline goodness [0,1] 0.3858307315131069 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.35, Z:295.98 [[ 9.99711163e-01 1.45277788e-02 -1.91450881e-02 -1.69802730e+02] [-1.45032976e-02 9.99893818e-01 1.41695429e-03 -9.63517143e+01] [ 1.91636404e-02 -1.13887811e-03 9.99815712e-01 2.95976338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16907232899996 meters Centerline goodness [0,1] 0.32240917461911933 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.36, Z:295.97 [[ 9.99885496e-01 1.39573137e-02 -5.84701037e-03 -1.69806724e+02] [-1.39326578e-02 9.99893961e-01 4.23656325e-03 -9.63565195e+01] [ 5.90552140e-03 -4.15461375e-03 9.99973932e-01 2.95971851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.199072329 meters Centerline goodness [0,1] 0.36155520214279735 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.36, Z:295.97 [[ 9.99923131e-01 1.04588310e-02 -6.65914766e-03 -1.69805186e+02] [-1.04554149e-02 9.99945191e-01 5.47591112e-04 -9.63570829e+01] [ 6.66450984e-03 -4.77924868e-04 9.99977678e-01 2.95972399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22907232899996 meters Centerline goodness [0,1] 0.34651245626165483 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.36, Z:295.97 [[ 9.99950171e-01 6.93913455e-03 -7.17655475e-03 -1.69804014e+02] [-6.96024896e-03 9.99971510e-01 -2.92135904e-03 -9.63583701e+01] [ 7.15607859e-03 2.97116408e-03 9.99969981e-01 2.95972506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.259072329 meters Centerline goodness [0,1] 0.34955381457120116 Centerline is valid? [False, False] Translation: X:-169.80, Y:-96.36, Z:295.97 [[ 9.99967302e-01 3.64585253e-03 -7.21823530e-03 -1.69803514e+02] [-3.68607532e-03 9.99977711e-01 -5.56694517e-03 -9.63626020e+01] [ 7.19777815e-03 5.59337010e-03 9.99958452e-01 2.95971694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28907232899996 meters Centerline goodness [0,1] 0.3672528347760474 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.36, Z:295.97 [[ 9.99975157e-01 3.28543353e-03 -6.23629192e-03 -1.69805825e+02] [-3.31886896e-03 9.99980135e-01 -5.35867249e-03 -9.63640934e+01] [ 6.21856248e-03 5.37923680e-03 9.99966196e-01 2.95971255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.319072329 meters Centerline goodness [0,1] 0.34972048323946314 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.37, Z:295.97 [[ 9.99985152e-01 -6.97033980e-04 -5.40459245e-03 -1.69807361e+02] [ 6.52610595e-04 9.99966027e-01 -8.21697374e-03 -9.63686037e+01] [ 5.41013635e-03 8.21332464e-03 9.99951635e-01 2.95970198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34907232899997 meters Centerline goodness [0,1] 0.3419966910301786 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.37, Z:295.97 [[ 9.99989652e-01 -1.77197932e-03 -4.18998712e-03 -1.69810769e+02] [ 1.73644408e-03 9.99962626e-01 -8.46947360e-03 -9.63698139e+01] [ 4.20483826e-03 8.46211028e-03 9.99955355e-01 2.95970326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.379072329 meters Centerline goodness [0,1] 0.30099038924600596 Centerline is valid? [False, False] Translation: X:-169.81, Y:-96.37, Z:295.97 [[ 9.99991507e-01 -2.95740358e-03 -2.87051273e-03 -1.69814136e+02] [ 2.93208824e-03 9.99957125e-01 -8.78360313e-03 -9.63706992e+01] [ 2.89636631e-03 8.77511194e-03 9.99957303e-01 2.95970099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40907232899997 meters Centerline goodness [0,1] 0.3407463249151903 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.37, Z:295.97 [[ 9.99991786e-01 -3.80333520e-03 -1.40056568e-03 -1.69816951e+02] [ 3.79187187e-03 9.99960018e-01 -8.09844947e-03 -9.63737279e+01] [ 1.43131080e-03 8.09307219e-03 9.99966226e-01 2.95968397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.439072329 meters Centerline goodness [0,1] 0.3699564707852001 Centerline is valid? [False, False] Translation: X:-169.82, Y:-96.38, Z:295.97 [[ 9.99990547e-01 -4.32820067e-03 -4.15633955e-04 -1.69819033e+02] [ 4.32480402e-03 9.99959819e-01 -7.85216115e-03 -9.63752422e+01] [ 4.49602983e-04 7.85028938e-03 9.99969085e-01 2.95967632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46907232899997 meters Centerline goodness [0,1] 0.3255779893294277 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.38, Z:295.96 [[ 9.99957443e-01 -8.43319379e-03 3.74078831e-03 -1.69827696e+02] [ 8.45843846e-03 9.99941209e-01 -6.78480017e-03 -9.63760449e+01] [-3.68335085e-03 6.81615266e-03 9.99969986e-01 2.95962248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49907232899994 meters Centerline goodness [0,1] 0.32646745153802725 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.38, Z:295.96 [[ 9.99936670e-01 -1.00837647e-02 4.99739224e-03 -1.69831585e+02] [ 1.01218626e-02 9.99919450e-01 -7.65782795e-03 -9.63764052e+01] [-4.91976996e-03 7.70792590e-03 9.99958191e-01 2.95962894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.529072329 meters Centerline goodness [0,1] 0.3204141393014014 Centerline is valid? [False, False] Translation: X:-169.83, Y:-96.38, Z:295.96 [[ 9.99920384e-01 -1.09950964e-02 6.19136044e-03 -1.69834771e+02] [ 1.10441099e-02 9.99907498e-01 -7.93869380e-03 -9.63770395e+01] [-6.10350102e-03 8.00643982e-03 9.99949321e-01 2.95962984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55907232899995 meters Centerline goodness [0,1] 0.3540567696558654 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.38, Z:295.96 [[ 9.99899079e-01 -1.21554945e-02 7.35361286e-03 -1.69838208e+02] [ 1.22176430e-02 9.99889519e-01 -8.46637007e-03 -9.63774013e+01] [-7.24988751e-03 8.55535945e-03 9.99937121e-01 2.95963438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.589072329 meters Centerline goodness [0,1] 0.3532338308457711 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.38, Z:295.96 [[ 9.99827838e-01 -1.66365386e-02 8.21711280e-03 -1.69839887e+02] [ 1.67365061e-02 9.99784882e-01 -1.22506447e-02 -9.63792480e+01] [-8.01153683e-03 1.23860613e-02 9.99891194e-01 2.95962876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61907232899995 meters Centerline goodness [0,1] 0.35531181447822 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.38, Z:295.96 [[ 9.99808633e-01 -1.73054388e-02 9.12240552e-03 -1.69842012e+02] [ 1.74188795e-02 9.99770063e-01 -1.25061866e-02 -9.63793638e+01] [-8.90388289e-03 1.26626954e-02 9.99880181e-01 2.95962560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.649072329 meters Centerline goodness [0,1] 0.3548414075731281 Centerline is valid? [False, False] Translation: X:-169.84, Y:-96.38, Z:295.96 [[ 9.99794740e-01 -1.76973721e-02 9.86312424e-03 -1.69843764e+02] [ 1.78201494e-02 9.99763038e-01 -1.25024395e-02 -9.63799761e+01] [-9.63952672e-03 1.26756356e-02 9.99873196e-01 2.95962263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67907232899995 meters Centerline goodness [0,1] 0.36346157865039397 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.38, Z:295.96 [[ 9.99770121e-01 -1.84268689e-02 1.09615282e-02 -1.69846084e+02] [ 1.85621486e-02 9.99751180e-01 -1.23703252e-02 -9.63812708e+01] [-1.07308544e-02 1.25709511e-02 9.99863401e-01 2.95961537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.709072329 meters Centerline goodness [0,1] 0.35162329512174717 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.38, Z:295.96 [[ 9.99755053e-01 -1.88033453e-02 1.16734236e-02 -1.69847807e+02] [ 1.89503213e-02 9.99740898e-01 -1.26103690e-02 -9.63808579e+01] [-1.14332818e-02 1.28284952e-02 9.99852344e-01 2.95961333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73907232899995 meters Centerline goodness [0,1] 0.32224475714554546 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.38, Z:295.96 [[ 9.99796307e-01 -1.58290101e-02 1.25214248e-02 -1.69850497e+02] [ 1.59368462e-02 9.99836360e-01 -8.55974125e-03 -9.63836856e+01] [-1.23838836e-02 8.75754972e-03 9.99884966e-01 2.95961350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.769072329 meters Centerline goodness [0,1] 0.3223838181210298 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.38, Z:295.96 [[ 9.99786058e-01 -1.61147175e-02 1.29674044e-02 -1.69851468e+02] [ 1.62287319e-02 9.99830143e-01 -8.73571416e-03 -9.63833388e+01] [-1.28244283e-02 8.94428976e-03 9.99877759e-01 2.95961086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79907232899996 meters Centerline goodness [0,1] 0.3668616798997075 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.38, Z:295.96 [[ 9.99782708e-01 -1.61709548e-02 1.31543898e-02 -1.69851933e+02] [ 1.62868980e-02 9.99829027e-01 -8.75517118e-03 -9.63832525e+01] [-1.30105613e-02 8.96751296e-03 9.99875147e-01 2.95961020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.829072329 meters Centerline goodness [0,1] 0.36904961097632394 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.38, Z:295.96 [[ 9.99765322e-01 -1.66620330e-02 1.38447661e-02 -1.69853757e+02] [ 1.67890136e-02 9.99817582e-01 -9.10668914e-03 -9.63827389e+01] [-1.36905046e-02 9.33699197e-03 9.99862686e-01 2.95961074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85907232899996 meters Centerline goodness [0,1] 0.34197270238070354 Centerline is valid? [False, False] Translation: X:-169.85, Y:-96.38, Z:295.96 [[ 9.99763347e-01 -1.67702341e-02 1.38567071e-02 -1.69854779e+02] [ 1.69008265e-02 9.99813342e-01 -9.36175735e-03 -9.63823480e+01] [-1.36971218e-02 9.59373167e-03 9.99860165e-01 2.95962373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.889072329 meters Centerline goodness [0,1] 0.37612358376186295 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.38, Z:295.96 [[ 9.99746804e-01 -1.73753799e-02 1.42976813e-02 -1.69856203e+02] [ 1.75209554e-02 9.99795277e-01 -1.01202758e-02 -9.63803968e+01] [-1.41189106e-02 1.03682224e-02 9.99846566e-01 2.95962817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91907232899996 meters Centerline goodness [0,1] 0.316178775152009 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.38, Z:295.96 [[ 9.99762166e-01 -1.57208456e-02 1.51150781e-02 -1.69860080e+02] [ 1.58485099e-02 9.99839423e-01 -8.36379618e-03 -9.63778931e+01] [-1.49811650e-02 8.60135845e-03 9.99850780e-01 2.95964785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.949072329 meters Centerline goodness [0,1] 0.35231472780805617 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.37, Z:295.97 [[ 9.99789985e-01 -1.31559298e-02 1.57132958e-02 -1.69862650e+02] [ 1.32530061e-02 9.99893630e-01 -6.08989789e-03 -9.63735877e+01] [-1.56315061e-02 6.29686732e-03 9.99857993e-01 2.95966135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97907232899996 meters Centerline goodness [0,1] 0.3492749989553299 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.37, Z:295.97 [[ 9.99775130e-01 -1.37554414e-02 1.61393029e-02 -1.69863609e+02] [ 1.38664863e-02 9.99880809e-01 -6.78878510e-03 -9.63716928e+01] [-1.60439966e-02 7.01105393e-03 9.99846706e-01 2.95966022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.009072329 meters Centerline goodness [0,1] 0.35197327208185425 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.37, Z:295.96 [[ 9.99779609e-01 -1.35013467e-02 1.60763154e-02 -1.69862504e+02] [ 1.36042938e-02 9.99887537e-01 -6.31159235e-03 -9.63723300e+01] [-1.59892925e-02 6.52890824e-03 9.99850847e-01 2.95964727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03907232899996 meters Centerline goodness [0,1] 0.3523377762921489 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.37, Z:295.96 [[ 9.99781306e-01 -1.32821242e-02 1.61531730e-02 -1.69862275e+02] [ 1.33793312e-02 9.99892940e-01 -5.92471678e-03 -9.63731007e+01] [-1.60727508e-02 6.13953973e-03 9.99851975e-01 2.95964078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.069072329 meters Centerline goodness [0,1] 0.366902865742773 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.37, Z:295.96 [[ 9.99775131e-01 -1.32579938e-02 1.65503352e-02 -1.69863157e+02] [ 1.33518627e-02 9.99895323e-01 -5.57416572e-03 -9.63742627e+01] [-1.64747005e-02 5.79389006e-03 9.99847496e-01 2.95963840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09907232899997 meters Centerline goodness [0,1] 0.35156429601454575 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.37, Z:295.96 [[ 9.99821138e-01 -9.08167405e-03 1.65895887e-02 -1.69863751e+02] [ 9.10919564e-03 9.99957256e-01 -1.58415581e-03 -9.63735956e+01] [-1.65744928e-02 1.73499027e-03 9.99861128e-01 2.95964315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.129072329 meters Centerline goodness [0,1] 0.3583970901793553 Centerline is valid? [False, False] Translation: X:-169.86, Y:-96.37, Z:295.96 [[ 9.99822563e-01 -8.82013898e-03 1.66447772e-02 -1.69863787e+02] [ 8.84176550e-03 9.99960159e-01 -1.22615410e-03 -9.63744469e+01] [-1.66332992e-02 1.37310575e-03 9.99860714e-01 2.95964141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15907232899997 meters Centerline goodness [0,1] 0.30843368456263587 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.38, Z:295.96 [[ 9.99810660e-01 -8.98551940e-03 1.72599125e-02 -1.69865228e+02] [ 9.00621388e-03 9.99958814e-01 -1.12163464e-03 -9.63752834e+01] [-1.72491232e-02 1.27686873e-03 9.99850407e-01 2.95963877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.189072329 meters Centerline goodness [0,1] 0.30706601364644814 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.38, Z:295.96 [[ 9.99809215e-01 -8.97623880e-03 1.73482024e-02 -1.69865872e+02] [ 8.99587510e-03 9.99958981e-01 -1.05418533e-03 -9.63758685e+01] [-1.73380282e-02 1.21004647e-03 9.99848953e-01 2.95964296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21907232899997 meters Centerline goodness [0,1] 0.3133694537999707 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.38, Z:295.96 [[ 9.99802143e-01 -9.20086382e-03 1.76357226e-02 -1.69866745e+02] [ 9.22427824e-03 9.99956678e-01 -1.24678399e-03 -9.63755417e+01] [-1.76234870e-02 1.40921412e-03 9.99843701e-01 2.95964512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24907232899994 meters Centerline goodness [0,1] 0.3664010374181673 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.38, Z:295.96 [[ 9.99781160e-01 -9.86590375e-03 1.84471230e-02 -1.69869023e+02] [ 9.89807457e-03 9.99949646e-01 -1.65345602e-03 -9.63753695e+01] [-1.84298813e-02 1.83568517e-03 9.99828470e-01 2.95964755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.279072329 meters Centerline goodness [0,1] 0.3632715339757122 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.38, Z:295.96 [[ 9.99748828e-01 -1.12520832e-02 1.93822240e-02 -1.69871486e+02] [ 1.12970855e-02 9.99933735e-01 -2.21390563e-03 -9.63760414e+01] [-1.93560286e-02 2.43231220e-03 9.99809696e-01 2.95964646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30907232899995 meters Centerline goodness [0,1] 0.36871613564569783 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.38, Z:295.96 [[ 9.99765730e-01 -1.07226476e-02 1.88018559e-02 -1.69869815e+02] [ 1.07591010e-02 9.99940429e-01 -1.83873434e-03 -9.63761520e+01] [-1.87810198e-02 2.04059465e-03 9.99821539e-01 2.95964333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.339072329 meters Centerline goodness [0,1] 0.3120549604293261 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.38, Z:295.96 [[ 9.99768148e-01 -1.06134731e-02 1.87351226e-02 -1.69869535e+02] [ 1.06470813e-02 9.99941882e-01 -1.69502406e-03 -9.63762995e+01] [-1.87160436e-02 1.89410544e-03 9.99823045e-01 2.95964138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36907232899995 meters Centerline goodness [0,1] 0.3148535564853556 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.37, Z:295.96 [[ 9.99756349e-01 -1.10490061e-02 1.91092220e-02 -1.69870985e+02] [ 1.10957471e-02 9.99935698e-01 -2.34169909e-03 -9.63746469e+01] [-1.90821198e-02 2.55315963e-03 9.99814660e-01 2.95964836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.399072329 meters Centerline goodness [0,1] 0.36473636914589036 Centerline is valid? [False, False] Translation: X:-169.87, Y:-96.37, Z:295.96 [[ 9.99727412e-01 -1.19207954e-02 2.00747447e-02 -1.69873487e+02] [ 1.19856008e-02 9.99923331e-01 -3.11098163e-03 -9.63732287e+01] [-2.00361203e-02 3.35074149e-03 9.99793642e-01 2.95964946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42907232899995 meters Centerline goodness [0,1] 0.3305792038822767 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.37, Z:295.96 [[ 9.99693738e-01 -1.29402304e-02 2.10945599e-02 -1.69876126e+02] [ 1.30162444e-02 9.99909264e-01 -3.47017352e-03 -9.63739101e+01] [-2.10477411e-02 3.74368268e-03 9.99771463e-01 2.95964876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.459072329 meters Centerline goodness [0,1] 0.36602085815202623 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.37, Z:295.96 [[ 9.99674141e-01 -1.35480754e-02 2.16347153e-02 -1.69876734e+02] [ 1.36354409e-02 9.99899444e-01 -3.89580449e-03 -9.63729767e+01] [-2.15797592e-02 4.18953389e-03 9.99758352e-01 2.95963885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48907232899995 meters Centerline goodness [0,1] 0.3017599532349319 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.37, Z:295.96 [[ 9.99650499e-01 -1.42882157e-02 2.22424436e-02 -1.69878149e+02] [ 1.43967082e-02 9.99885197e-01 -4.72525075e-03 -9.63708687e+01] [-2.21723747e-02 5.04381724e-03 9.99741439e-01 2.95963834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.519072329 meters Centerline goodness [0,1] 0.3878437349925876 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.37, Z:295.96 [[ 9.99649179e-01 -1.43066357e-02 2.22898674e-02 -1.69878608e+02] [ 1.44153111e-02 9.99884942e-01 -4.72252137e-03 -9.63707492e+01] [-2.22197394e-02 5.04217999e-03 9.99740396e-01 2.95964289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54907232899996 meters Centerline goodness [0,1] 0.3733455997658226 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.37, Z:295.97 [[ 9.99630197e-01 -1.48018015e-02 2.28117416e-02 -1.69880600e+02] [ 1.49252521e-02 9.99874824e-01 -5.25098367e-03 -9.63697446e+01] [-2.27311621e-02 5.58951283e-03 9.99725988e-01 2.95965190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.579072329 meters Centerline goodness [0,1] 0.3937394282373087 Centerline is valid? [False, False] Translation: X:-169.88, Y:-96.37, Z:295.97 [[ 9.99599734e-01 -1.54325611e-02 2.37109021e-02 -1.69883350e+02] [ 1.55667062e-02 9.99863796e-01 -5.48339746e-03 -9.63703045e+01] [-2.36230497e-02 5.85030329e-03 9.99703819e-01 2.95965813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60907232899996 meters Centerline goodness [0,1] 0.32431699121324065 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.37, Z:295.97 [[ 9.99543935e-01 -1.71001907e-02 2.48898817e-02 -1.69887125e+02] [ 1.72679604e-02 9.99829501e-01 -6.54121071e-03 -9.63703350e+01] [-2.47737820e-02 6.96802499e-03 9.99668798e-01 2.95966687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.639072329 meters Centerline goodness [0,1] 0.3257772020725389 Centerline is valid? [False, False] Translation: X:-169.89, Y:-96.37, Z:295.97 [[ 9.99491816e-01 -1.83422254e-02 2.60705224e-02 -1.69890497e+02] [ 1.85330287e-02 9.99803067e-01 -7.09603302e-03 -9.63709289e+01] [-2.59352313e-02 7.57559267e-03 9.99634920e-01 2.95967114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66907232899996 meters Centerline goodness [0,1] 0.3358445678033307 Centerline is valid? [False, False] Translation: X:-169.90, Y:-96.37, Z:295.96 [[ 9.99209794e-01 -2.52760027e-02 3.06742831e-02 -1.69903919e+02] [ 2.54893508e-02 9.99653410e-01 -6.58423559e-03 -9.63714871e+01] [-3.04972285e-02 7.36090025e-03 9.99507747e-01 2.95963316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.699072329 meters Centerline goodness [0,1] 0.338461217333222 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.36, Z:295.96 [[ 9.99304498e-01 -3.02098062e-02 2.18606538e-02 -1.69916249e+02] [ 3.04122223e-02 9.99497040e-01 -8.98686447e-03 -9.63589176e+01] [-2.15781673e-02 9.64544515e-03 9.99720635e-01 2.95964203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72907232899996 meters Centerline goodness [0,1] 0.35066018647921404 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.36, Z:295.96 [[ 9.99261113e-01 -3.07402584e-02 2.30708498e-02 -1.69918849e+02] [ 3.09350817e-02 9.99488285e-01 -8.13563499e-03 -9.63629586e+01] [-2.28089526e-02 8.84332230e-03 9.99700729e-01 2.95963215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.759072329 meters Centerline goodness [0,1] 0.3339803393650992 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.36, Z:295.96 [[ 9.99160923e-01 -3.26994253e-02 2.46616412e-02 -1.69921848e+02] [ 3.29196771e-02 9.99421186e-01 -8.57836499e-03 -9.63646970e+01] [-2.43668591e-02 9.38302035e-03 9.99659049e-01 2.95961470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78907232899996 meters Centerline goodness [0,1] 0.3549592816871998 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.37, Z:295.96 [[ 9.99151138e-01 -3.27772502e-02 2.49530629e-02 -1.69922513e+02] [ 3.29952563e-02 9.99420414e-01 -8.37552268e-03 -9.63655705e+01] [-2.46640739e-02 9.19174572e-03 9.99653538e-01 2.95961226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.819072329 meters Centerline goodness [0,1] 0.3549592816871998 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.37, Z:295.96 [[ 9.99151138e-01 -3.27772502e-02 2.49530629e-02 -1.69922513e+02] [ 3.29952563e-02 9.99420414e-01 -8.37552268e-03 -9.63655705e+01] [-2.46640739e-02 9.19174572e-03 9.99653538e-01 2.95961226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84907232899997 meters Centerline goodness [0,1] 0.32390101284327033 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.36, Z:295.96 [[ 9.99213944e-01 -3.00173372e-02 2.58931159e-02 -1.69924189e+02] [ 3.01580334e-02 9.99532334e-01 -5.06035881e-03 -9.63641578e+01] [-2.57291081e-02 5.83726654e-03 9.99651909e-01 2.95959831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.879072329 meters Centerline goodness [0,1] 0.3261337288241807 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.36, Z:295.95 [[ 9.99234246e-01 -2.61121236e-02 2.91389504e-02 -1.69934313e+02] [ 2.64799410e-02 9.99573558e-01 -1.23091452e-02 -9.63571543e+01] [-2.88051064e-02 1.30713171e-02 9.99499578e-01 2.95952278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90907232899997 meters Centerline goodness [0,1] 0.3535484410264984 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.36, Z:295.95 [[ 9.99234129e-01 -2.60393417e-02 2.92080290e-02 -1.69934157e+02] [ 2.64047207e-02 9.99576955e-01 -1.21943245e-02 -9.63570323e+01] [-2.88781405e-02 1.29562151e-02 9.99498969e-01 2.95951729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.939072329 meters Centerline goodness [0,1] 0.3415704967385851 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.36, Z:295.95 [[ 9.99205493e-01 -2.64068559e-02 2.98506343e-02 -1.69935242e+02] [ 2.67884841e-02 9.99563496e-01 -1.24577363e-02 -9.63562745e+01] [-2.95086347e-02 1.32474918e-02 9.99476735e-01 2.95950967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96907232899997 meters Centerline goodness [0,1] 0.349889255714823 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.36, Z:295.95 [[ 9.99191523e-01 -2.66384545e-02 3.01113614e-02 -1.69936137e+02] [ 2.70298584e-02 9.99554367e-01 -1.26670414e-02 -9.63558038e+01] [-2.97605124e-02 1.34707062e-02 9.99466284e-01 2.95951264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99907232899994 meters Centerline goodness [0,1] 0.3495334126636187 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.35, Z:295.95 [[ 9.99191228e-01 -2.56994322e-02 3.09261752e-02 -1.69939032e+02] [ 2.60814922e-02 9.99587618e-01 -1.20145461e-02 -9.63512207e+01] [-3.06046548e-02 1.28114299e-02 9.99449460e-01 2.95952409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.029072329 meters Centerline goodness [0,1] 0.32834668669671174 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.35, Z:295.95 [[ 9.99272831e-01 -2.22781359e-02 3.09433958e-02 -1.69940380e+02] [ 2.25677855e-02 9.99704415e-01 -9.04309545e-03 -9.63478327e+01] [-3.07327861e-02 9.73484351e-03 9.99480229e-01 2.95953941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05907232899995 meters Centerline goodness [0,1] 0.33261659220909356 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.34, Z:295.96 [[ 9.99289472e-01 -2.08181091e-02 3.14190594e-02 -1.69943746e+02] [ 2.10838049e-02 9.99744501e-01 -8.14900842e-03 -9.63426721e+01] [-3.12413849e-02 8.80565164e-03 9.99473079e-01 2.95956568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.089072329 meters Centerline goodness [0,1] 0.3477725098686272 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.34, Z:295.96 [[ 9.99300483e-01 -2.07995035e-02 3.10793266e-02 -1.69943395e+02] [ 2.10753373e-02 9.99741124e-01 -8.57405181e-03 -9.63406483e+01] [-3.08929449e-02 9.22306141e-03 9.99480145e-01 2.95957338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11907232899995 meters Centerline goodness [0,1] 0.32067907035018484 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.33, Z:295.95 [[ 9.99424552e-01 -1.36194477e-02 3.10656489e-02 -1.69953442e+02] [ 1.40834850e-02 9.99791763e-01 -1.47677283e-02 -9.63326899e+01] [-3.08580515e-02 1.51967428e-02 9.99408245e-01 2.95952880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.149072329 meters Centerline goodness [0,1] 0.32538241616060437 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.33, Z:295.95 [[ 9.99435104e-01 -1.07920943e-02 3.18277278e-02 -1.69955597e+02] [ 1.11831897e-02 9.99863823e-01 -1.21355747e-02 -9.63290735e+01] [-3.16924253e-02 1.24846548e-02 9.99419693e-01 2.95953199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17907232899995 meters Centerline goodness [0,1] 0.34641545651811045 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.33, Z:295.95 [[ 9.99480126e-01 -9.72989604e-03 3.07376970e-02 -1.69953314e+02] [ 1.00901911e-02 9.99881943e-01 -1.15883158e-02 -9.63291079e+01] [-3.06213151e-02 1.18924406e-02 9.99460307e-01 2.95953695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.209072329 meters Centerline goodness [0,1] 0.33733882259513903 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.33, Z:295.95 [[ 9.99541329e-01 -5.26830987e-03 2.98224318e-02 -1.69952093e+02] [ 5.49597389e-03 9.99956341e-01 -7.55716993e-03 -9.63280908e+01] [-2.97813162e-02 7.71760698e-03 9.99526644e-01 2.95954927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23907232899995 meters Centerline goodness [0,1] 0.34508705557761843 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.32, Z:295.96 [[ 9.99585896e-01 -7.74824540e-04 2.87651756e-02 -1.69949831e+02] [ 8.94023669e-04 9.99991067e-01 -4.13123959e-03 -9.63243908e+01] [-2.87617177e-02 4.15524557e-03 9.99577660e-01 2.95955532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.269072329 meters Centerline goodness [0,1] 0.3601287517766073 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.32, Z:295.95 [[ 9.99619312e-01 1.10400882e-03 2.75683357e-02 -1.69946156e+02] [-1.01813084e-03 9.99994587e-01 -3.12893732e-03 -9.63231455e+01] [-2.75716408e-02 3.09967800e-03 9.99615024e-01 2.95954865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29907232899996 meters Centerline goodness [0,1] 0.3454203262233375 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.32, Z:295.96 [[ 9.99640038e-01 6.49658363e-03 2.60305191e-02 -1.69942656e+02] [-6.51028597e-03 9.99978710e-01 4.41681416e-04 -9.63186708e+01] [-2.60270955e-02 -6.10988551e-04 9.99661051e-01 2.95955965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.329072329 meters Centerline goodness [0,1] 0.3639502039962339 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.32, Z:295.96 [[ 9.99662149e-01 7.29479971e-03 2.49474157e-02 -1.69940195e+02] [-7.30408008e-03 9.99973285e-01 2.80893104e-04 -9.63161666e+01] [-2.49447002e-02 -4.63016126e-04 9.99688725e-01 2.95956539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35907232899996 meters Centerline goodness [0,1] 0.37021695014540057 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.31, Z:295.96 [[ 9.99684068e-01 8.34752169e-03 2.37082961e-02 -1.69937423e+02] [-8.35385820e-03 9.99965092e-01 1.68238493e-04 -9.63133538e+01] [-2.37060641e-02 -3.66241084e-04 9.99718905e-01 2.95957386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.389072329 meters Centerline goodness [0,1] 0.34758329324660653 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.31, Z:295.96 [[ 9.99692999e-01 8.17299572e-03 2.33903786e-02 -1.69937101e+02] [-8.16765632e-03 9.99966592e-01 -3.23801047e-04 -9.63118151e+01] [-2.33922436e-02 1.32657067e-04 9.99726355e-01 2.95958021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41907232899996 meters Centerline goodness [0,1] 0.35931912757993345 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.31, Z:295.96 [[ 9.99698604e-01 8.35093239e-03 2.30859899e-02 -1.69936740e+02] [-8.34784434e-03 9.99965130e-01 -2.30133132e-04 -9.63120105e+01] [-2.30871067e-02 3.73455204e-05 9.99733457e-01 2.95958491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.449072329 meters Centerline goodness [0,1] 0.3743331171412432 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.31, Z:295.96 [[ 9.99704292e-01 8.25931732e-03 2.28716366e-02 -1.69936156e+02] [-8.24887963e-03 9.99965826e-01 -5.50668630e-04 -9.63109161e+01] [-2.28754031e-02 3.61840416e-04 9.99738258e-01 2.95958415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47907232899996 meters Centerline goodness [0,1] 0.3624989556353915 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.31, Z:295.96 [[ 9.99742672e-01 5.34464923e-03 2.20459560e-02 -1.69933813e+02] [-5.26079836e-03 9.99978713e-01 -3.85970330e-03 -9.63115703e+01] [-2.20661154e-02 3.74273076e-03 9.99749508e-01 2.95958036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.509072329 meters Centerline goodness [0,1] 0.36807109252483006 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.31, Z:295.96 [[ 9.99738175e-01 5.07030290e-03 2.23130710e-02 -1.69935005e+02] [-4.97996739e-03 9.99979186e-01 -4.10225250e-03 -9.63115644e+01] [-2.23334063e-02 3.99006007e-03 9.99742616e-01 2.95958582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53907232899996 meters Centerline goodness [0,1] 0.3212352953467478 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.31, Z:295.96 [[ 9.99738500e-01 4.96798130e-03 2.23215432e-02 -1.69935214e+02] [-4.87372830e-03 9.99978986e-01 -4.27493207e-03 -9.63111417e+01] [-2.23423119e-02 4.16502504e-03 9.99741703e-01 2.95958799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.569072329 meters Centerline goodness [0,1] 0.3259928477319781 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.31, Z:295.96 [[ 9.99741841e-01 4.73268206e-03 2.22228079e-02 -1.69934996e+02] [-4.63197898e-03 9.99978780e-01 -4.58080886e-03 -9.63104025e+01] [-2.22440159e-02 4.47669071e-03 9.99742548e-01 2.95958807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59907232899997 meters Centerline goodness [0,1] 0.324773635013906 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.31, Z:295.96 [[ 9.99754813e-01 5.77797544e-03 2.13759131e-02 -1.69932270e+02] [-5.69781224e-03 9.99976512e-01 -3.80917138e-03 -9.63107371e+01] [-2.13974204e-02 3.68644148e-03 9.99764252e-01 2.95958110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.629072329 meters Centerline goodness [0,1] 0.3361216252953847 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.31, Z:295.96 [[ 9.99768322e-01 6.80051869e-03 2.04219408e-02 -1.69930059e+02] [-6.73298858e-03 9.99971642e-01 -3.37368302e-03 -9.63104799e+01] [-2.04443045e-02 3.23540072e-03 9.99785758e-01 2.95958451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65907232899997 meters Centerline goodness [0,1] 0.3466599824539416 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.31, Z:295.96 [[ 9.99770382e-01 6.65433582e-03 2.03691911e-02 -1.69930231e+02] [-6.58109406e-03 9.99971644e-01 -3.66063687e-03 -9.63095817e+01] [-2.03929726e-02 3.52574476e-03 9.99785825e-01 2.95958905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.689072329 meters Centerline goodness [0,1] 0.3401027955371694 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.31, Z:295.96 [[ 9.99781341e-01 7.81668419e-03 1.93951010e-02 -1.69927449e+02] [-7.76026858e-03 9.99965441e-01 -2.98231646e-03 -9.63091088e+01] [-1.94177426e-02 2.83115315e-03 9.99807449e-01 2.95958653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71907232899997 meters Centerline goodness [0,1] 0.3418629953550655 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.31, Z:295.96 [[ 9.99742531e-01 1.19041734e-02 1.93174303e-02 -1.69926668e+02] [-1.19244732e-02 9.99928463e-01 9.36003091e-04 -9.63076006e+01] [-1.93049061e-02 -1.16611228e-03 9.99812963e-01 2.95957989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74907232899994 meters Centerline goodness [0,1] 0.31351340042262066 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.31, Z:295.96 [[ 9.99744463e-01 1.28629920e-02 1.85890219e-02 -1.69924279e+02] [-1.28982846e-02 9.99915229e-01 1.77992371e-03 -9.63085733e+01] [-1.85645510e-02 -2.01923537e-03 9.99825625e-01 2.95957269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.779072329 meters Centerline goodness [0,1] 0.33390504078644634 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.31, Z:295.96 [[ 9.99793220e-01 8.95629980e-03 1.82565753e-02 -1.69924092e+02] [-8.91647832e-03 9.99957690e-01 -2.26144737e-03 -9.63090381e+01] [-1.82760571e-02 2.09819539e-03 9.99830777e-01 2.95957952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80907232899995 meters Centerline goodness [0,1] 0.32892976588628764 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.31, Z:295.96 [[ 9.99823996e-01 7.14174757e-03 1.73485792e-02 -1.69921876e+02] [-7.07170037e-03 9.99966608e-01 -4.09563069e-03 -9.63122127e+01] [-1.73772499e-02 3.97222589e-03 9.99841114e-01 2.95957779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.839072329 meters Centerline goodness [0,1] 0.3312027405272173 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.31, Z:295.96 [[ 9.99824253e-01 7.06098830e-03 1.73668009e-02 -1.69922180e+02] [-6.98727540e-03 9.99966337e-01 -4.30149419e-03 -9.63115210e+01] [-1.73965891e-02 4.17939160e-03 9.99839933e-01 2.95958144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86907232899995 meters Centerline goodness [0,1] 0.2803275606342309 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.31, Z:295.96 [[ 9.99829241e-01 7.17813771e-03 1.70283320e-02 -1.69921277e+02] [-7.10425670e-03 9.99965105e-01 -4.39524279e-03 -9.63106516e+01] [-1.70592874e-02 4.27351862e-03 9.99845347e-01 2.95958146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.899072329 meters Centerline goodness [0,1] 0.35417362967914434 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.31, Z:295.96 [[ 9.99836458e-01 7.49096029e-03 1.64603626e-02 -1.69920079e+02] [-7.42232495e-03 9.99963521e-01 -4.22687769e-03 -9.63105333e+01] [-1.64914256e-02 4.10401225e-03 9.99855585e-01 2.95958506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92907232899995 meters Centerline goodness [0,1] 0.35018495684340323 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.31, Z:295.96 [[ 9.99835335e-01 7.40679398e-03 1.65663103e-02 -1.69920181e+02] [-7.33366897e-03 9.99963115e-01 -4.47048302e-03 -9.63094345e+01] [-1.65988112e-02 4.34825506e-03 9.99852775e-01 2.95958376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.959072329 meters Centerline goodness [0,1] 0.36088263538056864 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.31, Z:295.96 [[ 9.99829314e-01 7.23416429e-03 1.70002620e-02 -1.69921370e+02] [-7.16089046e-03 9.99964824e-01 -4.36708707e-03 -9.63102139e+01] [-1.70312563e-02 4.24460466e-03 9.99845948e-01 2.95958409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98907232899995 meters Centerline goodness [0,1] 0.36337998746605393 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.31, Z:295.96 [[ 9.99823869e-01 7.06632567e-03 1.73866995e-02 -1.69921723e+02] [-6.99200297e-03 9.99966173e-01 -4.33176960e-03 -9.63102551e+01] [-1.74167211e-02 4.20943879e-03 9.99839456e-01 2.95957576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.019072329 meters Centerline goodness [0,1] 0.3294097969935815 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.31, Z:295.96 [[ 9.99814575e-01 6.57759980e-03 1.80983542e-02 -1.69923429e+02] [-6.49719038e-03 9.99968776e-01 -4.49813158e-03 -9.63104729e+01] [-1.81273760e-02 4.37970907e-03 9.99826093e-01 2.95957352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04907232899996 meters Centerline goodness [0,1] 0.3292682926829268 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.31, Z:295.96 [[ 9.99801995e-01 5.87827599e-03 1.90109535e-02 -1.69925641e+02] [-5.78810562e-03 9.99971754e-01 -4.79462611e-03 -9.63106203e+01] [-1.90386007e-02 4.68363934e-03 9.99807779e-01 2.95957127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.079072329 meters Centerline goodness [0,1] 0.38246436569897646 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.30, Z:295.96 [[ 9.99916772e-01 9.67057071e-05 1.29011821e-02 -1.69939274e+02] [-6.15032966e-05 9.99996274e-01 -2.72898783e-03 -9.62983385e+01] [-1.29013980e-02 2.72796724e-03 9.99913052e-01 2.95960903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10907232899996 meters Centerline goodness [0,1] 0.3336612731040546 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.30, Z:295.96 [[ 9.99914049e-01 2.99417485e-04 1.31074387e-02 -1.69939445e+02] [-2.70880244e-04 9.99997590e-01 -2.17890024e-03 -9.62999105e+01] [-1.31080595e-02 2.17516242e-03 9.99911720e-01 2.95960334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.139072329 meters Centerline goodness [0,1] 0.34933584353101144 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.30, Z:295.96 [[ 9.99906059e-01 -2.25528458e-04 1.37047983e-02 -1.69940701e+02] [ 2.62062261e-04 9.99996417e-01 -2.66402991e-03 -9.62987781e+01] [-1.37041484e-02 2.66737116e-03 9.99902536e-01 2.95960009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16907232899996 meters Centerline goodness [0,1] 0.30361924686192465 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.30, Z:295.96 [[ 9.99890932e-01 -1.04832820e-03 1.47317428e-02 -1.69943120e+02] [ 1.09058325e-03 9.99995314e-01 -2.86055861e-03 -9.62994895e+01] [-1.47286750e-02 2.87631281e-03 9.99887390e-01 2.95959651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.199072329 meters Centerline goodness [0,1] 0.32172384201603277 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.30, Z:295.96 [[ 9.99876324e-01 -1.54952772e-03 1.56504090e-02 -1.69945328e+02] [ 1.59614590e-03 9.99994326e-01 -2.96666763e-03 -9.63000444e+01] [-1.56457233e-02 2.99128106e-03 9.99873124e-01 2.95959406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22907232899996 meters Centerline goodness [0,1] 0.33377999246262724 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.30, Z:295.96 [[ 9.99849450e-01 -5.52630119e-03 1.64480369e-02 -1.69947057e+02] [ 5.62901700e-03 9.99964905e-01 -6.20513597e-03 -9.63035230e+01] [-1.64131682e-02 6.29678807e-03 9.99845467e-01 2.95958916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.259072329 meters Centerline goodness [0,1] 0.33982126786798095 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.30, Z:295.96 [[ 9.99820929e-01 -7.10920345e-03 1.75376406e-02 -1.69950668e+02] [ 7.23763162e-03 9.99947377e-01 -7.27043207e-03 -9.63035670e+01] [-1.74850308e-02 7.39606113e-03 9.99819770e-01 2.95959788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28907232899996 meters Centerline goodness [0,1] 0.3451897727748253 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.31, Z:295.96 [[ 9.99732543e-01 -1.28078234e-02 1.92562337e-02 -1.69954574e+02] [ 1.30281860e-02 9.99850573e-01 -1.13621367e-02 -9.63065978e+01] [-1.91078320e-02 1.16099716e-02 9.99750018e-01 2.95958907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.319072329 meters Centerline goodness [0,1] 0.28742439779838014 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.31, Z:295.96 [[ 9.99703391e-01 -1.32900373e-02 2.04084615e-02 -1.69957032e+02] [ 1.35144179e-02 9.99849305e-01 -1.08962055e-02 -9.63091935e+01] [-2.02605751e-02 1.11687820e-02 9.99732348e-01 2.95958022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34907232899997 meters Centerline goodness [0,1] 0.3301113063854716 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.31, Z:295.96 [[ 9.99646715e-01 -1.51282618e-02 2.18536427e-02 -1.69960406e+02] [ 1.53890054e-02 9.99811800e-01 -1.18128604e-02 -9.63093585e+01] [-2.16708218e-02 1.21449929e-02 9.99691390e-01 2.95957511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.379072329 meters Centerline goodness [0,1] 0.3520356873586328 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.31, Z:295.96 [[ 9.99619666e-01 -1.54792071e-02 2.28235991e-02 -1.69962344e+02] [ 1.57453855e-02 9.99809562e-01 -1.15291963e-02 -9.63108330e+01] [-2.26407898e-02 1.18841777e-02 9.99673027e-01 2.95956642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40907232899997 meters Centerline goodness [0,1] 0.3612100389659362 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.31, Z:295.96 [[ 9.99562080e-01 -1.69269772e-02 2.42719032e-02 -1.69965462e+02] [ 1.72275357e-02 9.99776822e-01 -1.22278009e-02 -9.63104984e+01] [-2.40595065e-02 1.26405912e-02 9.99630610e-01 2.95956004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.439072329 meters Centerline goodness [0,1] 0.3237768384045536 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.31, Z:295.96 [[ 9.99495971e-01 -1.89690436e-02 2.54554209e-02 -1.69969246e+02] [ 1.93318802e-02 9.99713916e-01 -1.40842119e-02 -9.63080539e+01] [-2.51809745e-02 1.45692142e-02 9.99576739e-01 2.95957108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46907232899997 meters Centerline goodness [0,1] 0.31083938778501286 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.31, Z:295.96 [[ 9.99560577e-01 -1.52169271e-02 2.54381249e-02 -1.69970261e+02] [ 1.54932156e-02 9.99822724e-01 -1.06996080e-02 -9.63053405e+01] [-2.52708002e-02 1.10890247e-02 9.99619138e-01 2.95958481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49907232899994 meters Centerline goodness [0,1] 0.31456822125133266 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.30, Z:295.96 [[ 9.99577710e-01 -1.49180439e-02 2.49370078e-02 -1.69969268e+02] [ 1.51876683e-02 9.99827856e-01 -1.06580073e-02 -9.63047793e+01] [-2.47737184e-02 1.10322415e-02 9.99632209e-01 2.95958888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.529072329 meters Centerline goodness [0,1] 0.32083829582732615 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.30, Z:295.96 [[ 9.99561435e-01 -1.53166590e-02 2.53443725e-02 -1.69970437e+02] [ 1.56027510e-02 9.99816331e-01 -1.11291897e-02 -9.63036017e+01] [-2.51692555e-02 1.15197508e-02 9.99616829e-01 2.95959110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55907232899995 meters Centerline goodness [0,1] 0.32546370841262207 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.29, Z:295.96 [[ 9.99765762e-01 -1.73919399e-02 1.28818268e-02 -1.69974898e+02] [ 1.76045773e-02 9.99707523e-01 -1.65815408e-02 -9.62936026e+01] [-1.25896740e-02 1.68044359e-02 9.99779531e-01 2.95964193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.589072329 meters Centerline goodness [0,1] 0.3330125925616031 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.29, Z:295.96 [[ 9.99805828e-01 -1.40914026e-02 1.37745503e-02 -1.69977128e+02] [ 1.42704404e-02 9.99813829e-01 -1.29870162e-02 -9.62929008e+01] [-1.35889806e-02 1.31810634e-02 9.99820784e-01 2.95963824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61907232899995 meters Centerline goodness [0,1] 0.33389047907569525 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.29, Z:295.96 [[ 9.99822079e-01 -1.34500622e-02 1.32252326e-02 -1.69975666e+02] [ 1.36137601e-02 9.99830852e-01 -1.23665725e-02 -9.62939240e+01] [-1.30566645e-02 1.25444174e-02 9.99836067e-01 2.95963663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.649072329 meters Centerline goodness [0,1] 0.3418823086417171 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.29, Z:295.96 [[ 9.99843416e-01 -1.08265732e-02 1.39974466e-02 -1.69977937e+02] [ 1.09644226e-02 9.99891774e-01 -9.80923055e-03 -9.62909219e+01] [-1.38897314e-02 9.96116851e-03 9.99853915e-01 2.95963993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67907232899995 meters Centerline goodness [0,1] 0.33450446493924757 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.29, Z:295.96 [[ 9.99903961e-01 -5.28457646e-03 1.28117832e-02 -1.69975097e+02] [ 5.34786992e-03 9.99973641e-01 -4.91103786e-03 -9.62904644e+01] [-1.27854927e-02 4.97908196e-03 9.99905866e-01 2.95964188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.709072329 meters Centerline goodness [0,1] 0.33450446493924757 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.29, Z:295.96 [[ 9.99903961e-01 -5.28457646e-03 1.28117832e-02 -1.69975097e+02] [ 5.34786992e-03 9.99973641e-01 -4.91103786e-03 -9.62904644e+01] [-1.27854927e-02 4.97908196e-03 9.99905866e-01 2.95964188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73907232899995 meters Centerline goodness [0,1] 0.3458674920528694 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.29, Z:295.97 [[ 9.99961649e-01 2.04764217e-03 8.51515864e-03 -1.69965982e+02] [-2.01413969e-03 9.99990205e-01 -3.94116805e-03 -9.62856555e+01] [-8.52314534e-03 3.92386618e-03 9.99955979e-01 2.95970311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.769072329 meters Centerline goodness [0,1] 0.3209853288964233 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.28, Z:295.97 [[ 9.99967277e-01 3.17287904e-03 7.44156352e-03 -1.69962846e+02] [-3.14648625e-03 9.99988728e-01 -3.55570234e-03 -9.62839390e+01] [-7.45276145e-03 3.53217121e-03 9.99965989e-01 2.95970043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79907232899996 meters Centerline goodness [0,1] 0.336896832522498 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.28, Z:295.97 [[ 9.99949756e-01 6.95133700e-03 7.22255030e-03 -1.69962634e+02] [-6.94912238e-03 9.99975800e-01 -3.31676593e-04 -9.62807750e+01] [-7.22468111e-03 2.81469542e-04 9.99973862e-01 2.95970654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.829072329 meters Centerline goodness [0,1] 0.3316652358717729 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.28, Z:295.97 [[ 9.99916375e-01 1.14381561e-02 6.03428389e-03 -1.69960403e+02] [-1.14541261e-02 9.99930970e-01 2.61866812e-03 -9.62756388e+01] [-6.00391461e-03 -2.68756659e-03 9.99978365e-01 2.95972192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85907232899996 meters Centerline goodness [0,1] 0.3345624436948733 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.97 [[ 9.99917311e-01 1.18188747e-02 5.06809553e-03 -1.69958286e+02] [-1.18306175e-02 9.99927386e-01 2.29331408e-03 -9.62735465e+01] [-5.04062312e-03 -2.35308314e-03 9.99984527e-01 2.95972722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.889072329 meters Centerline goodness [0,1] 0.35820864287956466 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.97 [[ 9.99920930e-01 1.18061274e-02 4.33004865e-03 -1.69956660e+02] [-1.18132270e-02 9.99928913e-01 1.61771780e-03 -9.62707674e+01] [-4.31064186e-03 -1.66874173e-03 9.99989317e-01 2.95973135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91907232899996 meters Centerline goodness [0,1] 0.33889784889931507 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.98 [[ 9.99806123e-01 1.96904160e-02 6.91958443e-05 -1.69947591e+02] [-1.96905363e-02 9.99798631e-01 3.87039985e-03 -9.62697119e+01] [ 7.02787272e-06 -3.87101197e-03 9.99992508e-01 2.95979161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.949072329 meters Centerline goodness [0,1] 0.32984315121563046 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.98 [[ 9.99719860e-01 2.36634949e-02 -4.90626356e-04 -1.69946734e+02] [-2.36594628e-02 9.99695336e-01 7.03308630e-03 -9.62661132e+01] [ 6.56904282e-04 -7.01950810e-03 9.99975147e-01 2.95980294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97907232899996 meters Centerline goodness [0,1] 0.3528573524172761 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99534704e-01 3.01994937e-02 -4.28559880e-03 -1.69939045e+02] [-3.01670175e-02 9.99517104e-01 7.45044845e-03 -9.62596573e+01] [ 4.50852908e-03 -7.31769806e-03 9.99963062e-01 2.95986786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.009072329 meters Centerline goodness [0,1] 0.32875075968732315 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99480212e-01 3.17598189e-02 -5.53343888e-03 -1.69935972e+02] [-3.17152539e-02 9.99465219e-01 7.96353293e-03 -9.62581662e+01] [ 5.78340007e-03 -7.78389916e-03 9.99952980e-01 2.95987237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03907232899996 meters Centerline goodness [0,1] 0.3555360060324243 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:295.99 [[ 9.99457057e-01 3.22811956e-02 -6.59661611e-03 -1.69933808e+02] [-3.22293820e-02 9.99449941e-01 7.81549639e-03 -9.62566380e+01] [ 6.84528115e-03 -7.59864817e-03 9.99947700e-01 2.95988047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.069072329 meters Centerline goodness [0,1] 0.3533926025329196 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99295152e-01 3.67844776e-02 -7.49008283e-03 -1.69931238e+02] [-3.66998531e-02 9.99264256e-01 1.11385166e-02 -9.62523910e+01] [ 7.89429657e-03 -1.08557807e-02 9.99909912e-01 2.95988433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09907232899997 meters Centerline goodness [0,1] 0.3656148443233044 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99273120e-01 3.71934927e-02 -8.35916377e-03 -1.69929147e+02] [-3.71017974e-02 9.99252379e-01 1.08691844e-02 -9.62501189e+01] [ 8.75717722e-03 -1.05511438e-02 9.99905988e-01 2.95988783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.129072329 meters Centerline goodness [0,1] 0.36420063747693343 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99260579e-01 3.73964883e-02 -8.93296529e-03 -1.69927911e+02] [-3.73001445e-02 9.99246620e-01 1.07187758e-02 -9.62490187e+01] [ 9.32707995e-03 -1.03776492e-02 9.99902650e-01 2.95989115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15907232899997 meters Centerline goodness [0,1] 0.3394518481267287 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99246613e-01 3.76455638e-02 -9.43489453e-03 -1.69926966e+02] [-3.75440587e-02 9.99237535e-01 1.07141512e-02 -9.62485692e+01] [ 9.83104101e-03 -1.03518551e-02 9.99898090e-01 2.95989592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.189072329 meters Centerline goodness [0,1] 0.3434858305539823 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99234374e-01 3.78989735e-02 -9.71251836e-03 -1.69926688e+02] [-3.77948584e-02 9.99228360e-01 1.06880040e-02 -9.62483166e+01] [ 1.01100882e-02 -1.03127377e-02 9.99895711e-01 2.95990099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21907232899997 meters Centerline goodness [0,1] 0.36955427900540905 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99222236e-01 3.81529912e-02 -9.96357823e-03 -1.69926232e+02] [-3.80440056e-02 9.99216527e-01 1.09080404e-02 -9.62486974e+01] [ 1.03719464e-02 -1.05205021e-02 9.99890865e-01 2.95990276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24907232899994 meters Centerline goodness [0,1] 0.3533181161393002 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99220449e-01 3.81849004e-02 -1.00204064e-02 -1.69925652e+02] [-3.80748787e-02 9.99214892e-01 1.09500366e-02 -9.62485205e+01] [ 1.04306654e-02 -1.05599747e-02 9.99889838e-01 2.95989698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.279072329 meters Centerline goodness [0,1] 0.35379871628141124 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99218929e-01 3.81500980e-02 -1.03006205e-02 -1.69925024e+02] [-3.80397887e-02 9.99218930e-01 1.07006384e-02 -9.62473958e+01] [ 1.07008054e-02 -1.03004470e-02 9.99889691e-01 2.95989815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30907232899995 meters Centerline goodness [0,1] 0.35888830624016776 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.25, Z:295.99 [[ 9.99340375e-01 3.45711648e-02 -1.11198209e-02 -1.69923088e+02] [-3.44973967e-02 9.99381933e-01 6.75875875e-03 -9.62464756e+01] [ 1.13466063e-02 -6.37069563e-03 9.99915331e-01 2.95989706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.339072329 meters Centerline goodness [0,1] 0.3706744868035191 Centerline is valid? [False, False] Translation: X:-169.91, Y:-96.25, Z:296.00 [[ 9.99500154e-01 2.82133415e-02 -1.42635608e-02 -1.69913672e+02] [-2.80408378e-02 9.99532902e-01 1.21527430e-02 -9.62541280e+01] [ 1.45997678e-02 -1.17467063e-02 9.99824415e-01 2.95995698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36907232899995 meters Centerline goodness [0,1] 0.37070482735501176 Centerline is valid? [False, False] Translation: X:-169.91, Y:-96.26, Z:296.00 [[ 9.99597554e-01 2.43396821e-02 -1.45708268e-02 -1.69913564e+02] [-2.42184230e-02 9.99671051e-01 8.44147060e-03 -9.62555350e+01] [ 1.47714965e-02 -8.08519092e-03 9.99858206e-01 2.95996124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.399072329 meters Centerline goodness [0,1] 0.3658521290160748 Centerline is valid? [False, False] Translation: X:-169.91, Y:-96.26, Z:296.00 [[ 9.99690949e-01 2.01174548e-02 -1.46045966e-02 -1.69914000e+02] [-2.00557596e-02 9.99789362e-01 4.35862682e-03 -9.62560938e+01] [ 1.46892048e-02 -4.06437350e-03 9.99883847e-01 2.95996436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42907232899995 meters Centerline goodness [0,1] 0.3831129366892303 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99798066e-01 1.50492115e-02 -1.33172142e-02 -1.69917141e+02] [-1.50434970e-02 9.99886700e-01 5.29181723e-04 -9.62586569e+01] [ 1.33236691e-02 -3.28737391e-04 9.99911182e-01 2.95995620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.459072329 meters Centerline goodness [0,1] 0.31497313907063273 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99850248e-01 1.10600260e-02 -1.33100317e-02 -1.69916829e+02] [-1.11018610e-02 9.99933649e-01 -3.07334441e-03 -9.62601820e+01] [ 1.32751573e-02 3.22065029e-03 9.99906694e-01 2.95995006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48907232899995 meters Centerline goodness [0,1] 0.3254259309708921 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:295.99 [[ 9.99940149e-01 6.42808462e-03 -8.85318277e-03 -1.69928285e+02] [-6.44257728e-03 9.99977951e-01 -1.60945474e-03 -9.62604729e+01] [ 8.84264186e-03 1.66639573e-03 9.99959515e-01 2.95990413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.519072329 meters Centerline goodness [0,1] 0.36606113939698703 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:295.99 [[ 9.99955060e-01 2.80343807e-03 -9.05636393e-03 -1.69927505e+02] [-2.84731630e-03 9.99984254e-01 -4.83576139e-03 -9.62627978e+01] [ 9.04266457e-03 4.86133040e-03 9.99947297e-01 2.95989978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54907232899996 meters Centerline goodness [0,1] 0.35678065543542037 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:295.99 [[ 9.99966435e-01 2.17712996e-03 -7.89871673e-03 -1.69930081e+02] [-2.21526577e-03 9.99985918e-01 -4.82257034e-03 -9.62639006e+01] [ 7.88810613e-03 4.83990622e-03 9.99957176e-01 2.95989308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.579072329 meters Centerline goodness [0,1] 0.33211105290728127 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.27, Z:295.99 [[ 9.99974615e-01 -2.29393259e-03 -6.74592644e-03 -1.69932151e+02] [ 2.24022913e-03 9.99965828e-01 -7.95768273e-03 -9.62681561e+01] [ 6.76395030e-03 7.94236830e-03 9.99945582e-01 2.95987769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60907232899996 meters Centerline goodness [0,1] 0.34042062926808836 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.27, Z:295.99 [[ 9.99975979e-01 -4.20867262e-03 -5.50712139e-03 -1.69935823e+02] [ 4.15755776e-03 9.99948479e-01 -9.26035357e-03 -9.62675749e+01] [ 5.54581145e-03 9.23723495e-03 9.99941957e-01 2.95988256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.639072329 meters Centerline goodness [0,1] 0.3302569480859989 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.27, Z:295.99 [[ 9.99975239e-01 -5.65176164e-03 -4.19280594e-03 -1.69939280e+02] [ 5.61057216e-03 9.99936519e-01 -9.77140963e-03 -9.62686998e+01] [ 4.24776546e-03 9.74764364e-03 9.99943468e-01 2.95988101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66907232899996 meters Centerline goodness [0,1] 0.3109999790755582 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.27, Z:295.99 [[ 9.99944161e-01 -1.00548203e-02 -3.25200122e-03 -1.69941127e+02] [ 1.00127721e-02 9.99869249e-01 -1.26976191e-02 -9.62738314e+01] [ 3.37924829e-03 1.26643485e-02 9.99914094e-01 2.95987019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.699072329 meters Centerline goodness [0,1] 0.35181151832460733 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.27, Z:295.99 [[ 9.99943613e-01 -1.02491733e-02 -2.77933756e-03 -1.69942265e+02] [ 1.02129526e-02 9.99866591e-01 -1.27473536e-02 -9.62738812e+01] [ 2.90961660e-03 1.27182496e-02 9.99914887e-01 2.95986885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72907232899996 meters Centerline goodness [0,1] 0.3211452730278993 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99918756e-01 -1.26202188e-02 -1.79186140e-03 -1.69946423e+02] [ 1.25924312e-02 9.99811864e-01 -1.47535590e-02 -9.62728893e+01] [ 1.97771743e-03 1.47297965e-02 9.99889555e-01 2.95988777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.759072329 meters Centerline goodness [0,1] 0.28086761906753954 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99919747e-01 -1.26134106e-02 -1.18414443e-03 -1.69947781e+02] [ 1.25951018e-02 9.99817412e-01 -1.43703009e-02 -9.62744026e+01] [ 1.36518673e-03 1.43542332e-02 9.99896041e-01 2.95988404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78907232899996 meters Centerline goodness [0,1] 0.32077682906412186 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99904498e-01 -1.38200906e-02 7.75044821e-06 -1.69950726e+02] [ 1.38186608e-02 9.99792661e-01 -1.49559542e-02 -9.62744773e+01] [ 1.98943801e-04 1.49546329e-02 9.99888153e-01 2.95988188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.819072329 meters Centerline goodness [0,1] 0.29496779051284194 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.28, Z:295.99 [[ 9.99902097e-01 -1.39754329e-02 6.95844240e-04 -1.69951239e+02] [ 1.39840663e-02 9.99796766e-01 -1.45214381e-02 -9.62759434e+01] [-4.92759437e-04 1.45297471e-02 9.99894316e-01 2.95986345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84907232899997 meters Centerline goodness [0,1] 0.3278081245683431 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99932448e-01 -1.14632433e-02 1.92167480e-03 -1.69954720e+02] [ 1.14848996e-02 9.99866002e-01 -1.16650923e-02 -9.62743436e+01] [-1.78769751e-03 1.16863745e-02 9.99930114e-01 2.95986645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.879072329 meters Centerline goodness [0,1] 0.363916165909424 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99925877e-01 -1.18885497e-02 2.62735367e-03 -1.69956487e+02] [ 1.19189430e-02 9.99858486e-01 -1.18721264e-02 -9.62741737e+01] [-2.48583950e-03 1.19025617e-02 9.99926072e-01 2.95986561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90907232899997 meters Centerline goodness [0,1] 0.35473673191667543 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.28, Z:295.99 [[ 9.99925895e-01 -1.18181954e-02 2.92157867e-03 -1.69957122e+02] [ 1.18510790e-02 9.99863564e-01 -1.15067230e-02 -9.62753276e+01] [-2.78519137e-03 1.15404941e-02 9.99929527e-01 2.95986339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.939072329 meters Centerline goodness [0,1] 0.3096887623752015 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99947158e-01 -9.45667750e-03 4.03143227e-03 -1.69960473e+02] [ 9.49217444e-03 9.99915529e-01 -8.87877206e-03 -9.62734951e+01] [-3.94712805e-03 8.91656994e-03 9.99952456e-01 2.95986836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96907232899997 meters Centerline goodness [0,1] 0.30994740261100984 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99941385e-01 -9.96350488e-03 4.23745581e-03 -1.69960574e+02] [ 1.00033136e-02 9.99905033e-01 -9.47942039e-03 -9.62715124e+01] [-4.14260513e-03 9.52125335e-03 9.99946091e-01 2.95986377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99907232899994 meters Centerline goodness [0,1] 0.31592924054867844 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99944651e-01 -9.76301556e-03 3.92155766e-03 -1.69959945e+02] [ 9.79978591e-03 9.99907144e-01 -9.46932435e-03 -9.62709440e+01] [-3.82874435e-03 9.50723066e-03 9.99947475e-01 2.95986672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.029072329 meters Centerline goodness [0,1] 0.3142976676079908 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99941521e-01 -9.93338023e-03 4.27573488e-03 -1.69960913e+02] [ 9.97394880e-03 9.99904428e-01 -9.57371348e-03 -9.62708038e+01] [-4.18022690e-03 9.61579958e-03 9.99945030e-01 2.95986744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05907232899995 meters Centerline goodness [0,1] 0.31397101934835414 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99967749e-01 -6.38315060e-03 4.87410408e-03 -1.69962880e+02] [ 6.41207502e-03 9.99961789e-01 -5.94191967e-03 -9.62701977e+01] [-4.83598967e-03 5.97298115e-03 9.99970468e-01 2.95987163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.089072329 meters Centerline goodness [0,1] 0.3185168125287886 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99971142e-01 -6.17719869e-03 4.42235385e-03 -1.69961792e+02] [ 6.20455317e-03 9.99961539e-01 -6.19873731e-03 -9.62683834e+01] [-4.38389293e-03 6.22599715e-03 9.99971009e-01 2.95987394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11907232899995 meters Centerline goodness [0,1] 0.34359317497490804 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99966360e-01 -6.64532027e-03 4.80826842e-03 -1.69963413e+02] [ 6.67779945e-03 9.99954782e-01 -6.77063437e-03 -9.62672442e+01] [-4.76305797e-03 6.80251526e-03 9.99965519e-01 2.95988307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.149072329 meters Centerline goodness [0,1] 0.3454070435782214 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99965650e-01 -6.70349149e-03 4.87471168e-03 -1.69963783e+02] [ 6.73675080e-03 9.99953923e-01 -6.83871922e-03 -9.62670205e+01] [-4.82864377e-03 6.87132402e-03 9.99964734e-01 2.95988590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17907232899995 meters Centerline goodness [0,1] 0.3146053345577493 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99969033e-01 -6.44633530e-03 4.51412429e-03 -1.69962658e+02] [ 6.47647832e-03 9.99956615e-01 -6.69501732e-03 -9.62666670e+01] [-4.47077012e-03 6.72404562e-03 9.99967399e-01 2.95988330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.209072329 meters Centerline goodness [0,1] 0.3533584431889517 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.26, Z:295.99 [[ 9.99975788e-01 -4.14754322e-03 5.58756289e-03 -1.69965554e+02] [ 4.17097929e-03 9.99982527e-01 -4.18922584e-03 -9.62640132e+01] [-5.57009026e-03 4.21243002e-03 9.99975614e-01 2.95988490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23907232899995 meters Centerline goodness [0,1] 0.34514921471443205 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99982097e-01 -3.24223065e-03 5.02928262e-03 -1.69963440e+02] [ 3.25835729e-03 9.99989566e-01 -3.20167707e-03 -9.62655829e+01] [-5.01884957e-03 3.21800695e-03 9.99982228e-01 2.95987564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.269072329 meters Centerline goodness [0,1] 0.3554801976052918 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99984088e-01 -2.98063456e-03 4.78959384e-03 -1.69962707e+02] [ 2.99542942e-03 9.99990756e-01 -3.08476162e-03 -9.62651528e+01] [-4.78035502e-03 3.09905942e-03 9.99983772e-01 2.95987438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29907232899996 meters Centerline goodness [0,1] 0.2870261902769643 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99983903e-01 -2.92269073e-03 4.86338463e-03 -1.69962962e+02] [ 2.93765416e-03 9.99990965e-01 -3.07246005e-03 -9.62649446e+01] [-4.85436084e-03 3.08669754e-03 9.99983454e-01 2.95987585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.329072329 meters Centerline goodness [0,1] 0.3613668703440194 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99983923e-01 -2.75031033e-03 4.95870346e-03 -1.69963130e+02] [ 2.76394687e-03 9.99992412e-01 -2.74526961e-03 -9.62657686e+01] [-4.95111549e-03 2.75893107e-03 9.99983937e-01 2.95987418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35907232899996 meters Centerline goodness [0,1] 0.2851605874588842 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99988330e-01 -1.79608197e-03 4.48485952e-03 -1.69961092e+02] [ 1.80408500e-03 9.99996787e-01 -1.78104771e-03 -9.62670420e+01] [-4.48164620e-03 1.78911800e-03 9.99988357e-01 2.95986363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.389072329 meters Centerline goodness [0,1] 0.31109435858776224 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99987506e-01 -1.89794882e-03 4.62456824e-03 -1.69960814e+02] [ 1.90645459e-03 9.99996498e-01 -1.83554456e-03 -9.62667439e+01] [-4.62106828e-03 1.84433816e-03 9.99987622e-01 2.95985488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41907232899996 meters Centerline goodness [0,1] 0.29804028307022323 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99988063e-01 -1.80038386e-03 4.54222826e-03 -1.69960861e+02] [ 1.80830905e-03 9.99996849e-01 -1.74127652e-03 -9.62668076e+01] [-4.53907899e-03 1.74946949e-03 9.99988168e-01 2.95985824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.449072329 meters Centerline goodness [0,1] 0.28585795097423006 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99985436e-01 -2.08816131e-03 4.97668262e-03 -1.69962243e+02] [ 2.09836031e-03 9.99995707e-01 -2.04501754e-03 -9.62661881e+01] [-4.97239093e-03 2.05543063e-03 9.99985525e-01 2.95986235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47907232899996 meters Centerline goodness [0,1] 0.3145822869579775 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99988868e-01 -1.66192655e-03 4.41616333e-03 -1.69961872e+02] [ 1.67056250e-03 9.99996698e-01 -1.95256376e-03 -9.62658998e+01] [-4.41290374e-03 1.95991950e-03 9.99988342e-01 2.95987666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.509072329 meters Centerline goodness [0,1] 0.36424672146577153 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99991238e-01 -1.48873425e-03 3.91252298e-03 -1.69960503e+02] [ 1.49697580e-03 9.99996665e-01 -2.10436840e-03 -9.62643624e+01] [-3.90937708e-03 2.11020691e-03 9.99990132e-01 2.95987654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53907232899996 meters Centerline goodness [0,1] 0.3201865367322613 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99969047e-01 6.97153826e-03 3.64717241e-03 -1.69959624e+02] [-6.99331790e-03 9.99957586e-01 5.99337329e-03 -9.62627340e+01] [-3.60523469e-03 -6.01869361e-03 9.99975389e-01 2.95987438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.569072329 meters Centerline goodness [0,1] 0.3236496258567566 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99968686e-01 7.35757299e-03 2.91441269e-03 -1.69957439e+02] [-7.37442052e-03 9.99955914e-01 5.81282488e-03 -9.62607503e+01] [-2.87151592e-03 -5.83413496e-03 9.99978858e-01 2.95987074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59907232899997 meters Centerline goodness [0,1] 0.3265023887352275 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99966847e-01 7.82245630e-03 2.26158556e-03 -1.69955566e+02] [-7.83623315e-03 9.99950394e-01 6.14837836e-03 -9.62610562e+01] [-2.21337795e-03 -6.16589683e-03 9.99978541e-01 2.95986768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.629072329 meters Centerline goodness [0,1] 0.3265023887352275 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99966847e-01 7.82245630e-03 2.26158556e-03 -1.69955566e+02] [-7.83623315e-03 9.99950394e-01 6.14837836e-03 -9.62610562e+01] [-2.21337795e-03 -6.16589683e-03 9.99978541e-01 2.95986768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65907232899997 meters Centerline goodness [0,1] 0.3135052282366775 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99926304e-01 1.19536243e-02 2.12065270e-03 -1.69955269e+02] [-1.19740837e-02 9.99879173e-01 9.91266243e-03 -9.62593344e+01] [-2.00190423e-03 -9.93732478e-03 9.99948620e-01 2.95986996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.689072329 meters Centerline goodness [0,1] 0.3210070645452068 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99882794e-01 1.51952664e-02 -1.87155153e-03 -1.69947074e+02] [-1.51798731e-02 9.99852923e-01 7.98140992e-03 -9.62570582e+01] [ 1.99255592e-03 -7.95206453e-03 9.99966397e-01 2.95992596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71907232899997 meters Centerline goodness [0,1] 0.32439858218502904 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99860436e-01 1.64207351e-02 -3.07708502e-03 -1.69944727e+02] [-1.63959778e-02 9.99834326e-01 7.90522130e-03 -9.62544285e+01] [ 3.20638477e-03 -7.85366619e-03 9.99964019e-01 2.95993896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74907232899994 meters Centerline goodness [0,1] 0.32704191717116704 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:296.00 [[ 9.99799956e-01 1.89209131e-02 -6.48435470e-03 -1.69937573e+02] [-1.88841255e-02 9.99805497e-01 5.68832040e-03 -9.62498102e+01] [ 6.59072169e-03 -5.56473112e-03 9.99962797e-01 2.95998395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.779072329 meters Centerline goodness [0,1] 0.3298757360491188 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:296.00 [[ 9.99799652e-01 1.87799694e-02 -6.92595100e-03 -1.69936506e+02] [-1.87451364e-02 9.99811488e-01 5.06044056e-03 -9.62472774e+01] [ 7.01968030e-03 -4.92959882e-03 9.99963211e-01 2.95998552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80907232899995 meters Centerline goodness [0,1] 0.3418984343889506 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:296.00 [[ 9.99840599e-01 1.58799477e-02 -8.16112903e-03 -1.69934362e+02] [-1.58694493e-02 9.99873162e-01 1.34955163e-03 -9.62465975e+01] [ 8.18152469e-03 -1.21982388e-03 9.99965787e-01 2.95999767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.839072329 meters Centerline goodness [0,1] 0.34285534643920024 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:296.00 [[ 9.99819214e-01 1.67563745e-02 -8.98684869e-03 -1.69932608e+02] [-1.67397563e-02 9.99858035e-01 1.92122512e-03 -9.62470901e+01] [ 9.01776563e-03 -1.77044013e-03 9.99957772e-01 2.96000226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86907232899995 meters Centerline goodness [0,1] 0.3301337133755292 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:296.00 [[ 9.99798381e-01 1.74558599e-02 -9.92425462e-03 -1.69930453e+02] [-1.74375262e-02 9.99846090e-01 1.93090633e-03 -9.62456052e+01] [ 9.95643281e-03 -1.75746257e-03 9.99948889e-01 2.96000723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.899072329 meters Centerline goodness [0,1] 0.35633436740169366 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.24, Z:296.00 [[ 9.99793468e-01 1.74882327e-02 -1.03528900e-02 -1.69928966e+02] [-1.74728053e-02 9.99846092e-01 1.57874576e-03 -9.62437788e+01] [ 1.03789061e-02 -1.39752567e-03 9.99945161e-01 2.96000301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92907232899995 meters Centerline goodness [0,1] 0.3097747511786275 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:296.00 [[ 9.99824813e-01 1.48544303e-02 -1.13880985e-02 -1.69926400e+02] [-1.48681308e-02 9.99888837e-01 -1.11933386e-03 -9.62460664e+01] [ 1.13702055e-02 1.28845751e-03 9.99934527e-01 2.96000148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.959072329 meters Centerline goodness [0,1] 0.3008554535161656 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.24, Z:296.00 [[ 9.99819935e-01 1.49063980e-02 -1.17429599e-02 -1.69925389e+02] [-1.49238723e-02 9.99887650e-01 -1.40184541e-03 -9.62444266e+01] [ 1.17207441e-02 1.57684342e-03 9.99930066e-01 2.96000144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98907232899995 meters Centerline goodness [0,1] 0.31567153238811285 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.24, Z:296.00 [[ 9.99829523e-01 1.45715819e-02 -1.13399669e-02 -1.69926383e+02] [-1.45906322e-02 9.99892273e-01 -1.59901027e-03 -9.62442515e+01] [ 1.13154452e-02 1.76419497e-03 9.99934422e-01 2.96000057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.019072329 meters Centerline goodness [0,1] 0.3294395947162385 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:296.00 [[ 9.99916210e-01 8.44476102e-03 -9.81113790e-03 -1.69929537e+02] [-8.50566065e-03 9.99944716e-01 -6.18213735e-03 -9.62459777e+01] [ 9.75838883e-03 6.26506956e-03 9.99932759e-01 2.95998390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04907232899996 meters Centerline goodness [0,1] 0.3647164829638322 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:296.00 [[ 9.99925754e-01 8.33892302e-03 -8.88533647e-03 -1.69931642e+02] [-8.38694611e-03 9.99950349e-01 -5.38127306e-03 -9.62495536e+01] [ 8.84002129e-03 5.45539436e-03 9.99946045e-01 2.95997695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.079072329 meters Centerline goodness [0,1] 0.23692256146082002 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99925683e-01 2.45428335e-03 -1.19417395e-02 -1.69922994e+02] [-2.45604346e-03 9.99996975e-01 -1.32728417e-04 -9.62557648e+01] [ 1.19413776e-02 1.62047984e-04 9.99928686e-01 2.96004371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10907232899996 meters Centerline goodness [0,1] 0.331470668257257 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99926082e-01 2.56597990e-03 -1.18847164e-02 -1.69923394e+02] [-2.56571765e-03 9.99996708e-01 3.73126612e-05 -9.62560138e+01] [ 1.18847730e-02 -6.81707642e-06 9.99929374e-01 2.96004746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.139072329 meters Centerline goodness [0,1] 0.32128354334993925 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99915509e-01 3.54401739e-03 -1.25065954e-02 -1.69921657e+02] [-3.53305573e-03 9.99993355e-01 8.98455694e-04 -9.62570395e+01] [ 1.25096964e-02 -8.54193284e-04 9.99921386e-01 2.96004623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16907232899996 meters Centerline goodness [0,1] 0.3303721086154877 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99896454e-01 5.30035804e-03 -1.33785919e-02 -1.69918896e+02] [-5.27468802e-03 9.99984181e-01 1.95329625e-03 -9.62565089e+01] [ 1.33887334e-02 -1.88252610e-03 9.99908595e-01 2.96004211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.199072329 meters Centerline goodness [0,1] 0.24800652979217686 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99906584e-01 1.35008759e-03 -1.36014812e-02 -1.69918224e+02] [-1.37416654e-03 9.99997505e-01 -1.76112807e-03 -9.62578547e+01] [ 1.35990696e-02 1.77965425e-03 9.99905945e-01 2.96004007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22907232899996 meters Centerline goodness [0,1] 0.334401373793219 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99913834e-01 1.26137443e-03 -1.30665077e-02 -1.69919640e+02] [-1.28210829e-03 9.99997932e-01 -1.57853860e-03 -9.62590538e+01] [ 1.30644896e-02 1.59515526e-03 9.99913384e-01 2.96003913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.259072329 meters Centerline goodness [0,1] 0.2528872709013307 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99918985e-01 1.35639204e-03 -1.26563906e-02 -1.69920763e+02] [-1.37245340e-03 9.99998264e-01 -1.26043267e-03 -9.62605730e+01] [ 1.26546590e-02 1.27770086e-03 9.99919110e-01 2.96003818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28907232899996 meters Centerline goodness [0,1] 0.34211462409240234 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99924204e-01 8.14738341e-04 -1.22850358e-02 -1.69922088e+02] [-8.37345228e-04 9.99997966e-01 -1.83516579e-03 -9.62593149e+01] [ 1.22835156e-02 1.84531351e-03 9.99922852e-01 2.96004298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.319072329 meters Centerline goodness [0,1] 0.2600737203652509 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99914705e-01 1.80941396e-03 -1.29348093e-02 -1.69919935e+02] [-1.82315543e-03 9.99997786e-01 -1.05065059e-03 -9.62596368e+01] [ 1.29328796e-02 1.07414314e-03 9.99915790e-01 2.96003859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34907232899997 meters Centerline goodness [0,1] 0.34950540699136556 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99911360e-01 1.82368757e-03 -1.31888692e-02 -1.69919413e+02] [-1.84026129e-03 9.99997532e-01 -1.24461745e-03 -9.62583947e+01] [ 1.31865668e-02 1.26877809e-03 9.99912248e-01 2.96004123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.379072329 meters Centerline goodness [0,1] 0.26970623978544195 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99906701e-01 1.95234803e-03 -1.35194955e-02 -1.69918632e+02] [-1.97005104e-03 9.99997219e-01 -1.29624920e-03 -9.62575433e+01] [ 1.35169271e-02 1.32276235e-03 9.99907767e-01 2.96004276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40907232899997 meters Centerline goodness [0,1] 0.36576225767282167 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99907489e-01 1.99986959e-03 -1.34541414e-02 -1.69918587e+02] [-2.01631988e-03 9.99997236e-01 -1.20924008e-03 -9.62575212e+01] [ 1.34516859e-02 1.23625607e-03 9.99908758e-01 2.96004011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.439072329 meters Centerline goodness [0,1] 0.273625060281383 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99920340e-01 1.65429436e-03 -1.25130471e-02 -1.69920158e+02] [-1.66469259e-03 9.99998278e-01 -8.20621121e-04 -9.62593718e+01] [ 1.25116680e-02 8.41386127e-04 9.99921372e-01 2.96002687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46907232899997 meters Centerline goodness [0,1] 0.2779536639060698 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99921715e-01 1.97582717e-03 -1.23555732e-02 -1.69919797e+02] [-1.97865023e-03 9.99998019e-01 -2.16265337e-04 -9.62607833e+01] [ 1.23551214e-02 2.40695765e-04 9.99923644e-01 2.96001610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49907232899994 meters Centerline goodness [0,1] 0.28287378478042235 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99929369e-01 1.79216505e-03 -1.17492424e-02 -1.69920936e+02] [-1.79269515e-03 9.99998393e-01 -3.45858117e-05 -9.62617250e+01] [ 1.17491615e-02 5.56461787e-05 9.99930975e-01 2.96000956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.529072329 meters Centerline goodness [0,1] 0.28920561727101235 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99935342e-01 1.85547913e-03 -1.12191402e-02 -1.69922020e+02] [-1.85107676e-03 9.99998206e-01 4.02769447e-04 -9.62632493e+01] [ 1.12198674e-02 -3.81975915e-04 9.99936982e-01 2.96000493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55907232899995 meters Centerline goodness [0,1] 0.2913693224750231 Centerline is valid? [False, False] Translation: X:-169.92, Y:-96.26, Z:296.00 [[ 9.99947302e-01 8.87672366e-04 -1.02276580e-02 -1.69924667e+02] [-8.91119275e-04 9.99999548e-01 -3.32466109e-04 -9.62620836e+01] [ 1.02273582e-02 3.41562652e-04 9.99947641e-01 2.96000630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.589072329 meters Centerline goodness [0,1] 0.2957743525217573 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:296.00 [[ 9.99955917e-01 2.17549783e-04 -9.38700533e-03 -1.69927277e+02] [-2.21287390e-04 9.99999897e-01 -3.97131466e-04 -9.62636994e+01] [ 9.38691796e-03 3.99191186e-04 9.99955862e-01 2.96000988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61907232899995 meters Centerline goodness [0,1] 0.31908122029355723 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:296.00 [[ 9.99959446e-01 2.14926165e-04 -9.00334525e-03 -1.69928070e+02] [-2.16085113e-04 9.99999968e-01 -1.27751512e-04 -9.62646923e+01] [ 9.00331751e-03 1.29691821e-04 9.99959461e-01 2.96000674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.649072329 meters Centerline goodness [0,1] 0.33436032863849763 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:296.00 [[ 9.99966656e-01 -6.31462754e-04 -8.14173472e-03 -1.69930173e+02] [ 6.24449930e-04 9.99999432e-01 -8.63856061e-04 -9.62633749e+01] [ 8.14227559e-03 8.58743151e-04 9.99966482e-01 2.96000551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67907232899995 meters Centerline goodness [0,1] 0.3438448813786461 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:296.00 [[ 9.99972074e-01 -1.56296069e-03 -7.30814528e-03 -1.69932547e+02] [ 1.55259181e-03 9.99997780e-01 -1.42426978e-03 -9.62633170e+01] [ 7.31035514e-03 1.41288344e-03 9.99972281e-01 2.96000707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.709072329 meters Centerline goodness [0,1] 0.33016950573050896 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:296.00 [[ 9.99974732e-01 -1.80927079e-03 -6.87470374e-03 -1.69933265e+02] [ 1.79843722e-03 9.99997132e-01 -1.58171502e-03 -9.62628544e+01] [ 6.87754577e-03 1.56931133e-03 9.99975118e-01 2.96000195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73907232899995 meters Centerline goodness [0,1] 0.31266360913907565 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:296.00 [[ 9.99975803e-01 -1.79308394e-03 -6.72141695e-03 -1.69933150e+02] [ 1.78358389e-03 9.99997402e-01 -1.41912766e-03 -9.62631939e+01] [ 6.72394411e-03 1.40710511e-03 9.99976404e-01 2.95999490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.769072329 meters Centerline goodness [0,1] 0.3221395115423219 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:296.00 [[ 9.99979842e-01 -2.88258438e-03 -5.65738870e-03 -1.69935314e+02] [ 2.87252765e-03 9.99994281e-01 -1.78494877e-03 -9.62636075e+01] [ 5.66250162e-03 1.76866178e-03 9.99982404e-01 2.95998643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79907232899996 meters Centerline goodness [0,1] 0.3256086338157784 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:296.00 [[ 9.99981145e-01 -2.99641561e-03 -5.36022301e-03 -1.69936037e+02] [ 2.98675365e-03 9.99993902e-01 -1.80962644e-03 -9.62636547e+01] [ 5.36561272e-03 1.79358265e-03 9.99983997e-01 2.95998588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.829072329 meters Centerline goodness [0,1] 0.3231989977030695 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:296.00 [[ 9.99982681e-01 -3.67564513e-03 -4.59647814e-03 -1.69938275e+02] [ 3.66517744e-03 9.99990676e-01 -2.28368365e-03 -9.62632115e+01] [ 4.60482929e-03 2.26679719e-03 9.99986829e-01 2.95998922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85907232899996 meters Centerline goodness [0,1] 0.33409176303594534 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:296.00 [[ 9.99983948e-01 -4.24920737e-03 -3.74810162e-03 -1.69940196e+02] [ 4.24011985e-03 9.99988060e-01 -2.42919004e-03 -9.62640076e+01] [ 3.75837900e-03 2.41325865e-03 9.99990025e-01 2.95998450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.889072329 meters Centerline goodness [0,1] 0.34127067087575524 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:296.00 [[ 9.99984203e-01 -3.84174152e-03 -4.10305915e-03 -1.69938613e+02] [ 3.83282853e-03 9.99990283e-01 -2.17793618e-03 -9.62635042e+01] [ 4.11138635e-03 2.16217545e-03 9.99989211e-01 2.95997658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91907232899996 meters Centerline goodness [0,1] 0.3178001503885036 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:296.00 [[ 9.99985715e-01 -1.69993693e-03 -5.06759725e-03 -1.69934967e+02] [ 1.69836645e-03 9.99998508e-01 -3.14192686e-04 -9.62649088e+01] [ 5.06812380e-03 3.05581560e-04 9.99987110e-01 2.95996401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.949072329 meters Centerline goodness [0,1] 0.34783517218321636 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:296.00 [[ 9.99983995e-01 -1.41973751e-03 -5.47674442e-03 -1.69934134e+02] [ 1.41843877e-03 9.99998965e-01 -2.41014720e-04 -9.62643641e+01] [ 5.47708093e-03 2.33242436e-04 9.99984973e-01 2.95996750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97907232899996 meters Centerline goodness [0,1] 0.3601579805240941 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.26, Z:296.00 [[ 9.99982739e-01 -1.39906960e-03 -5.70644542e-03 -1.69933654e+02] [ 1.39645324e-03 9.99998918e-01 -4.62450303e-04 -9.62631632e+01] [ 5.70708625e-03 4.54473536e-04 9.99983611e-01 2.95996949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.009072329 meters Centerline goodness [0,1] 0.36129126741704676 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:296.00 [[ 9.99985880e-01 -1.75722287e-03 -5.01523642e-03 -1.69935133e+02] [ 1.75436552e-03 9.99998296e-01 -5.74077999e-04 -9.62634502e+01] [ 5.01623666e-03 5.65271335e-04 9.99987259e-01 2.95996480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03907232899996 meters Centerline goodness [0,1] 0.36367250434164 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:296.00 [[ 9.99989010e-01 -2.14515735e-03 -4.16871975e-03 -1.69937080e+02] [ 2.14309206e-03 9.99997579e-01 -4.99830898e-04 -9.62645882e+01] [ 4.16978187e-03 4.90891454e-04 9.99991186e-01 2.95996016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.069072329 meters Centerline goodness [0,1] 0.32784315364839156 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.27, Z:296.00 [[ 9.99990693e-01 -2.00041374e-03 -3.82255426e-03 -1.69937904e+02] [ 2.00040790e-03 9.99997999e-01 -5.35245911e-06 -9.62663110e+01] [ 3.82255732e-03 -2.29425844e-06 9.99992694e-01 2.95995808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09907232899997 meters Centerline goodness [0,1] 0.3703021293524005 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.27, Z:296.00 [[ 9.99992067e-01 -2.44327149e-03 -3.14577914e-03 -1.69939579e+02] [ 2.44226032e-03 9.99996965e-01 -3.25237937e-04 -9.62658015e+01] [ 3.14656424e-03 3.17552545e-04 9.99994999e-01 2.95995725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.129072329 meters Centerline goodness [0,1] 0.32946223059217405 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.27, Z:296.00 [[ 9.99992616e-01 -3.09074095e-03 -2.28379865e-03 -1.69941428e+02] [ 3.08941497e-03 9.99995057e-01 -5.83900567e-04 -9.62658196e+01] [ 2.28559205e-03 5.76840653e-04 9.99997222e-01 2.95995252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15907232899997 meters Centerline goodness [0,1] 0.2935996653419787 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:296.00 [[ 9.99987632e-01 -4.87988641e-03 -9.60467990e-04 -1.69944724e+02] [ 4.87794665e-03 9.99986079e-01 -2.01168142e-03 -9.62640524e+01] [ 9.70271396e-04 2.00697142e-03 9.99997515e-01 2.95995124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.189072329 meters Centerline goodness [0,1] 0.36889893093997783 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99988992e-01 -4.67564622e-03 -3.91829993e-04 -1.69946043e+02] [ 4.67519645e-03 9.99988420e-01 -1.14104544e-03 -9.62672637e+01] [ 3.97160580e-04 1.13920100e-03 9.99999272e-01 2.95994726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21907232899997 meters Centerline goodness [0,1] 0.33991053885707123 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99984235e-01 -5.60287936e-03 3.71421451e-04 -1.69947785e+02] [ 5.60364773e-03 9.99982092e-01 -2.10099804e-03 -9.62652019e+01] [-3.59643161e-04 2.10304623e-03 9.99997724e-01 2.95994498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24907232899994 meters Centerline goodness [0,1] 0.3059158229436867 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99984071e-01 -5.63765023e-03 2.73788320e-04 -1.69947535e+02] [ 5.63824630e-03 9.99981624e-01 -2.22750126e-03 -9.62645476e+01] [-2.61225416e-04 2.22900946e-03 9.99997482e-01 2.95994545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.279072329 meters Centerline goodness [0,1] 0.28782388303554596 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:296.00 [[ 9.99983788e-01 -5.69424015e-03 1.46799924e-05 -1.69947206e+02] [ 5.69425907e-03 9.99980320e-01 -2.63330644e-03 -9.62628948e+01] [ 3.14975734e-07 2.63334734e-03 9.99996533e-01 2.95995080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30907232899995 meters Centerline goodness [0,1] 0.3142306564450589 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:296.00 [[ 9.99983140e-01 -5.80679890e-03 4.83004856e-06 -1.69947247e+02] [ 5.80678913e-03 9.99979092e-01 -2.84540502e-03 -9.62621175e+01] [ 1.16927472e-05 2.84538510e-03 9.99995952e-01 2.95995195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.339072329 meters Centerline goodness [0,1] 0.32318628475851974 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:296.00 [[ 9.99983410e-01 -5.75941526e-03 9.60675702e-05 -1.69947449e+02] [ 5.75965554e-03 9.99979705e-01 -2.72320258e-03 -9.62623289e+01] [-8.03815659e-05 2.72371072e-03 9.99996287e-01 2.95995133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36907232899995 meters Centerline goodness [0,1] 0.34028533177139986 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99980499e-01 -6.17278993e-03 9.47702159e-04 -1.69949199e+02] [ 6.17532134e-03 9.99977309e-01 -2.69182312e-03 -9.62631625e+01] [-9.31064596e-04 2.69762300e-03 9.99995928e-01 2.95994451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.399072329 meters Centerline goodness [0,1] 0.32988914453043294 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99980829e-01 -6.04826228e-03 1.32678896e-03 -1.69949702e+02] [ 6.05127003e-03 9.99979104e-01 -2.27475804e-03 -9.62643978e+01] [-1.31300290e-03 2.28274319e-03 9.99996533e-01 2.95993765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42907232899995 meters Centerline goodness [0,1] 0.31427913596784995 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99982825e-01 -5.65507766e-03 1.53952577e-03 -1.69950039e+02] [ 5.65736145e-03 9.99982897e-01 -1.48314883e-03 -9.62667029e+01] [-1.53111212e-03 1.49183301e-03 9.99997715e-01 2.95993375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.459072329 meters Centerline goodness [0,1] 0.3268751440001676 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99983842e-01 -5.46959784e-03 1.54883135e-03 -1.69949282e+02] [ 5.47151551e-03 9.99984267e-01 -1.23662276e-03 -9.62667842e+01] [-1.54204315e-03 1.24507723e-03 9.99998036e-01 2.95992378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48907232899995 meters Centerline goodness [0,1] 0.3735992124170001 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99986047e-01 -5.14130448e-03 1.21393137e-03 -1.69948292e+02] [ 5.14246689e-03 9.99986320e-01 -9.56393195e-04 -9.62669060e+01] [-1.20899765e-03 9.62622452e-04 9.99998806e-01 2.95992217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.519072329 meters Centerline goodness [0,1] 0.3735992124170001 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99986047e-01 -5.14130448e-03 1.21393137e-03 -1.69948292e+02] [ 5.14246689e-03 9.99986320e-01 -9.56393195e-04 -9.62669060e+01] [-1.20899765e-03 9.62622452e-04 9.99998806e-01 2.95992217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54907232899996 meters Centerline goodness [0,1] 0.34663847957133287 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99984667e-01 -5.34013319e-03 1.46574372e-03 -1.69949006e+02] [ 5.34188501e-03 9.99985019e-01 -1.19387642e-03 -9.62662627e+01] [-1.45934630e-03 1.20168795e-03 9.99998213e-01 2.95992313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.579072329 meters Centerline goodness [0,1] 0.31800397531122504 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99982613e-01 -5.56717933e-03 1.94447683e-03 -1.69950319e+02] [ 5.56974109e-03 9.99983625e-01 -1.31453404e-03 -9.62662020e+01] [-1.93712674e-03 1.32534141e-03 9.99997246e-01 2.95992403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60907232899996 meters Centerline goodness [0,1] 0.32211608803795744 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99982509e-01 -5.51753953e-03 2.13027327e-03 -1.69950641e+02] [ 5.52013025e-03 9.99984029e-01 -1.21218916e-03 -9.62664431e+01] [-2.12355094e-03 1.22392735e-03 9.99996996e-01 2.95992185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.639072329 meters Centerline goodness [0,1] 0.33366804736203504 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99981085e-01 -5.61295519e-03 2.51465271e-03 -1.69951590e+02] [ 5.61569773e-03 9.99983643e-01 -1.08489222e-03 -9.62670095e+01] [-2.50852212e-03 1.09899323e-03 9.99996250e-01 2.95992092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66907232899996 meters Centerline goodness [0,1] 0.31592252888452454 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99977487e-01 -6.05741282e-03 2.88685866e-03 -1.69953067e+02] [ 6.06184711e-03 9.99980457e-01 -1.52975781e-03 -9.62663089e+01] [-2.87753586e-03 1.54722307e-03 9.99994663e-01 2.95992804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.699072329 meters Centerline goodness [0,1] 0.32509815387185703 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99970618e-01 -6.70413099e-03 3.71730593e-03 -1.69955256e+02] [ 6.71182522e-03 9.99975351e-01 -2.06124430e-03 -9.62654197e+01] [-3.70339545e-03 2.08613365e-03 9.99990966e-01 2.95992914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72907232899996 meters Centerline goodness [0,1] 0.31863953536957335 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99954059e-01 -8.20841008e-03 4.94991665e-03 -1.69958541e+02] [ 8.22234324e-03 9.99962273e-01 -2.80107852e-03 -9.62659011e+01] [-4.92673750e-03 2.84164975e-03 9.99983826e-01 2.95992880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.759072329 meters Centerline goodness [0,1] 0.3208524864187212 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99944765e-01 -8.78157332e-03 5.77506000e-03 -1.69960219e+02] [ 8.79903278e-03 9.99956773e-01 -3.00482508e-03 -9.62660382e+01] [-5.74842327e-03 3.05547405e-03 9.99978810e-01 2.95992218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78907232899996 meters Centerline goodness [0,1] 0.31335355014116906 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99946269e-01 -8.57022751e-03 5.83191910e-03 -1.69959892e+02] [ 8.58547589e-03 9.99959778e-01 -2.59464929e-03 -9.62669711e+01] [-5.80944779e-03 2.64457968e-03 9.99979628e-01 2.95991543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.819072329 meters Centerline goodness [0,1] 0.32038855232922503 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99942881e-01 -8.74143579e-03 6.15002282e-03 -1.69960301e+02] [ 8.75739511e-03 9.99958343e-01 -2.57287546e-03 -9.62671560e+01] [-6.12727601e-03 2.62658668e-03 9.99977779e-01 2.95990987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84907232899997 meters Centerline goodness [0,1] 0.32486471804943273 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99938915e-01 -8.86763295e-03 6.59787489e-03 -1.69961902e+02] [ 8.88406583e-03 9.99957496e-01 -2.46550618e-03 -9.62680532e+01] [-6.57573126e-03 2.52397153e-03 9.99975194e-01 2.95991540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.879072329 meters Centerline goodness [0,1] 0.3229290713464954 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99947194e-01 -8.28074117e-03 6.08586968e-03 -1.69960456e+02] [ 8.29395673e-03 9.99963294e-01 -2.14949542e-03 -9.62678246e+01] [-6.06784688e-03 2.19985785e-03 9.99979171e-01 2.95991418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90907232899997 meters Centerline goodness [0,1] 0.33048367543162915 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99948718e-01 -8.34216769e-03 5.74198691e-03 -1.69959175e+02] [ 8.35688887e-03 9.99961843e-01 -2.54457587e-03 -9.62659730e+01] [-5.72054054e-03 2.59243052e-03 9.99980277e-01 2.95990961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.939072329 meters Centerline goodness [0,1] 0.3348246017477108 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99955707e-01 -7.75566959e-03 5.33233351e-03 -1.69957514e+02] [ 7.76586013e-03 9.99968053e-01 -1.89304229e-03 -9.62667420e+01] [-5.31748135e-03 1.93436860e-03 9.99983991e-01 2.95990149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96907232899997 meters Centerline goodness [0,1] 0.2986109660574413 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99961893e-01 -7.21546037e-03 4.91413785e-03 -1.69955858e+02] [ 7.22250585e-03 9.99972913e-01 -1.41748243e-03 -9.62669716e+01] [-4.90377695e-03 1.45292080e-03 9.99986921e-01 2.95989414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99907232899994 meters Centerline goodness [0,1] 0.3170558502861439 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.27, Z:295.99 [[ 9.99959057e-01 -7.53629858e-03 5.00884331e-03 -1.69956000e+02] [ 7.54594850e-03 9.99969704e-01 -1.91047824e-03 -9.62655162e+01] [-4.99429363e-03 1.94819649e-03 9.99985631e-01 2.95989363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.029072329 meters Centerline goodness [0,1] 0.3399711640930272 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99955333e-01 -7.86917952e-03 5.23520314e-03 -1.69957111e+02] [ 7.88184026e-03 9.99966053e-01 -2.40216495e-03 -9.62641937e+01] [-5.21612235e-03 2.44332069e-03 9.99983411e-01 2.95990141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05907232899995 meters Centerline goodness [0,1] 0.31995904123043484 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99957617e-01 -7.71791407e-03 5.01966774e-03 -1.69956779e+02] [ 7.72943723e-03 9.99967528e-01 -2.28026924e-03 -9.62641248e+01] [-5.00190582e-03 2.31897180e-03 9.99984802e-01 2.95990490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.089072329 meters Centerline goodness [0,1] 0.3192836544489489 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99960580e-01 -7.44603869e-03 4.83676082e-03 -1.69955611e+02] [ 7.45602540e-03 9.99970102e-01 -2.05001175e-03 -9.62639627e+01] [-4.82135175e-03 2.08599395e-03 9.99986202e-01 2.95989547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11907232899995 meters Centerline goodness [0,1] 0.32621830117283046 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.27, Z:295.99 [[ 9.99973201e-01 -6.01055728e-03 4.17967549e-03 -1.69952962e+02] [ 6.01199398e-03 9.99981873e-01 -3.31254074e-04 -9.62671461e+01] [-4.17760871e-03 3.56373380e-04 9.99991210e-01 2.95988233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.149072329 meters Centerline goodness [0,1] 0.3138461538461539 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99991123e-01 -1.96586161e-03 3.72678776e-03 -1.69951968e+02] [ 1.95470014e-03 9.99993601e-01 2.99621231e-03 -9.62637174e+01] [-3.73265405e-03 -2.98890096e-03 9.99988567e-01 2.95988458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17907232899995 meters Centerline goodness [0,1] 0.33813672922252014 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99992988e-01 -1.84062285e-03 3.26144123e-03 -1.69951072e+02] [ 1.83153965e-03 9.99994442e-01 2.78582868e-03 -9.62626324e+01] [-3.26655076e-03 -2.77983569e-03 9.99990801e-01 2.95988869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.209072329 meters Centerline goodness [0,1] 0.3038218426891037 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99993195e-01 -1.95300575e-03 3.12991565e-03 -1.69950966e+02] [ 1.94537707e-03 9.99995135e-01 2.43853694e-03 -9.62614724e+01] [-3.13466290e-03 -2.43243148e-03 9.99992129e-01 2.95989187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23907232899995 meters Centerline goodness [0,1] 0.3001067548615327 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99994788e-01 -1.75824692e-03 2.70785857e-03 -1.69950066e+02] [ 1.75177943e-03 9.99995612e-01 2.38893637e-03 -9.62608012e+01] [-2.71204702e-03 -2.38418035e-03 9.99993480e-01 2.95989454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.269072329 meters Centerline goodness [0,1] 0.29861924686192465 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99997146e-01 -1.32857448e-03 1.98588617e-03 -1.69948446e+02] [ 1.32398996e-03 9.99996460e-01 2.30808978e-03 -9.62596370e+01] [-1.98894561e-03 -2.30545390e-03 9.99995364e-01 2.95989829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29907232899996 meters Centerline goodness [0,1] 0.3051152285750136 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99996669e-01 -1.60240020e-03 2.02322508e-03 -1.69948847e+02] [ 1.59879342e-03 9.99997132e-01 1.78305017e-03 -9.62580837e+01] [-2.02607644e-03 -1.77980951e-03 9.99996364e-01 2.95990274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.329072329 meters Centerline goodness [0,1] 0.34403016338500214 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99999561e-01 -5.43772671e-04 7.63270700e-04 -1.69945590e+02] [ 5.42365325e-04 9.99998155e-01 1.84283378e-03 -9.62556250e+01] [-7.64271374e-04 -1.84241900e-03 9.99998011e-01 2.95990580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35907232899996 meters Centerline goodness [0,1] 0.2770016964416613 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.25, Z:295.99 [[ 9.99993605e-01 3.53396829e-03 5.48063462e-04 -1.69945395e+02] [-3.53698127e-03 9.99978078e-01 5.59760295e-03 -9.62539620e+01] [-5.28269696e-04 -5.59950564e-03 9.99984183e-01 2.95991081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.389072329 meters Centerline goodness [0,1] 0.28265336072791314 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99993106e-01 3.71051516e-03 -1.42909431e-04 -1.69943994e+02] [-3.70972517e-03 9.99979703e-01 5.17989831e-03 -9.62516855e+01] [ 1.62126621e-04 -5.17933244e-03 9.99986574e-01 2.95991679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41907232899996 meters Centerline goodness [0,1] 0.32476322185902273 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99966350e-01 8.16071151e-03 -8.37053839e-04 -1.69942598e+02] [-8.15287541e-03 9.99926507e-01 8.97276431e-03 -9.62495594e+01] [ 9.10216463e-04 -8.96563799e-03 9.99959394e-01 2.95992353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.449072329 meters Centerline goodness [0,1] 0.33278183836310704 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99964177e-01 8.36851454e-03 -1.26964680e-03 -1.69941631e+02] [-8.35682188e-03 9.99925019e-01 8.95094839e-03 -9.62489356e+01] [ 1.34445774e-03 -8.94001753e-03 9.99959133e-01 2.95992544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47907232899996 meters Centerline goodness [0,1] 0.34467077413135505 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99963415e-01 8.41139032e-03 -1.55449249e-03 -1.69941152e+02] [-8.39752549e-03 9.99926716e-01 8.72029817e-03 -9.62481015e+01] [ 1.62772840e-03 -8.70692525e-03 9.99960769e-01 2.95992881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.509072329 meters Centerline goodness [0,1] 0.333841909459516 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99983614e-01 5.18238041e-03 -2.43199405e-03 -1.69938649e+02] [-5.16919843e-03 9.99972083e-01 5.39557271e-03 -9.62493443e+01] [ 2.45988807e-03 -5.38291284e-03 9.99982486e-01 2.95992447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53907232899996 meters Centerline goodness [0,1] 0.3471526482362558 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99983646e-01 5.10081954e-03 -2.58643746e-03 -1.69938427e+02] [-5.08766227e-03 9.99974213e-01 5.06833744e-03 -9.62483143e+01] [ 2.61222344e-03 -5.05509563e-03 9.99983811e-01 2.95992622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.569072329 meters Centerline goodness [0,1] 0.34166823731440177 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99990453e-01 2.44275039e-03 -3.62323444e-03 -1.69935758e+02] [-2.43514312e-03 9.99994825e-01 2.10250751e-03 -9.62494965e+01] [ 3.62835159e-03 -2.09366435e-03 9.99991226e-01 2.95992592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59907232899997 meters Centerline goodness [0,1] 0.3219763640935378 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99995064e-01 1.53459107e-03 -2.74163468e-03 -1.69937814e+02] [-1.53039796e-03 9.99997657e-01 1.53086445e-03 -9.62491952e+01] [ 2.74397750e-03 -1.52666110e-03 9.99995070e-01 2.95992285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.629072329 meters Centerline goodness [0,1] 0.34270628169132134 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99995469e-01 1.51539471e-03 -2.60099553e-03 -1.69938068e+02] [-1.51125535e-03 9.99997590e-01 1.59268141e-03 -9.62494969e+01] [ 2.60340280e-03 -1.58874342e-03 9.99995349e-01 2.95992093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65907232899997 meters Centerline goodness [0,1] 0.33585498742665554 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99997601e-01 1.07702887e-03 -1.90758183e-03 -1.69939681e+02] [-1.07421555e-03 9.99998335e-01 1.47521930e-03 -9.62499563e+01] [ 1.90916751e-03 -1.47316661e-03 9.99997092e-01 2.95991843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.689072329 meters Centerline goodness [0,1] 0.2632770256109318 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99998428e-01 1.12566654e-03 -1.36976844e-03 -1.69940937e+02] [-1.12292138e-03 9.99997363e-01 2.00322813e-03 -9.62521545e+01] [ 1.37201979e-03 -2.00168684e-03 9.99997055e-01 2.95991513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71907232899997 meters Centerline goodness [0,1] 0.3385095770987887 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99998696e-01 1.24462066e-03 -1.02902499e-03 -1.69941316e+02] [-1.24212149e-03 9.99996286e-01 2.42576203e-03 -9.62534671e+01] [ 1.03204032e-03 -2.42448069e-03 9.99996528e-01 2.95990772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74907232899994 meters Centerline goodness [0,1] 0.3160532662262766 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99997901e-01 1.74879686e-03 -1.06791442e-03 -1.69941068e+02] [-1.74530621e-03 9.99993160e-01 3.26089902e-03 -9.62558420e+01] [ 1.07360977e-03 -3.25902834e-03 9.99994113e-01 2.95990469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.779072329 meters Centerline goodness [0,1] 0.33997694645289744 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99999073e-01 1.13139993e-03 -7.57446733e-04 -1.69942273e+02] [-1.12952356e-03 9.99996304e-01 2.47309143e-03 -9.62537875e+01] [ 7.60241989e-04 -2.47223358e-03 9.99996655e-01 2.95991150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80907232899995 meters Centerline goodness [0,1] 0.3405740884406516 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99999522e-01 9.29340805e-04 -3.02570568e-04 -1.69943720e+02] [-9.28577209e-04 9.99996408e-01 2.51412950e-03 -9.62544891e+01] [ 3.04905965e-04 -2.51384734e-03 9.99996794e-01 2.95991500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.839072329 meters Centerline goodness [0,1] 0.32777614878733297 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99994331e-01 -3.32201343e-03 5.49879543e-04 -1.69945388e+02] [ 3.32251034e-03 9.99994071e-01 -9.05247573e-04 -9.62575911e+01] [-5.46869038e-04 9.07069422e-04 9.99999439e-01 2.95990661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86907232899995 meters Centerline goodness [0,1] 0.31847987765277685 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99992395e-01 -3.67977538e-03 1.29233221e-03 -1.69947013e+02] [ 3.68117519e-03 9.99992639e-01 -1.08245923e-03 -9.62574143e+01] [-1.28833949e-03 1.08720830e-03 9.99998579e-01 2.95990273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.899072329 meters Centerline goodness [0,1] 0.322494870399062 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99988128e-01 -4.36626409e-03 2.16312456e-03 -1.69949419e+02] [ 4.36923029e-03 9.99989519e-01 -1.36843441e-03 -9.62578296e+01] [-2.15712694e-03 1.37786935e-03 9.99996724e-01 2.95990449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92907232899995 meters Centerline goodness [0,1] 0.2982848776406609 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99982239e-01 -5.16470136e-03 2.97451688e-03 -1.69951874e+02] [ 5.17035543e-03 9.99984836e-01 -1.89629515e-03 -9.62577727e+01] [-2.96467798e-03 1.91164078e-03 9.99993778e-01 2.95990876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.959072329 meters Centerline goodness [0,1] 0.31263208553911825 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99987195e-01 -4.44920169e-03 2.41141001e-03 -1.69950139e+02] [ 4.45215746e-03 9.99989343e-01 -1.22176489e-03 -9.62586187e+01] [-2.40594844e-03 1.23248522e-03 9.99996346e-01 2.95990495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98907232899995 meters Centerline goodness [0,1] 0.30087328014073 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99987583e-01 -4.41039239e-03 2.31976358e-03 -1.69949474e+02] [ 4.41358220e-03 9.99989319e-01 -1.37173992e-03 -9.62574741e+01] [-2.31368890e-03 1.38196135e-03 9.99996369e-01 2.95989989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.019072329 meters Centerline goodness [0,1] 0.31240710891545076 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99992358e-01 -3.38109455e-03 1.96259617e-03 -1.69947257e+02] [ 3.38124151e-03 9.99994281e-01 -7.15657047e-05 -9.62596322e+01] [-1.96234297e-03 7.82011694e-05 9.99998072e-01 2.95988316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04907232899996 meters Centerline goodness [0,1] 0.33694742129939714 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99992813e-01 -3.18888504e-03 2.05062512e-03 -1.69947007e+02] [ 3.18830872e-03 9.99994877e-01 2.84251270e-04 -9.62604507e+01] [-2.05152106e-03 -2.77711201e-04 9.99997857e-01 2.95987634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.079072329 meters Centerline goodness [0,1] 0.32736326735573507 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99991010e-01 -3.39300747e-03 2.54305086e-03 -1.69947892e+02] [ 3.39221415e-03 9.99994196e-01 3.16203438e-04 -9.62607936e+01] [-2.54410898e-03 -3.07574022e-04 9.99996716e-01 2.95987120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10907232899996 meters Centerline goodness [0,1] 0.3235429479938078 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99990820e-01 -3.34407633e-03 2.67894461e-03 -1.69948447e+02] [ 3.34287800e-03 9.99994311e-01 4.51664785e-04 -9.62612131e+01] [-2.68043977e-03 -4.42705254e-04 9.99996310e-01 2.95987416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.139072329 meters Centerline goodness [0,1] 0.3265677638049005 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99990208e-01 -3.41384548e-03 2.81604193e-03 -1.69948511e+02] [ 3.41285802e-03 9.99994113e-01 3.55383294e-04 -9.62606725e+01] [-2.81723857e-03 -3.45769063e-04 9.99995972e-01 2.95987019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16907232899996 meters Centerline goodness [0,1] 0.28007605198278385 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99986193e-01 -3.98569187e-03 3.42476289e-03 -1.69950413e+02] [ 3.98593290e-03 9.99992054e-01 -6.35556338e-05 -9.62603153e+01] [-3.42448237e-03 7.72056313e-05 9.99994133e-01 2.95987470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.199072329 meters Centerline goodness [0,1] 0.34931378078586195 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99983407e-01 -4.24351011e-03 3.89585219e-03 -1.69951917e+02] [ 4.24449904e-03 9.99990962e-01 -2.45608832e-04 -9.62601254e+01] [-3.89477474e-03 2.62140698e-04 9.99992381e-01 2.95987862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22907232899996 meters Centerline goodness [0,1] 0.3353714524207012 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99978783e-01 -4.75490469e-03 4.45257016e-03 -1.69953610e+02] [ 4.75860812e-03 9.99988340e-01 -8.21527676e-04 -9.62588353e+01] [-4.44861196e-03 8.42698282e-04 9.99989750e-01 2.95988236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.259072329 meters Centerline goodness [0,1] 0.2868599114526773 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99980897e-01 -4.50365759e-03 4.23341008e-03 -1.69953303e+02] [ 4.50613879e-03 9.99989681e-01 -5.76745292e-04 -9.62592793e+01] [-4.23076894e-03 5.95810609e-04 9.99990873e-01 2.95988568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28907232899996 meters Centerline goodness [0,1] 0.3517895572595642 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99988385e-01 -3.47446996e-03 3.34048747e-03 -1.69950660e+02] [ 3.47409129e-03 9.99993958e-01 1.19155250e-04 -9.62593612e+01] [-3.34088129e-03 -1.07548707e-04 9.99994413e-01 2.95988244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.319072329 meters Centerline goodness [0,1] 0.35437562688064195 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99993430e-01 -2.51987954e-03 2.60565679e-03 -1.69947967e+02] [ 2.51823795e-03 9.99996629e-01 6.33098080e-04 -9.62585053e+01] [-2.60724333e-03 -6.26532256e-04 9.99996405e-01 2.95987354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34907232899997 meters Centerline goodness [0,1] 0.28374056810818715 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99998496e-01 -8.23048304e-04 1.52694952e-03 -1.69944503e+02] [ 8.20084737e-04 9.99997781e-01 1.94045321e-03 -9.62593907e+01] [-1.52854322e-03 -1.93919806e-03 9.99996952e-01 2.95986547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.379072329 meters Centerline goodness [0,1] 0.2852243019972812 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99993349e-01 3.43557363e-03 1.22465193e-03 -1.69943502e+02] [-3.44250148e-03 9.99977826e-01 5.70050039e-03 -9.62571965e+01] [-1.20504029e-03 -5.70467834e-03 9.99983002e-01 2.95986338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40907232899997 meters Centerline goodness [0,1] 0.3229868228404099 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99992542e-01 3.78857646e-03 7.50169185e-04 -1.69942520e+02] [-3.79288077e-03 9.99975859e-01 5.82199903e-03 -9.62569022e+01] [-7.28093986e-04 -5.82480092e-03 9.99982771e-01 2.95986665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.439072329 meters Centerline goodness [0,1] 0.3229868228404099 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99992542e-01 3.78857646e-03 7.50169185e-04 -1.69942520e+02] [-3.79288077e-03 9.99975859e-01 5.82199903e-03 -9.62569022e+01] [-7.28093986e-04 -5.82480092e-03 9.99982771e-01 2.95986665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46907232899997 meters Centerline goodness [0,1] 0.3212463404433291 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99991897e-01 4.01856258e-03 2.40796305e-04 -1.69941683e+02] [-4.01983061e-03 9.99976686e-01 5.51980407e-03 -9.62554820e+01] [-2.18609013e-04 -5.52072730e-03 9.99984737e-01 2.95987329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49907232899994 meters Centerline goodness [0,1] 0.3491801221450682 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99990989e-01 4.24334132e-03 -1.26982804e-04 -1.69941281e+02] [-4.24256082e-03 9.99975212e-01 5.61926448e-03 -9.62556385e+01] [ 1.50824113e-04 -5.61867511e-03 9.99984204e-01 2.95987990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.529072329 meters Centerline goodness [0,1] 0.27479718993058455 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99988761e-01 4.64089980e-03 -9.69414720e-04 -1.69939964e+02] [-4.63591693e-03 9.99976348e-01 5.08059983e-03 -9.62530429e+01] [ 9.92970345e-04 -5.07604860e-03 9.99986624e-01 2.95989345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55907232899995 meters Centerline goodness [0,1] 0.3127131231564193 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99989178e-01 4.47722892e-03 -1.26461340e-03 -1.69939606e+02] [-4.47144208e-03 9.99979687e-01 4.54231807e-03 -9.62511964e+01] [ 1.28492471e-03 -4.53661426e-03 9.99988884e-01 2.95989904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.589072329 meters Centerline goodness [0,1] 0.3475285648516302 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99988464e-01 4.51609849e-03 -1.63616583e-03 -1.69938777e+02] [-4.50900796e-03 9.99980539e-01 4.31170537e-03 -9.62501085e+01] [ 1.65560608e-03 -4.30427814e-03 9.99989366e-01 2.95990060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61907232899995 meters Centerline goodness [0,1] 0.3477833130991753 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99985855e-01 4.85807491e-03 -2.16537577e-03 -1.69937310e+02] [-4.84827234e-03 9.99978079e-01 4.50945182e-03 -9.62499486e+01] [ 2.18723556e-03 -4.49888971e-03 9.99987488e-01 2.95989916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.649072329 meters Centerline goodness [0,1] 0.31833888295533075 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99980817e-01 5.41972213e-03 -2.99874606e-03 -1.69935117e+02] [-5.40593768e-03 9.99974872e-01 4.58590742e-03 -9.62488437e+01] [ 3.02352505e-03 -4.56960841e-03 9.99984988e-01 2.95989942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67907232899995 meters Centerline goodness [0,1] 0.3188794204476456 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99987732e-01 3.06769641e-03 -3.88914667e-03 -1.69932650e+02] [-3.05972388e-03 9.99993209e-01 2.05423917e-03 -9.62507904e+01] [ 3.89542204e-03 -2.04231425e-03 9.99990327e-01 2.95989682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.709072329 meters Centerline goodness [0,1] 0.32594857190719495 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99990641e-01 2.74107803e-03 -3.34718164e-03 -1.69934402e+02] [-2.73516043e-03 9.99994691e-01 1.77123620e-03 -9.62507114e+01] [ 3.35201897e-03 -1.76206454e-03 9.99992830e-01 2.95990103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73907232899995 meters Centerline goodness [0,1] 0.33104530710474 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99991147e-01 2.67749905e-03 -3.24612177e-03 -1.69934844e+02] [-2.67227401e-03 9.99995129e-01 1.61289507e-03 -9.62503766e+01] [ 3.25042448e-03 -1.60420627e-03 9.99993431e-01 2.95990318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.769072329 meters Centerline goodness [0,1] 0.32047608090865354 Centerline is valid? [False, False] Translation: X:-169.93, Y:-96.25, Z:295.99 [[ 9.99989458e-01 2.92837084e-03 -3.53661542e-03 -1.69934056e+02] [-2.92200045e-03 9.99994102e-01 1.80509382e-03 -9.62505621e+01] [ 3.54188054e-03 -1.79474080e-03 9.99992117e-01 2.95990282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79907232899996 meters Centerline goodness [0,1] 0.3399979086060859 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99993283e-01 2.22858169e-03 -2.90977190e-03 -1.69935650e+02] [-2.22487031e-03 9.99996708e-01 1.27810280e-03 -9.62498262e+01] [ 2.91261068e-03 -1.27162036e-03 9.99994950e-01 2.95990278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.829072329 meters Centerline goodness [0,1] 0.3381144541786021 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99994212e-01 2.17182737e-03 -2.61910553e-03 -1.69936504e+02] [-2.16837158e-03 9.99996776e-01 1.32157272e-03 -9.62501333e+01] [ 2.62196731e-03 -1.31588588e-03 9.99995697e-01 2.95990374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85907232899996 meters Centerline goodness [0,1] 0.3401731927710844 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99995743e-01 1.87488512e-03 -2.23596047e-03 -1.69937644e+02] [-1.87248595e-03 9.99997670e-01 1.07460305e-03 -9.62498486e+01] [ 2.23797002e-03 -1.07041167e-03 9.99996923e-01 2.95990558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.889072329 meters Centerline goodness [0,1] 0.3389695726781903 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99997034e-01 1.66111891e-03 -1.78092378e-03 -1.69938893e+02] [-1.65932723e-03 9.99998116e-01 1.00704205e-03 -9.62500618e+01] [ 1.78259324e-03 -1.00408393e-03 9.99997907e-01 2.95990610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91907232899996 meters Centerline goodness [0,1] 0.3360667740518377 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99997428e-01 1.73822121e-03 -1.45711453e-03 -1.69939151e+02] [-1.73619091e-03 9.99997522e-01 1.39347752e-03 -9.62512014e+01] [ 1.45953309e-03 -1.39094410e-03 9.99997968e-01 2.95989770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.949072329 meters Centerline goodness [0,1] 0.36257456828885404 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.25, Z:295.99 [[ 9.99997833e-01 1.74015062e-03 -1.14231550e-03 -1.69939758e+02] [-1.73829727e-03 9.99997175e-01 1.62144650e-03 -9.62521554e+01] [ 1.14513383e-03 -1.61945730e-03 9.99998033e-01 2.95989391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97907232899996 meters Centerline goodness [0,1] 0.3636820399020244 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99997070e-01 -2.39940067e-03 -3.19171994e-04 -1.69941161e+02] [ 2.39888222e-03 9.99995819e-01 -1.61495315e-03 -9.62556755e+01] [ 3.23045579e-04 1.61418277e-03 9.99998645e-01 2.95988308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.009072329 meters Centerline goodness [0,1] 0.36663877849822213 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99979800e-01 -6.35582406e-03 -5.45299618e-05 -1.69941567e+02] [ 6.35545617e-03 9.99966377e-01 -5.18194760e-03 -9.62577169e+01] [ 8.74636756e-05 5.18149636e-03 9.99986572e-01 2.95987975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03907232899996 meters Centerline goodness [0,1] 0.3673072499529495 Centerline is valid? [False, False] Translation: X:-169.94, Y:-96.26, Z:295.99 [[ 9.99973385e-01 -7.20689929e-03 1.13606048e-03 -1.69944806e+02] [ 7.21294026e-03 9.99959372e-01 -5.40622388e-03 -9.62586830e+01] [-1.09705221e-03 5.41427433e-03 9.99984741e-01 2.95988091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.069072329 meters Centerline goodness [0,1] 0.3624634044332915 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99934148e-01 -1.13995039e-02 1.32345457e-03 -1.69945642e+02] [ 1.14114293e-02 9.99890862e-01 -9.38311368e-03 -9.62597027e+01] [-1.21634729e-03 9.39759828e-03 9.99955102e-01 2.95988685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09907232899997 meters Centerline goodness [0,1] 0.3795860279190473 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99923594e-01 -1.21604300e-02 2.22058892e-03 -1.69947618e+02] [ 1.21814777e-02 9.99878515e-01 -9.72453133e-03 -9.62595795e+01] [-2.10206467e-03 9.75083837e-03 9.99950250e-01 2.95988217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.129072329 meters Centerline goodness [0,1] 0.31345719307054987 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99920911e-01 -1.22652935e-02 2.78110630e-03 -1.69948152e+02] [ 1.22911420e-02 9.99879560e-01 -9.47593663e-03 -9.62603214e+01] [-2.66454620e-03 9.50937016e-03 9.99951235e-01 2.95986982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15907232899997 meters Centerline goodness [0,1] 0.3420044785802482 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99859231e-01 -1.64033435e-02 3.52816846e-03 -1.69949038e+02] [ 1.64473306e-02 9.99782513e-01 -1.28223402e-02 -9.62633079e+01] [-3.31707187e-03 1.28785642e-02 9.99911566e-01 2.95985648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.189072329 meters Centerline goodness [0,1] 0.3369653874307226 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99846056e-01 -1.69534799e-02 4.52137702e-03 -1.69951709e+02] [ 1.70108268e-02 9.99771284e-01 -1.29619155e-02 -9.62638236e+01] [-4.30059333e-03 1.30368325e-02 9.99905769e-01 2.95985732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21907232899997 meters Centerline goodness [0,1] 0.3236013803199833 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.26, Z:295.99 [[ 9.99829798e-01 -1.76095382e-02 5.50271637e-03 -1.69954407e+02] [ 1.76818752e-02 9.99754055e-01 -1.33858514e-02 -9.62634570e+01] [-5.26564435e-03 1.34808714e-02 9.99895264e-01 2.95985944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24907232899994 meters Centerline goodness [0,1] 0.32758945189150757 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99831369e-01 -1.74978147e-02 5.57315325e-03 -1.69955089e+02] [ 1.75702562e-02 9.99758150e-01 -1.32260039e-02 -9.62638887e+01] [-5.34037922e-03 1.33216953e-02 9.99897001e-01 2.95986579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.279072329 meters Centerline goodness [0,1] 0.3119064552566624 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99812983e-01 -1.82806729e-02 6.30992031e-03 -1.69956666e+02] [ 1.83682295e-02 9.99731739e-01 -1.41087914e-02 -9.62615698e+01] [-6.05030940e-03 1.42220549e-02 9.99880556e-01 2.95986235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30907232899995 meters Centerline goodness [0,1] 0.342317833675135 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.99 [[ 9.99778678e-01 -1.95665901e-02 7.72938046e-03 -1.69959813e+02] [ 1.96751730e-02 9.99705138e-01 -1.42311331e-02 -9.62631801e+01] [-7.44864661e-03 1.43800603e-02 9.99868857e-01 2.95985331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.339072329 meters Centerline goodness [0,1] 0.3374947720618988 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.98 [[ 9.99768415e-01 -1.97941419e-02 8.44436645e-03 -1.69961337e+02] [ 1.99119827e-02 9.99702210e-01 -1.41069151e-02 -9.62638588e+01] [-8.16261752e-03 1.42717923e-02 9.99864835e-01 2.95984846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36907232899995 meters Centerline goodness [0,1] 0.3237575529490476 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.26, Z:295.98 [[ 9.99733776e-01 -2.09675205e-02 9.63019742e-03 -1.69964534e+02] [ 2.11089360e-02 9.99667253e-01 -1.48255258e-02 -9.62634190e+01] [-9.31613848e-03 1.50248621e-02 9.99843719e-01 2.95985000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.399072329 meters Centerline goodness [0,1] 0.32074879732273587 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.26, Z:295.99 [[ 9.99709286e-01 -2.16640768e-02 1.05835770e-02 -1.69967204e+02] [ 2.18251803e-02 9.99643935e-01 -1.53513716e-02 -9.62627390e+01] [-1.02472353e-02 1.55778973e-02 9.99826147e-01 2.95985284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42907232899995 meters Centerline goodness [0,1] 0.33112596615834555 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.27, Z:295.99 [[ 9.99616297e-01 -2.54415180e-02 1.09539164e-02 -1.69968639e+02] [ 2.56426971e-02 9.99497470e-01 -1.86348911e-02 -9.62660159e+01] [-1.04743118e-02 1.89086288e-02 9.99766349e-01 2.95986028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.459072329 meters Centerline goodness [0,1] 0.30166896724808634 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.26, Z:295.99 [[ 9.99682059e-01 -2.22379487e-02 1.18850686e-02 -1.69971414e+02] [ 2.24193051e-02 9.99630804e-01 -1.53502293e-02 -9.62644186e+01] [-1.15393230e-02 1.56118038e-02 9.99811540e-01 2.95986230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48907232899995 meters Centerline goodness [0,1] 0.3459266526122441 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.26, Z:295.99 [[ 9.99643338e-01 -2.33494629e-02 1.29614531e-02 -1.69973827e+02] [ 2.35584608e-02 9.99590983e-01 -1.62131376e-02 -9.62629912e+01] [-1.25775836e-02 1.65127069e-02 9.99784544e-01 2.95985842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.519072329 meters Centerline goodness [0,1] 0.33963052745966726 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.99 [[ 9.99699603e-01 -2.01917821e-02 1.38922914e-02 -1.69975866e+02] [ 2.03650233e-02 9.99715166e-01 -1.24439474e-02 -9.62628148e+01] [-1.36370689e-02 1.27231261e-02 9.99826061e-01 2.95985017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54907232899996 meters Centerline goodness [0,1] 0.35344125326370757 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99766321e-01 -1.62247442e-02 1.42850094e-02 -1.69976314e+02] [ 1.63451591e-02 9.99831514e-01 -8.35344025e-03 -9.62622539e+01] [-1.41470701e-02 8.58497897e-03 9.99863070e-01 2.95983946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.579072329 meters Centerline goodness [0,1] 0.3244877885440428 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99818257e-01 -1.23151114e-02 1.45530441e-02 -1.69976418e+02] [ 1.23792978e-02 9.99914004e-01 -4.32868805e-03 -9.62615422e+01] [-1.44984843e-02 4.50805781e-03 9.99884729e-01 2.95982938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60907232899996 meters Centerline goodness [0,1] 0.3334030581295626 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99813544e-01 -1.25970771e-02 1.46352515e-02 -1.69976811e+02] [ 1.26698646e-02 9.99907770e-01 -4.89140623e-03 -9.62595452e+01] [-1.45722843e-02 5.07592086e-03 9.99880935e-01 2.95983311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.639072329 meters Centerline goodness [0,1] 0.2967324910049368 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99814400e-01 -1.25896948e-02 1.45830483e-02 -1.69977281e+02] [ 1.26642686e-02 9.99907140e-01 -5.03272403e-03 -9.62589340e+01] [-1.45183337e-02 5.21647360e-03 9.99880996e-01 2.95984141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66907232899996 meters Centerline goodness [0,1] 0.3031379267120712 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.99 [[ 9.99804851e-01 -1.31016666e-02 1.47853510e-02 -1.69979401e+02] [ 1.31897281e-02 9.99895757e-01 -5.87428134e-03 -9.62573623e+01] [-1.47068468e-02 6.06814973e-03 9.99873435e-01 2.95986345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.699072329 meters Centerline goodness [0,1] 0.3112267285150129 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99815865e-01 -1.09232792e-02 1.57771394e-02 -1.69982837e+02] [ 1.09860253e-02 9.99932063e-01 -3.89584298e-03 -9.62533749e+01] [-1.57335121e-02 4.06845367e-03 9.99867943e-01 2.95987500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72907232899996 meters Centerline goodness [0,1] 0.3128030429694031 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99804883e-01 -1.13281377e-02 1.61823959e-02 -1.69983633e+02] [ 1.13985515e-02 9.99925936e-01 -4.26566816e-03 -9.62523451e+01] [-1.61328753e-02 4.44929172e-03 9.99859957e-01 2.95987181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.759072329 meters Centerline goodness [0,1] 0.33573622516141166 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99828373e-01 -9.98703764e-03 1.56039584e-02 -1.69981214e+02] [ 1.00326829e-02 9.99945611e-01 -2.84969692e-03 -9.62540257e+01] [-1.55746497e-02 3.00575740e-03 9.99874190e-01 2.95986041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78907232899996 meters Centerline goodness [0,1] 0.32322197600033453 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99800631e-01 -1.08647490e-02 1.67527761e-02 -1.69983426e+02] [ 1.09141901e-02 9.99936341e-01 -2.86261648e-03 -9.62555896e+01] [-1.67206080e-02 3.04488875e-03 9.99855565e-01 2.95984913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.819072329 meters Centerline goodness [0,1] 0.32098662207357864 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.99 [[ 9.99806025e-01 -1.04446183e-02 1.66979534e-02 -1.69983422e+02] [ 1.04829149e-02 9.99942616e-01 -2.20760413e-03 -9.62573384e+01] [-1.66739376e-02 2.38221913e-03 9.99858142e-01 2.95985009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84907232899997 meters Centerline goodness [0,1] 0.31791556838626 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.26, Z:295.99 [[ 9.99777828e-01 -1.15833932e-02 1.76102081e-02 -1.69985743e+02] [ 1.16393753e-02 9.99927517e-01 -3.07978848e-03 -9.62562644e+01] [-1.75732572e-02 3.28407605e-03 9.99840185e-01 2.95985004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.879072329 meters Centerline goodness [0,1] 0.33313829564926656 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99801234e-01 -1.05668277e-02 1.69066561e-02 -1.69983920e+02] [ 1.06029650e-02 9.99941687e-01 -2.04925067e-03 -9.62579527e+01] [-1.68840161e-02 2.22810403e-03 9.99854972e-01 2.95984940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90907232899997 meters Centerline goodness [0,1] 0.34348353118207653 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99821720e-01 -9.70576079e-03 1.61965035e-02 -1.69982010e+02] [ 9.73341179e-03 9.99951302e-01 -1.62926354e-03 -9.62573595e+01] [-1.61799015e-02 1.78662032e-03 9.99867501e-01 2.95984895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93907232899994 meters Centerline goodness [0,1] 0.3222903543101103 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99816571e-01 -9.91831033e-03 1.63845108e-02 -1.69982191e+02] [ 9.95098224e-03 9.99948656e-01 -1.91374960e-03 -9.62563356e+01] [-1.63646884e-02 2.07644054e-03 9.99863933e-01 2.95984481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96907232899997 meters Centerline goodness [0,1] 0.32847676581868346 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99815899e-01 -9.71583022e-03 1.65460025e-02 -1.69982326e+02] [ 9.74001735e-03 9.99951610e-01 -1.38185281e-03 -9.62579857e+01] [-1.65317760e-02 1.54275676e-03 9.99862151e-01 2.95984025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99907232899994 meters Centerline goodness [0,1] 0.3002260170768458 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99815673e-01 -9.66302780e-03 1.65905251e-02 -1.69982457e+02] [ 9.68508367e-03 9.99952318e-01 -1.24959315e-03 -9.62583700e+01] [-1.65776592e-02 1.41004344e-03 9.99861587e-01 2.95983980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.029072329 meters Centerline goodness [0,1] 0.3323777438322627 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99798006e-01 -1.02793881e-02 1.72708243e-02 -1.69984455e+02] [ 1.03136866e-02 9.99945011e-01 -1.89802478e-03 -9.62571660e+01] [-1.72503640e-02 2.07576726e-03 9.99849047e-01 2.95984389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05907232899995 meters Centerline goodness [0,1] 0.3207622155287818 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.26, Z:295.99 [[ 9.99797297e-01 -1.03132498e-02 1.72916481e-02 -1.69985181e+02] [ 1.03500072e-02 9.99944361e-01 -2.03758598e-03 -9.62568549e+01] [-1.72696719e-02 2.21614164e-03 9.99848412e-01 2.95985313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.089072329 meters Centerline goodness [0,1] 0.3638948710979154 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.26, Z:295.99 [[ 9.99796766e-01 -1.04204859e-02 1.72580457e-02 -1.69985777e+02] [ 1.04619471e-02 9.99942595e-01 -2.31389174e-03 -9.62561273e+01] [-1.72329431e-02 2.49397424e-03 9.99848391e-01 2.95986245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11907232899995 meters Centerline goodness [0,1] 0.33357044227791954 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.99 [[ 9.99804916e-01 -1.01744656e-02 1.69295485e-02 -1.69984567e+02] [ 1.02145181e-02 9.99945229e-01 -2.28104535e-03 -9.62551190e+01] [-1.69054128e-02 2.45352753e-03 9.99854083e-01 2.95985819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.149072329 meters Centerline goodness [0,1] 0.350657221072869 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99808396e-01 -9.84553747e-03 1.69185065e-02 -1.69983988e+02] [ 9.87427231e-03 9.99949943e-01 -1.61572944e-03 -9.62567257e+01] [-1.69017519e-02 1.78247780e-03 9.99855566e-01 2.95984990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17907232899995 meters Centerline goodness [0,1] 0.3283113622096673 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99812472e-01 -9.53281531e-03 1.68566331e-02 -1.69982820e+02] [ 9.55149345e-03 9.99953855e-01 -1.02789560e-03 -9.62580482e+01] [-1.68460565e-02 1.18870887e-03 9.99857389e-01 2.95983529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.209072329 meters Centerline goodness [0,1] 0.3553488761809003 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99818387e-01 -9.31696102e-03 1.66248914e-02 -1.69982627e+02] [ 9.33209754e-03 9.99956108e-01 -8.33125868e-04 -9.62583245e+01] [-1.66163995e-02 9.88119670e-04 9.99861450e-01 2.95984018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23907232899995 meters Centerline goodness [0,1] 0.3342696629213483 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99817363e-01 -9.47631189e-03 1.65964066e-02 -1.69982648e+02] [ 9.49769694e-03 9.99954164e-01 -1.21018813e-03 -9.62568815e+01] [-1.65841778e-02 1.36759474e-03 9.99861538e-01 2.95984175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.269072329 meters Centerline goodness [0,1] 0.3225556347177403 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99825358e-01 -9.31840434e-03 1.61994324e-02 -1.69981988e+02] [ 9.34030334e-03 9.99955563e-01 -1.27670294e-03 -9.62561091e+01] [-1.61868157e-02 1.42778759e-03 9.99867965e-01 2.95984722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29907232899996 meters Centerline goodness [0,1] 0.33092334129678525 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99826475e-01 -9.23268491e-03 1.61795562e-02 -1.69982015e+02] [ 9.25393770e-03 9.99956414e-01 -1.23918174e-03 -9.62560160e+01] [-1.61674101e-02 1.38869132e-03 9.99868335e-01 2.95984859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.329072329 meters Centerline goodness [0,1] 0.33092334129678525 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99826475e-01 -9.23268491e-03 1.61795562e-02 -1.69982015e+02] [ 9.25393770e-03 9.99956414e-01 -1.23918174e-03 -9.62560160e+01] [-1.61674101e-02 1.38869132e-03 9.99868335e-01 2.95984859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35907232899996 meters Centerline goodness [0,1] 0.33632916430980664 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.98 [[ 9.99812395e-01 -9.76926045e-03 1.67253482e-02 -1.69983012e+02] [ 9.80087380e-03 9.99950334e-01 -1.80922124e-03 -9.62544947e+01] [-1.67068428e-02 1.97280485e-03 9.99858485e-01 2.95984378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.389072329 meters Centerline goodness [0,1] 0.3059920385501781 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99804824e-01 -9.79527424e-03 1.71571098e-02 -1.69984028e+02] [ 9.82163852e-03 9.99950711e-01 -1.45304979e-03 -9.62561209e+01] [-1.71420311e-02 1.62127712e-03 9.99851750e-01 2.95984130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41907232899996 meters Centerline goodness [0,1] 0.2959553053922287 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99795857e-01 -9.89849035e-03 1.76143030e-02 -1.69984746e+02] [ 9.92185037e-03 9.99950009e-01 -1.23929822e-03 -9.62569084e+01] [-1.76011552e-02 1.41381170e-03 9.99844088e-01 2.95983448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.449072329 meters Centerline goodness [0,1] 0.3549706375838926 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99937664e-01 -1.02911249e-02 4.33147365e-03 -1.69982833e+02] [ 1.03148349e-02 9.99931743e-01 -5.48761778e-03 -9.62491623e+01] [-4.27470423e-03 5.53195414e-03 9.99975562e-01 2.95987455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47907232899996 meters Centerline goodness [0,1] 0.3272456596494171 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99963482e-01 -6.84166154e-03 5.12110719e-03 -1.69984486e+02] [ 6.85131723e-03 9.99974780e-01 -1.87030549e-03 -9.62480183e+01] [-5.10818204e-03 1.90532352e-03 9.99985138e-01 2.95986902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.509072329 meters Centerline goodness [0,1] 0.3407760266929679 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99970928e-01 -6.18532243e-03 4.45930763e-03 -1.69982859e+02] [ 6.19139540e-03 9.99979923e-01 -1.34934870e-03 -9.62484407e+01] [-4.45087195e-03 1.37691881e-03 9.99989147e-01 2.95987026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53907232899996 meters Centerline goodness [0,1] 0.32422104644326866 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99969654e-01 -6.37064093e-03 4.48390987e-03 -1.69983289e+02] [ 6.37863101e-03 9.99978090e-01 -1.76990541e-03 -9.62469584e+01] [-4.47253620e-03 1.79845290e-03 9.99988381e-01 2.95987597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.569072329 meters Centerline goodness [0,1] 0.3253550376539196 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99971694e-01 -6.37492765e-03 3.99643959e-03 -1.69982990e+02] [ 6.38449488e-03 9.99976773e-01 -2.38576701e-03 -9.62444337e+01] [-3.98113767e-03 2.41121473e-03 9.99989168e-01 2.95989126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59907232899997 meters Centerline goodness [0,1] 0.32686423271995646 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99973103e-01 -6.31816142e-03 3.72481219e-03 -1.69982821e+02] [ 6.32766321e-03 9.99976742e-01 -2.54470284e-03 -9.62435145e+01] [-3.70864772e-03 2.56820375e-03 9.99989825e-01 2.95989903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.629072329 meters Centerline goodness [0,1] 0.33750916518277996 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99972306e-01 -6.36719457e-03 3.85303492e-03 -1.69983348e+02] [ 6.37719961e-03 9.99976311e-01 -2.58997307e-03 -9.62432196e+01] [-3.83645278e-03 2.61447292e-03 9.99989223e-01 2.95990203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65907232899997 meters Centerline goodness [0,1] 0.36447500838644753 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99970398e-01 -6.34615028e-03 4.35077544e-03 -1.69984612e+02] [ 6.35575922e-03 9.99977386e-01 -2.19829905e-03 -9.62447975e+01] [-4.33672631e-03 2.22588646e-03 9.99988119e-01 2.95990124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68907232899994 meters Centerline goodness [0,1] 0.27677486910994764 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.24, Z:295.99 [[ 9.99961105e-01 -7.08948902e-03 5.24664672e-03 -1.69987071e+02] [ 7.10368744e-03 9.99971144e-01 -2.69252000e-03 -9.62443499e+01] [-5.22740673e-03 2.72968581e-03 9.99982611e-01 2.95990326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71907232899997 meters Centerline goodness [0,1] 0.3204416417003625 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99960127e-01 -6.93002636e-03 5.63200952e-03 -1.69987821e+02] [ 6.94272237e-03 9.99973395e-01 -2.23784353e-03 -9.62456661e+01] [-5.61635136e-03 2.27685577e-03 9.99981636e-01 2.95989972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74907232899994 meters Centerline goodness [0,1] 0.3196632265073329 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99952674e-01 -7.28010505e-03 6.45361419e-03 -1.69989860e+02] [ 7.29379173e-03 9.99971195e-01 -2.09978446e-03 -9.62469612e+01] [-6.43814164e-03 2.14675641e-03 9.99976971e-01 2.95989802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.779072329 meters Centerline goodness [0,1] 0.32668355278306926 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99942009e-01 -7.70449318e-03 7.52459330e-03 -1.69991822e+02] [ 7.71625388e-03 9.99969051e-01 -1.53518963e-03 -9.62496122e+01] [-7.51253256e-03 1.59316227e-03 9.99970511e-01 2.95988476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80907232899995 meters Centerline goodness [0,1] 0.3303690994308671 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99943652e-01 -7.45012812e-03 7.56225562e-03 -1.69991358e+02] [ 7.45888742e-03 9.99971543e-01 -1.13074984e-03 -9.62503098e+01] [-7.55361619e-03 1.18709214e-03 9.99970766e-01 2.95987711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.839072329 meters Centerline goodness [0,1] 0.30416282384505744 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99953728e-01 -6.54600665e-03 7.04925490e-03 -1.69989597e+02] [ 6.54927395e-03 9.99978456e-01 -4.40510841e-04 -9.62505551e+01] [-7.04621945e-03 4.86657959e-04 9.99975057e-01 2.95987195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86907232899995 meters Centerline goodness [0,1] 0.33905156884923127 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99957232e-01 -6.24999626e-03 6.81702041e-03 -1.69989217e+02] [ 6.25118558e-03 9.99980449e-01 -1.53169662e-04 -9.62510239e+01] [-6.81592982e-03 1.95777571e-04 9.99976752e-01 2.95987462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.899072329 meters Centerline goodness [0,1] 0.3383891213389121 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99953151e-01 -6.52383688e-03 7.15083831e-03 -1.69990013e+02] [ 6.52768504e-03 9.99978562e-01 -5.14933157e-04 -9.62499310e+01] [-7.14732567e-03 5.61587454e-04 9.99974300e-01 2.95987431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92907232899995 meters Centerline goodness [0,1] 0.31197573475577867 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99956123e-01 -6.14300561e-03 7.07216753e-03 -1.69989546e+02] [ 6.14235578e-03 9.99981129e-01 1.13601672e-04 -9.62515970e+01] [-7.07273193e-03 -7.01569187e-05 9.99974985e-01 2.95986983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.959072329 meters Centerline goodness [0,1] 0.3208416204333717 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99965114e-01 -5.37703473e-03 6.39210484e-03 -1.69987377e+02] [ 5.37258094e-03 9.99985313e-01 7.13731255e-04 -9.62518072e+01] [-6.39584871e-03 -6.79364255e-04 9.99979316e-01 2.95986461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98907232899995 meters Centerline goodness [0,1] 0.33299819865108293 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99970707e-01 -4.97808767e-03 5.81404735e-03 -1.69986125e+02] [ 4.97294979e-03 9.99987232e-01 8.97824753e-04 -9.62516497e+01] [-5.81844256e-03 -8.68885488e-04 9.99982695e-01 2.95986727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.019072329 meters Centerline goodness [0,1] 0.31423135623340515 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99977031e-01 -4.68501578e-03 4.89782415e-03 -1.69984462e+02] [ 4.68311600e-03 9.99988954e-01 3.99280530e-04 -9.62489056e+01] [-4.89964069e-03 -3.76334280e-04 9.99987926e-01 2.95987887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04907232899996 meters Centerline goodness [0,1] 0.32444639608556547 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99976291e-01 -4.94717091e-03 4.78981996e-03 -1.69984762e+02] [ 4.94832772e-03 9.99987731e-01 -2.29693064e-04 -9.62467991e+01] [-4.78862486e-03 2.53389217e-04 9.99988502e-01 2.95988734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.079072329 meters Centerline goodness [0,1] 0.3286398727953638 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99979033e-01 -4.70693815e-03 4.44729391e-03 -1.69984109e+02] [ 4.70770644e-03 9.99988906e-01 -1.62302387e-04 -9.62464005e+01] [-4.44648062e-03 1.83235539e-04 9.99990098e-01 2.95989085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10907232899996 meters Centerline goodness [0,1] 0.3355630343443634 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99986088e-01 -3.64510047e-03 3.81266698e-03 -1.69981516e+02] [ 3.64218427e-03 9.99993070e-01 7.71533518e-04 -9.62469589e+01] [-3.81545287e-03 -7.57636349e-04 9.99992434e-01 2.95987976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.139072329 meters Centerline goodness [0,1] 0.3375096739107699 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99988108e-01 -3.30770274e-03 3.58367024e-03 -1.69980541e+02] [ 3.30378395e-03 9.99993939e-01 1.09888162e-03 -9.62472879e+01] [-3.58728329e-03 -1.08702888e-03 9.99992975e-01 2.95987456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16907232899996 meters Centerline goodness [0,1] 0.3465340327265888 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99987515e-01 -3.28801012e-03 3.76288523e-03 -1.69980807e+02] [ 3.28323247e-03 9.99993797e-01 1.27515119e-03 -9.62479115e+01] [-3.76705460e-03 -1.26278084e-03 9.99992107e-01 2.95987157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.199072329 meters Centerline goodness [0,1] 0.36309835002823143 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99990609e-01 -2.88945149e-03 3.23010535e-03 -1.69979864e+02] [ 2.88480349e-03 9.99994798e-01 1.44269835e-03 -9.62478649e+01] [-3.23425715e-03 -1.43336659e-03 9.99993743e-01 2.95987677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22907232899996 meters Centerline goodness [0,1] 0.363963060465505 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99992377e-01 -2.75650412e-03 2.76533519e-03 -1.69978987e+02] [ 2.75333211e-03 9.99995548e-01 1.15021337e-03 -9.62461144e+01] [-2.76849345e-03 -1.14259071e-03 9.99995515e-01 2.95988172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.259072329 meters Centerline goodness [0,1] 0.35946550678572176 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99991987e-01 -2.71218101e-03 2.94462346e-03 -1.69979849e+02] [ 2.70855948e-03 9.99995571e-01 1.23317208e-03 -9.62465153e+01] [-2.94795501e-03 -1.22518651e-03 9.99994904e-01 2.95988719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28907232899996 meters Centerline goodness [0,1] 0.3713831744438869 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99991964e-01 -2.66112348e-03 2.99825215e-03 -1.69979811e+02] [ 2.65718611e-03 9.99995603e-01 1.31644242e-03 -9.62467015e+01] [-3.00174218e-03 -1.30846493e-03 9.99994639e-01 2.95988398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.319072329 meters Centerline goodness [0,1] 0.3597879180060952 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99992537e-01 -2.48977839e-03 2.95428495e-03 -1.69979697e+02] [ 2.48510714e-03 9.99995658e-01 1.58379407e-03 -9.62474873e+01] [-2.95821542e-03 -1.57644053e-03 9.99994382e-01 2.95988362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34907232899997 meters Centerline goodness [0,1] 0.3213882972058639 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99996577e-01 -1.72273602e-03 1.96924158e-03 -1.69977588e+02] [ 1.71996015e-03 9.99997526e-01 1.41043892e-03 -9.62450036e+01] [-1.97166652e-03 -1.40704707e-03 9.99997066e-01 2.95989211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.379072329 meters Centerline goodness [0,1] 0.3627469426152399 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99995586e-01 -2.14498639e-03 2.05607240e-03 -1.69978176e+02] [ 2.14349982e-03 9.99997440e-01 7.24946805e-04 -9.62428932e+01] [-2.05762214e-03 -7.20536414e-04 9.99997624e-01 2.95989787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40907232899997 meters Centerline goodness [0,1] 0.3694106328690342 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99996442e-01 -1.91681742e-03 1.85533735e-03 -1.69977601e+02] [ 1.91512285e-03 9.99997748e-01 9.14696536e-04 -9.62429497e+01] [-1.85708648e-03 -9.11140082e-04 9.99997861e-01 2.95989724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43907232899994 meters Centerline goodness [0,1] 0.34934415598000046 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99995209e-01 -1.95298411e-03 2.40156771e-03 -1.69978615e+02] [ 1.94983630e-03 9.99997238e-01 1.31237373e-03 -9.62444878e+01] [-2.40412412e-03 -1.30768478e-03 9.99996255e-01 2.95989113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46907232899997 meters Centerline goodness [0,1] 0.29432676020994963 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99988226e-01 -4.19525029e-03 2.43878459e-03 -1.69976758e+02] [ 4.19524489e-03 9.99991200e-01 7.32865660e-06 -9.62509581e+01] [-2.43879387e-03 2.90272828e-06 9.99997026e-01 2.95986469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49907232899994 meters Centerline goodness [0,1] 0.35464642027985194 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99984265e-01 -4.55912287e-03 3.26854303e-03 -1.69978965e+02] [ 4.55867986e-03 9.99989599e-01 1.42975424e-04 -9.62523938e+01] [-3.26916088e-03 -1.28072933e-04 9.99994648e-01 2.95986437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.529072329 meters Centerline goodness [0,1] 0.36703407023194534 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99978733e-01 -5.09170079e-03 4.07541151e-03 -1.69981289e+02] [ 5.09171166e-03 9.99987037e-01 7.70953405e-06 -9.62531876e+01] [-4.07539794e-03 1.30414502e-05 9.99991695e-01 2.95986737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55907232899995 meters Centerline goodness [0,1] 0.31775818113428345 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99972555e-01 -5.60614794e-03 4.84362855e-03 -1.69983097e+02] [ 5.60823820e-03 9.99984186e-01 -4.18074816e-04 -9.62524668e+01] [-4.84120817e-03 4.45227565e-04 9.99988182e-01 2.95986590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.589072329 meters Centerline goodness [0,1] 0.3708243562658188 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99967749e-01 -5.84876805e-03 5.50389225e-03 -1.69984803e+02] [ 5.85060701e-03 9.99982834e-01 -3.18078554e-04 -9.62534586e+01] [-5.50193740e-03 3.50269406e-04 9.99984803e-01 2.95986568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61907232899995 meters Centerline goodness [0,1] 0.3298001338016391 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.99 [[ 9.99977051e-01 -4.56925621e-03 5.00191512e-03 -1.69983095e+02] [ 4.56350064e-03 9.99988913e-01 1.16148193e-03 -9.62564764e+01] [-5.00716678e-03 -1.13862903e-03 9.99986816e-01 2.95985908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.649072329 meters Centerline goodness [0,1] 0.31774665551839465 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99974211e-01 -4.94525209e-03 5.20783849e-03 -1.69983434e+02] [ 4.94220717e-03 9.99987609e-01 5.97387199e-04 -9.62546541e+01] [-5.21072819e-03 -5.71633577e-04 9.99986261e-01 2.95985744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67907232899995 meters Centerline goodness [0,1] 0.30559156873405546 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99970992e-01 -5.22858413e-03 5.53863397e-03 -1.69984006e+02] [ 5.22657702e-03 9.99986270e-01 3.76795706e-04 -9.62541790e+01] [-5.54052803e-03 -3.47836679e-04 9.99984591e-01 2.95985401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.709072329 meters Centerline goodness [0,1] 0.3251515785072131 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99976019e-01 -4.80274194e-03 4.98957896e-03 -1.69982638e+02] [ 4.79976629e-03 9.99988296e-01 6.08176793e-04 -9.62539175e+01] [-4.99244147e-03 -5.84213395e-04 9.99987367e-01 2.95985519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73907232899995 meters Centerline goodness [0,1] 0.31946157222582194 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99973784e-01 -5.01002056e-03 5.22781470e-03 -1.69983328e+02] [ 5.00788792e-03 9.99987372e-01 4.20952808e-04 -9.62534994e+01] [-5.22985766e-03 -3.94761463e-04 9.99986246e-01 2.95985716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.769072329 meters Centerline goodness [0,1] 0.3340302751526303 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99967005e-01 -5.51437109e-03 5.96495112e-03 -1.69985087e+02] [ 5.51399508e-03 9.99984795e-01 7.94805318e-05 -9.62530268e+01] [-5.96529870e-03 -4.65871983e-05 9.99982206e-01 2.95985584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79907232899996 meters Centerline goodness [0,1] 0.3282096325574586 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99972935e-01 -4.67521006e-03 5.68088897e-03 -1.69983778e+02] [ 4.66858638e-03 9.99988407e-01 1.17866056e-03 -9.62553668e+01] [-5.68633360e-03 -1.15210694e-03 9.99983169e-01 2.95984711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.829072329 meters Centerline goodness [0,1] 0.33183246073298434 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99983910e-01 -3.01499445e-03 4.80524449e-03 -1.69980753e+02] [ 3.00256898e-03 9.99992136e-01 2.59093396e-03 -9.62566153e+01] [-4.81301835e-03 -2.57646419e-03 9.99985098e-01 2.95983734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85907232899996 meters Centerline goodness [0,1] 0.359237321835953 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99982171e-01 -3.32662883e-03 4.95892255e-03 -1.69980696e+02] [ 3.31605493e-03 9.99992214e-01 2.13899746e-03 -9.62551357e+01] [-4.96599959e-03 -2.12251527e-03 9.99985417e-01 2.95983179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.889072329 meters Centerline goodness [0,1] 0.3005523937060596 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.26, Z:295.98 [[ 9.99984801e-01 -3.04523266e-03 4.59608825e-03 -1.69979960e+02] [ 3.03488592e-03 9.99992849e-01 2.25650516e-03 -9.62551105e+01] [-4.60292697e-03 -2.24252226e-03 9.99986892e-01 2.95983382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91907232899996 meters Centerline goodness [0,1] 0.3340229885057471 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.98 [[ 9.99984429e-01 -3.20652514e-03 4.56735176e-03 -1.69980675e+02] [ 3.19797235e-03 9.99993122e-01 1.87866843e-03 -9.62541248e+01] [-4.57334434e-03 -1.86403291e-03 9.99987805e-01 2.95984475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.949072329 meters Centerline goodness [0,1] 0.3598570353649361 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99979462e-01 -4.14013632e-03 4.89234875e-03 -1.69983051e+02] [ 4.13818150e-03 9.99991354e-01 4.09622468e-04 -9.62506178e+01] [-4.89400234e-03 -3.89368628e-04 9.99987948e-01 2.95986677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97907232899996 meters Centerline goodness [0,1] 0.32177223663291776 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99976722e-01 -4.43673854e-03 5.18379038e-03 -1.69983781e+02] [ 4.43651085e-03 9.99990157e-01 5.54219823e-05 -9.62495712e+01] [-5.18398525e-03 -3.24227498e-05 9.99986563e-01 2.95986696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.009072329 meters Centerline goodness [0,1] 0.3247882906429692 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99975542e-01 -4.42140396e-03 5.41905637e-03 -1.69983821e+02] [ 4.41977191e-03 9.99990184e-01 3.13106614e-04 -9.62501779e+01] [-5.42038755e-03 -2.89147963e-04 9.99985268e-01 2.95985925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03907232899996 meters Centerline goodness [0,1] 0.3375958544892288 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.25, Z:295.99 [[ 9.99971873e-01 -4.57693307e-03 5.94184400e-03 -1.69984574e+02] [ 4.57426019e-03 9.99989431e-01 4.63352618e-04 -9.62509363e+01] [-5.94390194e-03 -4.36160045e-04 9.99982240e-01 2.95985069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.069072329 meters Centerline goodness [0,1] 0.33752874764791974 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.98 [[ 9.99967084e-01 -4.90777932e-03 6.46093449e-03 -1.69985588e+02] [ 4.90518318e-03 9.99987882e-01 4.17606990e-04 -9.62511511e+01] [-6.46290572e-03 -3.85901177e-04 9.99979041e-01 2.95984673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09907232899997 meters Centerline goodness [0,1] 0.34342906147378105 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.98 [[ 9.99966789e-01 -4.88780357e-03 6.52150524e-03 -1.69985416e+02] [ 4.88516332e-03 9.99987979e-01 4.20720111e-04 -9.62507502e+01] [-6.52348324e-03 -3.88847520e-04 9.99978646e-01 2.95984267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.129072329 meters Centerline goodness [0,1] 0.3557885484681065 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.98 [[ 9.99956388e-01 -5.41567599e-03 7.60874923e-03 -1.69987415e+02] [ 5.41052799e-03 9.99985120e-01 6.97009700e-04 -9.62526165e+01] [-7.61241079e-03 -6.55811951e-04 9.99970810e-01 2.95983073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15907232899997 meters Centerline goodness [0,1] 0.3468858493328314 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.98 [[ 9.99950188e-01 -5.56275017e-03 8.28719566e-03 -1.69988777e+02] [ 5.55506077e-03 9.99984119e-01 9.50594632e-04 -9.62539625e+01] [-8.29235196e-03 -9.04511405e-04 9.99965209e-01 2.95982452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18907232899994 meters Centerline goodness [0,1] 0.35123655688998623 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.98 [[ 9.99929704e-01 -7.07320122e-03 9.51613100e-03 -1.69992196e+02] [ 7.07454579e-03 9.99974969e-01 -1.07637992e-04 -9.62529732e+01] [-9.51513146e-03 1.74952730e-04 9.99954715e-01 2.95982770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21907232899997 meters Centerline goodness [0,1] 0.3491167555137452 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.98 [[ 9.99910121e-01 -8.35166245e-03 1.04880637e-02 -1.69995539e+02] [ 8.36230184e-03 9.99964564e-01 -9.70983946e-04 -9.62530523e+01] [-1.04795827e-02 1.05860103e-03 9.99944527e-01 2.95983784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24907232899994 meters Centerline goodness [0,1] 0.3491167555137452 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.98 [[ 9.99910121e-01 -8.35166245e-03 1.04880637e-02 -1.69995539e+02] [ 8.36230184e-03 9.99964564e-01 -9.70983946e-04 -9.62530523e+01] [-1.04795827e-02 1.05860103e-03 9.99944527e-01 2.95983784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.279072329 meters Centerline goodness [0,1] 0.36347299132796995 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.26, Z:295.98 [[ 9.99915209e-01 -7.79657039e-03 1.04301263e-02 -1.69995432e+02] [ 7.79753319e-03 9.99969597e-01 -5.16462844e-05 -9.62556254e+01] [-1.04294065e-02 1.32971161e-04 9.99945603e-01 2.95983685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30907232899995 meters Centerline goodness [0,1] 0.3679928045515395 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.26, Z:295.98 [[ 9.99914252e-01 -7.73456065e-03 1.05671343e-02 -1.69995793e+02] [ 7.73378563e-03 9.99970087e-01 1.14203989e-04 -9.62560450e+01] [-1.05677015e-02 -3.24702456e-05 9.99944160e-01 2.95983669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.339072329 meters Centerline goodness [0,1] 0.3373670546855372 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.26, Z:295.98 [[ 9.99927435e-01 -6.89834547e-03 9.87607162e-03 -1.69993542e+02] [ 6.89285589e-03 9.99976070e-01 5.89777317e-04 -9.62554687e+01] [-9.87990378e-03 -5.21660181e-04 9.99951056e-01 2.95983043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36907232899995 meters Centerline goodness [0,1] 0.370814697153367 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.26, Z:295.98 [[ 9.99923601e-01 -7.08535341e-03 1.01286401e-02 -1.69994200e+02] [ 7.08145008e-03 9.99974838e-01 4.21187932e-04 -9.62551328e+01] [-1.01313695e-02 -3.49430295e-04 9.99948615e-01 2.95983101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.399072329 meters Centerline goodness [0,1] 0.3678427925665495 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.26, Z:295.98 [[ 9.99924972e-01 -6.94074426e-03 1.00933410e-02 -1.69994489e+02] [ 6.93485201e-03 9.99975762e-01 6.18658788e-04 -9.62557306e+01] [-1.00973903e-02 -5.48616545e-04 9.99948870e-01 2.95983515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42907232899995 meters Centerline goodness [0,1] 0.3418651374994768 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.26, Z:295.98 [[ 9.99924490e-01 -6.79754137e-03 1.02375685e-02 -1.69994940e+02] [ 6.78903456e-03 9.99976580e-01 8.65464332e-04 -9.62565922e+01] [-1.02432118e-02 -7.95895774e-04 9.99947220e-01 2.95983525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.459072329 meters Centerline goodness [0,1] 0.357118941993806 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.98 [[ 9.99908626e-01 -7.68370560e-03 1.11220203e-02 -1.69996917e+02] [ 7.68428470e-03 9.99970475e-01 -9.33428812e-06 -9.62549128e+01] [-1.11216202e-02 9.47982056e-05 9.99938148e-01 2.95983215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48907232899995 meters Centerline goodness [0,1] 0.3332635676761757 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.26, Z:295.98 [[ 9.99925833e-01 -6.50611965e-03 1.02955969e-02 -1.69994922e+02] [ 6.49340533e-03 9.99978114e-01 1.26787398e-03 -9.62574291e+01] [-1.03036205e-02 -1.20092646e-03 9.99946195e-01 2.95983189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.519072329 meters Centerline goodness [0,1] 0.3359424050897828 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.26, Z:295.98 [[ 9.99926782e-01 -6.47251806e-03 1.02243167e-02 -1.69994507e+02] [ 6.45909514e-03 9.99978235e-01 1.34531922e-03 -9.62576894e+01] [-1.02328018e-02 -1.27918088e-03 9.99946825e-01 2.95982805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54907232899996 meters Centerline goodness [0,1] 0.366269450669124 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.26, Z:295.98 [[ 9.99945083e-01 -2.57618327e-03 1.01584411e-02 -1.69994729e+02] [ 2.52684348e-03 9.99984964e-01 4.86687016e-03 -9.62555060e+01] [-1.01708263e-02 -4.84093410e-03 9.99936558e-01 2.95983228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.579072329 meters Centerline goodness [0,1] 0.3673648931713448 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.98 [[ 9.99948863e-01 -2.52623144e-03 9.79228952e-03 -1.69994275e+02] [ 2.48063341e-03 9.99986038e-01 4.66587646e-03 -9.62545963e+01] [-9.80393989e-03 -4.64134678e-03 9.99941169e-01 2.95983873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60907232899996 meters Centerline goodness [0,1] 0.3365139683467657 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99954931e-01 -2.57287202e-03 9.13871271e-03 -1.69993500e+02] [ 2.53823200e-03 9.99989558e-01 3.80004882e-03 -9.62515388e+01] [-9.14839433e-03 -3.77668139e-03 9.99951021e-01 2.95985213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.639072329 meters Centerline goodness [0,1] 0.34551084886908123 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99955414e-01 -2.92023065e-03 8.98011730e-03 -1.69993814e+02] [ 2.89256568e-03 9.99991036e-01 3.09213808e-03 -9.62494305e+01] [-8.98906656e-03 -3.06602463e-03 9.99954897e-01 2.95986182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66907232899996 meters Centerline goodness [0,1] 0.3629575402635432 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.99 [[ 9.99948349e-01 -3.29275235e-03 9.61549945e-03 -1.69995438e+02] [ 3.26403576e-03 9.99990171e-01 3.00065726e-03 -9.62498256e+01] [-9.62528536e-03 -2.96911694e-03 9.99949268e-01 2.95986145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.699072329 meters Centerline goodness [0,1] 0.3104284728466573 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.99 [[ 9.99935349e-01 -4.26660301e-03 1.05401480e-02 -1.69998252e+02] [ 4.24213863e-03 9.99988259e-01 2.34233382e-03 -9.62496809e+01] [-1.05500181e-02 -2.29746962e-03 9.99941708e-01 2.95986608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72907232899996 meters Centerline goodness [0,1] 0.35639443689218864 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.99 [[ 9.99938345e-01 -4.11463821e-03 1.03138894e-02 -1.69997965e+02] [ 4.08978831e-03 9.99988686e-01 2.42929738e-03 -9.62498459e+01] [-1.03237684e-02 -2.38696597e-03 9.99943860e-01 2.95986915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.759072329 meters Centerline goodness [0,1] 0.3365109229643567 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.99 [[ 9.99937931e-01 -4.27677952e-03 1.02880352e-02 -1.69998397e+02] [ 4.25543055e-03 9.99988749e-01 2.09612203e-03 -9.62490485e+01] [-1.02968841e-02 -2.05221191e-03 9.99944880e-01 2.95987594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78907232899996 meters Centerline goodness [0,1] 0.3876186097061405 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.99 [[ 9.99934396e-01 -4.47613466e-03 1.05436660e-02 -1.69999272e+02] [ 4.45656320e-03 9.99988304e-01 1.87899259e-03 -9.62486274e+01] [-1.05519533e-02 -1.83188081e-03 9.99942649e-01 2.95987837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.819072329 meters Centerline goodness [0,1] 0.32800669316042674 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.99 [[ 9.99941053e-01 -4.06195448e-03 1.00693097e-02 -1.69998219e+02] [ 4.03993860e-03 9.99989407e-01 2.20581088e-03 -9.62490842e+01] [-1.00781629e-02 -2.16500146e-03 9.99946870e-01 2.95987959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84907232899997 meters Centerline goodness [0,1] 0.3140615191462649 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.99 [[ 9.99941848e-01 -3.85054183e-03 1.00734426e-02 -1.69997840e+02] [ 3.82586876e-03 9.99989637e-01 2.46744421e-03 -9.62496446e+01] [-1.00828392e-02 -2.42876105e-03 9.99946217e-01 2.95987313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.879072329 meters Centerline goodness [0,1] 0.36570818684078354 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.25, Z:295.99 [[ 9.99945976e-01 -3.59029052e-03 9.75478038e-03 -1.69997121e+02] [ 3.56373549e-03 9.99989901e-01 2.73827772e-03 -9.62501780e+01] [-9.76451308e-03 -2.70336633e-03 9.99948672e-01 2.95987319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90907232899997 meters Centerline goodness [0,1] 0.3375397622635191 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99954883e-01 -3.09067318e-03 8.98219042e-03 -1.69994993e+02] [ 3.06525171e-03 9.99991262e-01 2.84259866e-03 -9.62493119e+01] [-8.99089747e-03 -2.81493773e-03 9.99955619e-01 2.95987085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93907232899994 meters Centerline goodness [0,1] 0.326858267222071 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99966184e-01 -2.22185845e-03 7.91801443e-03 -1.69992824e+02] [ 2.19733627e-03 9.99992767e-01 3.10436514e-03 -9.62485210e+01] [-7.92485463e-03 -3.08686162e-03 9.99963833e-01 2.95987846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96907232899997 meters Centerline goodness [0,1] 0.3282276626909395 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99963895e-01 -2.52937257e-03 8.11233957e-03 -1.69993779e+02] [ 2.50797969e-03 9.99993354e-01 2.64616841e-03 -9.62475239e+01] [-8.11897880e-03 -2.62572729e-03 9.99963593e-01 2.95988469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99907232899994 meters Centerline goodness [0,1] 0.3320852594808291 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99964611e-01 -2.75759725e-03 7.94807509e-03 -1.69994252e+02] [ 2.74139315e-03 9.99994143e-01 2.04891858e-03 -9.62458469e+01] [-7.95367863e-03 -2.02705727e-03 9.99966314e-01 2.95989722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.029072329 meters Centerline goodness [0,1] 0.3492548559946417 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99970461e-01 -2.35267753e-03 7.31725923e-03 -1.69992864e+02] [ 2.33594858e-03 9.99994641e-01 2.29393776e-03 -9.62460472e+01] [-7.32261691e-03 -2.27677726e-03 9.99970597e-01 2.95989945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05907232899995 meters Centerline goodness [0,1] 0.2959328842210971 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99968463e-01 -2.57755002e-03 7.51194503e-03 -1.69993062e+02] [ 2.56217041e-03 9.99994604e-01 2.05625959e-03 -9.62453240e+01] [-7.51720461e-03 -2.03694785e-03 9.99969671e-01 2.95989534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.089072329 meters Centerline goodness [0,1] 0.3583038721419157 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.25, Z:295.99 [[ 9.99975471e-01 -1.90413902e-03 6.74024954e-03 -1.69990905e+02] [ 1.88684471e-03 9.99994914e-01 2.57125491e-03 -9.62457975e+01] [-6.74511129e-03 -2.55847403e-03 9.99973979e-01 2.95989212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11907232899995 meters Centerline goodness [0,1] 0.36349744620279667 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.24, Z:295.99 [[ 9.99983530e-01 -8.47233665e-04 5.67635984e-03 -1.69988158e+02] [ 8.30746303e-04 9.99995432e-01 2.90629445e-03 -9.62447031e+01] [-5.67879622e-03 -2.90153097e-03 9.99979666e-01 2.95989291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.149072329 meters Centerline goodness [0,1] 0.2998450196866884 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.24, Z:295.99 [[ 9.99982489e-01 -1.08755112e-03 5.81704455e-03 -1.69989230e+02] [ 1.07272564e-03 9.99996170e-01 2.55114081e-03 -9.62440868e+01] [-5.81979677e-03 -2.54485604e-03 9.99979827e-01 2.95990222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17907232899995 meters Centerline goodness [0,1] 0.3012143887298038 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.24, Z:295.99 [[ 9.99982650e-01 -1.18583061e-03 5.77007943e-03 -1.69989666e+02] [ 1.17279138e-03 9.99996752e-01 2.26265900e-03 -9.62432818e+01] [-5.77274382e-03 -2.25585264e-03 9.99980793e-01 2.95990976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.209072329 meters Centerline goodness [0,1] 0.3275728602213528 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.24, Z:295.99 [[ 9.99989488e-01 3.69811886e-05 4.58504223e-03 -1.69986661e+02] [-5.01497921e-05 9.99995875e-01 2.87199731e-03 -9.62428901e+01] [-4.58491711e-03 -2.87219706e-03 9.99985364e-01 2.95990992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23907232899995 meters Centerline goodness [0,1] 0.3184454634922629 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99992999e-01 4.55096613e-04 3.71405418e-03 -1.69984352e+02] [-4.64708648e-04 9.99996544e-01 2.58756453e-03 -9.62406457e+01] [-3.71286376e-03 -2.58927236e-03 9.99989755e-01 2.95990935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.269072329 meters Centerline goodness [0,1] 0.3161615527807409 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99995092e-01 1.35850206e-03 2.82329215e-03 -1.69981772e+02] [-1.36784485e-03 9.99993587e-01 3.30989292e-03 -9.62416032e+01] [-2.81877755e-03 -3.31373850e-03 9.99990537e-01 2.95990509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29907232899996 meters Centerline goodness [0,1] 0.3254450261780105 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99996423e-01 1.57743626e-03 2.15993179e-03 -1.69980533e+02] [-1.58442998e-03 9.99993496e-01 3.24006302e-03 -9.62410053e+01] [-2.15480674e-03 -3.24347369e-03 9.99992418e-01 2.95991017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.329072329 meters Centerline goodness [0,1] 0.3082181757364163 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99996989e-01 1.89316744e-03 1.56134455e-03 -1.69979310e+02] [-1.89832837e-03 9.99992718e-01 3.31060730e-03 -9.62406926e+01] [-1.55506564e-03 -3.31356128e-03 9.99993301e-01 2.95991417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35907232899996 meters Centerline goodness [0,1] 0.3354668674698795 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99996866e-01 2.43265043e-03 5.91885694e-04 -1.69977220e+02] [-2.43453160e-03 9.99991921e-01 3.19857603e-03 -9.62389253e+01] [-5.84099895e-04 -3.20000697e-03 9.99994709e-01 2.95992028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.389072329 meters Centerline goodness [0,1] 0.3280188896086257 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99997451e-01 2.23738129e-03 3.02349292e-04 -1.69976929e+02] [-2.23813436e-03 9.99994336e-01 2.51378161e-03 -9.62364687e+01] [-2.96723291e-04 -2.51445190e-03 9.99996795e-01 2.95992783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41907232899996 meters Centerline goodness [0,1] 0.3357652026673914 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99997867e-01 1.90408751e-03 8.00629641e-04 -1.69978391e+02] [-1.90592857e-03 9.99995527e-01 2.30507448e-03 -9.62363561e+01] [-7.96236996e-04 -2.30659550e-03 9.99997023e-01 2.95993017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.449072329 meters Centerline goodness [0,1] 0.32861799490158383 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99997379e-01 -2.13383841e-03 8.29843346e-04 -1.69977718e+02] [ 2.13503852e-03 9.99996672e-01 -1.44800280e-03 -9.62372623e+01] [-8.26750780e-04 1.44977075e-03 9.99998607e-01 2.95992109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47907232899996 meters Centerline goodness [0,1] 0.35639487490332966 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99996859e-01 -2.22771082e-03 1.14880528e-03 -1.69978194e+02] [ 2.22930857e-03 9.99996547e-01 -1.39139327e-03 -9.62374909e+01] [-1.14570169e-03 1.39394994e-03 9.99998372e-01 2.95991669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.509072329 meters Centerline goodness [0,1] 0.35479821753593166 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99995675e-01 -2.36901317e-03 1.74282091e-03 -1.69979670e+02] [ 2.37108083e-03 9.99996487e-01 -1.18528028e-03 -9.62385395e+01] [-1.74000684e-03 1.18940752e-03 9.99997779e-01 2.95991572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53907232899996 meters Centerline goodness [0,1] 0.36130258595479803 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99976091e-01 -6.62850311e-03 1.97011849e-03 -1.69980059e+02] [ 6.63882250e-03 9.99964032e-01 -5.27840070e-03 -9.62389221e+01] [-1.93505973e-03 5.29135376e-03 9.99984128e-01 2.95991461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.569072329 meters Centerline goodness [0,1] 0.30533026755852843 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99980793e-01 -6.02889060e-03 1.43721739e-03 -1.69978643e+02] [ 6.03552788e-03 9.99970931e-01 -4.65943094e-03 -9.62399132e+01] [-1.40908442e-03 4.66801581e-03 9.99988112e-01 2.95991360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59907232899997 meters Centerline goodness [0,1] 0.3692333430925593 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99982891e-01 -5.75559604e-03 1.04435368e-03 -1.69976915e+02] [ 5.76024461e-03 9.99973266e-01 -4.50411393e-03 -9.62393135e+01] [-1.01840190e-03 4.51005260e-03 9.99989311e-01 2.95990517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.629072329 meters Centerline goodness [0,1] 0.36929226133177084 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99985669e-01 -5.32670750e-03 5.36771186e-04 -1.69975431e+02] [ 5.32893310e-03 9.99976838e-01 -4.23384042e-03 -9.62392297e+01] [-5.14206324e-04 4.23664017e-03 9.99990893e-01 2.95990299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65907232899997 meters Centerline goodness [0,1] 0.3143783331590505 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.24, Z:295.99 [[ 9.99981492e-01 -6.00082096e-03 1.00284511e-03 -1.69976468e+02] [ 6.00592690e-03 9.99968607e-01 -5.16845661e-03 -9.62366608e+01] [-9.71798649e-04 5.17438397e-03 9.99986141e-01 2.95990225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68907232899994 meters Centerline goodness [0,1] 0.31903059197457295 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.24, Z:295.99 [[ 9.99987928e-01 -4.91304294e-03 7.58670071e-05 -1.69974224e+02] [ 4.91332921e-03 9.99978249e-01 -4.40011964e-03 -9.62370807e+01] [-5.42473802e-05 4.40043928e-03 9.99990317e-01 2.95990418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71907232899997 meters Centerline goodness [0,1] 0.32283069722738766 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.23, Z:295.99 [[ 9.99998834e-01 -1.50263214e-03 2.73778259e-04 -1.69976107e+02] [ 1.50305530e-03 9.99997666e-01 -1.55204697e-03 -9.62340062e+01] [-2.71445464e-04 1.55245666e-03 9.99998758e-01 2.95992187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74907232899994 meters Centerline goodness [0,1] 0.3259992052370694 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.23, Z:295.99 [[ 9.99999613e-01 -7.01229797e-04 -5.30611579e-04 -1.69973775e+02] [ 7.00698794e-04 9.99999254e-01 -1.00026194e-03 -9.62341168e+01] [ 5.31312597e-04 9.99889752e-04 9.99999359e-01 2.95991874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.779072329 meters Centerline goodness [0,1] 0.3380738262051658 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.23, Z:295.99 [[ 9.99986352e-01 4.77194590e-03 -2.12706705e-03 -1.69970035e+02] [-4.76575214e-03 9.99984417e-01 2.90749943e-03 -9.62305976e+01] [ 2.14090833e-03 -2.89732268e-03 9.99993511e-01 2.95992711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80907232899995 meters Centerline goodness [0,1] 0.33666185182859176 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.23, Z:295.99 [[ 9.99981097e-01 5.26792223e-03 -3.17081938e-03 -1.69967688e+02] [-5.26054996e-03 9.99983451e-01 2.32890257e-03 -9.62270226e+01] [ 3.18303538e-03 -2.31217830e-03 9.99992261e-01 2.95993391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.839072329 meters Centerline goodness [0,1] 0.3388433210579176 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.22, Z:295.99 [[ 9.99977391e-01 5.31928828e-03 -4.11381094e-03 -1.69966055e+02] [-5.31235246e-03 9.99984453e-01 1.69507744e-03 -9.62245812e+01] [ 4.12276359e-03 -1.67318510e-03 9.99990102e-01 2.95994501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86907232899995 meters Centerline goodness [0,1] 0.3440918693915117 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.22, Z:295.99 [[ 9.99993839e-01 -1.91683119e-03 -2.94054338e-03 -1.69968843e+02] [ 1.90146024e-03 9.99984562e-01 -5.22116774e-03 -9.62217375e+01] [ 2.95050608e-03 5.21554425e-03 9.99982046e-01 2.95994295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.899072329 meters Centerline goodness [0,1] 0.34218295261824505 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.23, Z:295.99 [[ 9.99995359e-01 -1.23674821e-03 -2.78424086e-03 -1.69968709e+02] [ 1.22545301e-03 9.99991028e-01 -4.05489139e-03 -9.62252745e+01] [ 2.78923076e-03 4.05146061e-03 9.99987903e-01 2.95993333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92907232899995 meters Centerline goodness [0,1] 0.31206103678929764 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.22, Z:295.99 [[ 9.99995543e-01 -1.45268356e-03 -2.60846775e-03 -1.69969160e+02] [ 1.44121495e-03 9.99989311e-01 -4.39319415e-03 -9.62243292e+01] [ 2.61482179e-03 4.38941520e-03 9.99986948e-01 2.95993302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.959072329 meters Centerline goodness [0,1] 0.3554630288320709 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.23, Z:295.99 [[ 9.99993588e-01 4.46317356e-04 -3.55306995e-03 -1.69966074e+02] [-4.56472814e-04 9.99995812e-01 -2.85792295e-03 -9.62250644e+01] [ 3.55177953e-03 2.85952651e-03 9.99989604e-01 2.95992674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98907232899995 meters Centerline goodness [0,1] 0.3504447002197342 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.22, Z:296.00 [[ 9.99960765e-01 7.81145372e-03 -4.17734940e-03 -1.69966055e+02] [-7.79984101e-03 9.99965691e-01 2.78902825e-03 -9.62165418e+01] [ 4.19899245e-03 -2.75633617e-03 9.99987385e-01 2.95995261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.019072329 meters Centerline goodness [0,1] 0.3662370323797548 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.21, Z:296.00 [[ 9.99923741e-01 1.15215449e-02 -4.44582947e-03 -1.69965591e+02] [-1.14960982e-02 9.99917629e-01 5.70743516e-03 -9.62121099e+01] [ 4.51122173e-03 -5.65589022e-03 9.99973830e-01 2.95995872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04907232899996 meters Centerline goodness [0,1] 0.3358405967147168 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.21, Z:296.00 [[ 9.99860883e-01 1.58808067e-02 -5.10054683e-03 -1.69963923e+02] [-1.58322182e-02 9.99830200e-01 9.42927915e-03 -9.62097039e+01] [ 5.24942531e-03 -9.34721441e-03 9.99942535e-01 2.95996192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.079072329 meters Centerline goodness [0,1] 0.3532172564795608 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.21, Z:296.00 [[ 9.99833040e-01 1.72025356e-02 -6.16154678e-03 -1.69960989e+02] [-1.71405454e-02 9.99803320e-01 9.97615767e-03 -9.62089369e+01] [ 6.33195013e-03 -9.86887978e-03 9.99931253e-01 2.95996123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10907232899996 meters Centerline goodness [0,1] 0.36775153509231506 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.21, Z:296.00 [[ 9.99831190e-01 1.71108063e-02 -6.69414485e-03 -1.69960086e+02] [-1.70476415e-02 9.99810662e-01 9.38175863e-03 -9.62069637e+01] [ 6.85340685e-03 -9.26605551e-03 9.99933583e-01 2.95996772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.139072329 meters Centerline goodness [0,1] 0.36775153509231506 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.21, Z:296.00 [[ 9.99831190e-01 1.71108063e-02 -6.69414485e-03 -1.69960086e+02] [-1.70476415e-02 9.99810662e-01 9.38175863e-03 -9.62069637e+01] [ 6.85340685e-03 -9.26605551e-03 9.99933583e-01 2.95996772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16907232899996 meters Centerline goodness [0,1] 0.3673982241581505 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.20, Z:296.00 [[ 9.99793173e-01 1.86091239e-02 -8.20443201e-03 -1.69957448e+02] [-1.85322923e-02 9.99784605e-01 9.34328491e-03 -9.62049245e+01] [ 8.37653517e-03 -9.18930553e-03 9.99922692e-01 2.95998885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.199072329 meters Centerline goodness [0,1] 0.3561801515214934 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.20, Z:296.00 [[ 9.99847301e-01 1.48916559e-02 -9.14403630e-03 -1.69955541e+02] [-1.48475512e-02 9.99877897e-01 4.87242217e-03 -9.62028066e+01] [ 9.21547822e-03 -4.73591161e-03 9.99946322e-01 2.95999529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22907232899996 meters Centerline goodness [0,1] 0.347498429976973 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.20, Z:296.00 [[ 9.99837409e-01 1.53077571e-02 -9.53033100e-03 -1.69955265e+02] [-1.52573203e-02 9.99869327e-01 5.34264161e-03 -9.62043147e+01] [ 9.61086950e-03 -5.19636564e-03 9.99940313e-01 2.96000304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.259072329 meters Centerline goodness [0,1] 0.3527220990082437 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.21, Z:296.00 [[ 9.99879876e-01 1.17194275e-02 -1.01434411e-02 -1.69954052e+02] [-1.17015149e-02 9.99929872e-01 1.82347984e-03 -9.62060544e+01] [ 1.01640999e-02 -1.70456717e-03 9.99946891e-01 2.96000472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28907232899996 meters Centerline goodness [0,1] 0.3246717953006104 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.21, Z:296.00 [[ 9.99893629e-01 9.66913085e-03 -1.09196160e-02 -1.69951075e+02] [-9.67307521e-03 9.99953167e-01 -3.08459816e-04 -9.62079469e+01] [ 1.09161221e-02 4.14053272e-04 9.99940332e-01 2.95999256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.319072329 meters Centerline goodness [0,1] 0.33101585240717857 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.21, Z:296.00 [[ 9.99910862e-01 8.87958920e-03 -9.97101131e-03 -1.69952968e+02] [-8.88385688e-03 9.99960464e-01 -3.83798147e-04 -9.62091533e+01] [ 9.96720913e-03 4.72344974e-04 9.99950215e-01 2.95998318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34907232899997 meters Centerline goodness [0,1] 0.3474336690888531 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.21, Z:296.00 [[ 9.99904762e-01 9.32688059e-03 -1.01722906e-02 -1.69952205e+02] [-9.32474746e-03 9.99956491e-01 2.57109265e-04 -9.62106926e+01] [ 1.01742461e-02 -1.62230737e-04 9.99948228e-01 2.95997898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.379072329 meters Centerline goodness [0,1] 0.3352025443588885 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.21, Z:296.00 [[ 9.99918905e-01 7.44678686e-03 -1.03309162e-02 -1.69949605e+02] [-7.45990763e-03 9.99971415e-01 -1.23209565e-03 -9.62118250e+01] [ 1.03214457e-02 1.30906342e-03 9.99945876e-01 2.95995433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40907232899997 meters Centerline goodness [0,1] 0.33829720389569584 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.21, Z:295.99 [[ 9.99943567e-01 3.53174239e-03 -1.00194164e-02 -1.69949627e+02] [-3.57616865e-03 9.99983839e-01 -4.41957086e-03 -9.62148217e+01] [ 1.00036457e-02 4.45515257e-03 9.99940038e-01 2.95994251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43907232899994 meters Centerline goodness [0,1] 0.35096385289993093 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.22, Z:295.99 [[ 9.99951020e-01 3.46374510e-03 -9.27151020e-03 -1.69951161e+02] [-3.50054416e-03 9.99986049e-01 -3.95576667e-03 -9.62166401e+01] [ 9.25767908e-03 3.98802825e-03 9.99949194e-01 2.95993593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46907232899997 meters Centerline goodness [0,1] 0.3482157815379461 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.22, Z:295.99 [[ 9.99957031e-01 3.44364857e-03 -8.60677967e-03 -1.69952583e+02] [-3.47484746e-03 9.99987437e-01 -3.61259878e-03 -9.62179643e+01] [ 8.59423102e-03 3.64235079e-03 9.99956435e-01 2.95993153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49907232899994 meters Centerline goodness [0,1] 0.3318815695799656 Centerline is valid? [False, False] Translation: X:-169.95, Y:-96.22, Z:295.99 [[ 9.99967783e-01 -1.15348536e-03 -7.94375534e-03 -1.69953890e+02] [ 1.09093627e-03 9.99968406e-01 -7.87383090e-03 -9.62182514e+01] [ 7.95258671e-03 7.86491110e-03 9.99937448e-01 2.95992654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.529072329 meters Centerline goodness [0,1] 0.35871407940727096 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.22, Z:295.99 [[ 9.99972644e-01 -2.53402424e-03 -6.94909365e-03 -1.69957693e+02] [ 2.47356954e-03 9.99959143e-01 -8.69449133e-03 -9.62187501e+01] [ 6.97084178e-03 8.67706442e-03 9.99938056e-01 2.95993937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55907232899995 meters Centerline goodness [0,1] 0.3379736236131463 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.22, Z:295.99 [[ 9.99957378e-01 -6.89173419e-03 -6.14382371e-03 -1.69960070e+02] [ 6.81439977e-03 9.99898394e-01 -1.25206426e-02 -9.62208255e+01] [ 6.22948840e-03 1.24782425e-02 9.99902739e-01 2.95994293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.589072329 meters Centerline goodness [0,1] 0.3399301269847911 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.22, Z:295.99 [[ 9.99917874e-01 -1.15955495e-02 -5.45789969e-03 -1.69961465e+02] [ 1.15013149e-02 9.99789482e-01 -1.69915284e-02 -9.62205946e+01] [ 5.65377681e-03 1.69273600e-02 9.99840737e-01 2.95993939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61907232899995 meters Centerline goodness [0,1] 0.3448924956077972 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.22, Z:295.99 [[ 9.99914786e-01 -1.23296792e-02 -4.28959061e-03 -1.69964338e+02] [ 1.22564126e-02 9.99785314e-01 -1.67064961e-02 -9.62229385e+01] [ 4.49465543e-03 1.66524975e-02 9.99851235e-01 2.95993460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.649072329 meters Centerline goodness [0,1] 0.3230367039631915 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.23, Z:295.99 [[ 9.99860263e-01 -1.67137689e-02 3.24139365e-04 -1.69974998e+02] [ 1.67166786e-02 9.99760747e-01 -1.41067807e-02 -9.62252170e+01] [-8.82843412e-05 1.41102280e-02 9.99900442e-01 2.95986841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67907232899995 meters Centerline goodness [0,1] 0.3545018936619866 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.23, Z:295.99 [[ 9.99850320e-01 -1.72496788e-02 1.33642784e-03 -1.69977521e+02] [ 1.72667847e-02 9.99751951e-01 -1.40674917e-02 -9.62264141e+01] [-1.09343663e-03 1.40884619e-02 9.99900155e-01 2.95986625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.709072329 meters Centerline goodness [0,1] 0.3533570382765112 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.23, Z:295.99 [[ 9.99828313e-01 -1.83420268e-02 2.62952732e-03 -1.69980640e+02] [ 1.83779338e-02 9.99728099e-01 -1.43519950e-02 -9.62270849e+01] [-2.36556767e-03 1.43978562e-02 9.99893547e-01 2.95986223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73907232899995 meters Centerline goodness [0,1] 0.34893101214236455 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.23, Z:295.99 [[ 9.99823371e-01 -1.85658587e-02 2.92170453e-03 -1.69981719e+02] [ 1.86065416e-02 9.99720649e-01 -1.45746763e-02 -9.62266177e+01] [-2.65029697e-03 1.46264648e-02 9.99889515e-01 2.95986663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.769072329 meters Centerline goodness [0,1] 0.34164213690737144 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.23, Z:295.99 [[ 9.99812730e-01 -1.90115105e-02 3.61495413e-03 -1.69983495e+02] [ 1.90636236e-02 9.99706138e-01 -1.49738607e-02 -9.62257148e+01] [-3.32921612e-03 1.50399707e-02 9.99881351e-01 2.95986705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79907232899996 meters Centerline goodness [0,1] 0.3686881343190076 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.23, Z:295.99 [[ 9.99720165e-01 -2.32665115e-02 4.27322282e-03 -1.69985038e+02] [ 2.33424082e-02 9.99553281e-01 -1.86646679e-02 -9.62281198e+01] [-3.83705219e-03 1.87591921e-02 9.99816668e-01 2.95986637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.829072329 meters Centerline goodness [0,1] 0.33063151517683675 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.23, Z:295.99 [[ 9.99712257e-01 -2.35477239e-02 4.57241080e-03 -1.69985581e+02] [ 2.36303435e-02 9.99541248e-01 -1.89446441e-02 -9.62273069e+01] [-4.12420995e-03 1.90472406e-02 9.99810079e-01 2.95986303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85907232899996 meters Centerline goodness [0,1] 0.32086914695610347 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.23, Z:295.99 [[ 9.99771545e-01 -2.06331307e-02 5.57955134e-03 -1.69988706e+02] [ 2.07167043e-02 9.99667384e-01 -1.53603262e-02 -9.62276238e+01] [-5.26076388e-03 1.54724070e-02 9.99866456e-01 2.95986492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.889072329 meters Centerline goodness [0,1] 0.37518550258135985 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.23, Z:295.99 [[ 9.99749402e-01 -2.14254513e-02 6.48719094e-03 -1.69990101e+02] [ 2.15254430e-02 9.99644113e-01 -1.57575986e-02 -9.62273095e+01] [-6.14726857e-03 1.58932895e-02 9.99854797e-01 2.95985266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91907232899996 meters Centerline goodness [0,1] 0.3311026997636922 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.23, Z:295.99 [[ 9.99827048e-01 -1.72559971e-02 6.93568501e-03 -1.69991406e+02] [ 1.73334167e-02 9.99786339e-01 -1.12618583e-02 -9.62284681e+01] [-6.73986853e-03 1.13801297e-02 9.99912530e-01 2.95985037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.949072329 meters Centerline goodness [0,1] 0.32637567188839856 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.23, Z:295.99 [[ 9.99867149e-01 -1.43076815e-02 7.80858778e-03 -1.69994502e+02] [ 1.43728493e-02 9.99861803e-01 -8.35434810e-03 -9.62262009e+01] [-7.68797731e-03 8.46546987e-03 9.99934613e-01 2.95985906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97907232899996 meters Centerline goodness [0,1] 0.3241005915922821 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.22, Z:295.99 [[ 9.99903912e-01 -1.11734191e-02 8.20498476e-03 -1.69996745e+02] [ 1.12188492e-02 9.99921875e-01 -5.51189515e-03 -9.62230950e+01] [-8.14275703e-03 5.60341601e-03 9.99951147e-01 2.95987438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.009072329 meters Centerline goodness [0,1] 0.3667697838719117 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.22, Z:295.99 [[ 9.99924555e-01 -8.29462784e-03 9.06004040e-03 -1.69999663e+02] [ 8.32053667e-03 9.99961391e-01 -2.82574126e-03 -9.62198734e+01] [-9.03625213e-03 2.90091247e-03 9.99954964e-01 2.95988356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03907232899996 meters Centerline goodness [0,1] 0.32975450492873737 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.22, Z:295.99 [[ 9.99923646e-01 -8.22264491e-03 9.22439522e-03 -1.70000137e+02] [ 8.24725399e-03 9.99962524e-01 -2.63296624e-03 -9.62204265e+01] [-9.20239958e-03 2.70884113e-03 9.99953988e-01 2.95988408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.069072329 meters Centerline goodness [0,1] 0.31748257602712493 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.22, Z:295.99 [[ 9.99942369e-01 -6.66309524e-03 8.41798150e-03 -1.69997297e+02] [ 6.67237799e-03 9.99977161e-01 -1.07512575e-03 -9.62225753e+01] [-8.41062558e-03 1.13123175e-03 9.99963990e-01 2.95987402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09907232899997 meters Centerline goodness [0,1] 0.32258064516129037 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.22, Z:295.99 [[ 9.99946578e-01 -6.56204952e-03 7.98630761e-03 -1.69996316e+02] [ 6.57247492e-03 9.99977582e-01 -1.27986445e-03 -9.62214032e+01] [-7.97773004e-03 1.33228588e-03 9.99967290e-01 2.95987619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.129072329 meters Centerline goodness [0,1] 0.3545823399004475 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.22, Z:295.99 [[ 9.99952857e-01 -6.30206728e-03 7.38701251e-03 -1.69994919e+02] [ 6.31246340e-03 9.99979117e-01 -1.38488115e-03 -9.62201932e+01] [-7.37813063e-03 1.43144611e-03 9.99971757e-01 2.95987853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15907232899997 meters Centerline goodness [0,1] 0.3197663463350292 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.22, Z:295.99 [[ 9.99942036e-01 -7.20007102e-03 8.00520058e-03 -1.69996744e+02] [ 7.22114331e-03 9.99970530e-01 -2.60654446e-03 -9.62169894e+01] [-7.98619736e-03 2.66420008e-03 9.99964561e-01 2.95988354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18907232899994 meters Centerline goodness [0,1] 0.31433715769198556 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.22, Z:295.99 [[ 9.99956222e-01 -6.54721684e-03 6.68484422e-03 -1.69994388e+02] [ 6.56504096e-03 9.99974944e-01 -2.64789472e-03 -9.62157295e+01] [-6.66734038e-03 2.69166507e-03 9.99974150e-01 2.95989678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21907232899997 meters Centerline goodness [0,1] 0.35557043609274297 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.21, Z:295.99 [[ 9.99986959e-01 -7.24733063e-04 5.05542970e-03 -1.69990933e+02] [ 7.20266973e-04 9.99999349e-01 8.85189231e-04 -9.62108716e+01] [-5.05606793e-03 -8.81536427e-04 9.99986829e-01 2.95991310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24907232899994 meters Centerline goodness [0,1] 0.34271356783919593 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.21, Z:296.00 [[ 9.99962763e-01 8.62751045e-03 1.98149634e-04 -1.69979187e+02] [-8.62789918e-03 9.99960672e-01 2.05276875e-03 -9.62077532e+01] [-1.80431558e-04 -2.05440193e-03 9.99997873e-01 2.95998698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.279072329 meters Centerline goodness [0,1] 0.33406565815077527 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.21, Z:296.00 [[ 9.99948260e-01 1.01106751e-02 -1.11892262e-03 -1.69976229e+02] [-1.01079864e-02 9.99946073e-01 2.38300659e-03 -9.62059956e+01] [ 1.14295608e-03 -2.37157324e-03 9.99996535e-01 2.95999496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30907232899995 meters Centerline goodness [0,1] 0.34971933646112596 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.20, Z:296.00 [[ 9.99945458e-01 1.02367159e-02 -2.07126487e-03 -1.69974522e+02] [-1.02331405e-02 9.99946144e-01 1.72950642e-03 -9.62034366e+01] [ 2.08885779e-03 -1.70821654e-03 9.99996359e-01 2.96000545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.339072329 meters Centerline goodness [0,1] 0.3325094778292106 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.20, Z:296.00 [[ 9.99937880e-01 1.08001336e-02 -2.75562238e-03 -1.69972795e+02] [-1.07941583e-02 9.99939378e-01 2.17411035e-03 -9.62040730e+01] [ 2.77893602e-03 -2.14423067e-03 9.99993840e-01 2.96000488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36907232899995 meters Centerline goodness [0,1] 0.3054449427840885 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.20, Z:296.00 [[ 9.99917221e-01 1.22822894e-02 -3.83348587e-03 -1.69969496e+02] [-1.22702723e-02 9.99919779e-01 3.14271295e-03 -9.62044124e+01] [ 3.87177805e-03 -3.09541488e-03 9.99987714e-01 2.95999876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.399072329 meters Centerline goodness [0,1] 0.31423239820522497 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.20, Z:296.00 [[ 9.99859226e-01 1.62889890e-02 -4.02465733e-03 -1.69968639e+02] [-1.62616364e-02 9.99845067e-01 6.73800811e-03 -9.62021564e+01] [ 4.13378911e-03 -6.67161206e-03 9.99969200e-01 2.95999621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42907232899995 meters Centerline goodness [0,1] 0.3593035452066289 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.20, Z:296.00 [[ 9.99856491e-01 1.63940472e-02 -4.26992112e-03 -1.69968089e+02] [-1.63649456e-02 9.99843209e-01 6.76350607e-03 -9.62020345e+01] [ 4.38013288e-03 -6.69265842e-03 9.99968011e-01 2.95999709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.459072329 meters Centerline goodness [0,1] 0.3565826448014092 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.20, Z:296.00 [[ 9.99900566e-01 1.30905506e-02 -5.24354767e-03 -1.69965979e+02] [-1.30738845e-02 9.99909412e-01 3.20016111e-03 -9.62026177e+01] [ 5.28496454e-03 -3.13128937e-03 9.99981132e-01 2.96000075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48907232899995 meters Centerline goodness [0,1] 0.30825415428404 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.20, Z:296.00 [[ 9.99948581e-01 8.85405214e-03 -4.94373016e-03 -1.69967103e+02] [-8.85756414e-03 9.99960534e-01 -6.88952811e-04 -9.62041128e+01] [ 4.93743502e-03 7.32706793e-04 9.99987542e-01 2.96000324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.519072329 meters Centerline goodness [0,1] 0.32801355393335985 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.20, Z:296.00 [[ 9.99969916e-01 5.45257277e-03 -5.51698985e-03 -1.69965330e+02] [-5.47533821e-03 9.99976524e-01 -4.11976929e-03 -9.62049539e+01] [ 5.49439699e-03 4.14985273e-03 9.99976295e-01 2.96000040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54907232899996 meters Centerline goodness [0,1] 0.3251758499413834 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.21, Z:296.00 [[ 9.99986997e-01 1.31551498e-03 -4.92693958e-03 -1.69966909e+02] [-1.35330402e-03 9.99969635e-01 -7.67441757e-03 -9.62075060e+01] [ 4.91669417e-03 7.68098543e-03 9.99958413e-01 2.95999908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.579072329 meters Centerline goodness [0,1] 0.3227341011517276 Centerline is valid? [False, False] Translation: X:-169.96, Y:-96.21, Z:296.00 [[ 9.99984363e-01 -1.02057230e-03 -5.49841146e-03 -1.69964147e+02] [ 9.67471386e-04 9.99952955e-01 -9.65151982e-03 -9.62111404e+01] [ 5.50800286e-03 9.64604934e-03 9.99938306e-01 2.95998342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60907232899996 meters Centerline goodness [0,1] 0.3146845828624053 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.21, Z:296.00 [[ 9.99988069e-01 -1.47095643e-03 -4.65814072e-03 -1.69966330e+02] [ 1.42571620e-03 9.99951932e-01 -9.70055223e-03 -9.62117246e+01] [ 4.67218590e-03 9.69379531e-03 9.99942099e-01 2.95998290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.639072329 meters Centerline goodness [0,1] 0.32634505246436185 Centerline is valid? [False, False] Translation: X:-169.97, Y:-96.21, Z:296.00 [[ 9.99990596e-01 -1.90259556e-03 -3.89707961e-03 -1.69967791e+02] [ 1.86415577e-03 9.99949812e-01 -9.84373818e-03 -9.62116943e+01] [ 3.91561268e-03 9.83638085e-03 9.99943955e-01 2.95997632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66907232899996 meters Centerline goodness [0,1] 0.3549763627996486 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.21, Z:295.99 [[ 9.99973111e-01 -7.30065531e-03 6.91771067e-04 -1.69979086e+02] [ 7.30626630e-03 9.99937275e-01 -8.48902621e-03 -9.62136734e+01] [-6.29752221e-04 8.49385221e-03 9.99963728e-01 2.95992282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.699072329 meters Centerline goodness [0,1] 0.33527837035177976 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.22, Z:295.99 [[ 9.99934350e-01 -1.13802083e-02 1.33660794e-03 -1.69980506e+02] [ 1.13953576e-02 9.99863858e-01 -1.19336004e-02 -9.62166412e+01] [-1.20061911e-03 1.19480481e-02 9.99927899e-01 2.95991920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72907232899996 meters Centerline goodness [0,1] 0.34642148155887575 Centerline is valid? [False, False] Translation: X:-169.98, Y:-96.22, Z:295.99 [[ 9.99862742e-01 -1.63292108e-02 2.80250733e-03 -1.69984018e+02] [ 1.63691610e-02 9.99755299e-01 -1.48792473e-02 -9.62228838e+01] [-2.55885519e-03 1.49230797e-02 9.99885370e-01 2.95991126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.759072329 meters Centerline goodness [0,1] 0.3243469174503657 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.22, Z:295.99 [[ 9.99823949e-01 -1.82790511e-02 4.23637391e-03 -1.69987909e+02] [ 1.83446645e-02 9.99703620e-01 -1.60045718e-02 -9.62227852e+01] [-3.94256995e-03 1.60794691e-02 9.99862944e-01 2.95991225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78907232899996 meters Centerline goodness [0,1] 0.3150810901187092 Centerline is valid? [False, False] Translation: X:-169.99, Y:-96.22, Z:295.99 [[ 9.99795591e-01 -1.94063455e-02 5.67193032e-03 -1.69990949e+02] [ 1.94958690e-02 9.99679020e-01 -1.61792303e-02 -9.62238156e+01] [-5.35613002e-03 1.62865023e-02 9.99853020e-01 2.95990208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.819072329 meters Centerline goodness [0,1] 0.33660615429609975 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.22, Z:295.98 [[ 9.99611186e-01 -2.56911057e-02 1.08371274e-02 -1.70003792e+02] [ 2.58481397e-02 9.99559141e-01 -1.46081223e-02 -9.62233043e+01] [-1.04570509e-02 1.48825620e-02 9.99834566e-01 2.95983648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84907232899997 meters Centerline goodness [0,1] 0.3237542291466522 Centerline is valid? [False, False] Translation: X:-170.00, Y:-96.22, Z:295.98 [[ 9.99474977e-01 -3.02813479e-02 1.15243204e-02 -1.70004993e+02] [ 3.04962029e-02 9.99355262e-01 -1.89483905e-02 -9.62235111e+01] [-1.09431074e-02 1.92898902e-02 9.99754044e-01 2.95983300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.879072329 meters Centerline goodness [0,1] 0.3662577199132031 Centerline is valid? [False, False] Translation: X:-170.02, Y:-96.22, Z:295.98 [[ 9.99245893e-01 -3.52608269e-02 1.62579189e-02 -1.70017042e+02] [ 3.55453469e-02 9.99213836e-01 -1.75567227e-02 -9.62230696e+01] [-1.56260729e-02 1.81213764e-02 9.99713680e-01 2.95978851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90907232899997 meters Centerline goodness [0,1] 0.3429096759365663 Centerline is valid? [False, False] Translation: X:-170.02, Y:-96.22, Z:295.98 [[ 9.99312162e-01 -3.28072513e-02 1.72883352e-02 -1.70020919e+02] [ 3.30589525e-02 9.99348505e-01 -1.44800375e-02 -9.62227281e+01] [-1.68020217e-02 1.50416119e-02 9.99745689e-01 2.95979824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93907232899994 meters Centerline goodness [0,1] 0.36700139877659244 Centerline is valid? [False, False] Translation: X:-170.02, Y:-96.22, Z:295.98 [[ 9.99274634e-01 -3.34748332e-02 1.81560249e-02 -1.70022776e+02] [ 3.37498035e-02 9.99316901e-01 -1.50559396e-02 -9.62215163e+01] [-1.76396275e-02 1.56577808e-02 9.99721800e-01 2.95979364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96907232899997 meters Centerline goodness [0,1] 0.37041521407845024 Centerline is valid? [False, False] Translation: X:-170.02, Y:-96.22, Z:295.98 [[ 9.99240389e-01 -3.39855522e-02 1.90689992e-02 -1.70024897e+02] [ 3.42735824e-02 9.99300115e-01 -1.49867104e-02 -9.62225838e+01] [-1.85463215e-02 1.56288893e-02 9.99705843e-01 2.95978954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99907232899994 meters Centerline goodness [0,1] 0.2899365026317988 Centerline is valid? [False, False] Translation: X:-170.03, Y:-96.22, Z:295.98 [[ 9.99197224e-01 -3.45688135e-02 2.02461095e-02 -1.70027360e+02] [ 3.48734664e-02 9.99280765e-01 -1.48927581e-02 -9.62237007e+01] [-1.97167228e-02 1.55868546e-02 9.99684101e-01 2.95978114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.029072329 meters Centerline goodness [0,1] 0.35619556817944487 Centerline is valid? [False, False] Translation: X:-170.03, Y:-96.22, Z:295.98 [[ 9.99126272e-01 -3.58762800e-02 2.14379399e-02 -1.70030918e+02] [ 3.62197224e-02 9.99218107e-01 -1.58526230e-02 -9.62227236e+01] [-2.08524446e-02 1.66152483e-02 9.99644491e-01 2.95978729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05907232899995 meters Centerline goodness [0,1] 0.35619556817944487 Centerline is valid? [False, False] Translation: X:-170.03, Y:-96.22, Z:295.98 [[ 9.99126272e-01 -3.58762800e-02 2.14379399e-02 -1.70030918e+02] [ 3.62197224e-02 9.99218107e-01 -1.58526230e-02 -9.62227236e+01] [-2.08524446e-02 1.66152483e-02 9.99644491e-01 2.95978729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.089072329 meters Centerline goodness [0,1] 0.3088066462103659 Centerline is valid? [False, False] Translation: X:-170.03, Y:-96.22, Z:295.98 [[ 9.98970364e-01 -3.97826982e-02 2.18070593e-02 -1.70032232e+02] [ 4.02115269e-02 9.98999092e-01 -1.95920169e-02 -9.62246599e+01] [-2.10058091e-02 2.04487395e-02 9.99570210e-01 2.95979727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11907232899995 meters Centerline goodness [0,1] 0.30568423688493807 Centerline is valid? [False, False] Translation: X:-170.04, Y:-96.22, Z:295.98 [[ 9.98894679e-01 -4.11148135e-02 2.27814011e-02 -1.70035303e+02] [ 4.15977656e-02 9.98910617e-01 -2.11472054e-02 -9.62213259e+01] [-2.18871200e-02 2.20714863e-02 9.99516785e-01 2.95980575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.149072329 meters Centerline goodness [0,1] 0.3188908145580589 Centerline is valid? [False, False] Translation: X:-170.04, Y:-96.22, Z:295.98 [[ 9.98878709e-01 -4.13240911e-02 2.31007341e-02 -1.70036118e+02] [ 4.18158011e-02 9.98899891e-01 -2.12237116e-02 -9.62213997e+01] [-2.21982702e-02 2.21658894e-02 9.99507834e-01 2.95980503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17907232899995 meters Centerline goodness [0,1] 0.35468319559228645 Centerline is valid? [False, False] Translation: X:-170.04, Y:-96.22, Z:295.98 [[ 9.98828257e-01 -4.20200863e-02 2.40088580e-02 -1.70037963e+02] [ 4.25420079e-02 9.98859908e-01 -2.16578447e-02 -9.62207040e+01] [-2.30714212e-02 2.26538523e-02 9.99477120e-01 2.95979857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.209072329 meters Centerline goodness [0,1] 0.3328250971218514 Centerline is valid? [False, False] Translation: X:-170.05, Y:-96.22, Z:295.98 [[ 9.98510613e-01 -4.60050716e-02 2.93272833e-02 -1.70053778e+02] [ 4.65220663e-02 9.98769231e-01 -1.71965104e-02 -9.62175302e+01] [-2.85000615e-02 1.85352639e-02 9.99421928e-01 2.95975133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23907232899995 meters Centerline goodness [0,1] 0.3405845511482255 Centerline is valid? [False, False] Translation: X:-170.07, Y:-96.21, Z:295.97 [[ 9.98223467e-01 -4.87895171e-02 3.41978544e-02 -1.70067286e+02] [ 4.92959421e-02 9.98684334e-01 -1.41248601e-02 -9.62131851e+01] [-3.34637164e-02 1.57855823e-02 9.99315263e-01 2.95971955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.269072329 meters Centerline goodness [0,1] 0.3462340913832672 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.21, Z:295.97 [[ 9.97863831e-01 -5.25263852e-02 3.88426779e-02 -1.70083472e+02] [ 5.29901365e-02 9.98534372e-01 -1.10069542e-02 -9.62092081e+01] [-3.82075935e-02 1.30417203e-02 9.99184714e-01 2.95970980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29907232899996 meters Centerline goodness [0,1] 0.3417396745932415 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.20, Z:295.97 [[ 9.97963880e-01 -4.84221615e-02 4.15137078e-02 -1.70095744e+02] [ 4.92589430e-02 9.98598081e-01 -1.93759699e-02 -9.62010717e+01] [-4.05172827e-02 2.13814395e-02 9.98950041e-01 2.95965877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.329072329 meters Centerline goodness [0,1] 0.3557794605419613 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.18, Z:295.97 [[ 9.98123794e-01 -5.14437348e-02 3.32029206e-02 -1.70111206e+02] [ 5.21678490e-02 9.98410651e-01 -2.13233824e-02 -9.61835587e+01] [-3.20531952e-02 2.30155003e-02 9.99221136e-01 2.95969824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35907232899996 meters Centerline goodness [0,1] 0.35389840396716254 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.18, Z:295.97 [[ 9.98092288e-01 -5.17960493e-02 3.35998982e-02 -1.70112514e+02] [ 5.25391983e-02 9.98384699e-01 -2.16246356e-02 -9.61831814e+01] [-3.24255536e-02 2.33486937e-02 9.99201392e-01 2.95970175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.389072329 meters Centerline goodness [0,1] 0.35669626109791175 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.18, Z:295.97 [[ 9.98198332e-01 -4.92297368e-02 3.43004916e-02 -1.70115609e+02] [ 4.99093452e-02 9.98568286e-01 -1.92466968e-02 -9.61794356e+01] [-3.33038733e-02 2.09239357e-02 9.99226221e-01 2.95971275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41907232899996 meters Centerline goodness [0,1] 0.3490039176460782 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.18, Z:295.97 [[ 9.98197730e-01 -4.92587333e-02 3.42763512e-02 -1.70116055e+02] [ 4.99388154e-02 9.98566252e-01 -1.92757834e-02 -9.61795326e+01] [-3.32777069e-02 2.09527636e-02 9.99226489e-01 2.95971895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.449072329 meters Centerline goodness [0,1] 0.3351465132758118 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.18, Z:295.97 [[ 9.98336040e-01 -4.59984351e-02 3.47749238e-02 -1.70117805e+02] [ 4.65701799e-02 9.98789841e-01 -1.58136761e-02 -9.61780586e+01] [-3.40054363e-02 1.74068372e-02 9.99270050e-01 2.95971812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47907232899996 meters Centerline goodness [0,1] 0.2807284079084287 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.17, Z:295.97 [[ 9.98532612e-01 -3.85323653e-02 3.80510120e-02 -1.70128132e+02] [ 3.92605613e-02 9.99056269e-01 -1.85789977e-02 -9.61698552e+01] [-3.72992093e-02 2.00456392e-02 9.99103068e-01 2.95965689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.509072329 meters Centerline goodness [0,1] 0.34820683903252714 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.15, Z:295.97 [[ 9.98973240e-01 -3.71308188e-02 2.59570462e-02 -1.70132646e+02] [ 3.76998601e-02 9.99051555e-01 -2.17878844e-02 -9.61533404e+01] [-2.51234254e-02 2.27440905e-02 9.99425595e-01 2.95971574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53907232899996 meters Centerline goodness [0,1] 0.35007607177841227 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.15, Z:295.97 [[ 9.99032899e-01 -3.47984178e-02 2.68763124e-02 -1.70135957e+02] [ 3.53179083e-02 9.99193550e-01 -1.91022360e-02 -9.61516230e+01] [-2.61899104e-02 2.00329774e-02 9.99456236e-01 2.95972305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.569072329 meters Centerline goodness [0,1] 0.3229816255448724 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.15, Z:295.97 [[ 9.99131333e-01 -3.12260945e-02 2.75954650e-02 -1.70138014e+02] [ 3.16539717e-02 9.99383198e-01 -1.52068743e-02 -9.61512076e+01] [-2.71035927e-02 1.60671707e-02 9.99503497e-01 2.95972060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59907232899997 meters Centerline goodness [0,1] 0.3246476667710617 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.15, Z:295.97 [[ 9.99261443e-01 -2.71745857e-02 2.71682011e-02 -1.70136805e+02] [ 2.74958228e-02 9.99555523e-01 -1.15211311e-02 -9.61486099e+01] [-2.68430435e-02 1.22596342e-02 9.99564481e-01 2.95971503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.629072329 meters Centerline goodness [0,1] 0.33468432707976437 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.14, Z:295.97 [[ 9.99296619e-01 -2.49219637e-02 2.80207700e-02 -1.70140140e+02] [ 2.51991095e-02 9.99636534e-01 -9.58144322e-03 -9.61438224e+01] [-2.77717971e-02 1.02808023e-02 9.99561420e-01 2.95972896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65907232899997 meters Centerline goodness [0,1] 0.3443920160347419 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.14, Z:295.98 [[ 9.99371839e-01 -2.17040077e-02 2.80154249e-02 -1.70141898e+02] [ 2.19041148e-02 9.99736570e-01 -6.85569946e-03 -9.61403983e+01] [-2.78592486e-02 7.46504606e-03 9.99583981e-01 2.95975011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68907232899994 meters Centerline goodness [0,1] 0.3013292091623474 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.13, Z:295.98 [[ 9.99644719e-01 -2.12788277e-02 1.60513749e-02 -1.70144915e+02] [ 2.14669849e-02 9.99701767e-01 -1.16423928e-02 -9.61274023e+01] [-1.57988513e-02 1.19828311e-02 9.99803385e-01 2.95979679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71907232899997 meters Centerline goodness [0,1] 0.3210062262337554 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.13, Z:295.98 [[ 9.99724526e-01 -1.72831382e-02 1.58797159e-02 -1.70144731e+02] [ 1.74106127e-02 9.99817019e-01 -7.92462926e-03 -9.61253963e+01] [-1.57398477e-02 8.19892182e-03 9.99842505e-01 2.95979788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74907232899994 meters Centerline goodness [0,1] 0.3562889269740417 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.12, Z:295.98 [[ 9.99771693e-01 -1.37498111e-02 1.63555706e-02 -1.70146529e+02] [ 1.38243934e-02 9.99894511e-01 -4.45576408e-03 -9.61237389e+01] [-1.62925794e-02 4.68085264e-03 9.99856310e-01 2.95980312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.779072329 meters Centerline goodness [0,1] 0.32765966333904184 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.12, Z:295.98 [[ 9.99809831e-01 -1.01971357e-02 1.66229107e-02 -1.70147526e+02] [ 1.02182740e-02 9.99947087e-01 -1.18719744e-03 -9.61208994e+01] [-1.66099251e-02 1.35682913e-03 9.99861125e-01 2.95980606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80907232899995 meters Centerline goodness [0,1] 0.31976087956189125 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.12, Z:295.98 [[ 9.99837292e-01 -9.08801896e-03 1.55819519e-02 -1.70144771e+02] [ 9.09874974e-03 9.99958415e-01 -6.17911562e-04 -9.61205674e+01] [-1.55756884e-02 7.59587304e-04 9.99878403e-01 2.95980554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.839072329 meters Centerline goodness [0,1] 0.3355718738885751 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.12, Z:295.98 [[ 9.99879917e-01 -5.10787699e-03 1.46308226e-02 -1.70143825e+02] [ 5.07839322e-03 9.99985000e-01 2.05162653e-03 -9.61156017e+01] [-1.46410826e-02 -1.97707910e-03 9.99890859e-01 2.95982628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86907232899995 meters Centerline goodness [0,1] 0.3163440230798177 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.11, Z:295.98 [[ 9.99899896e-01 -4.30902480e-03 1.34769979e-02 -1.70141635e+02] [ 4.28050756e-03 9.99988540e-01 2.14412423e-03 -9.61146111e+01] [-1.34860825e-02 -2.08622121e-03 9.99906882e-01 2.95983674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.899072329 meters Centerline goodness [0,1] 0.2896414759067628 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.11, Z:295.99 [[ 9.99948828e-01 -1.21610793e-03 1.00430599e-02 -1.70134753e+02] [ 1.20196920e-03 9.99998278e-01 1.41372657e-03 -9.61124128e+01] [-1.00447619e-02 -1.40158277e-03 9.99948568e-01 2.95987514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92907232899995 meters Centerline goodness [0,1] 0.32635388123078213 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.11, Z:295.99 [[ 9.99960430e-01 -3.22994043e-04 8.89005909e-03 -1.70131890e+02] [ 3.06364701e-04 9.99998201e-01 1.87185297e-03 -9.61123146e+01] [-8.89064770e-03 -1.86905530e-03 9.99958731e-01 2.95987550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.959072329 meters Centerline goodness [0,1] 0.3307292757508482 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.11, Z:295.99 [[ 9.99955986e-01 3.65198982e-03 8.64225525e-03 -1.70131242e+02] [-3.69901153e-03 9.99978410e-01 5.43119194e-03 -9.61100051e+01] [-8.62223400e-03 -5.46292069e-03 9.99947905e-01 2.95987548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98907232899995 meters Centerline goodness [0,1] 0.33214585079631187 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99903903e-01 1.13053321e-02 8.02341540e-03 -1.70130574e+02] [-1.13999091e-02 9.99864902e-01 1.18414435e-02 -9.61036208e+01] [-7.88846000e-03 -1.19317717e-02 9.99897697e-01 2.95989117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.019072329 meters Centerline goodness [0,1] 0.3315439619199396 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99894032e-01 1.29336154e-02 6.68174778e-03 -1.70127520e+02] [-1.30135976e-02 9.99842483e-01 1.20687710e-02 -9.61009246e+01] [-6.52460245e-03 -1.21544457e-02 9.99904845e-01 2.95990033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04907232899996 meters Centerline goodness [0,1] 0.32862776356085077 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99895262e-01 1.33343356e-02 5.62685052e-03 -1.70125710e+02] [-1.33990703e-02 9.99842613e-01 1.16281685e-02 -9.60986141e+01] [-5.47091102e-03 -1.17023452e-02 9.99916559e-01 2.95991355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.079072329 meters Centerline goodness [0,1] 0.31424563460491606 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99901996e-01 1.29612506e-02 5.29186257e-03 -1.70125621e+02] [-1.30173007e-02 9.99858037e-01 1.06983964e-02 -9.60958088e+01] [-5.15244673e-03 -1.07662337e-02 9.99928768e-01 2.95992494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10907232899996 meters Centerline goodness [0,1] 0.3496818219877753 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.10, Z:295.99 [[ 9.99899353e-01 1.34162244e-02 4.61392010e-03 -1.70123988e+02] [-1.34654636e-02 9.99850882e-01 1.08117654e-02 -9.60952990e+01] [-4.46817902e-03 -1.08728058e-02 9.99930906e-01 2.95992681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.139072329 meters Centerline goodness [0,1] 0.3244313183360563 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.09, Z:295.99 [[ 9.99894525e-01 1.40835149e-02 3.54870692e-03 -1.70121850e+02] [-1.41213226e-02 9.99841267e-01 1.08641598e-02 -9.60944145e+01] [-3.39513807e-03 -1.09131263e-02 9.99934686e-01 2.95993526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16907232899996 meters Centerline goodness [0,1] 0.3421609503656058 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.09, Z:295.99 [[ 9.99893200e-01 1.43294724e-02 2.87321222e-03 -1.70120312e+02] [-1.43596499e-02 9.99838859e-01 1.07729109e-02 -9.60936641e+01] [-2.71837909e-03 -1.08130186e-02 9.99937843e-01 2.95993808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.199072329 meters Centerline goodness [0,1] 0.3339621059691482 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.09, Z:295.99 [[ 9.99893601e-01 1.43847874e-02 2.42180588e-03 -1.70119498e+02] [-1.44095085e-02 9.99840835e-01 1.05200322e-02 -9.60925079e+01] [-2.27009198e-03 -1.05538099e-02 9.99941730e-01 2.95994294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22907232899996 meters Centerline goodness [0,1] 0.3556734539811689 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.09, Z:295.99 [[ 9.99886012e-01 1.50377364e-02 1.35225848e-03 -1.70116973e+02] [-1.50510798e-02 9.99831931e-01 1.04678009e-02 -9.60909259e+01] [-1.19461918e-03 -1.04869606e-02 9.99944297e-01 2.95994738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.259072329 meters Centerline goodness [0,1] 0.35310876487347076 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.09, Z:295.99 [[ 9.99911659e-01 1.32867876e-02 3.68677517e-04 -1.70113362e+02] [-1.32894551e-02 9.99875124e-01 8.55147556e-03 -9.60930915e+01] [-2.55009839e-04 -8.55561963e-03 9.99963368e-01 2.95993356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28907232899996 meters Centerline goodness [0,1] 0.35169624709259684 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.09, Z:295.99 [[ 9.99892352e-01 1.46580519e-02 -6.52870032e-04 -1.70110387e+02] [-1.46511366e-02 9.99846869e-01 9.56989728e-03 -9.60941825e+01] [ 7.93046108e-04 -9.55930181e-03 9.99953994e-01 2.95992914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.319072329 meters Centerline goodness [0,1] 0.3445392241108294 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.09, Z:295.99 [[ 9.99887467e-01 1.49572584e-02 -1.15446573e-03 -1.70108710e+02] [-1.49454303e-02 9.99841727e-01 9.65173477e-03 -9.60937299e+01] [ 1.29864650e-03 -9.63339465e-03 9.99952754e-01 2.95992402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34907232899997 meters Centerline goodness [0,1] 0.35417277333444996 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.09, Z:295.99 [[ 9.99883223e-01 1.52064792e-02 -1.51747823e-03 -1.70107982e+02] [-1.51908602e-02 9.99836369e-01 9.82201994e-03 -9.60940698e+01] [ 1.66658827e-03 -9.79782116e-03 9.99950611e-01 2.95992631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.379072329 meters Centerline goodness [0,1] 0.32816034179442066 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.09, Z:295.99 [[ 9.99871688e-01 1.58077201e-02 -2.59291970e-03 -1.70105786e+02] [-1.57824425e-02 9.99830360e-01 9.49551184e-03 -9.60918140e+01] [ 2.74258223e-03 -9.45337085e-03 9.99951555e-01 2.95993600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40907232899997 meters Centerline goodness [0,1] 0.35132020117351215 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.09, Z:295.99 [[ 9.99872371e-01 1.57019477e-02 -2.94810999e-03 -1.70105354e+02] [-1.56746648e-02 9.99836097e-01 9.05999284e-03 -9.60903694e+01] [ 3.08988632e-03 -9.01262588e-03 9.99954612e-01 2.95994273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43907232899994 meters Centerline goodness [0,1] 0.3337801327832115 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:295.99 [[ 9.99904402e-01 1.32344856e-02 -4.00441359e-03 -1.70102308e+02] [-1.32100518e-02 9.99894332e-01 6.06786546e-03 -9.60905763e+01] [ 4.08429553e-03 -6.01438687e-03 9.99973572e-01 2.95993925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46907232899997 meters Centerline goodness [0,1] 0.35363938956226837 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:295.99 [[ 9.99899321e-01 1.34772130e-02 -4.43986999e-03 -1.70101553e+02] [-1.34496584e-02 9.99890460e-01 6.17864552e-03 -9.60906420e+01] [ 4.52265457e-03 -6.11830873e-03 9.99971056e-01 2.95994391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49907232899994 meters Centerline goodness [0,1] 0.32161782879165535 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:295.99 [[ 9.99898005e-01 1.33795050e-02 -4.99678189e-03 -1.70100248e+02] [-1.33512675e-02 9.99894948e-01 5.64237051e-03 -9.60885319e+01] [ 5.07174909e-03 -5.57508165e-03 9.99971598e-01 2.95994610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.529072329 meters Centerline goodness [0,1] 0.35292762124227506 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:295.99 [[ 9.99898672e-01 1.32482901e-02 -5.20846503e-03 -1.70099836e+02] [-1.32206105e-02 9.99898487e-01 5.31334282e-03 -9.60873328e+01] [ 5.27832901e-03 -5.24394535e-03 9.99972320e-01 2.95994853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55907232899995 meters Centerline goodness [0,1] 0.2949628233322861 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:296.00 [[ 9.99937543e-01 9.45077703e-03 -5.96595929e-03 -1.70098858e+02] [-9.44402196e-03 9.99954732e-01 1.15942655e-03 -9.60869001e+01] [ 5.97664671e-03 -1.10301149e-03 9.99981531e-01 2.95996096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.589072329 meters Centerline goodness [0,1] 0.3656605433484845 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:296.00 [[ 9.99954747e-01 6.61581351e-03 -6.83627604e-03 -1.70096963e+02] [-6.62889095e-03 9.99976239e-01 -1.89206339e-03 -9.60884564e+01] [ 6.82359606e-03 1.93729470e-03 9.99974842e-01 2.95996407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61907232899995 meters Centerline goodness [0,1] 0.35475632222408304 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:296.00 [[ 9.99968547e-01 2.96512545e-03 -7.35611254e-03 -1.70095685e+02] [-3.00633808e-03 9.99979813e-01 -5.59778312e-03 -9.60891823e+01] [ 7.33936591e-03 5.61972202e-03 9.99957275e-01 2.95996492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.649072329 meters Centerline goodness [0,1] 0.3534264357948954 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:296.00 [[ 9.99976056e-01 2.49333656e-03 -6.45529788e-03 -1.70098210e+02] [-2.52854894e-03 9.99981939e-01 -5.45240072e-03 -9.60910543e+01] [ 6.44158662e-03 5.46859270e-03 9.99964300e-01 2.95996541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67907232899995 meters Centerline goodness [0,1] 0.3557776939519678 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:296.00 [[ 9.99977973e-01 2.48738324e-03 -6.15355123e-03 -1.70098842e+02] [-2.51963308e-03 9.99983104e-01 -5.23866040e-03 -9.60917689e+01] [ 6.14041671e-03 5.25404970e-03 9.99967345e-01 2.95996312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.709072329 meters Centerline goodness [0,1] 0.3163130667895365 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:296.00 [[ 9.99975994e-01 2.73878761e-03 -6.36483445e-03 -1.70098177e+02] [-2.77025006e-03 9.99983963e-01 -4.93962086e-03 -9.60921809e+01] [ 6.35120380e-03 4.95713446e-03 9.99967544e-01 2.95996160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73907232899995 meters Centerline goodness [0,1] 0.316705773904299 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:296.00 [[ 9.99979781e-01 2.38831723e-03 -5.89349065e-03 -1.70098971e+02] [-2.41838116e-03 9.99984074e-01 -5.09936655e-03 -9.60919297e+01] [ 5.88121788e-03 5.11351616e-03 9.99969631e-01 2.95995640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.769072329 meters Centerline goodness [0,1] 0.3217923460619525 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:296.00 [[ 9.99980133e-01 2.62974034e-03 -5.72874200e-03 -1.70099465e+02] [-2.65600210e-03 9.99985978e-01 -4.58143657e-03 -9.60934745e+01] [ 5.71661369e-03 4.59656110e-03 9.99973096e-01 2.95995685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79907232899996 meters Centerline goodness [0,1] 0.3235848266622007 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:296.00 [[ 9.99984421e-01 2.14113444e-03 -5.15484196e-03 -1.70101228e+02] [-2.16687383e-03 9.99985188e-01 -4.99284929e-03 -9.60928662e+01] [ 5.14407524e-03 5.00394140e-03 9.99974249e-01 2.95996092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.829072329 meters Centerline goodness [0,1] 0.3266622006364093 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.09, Z:296.00 [[ 9.99987660e-01 1.94243181e-03 -4.57235859e-03 -1.70102579e+02] [-1.96525688e-03 9.99985605e-01 -4.99278150e-03 -9.60932200e+01] [ 4.56259464e-03 5.00170575e-03 9.99977083e-01 2.95995862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85907232899996 meters Centerline goodness [0,1] 0.36701916029735104 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.09, Z:296.00 [[ 9.99993801e-01 4.74360269e-04 -3.48884491e-03 -1.70106062e+02] [-4.94403865e-04 9.99983367e-01 -5.74643547e-03 -9.60941992e+01] [ 3.48606100e-03 5.74812475e-03 9.99977403e-01 2.95996370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.889072329 meters Centerline goodness [0,1] 0.3234081730869829 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:296.00 [[ 9.99989174e-01 -3.03953631e-03 -3.52335141e-03 -1.70105411e+02] [ 3.00869888e-03 9.99957412e-01 -8.72480650e-03 -9.60975468e+01] [ 3.54972072e-03 8.71411134e-03 9.99955731e-01 2.95995518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91907232899996 meters Centerline goodness [0,1] 0.2161856963613551 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:296.00 [[ 9.99990033e-01 -2.81808421e-03 -3.46289950e-03 -1.70105368e+02] [ 2.78911144e-03 9.99961306e-01 -8.34316245e-03 -9.60984676e+01] [ 3.48627724e-03 8.33342088e-03 9.99959199e-01 2.95995253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.949072329 meters Centerline goodness [0,1] 0.2161856963613551 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:296.00 [[ 9.99990033e-01 -2.81808421e-03 -3.46289950e-03 -1.70105368e+02] [ 2.78911144e-03 9.99961306e-01 -8.34316245e-03 -9.60984676e+01] [ 3.48627724e-03 8.33342088e-03 9.99959199e-01 2.95995253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97907232899996 meters Centerline goodness [0,1] 0.33058422121281894 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:295.99 [[ 9.99990562e-01 -3.45384303e-03 -2.63583243e-03 -1.70107241e+02] [ 3.43051952e-03 9.99955373e-01 -8.80244024e-03 -9.60977558e+01] [ 2.66611705e-03 8.79331489e-03 9.99957784e-01 2.95994923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.009072329 meters Centerline goodness [0,1] 0.3425716440422323 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:295.99 [[ 9.99989169e-01 -4.46519661e-03 -1.31271866e-03 -1.70109948e+02] [ 4.45355926e-03 9.99951904e-01 -8.73821628e-03 -9.60993136e+01] [ 1.35167338e-03 8.73227537e-03 9.99960959e-01 2.95993750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03907232899996 meters Centerline goodness [0,1] 0.3320834555280908 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:295.99 [[ 9.99989439e-01 -4.50489459e-03 -9.10304107e-04 -1.70110725e+02] [ 4.49702139e-03 9.99953988e-01 -8.47345513e-03 -9.61003251e+01] [ 9.48434244e-04 8.46927198e-03 9.99963685e-01 2.95993342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.069072329 meters Centerline goodness [0,1] 0.22891086619452705 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:295.99 [[ 9.99987006e-01 -5.09380372e-03 -2.00022838e-04 -1.70112584e+02] [ 5.09182951e-03 9.99947706e-01 -8.86898906e-03 -9.60998826e+01] [ 2.45189268e-04 8.86785534e-03 9.99960650e-01 2.95993385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09907232899997 meters Centerline goodness [0,1] 0.3557309770090875 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:295.99 [[ 9.99988084e-01 -4.87439514e-03 -2.70085046e-04 -1.70112528e+02] [ 4.87189733e-03 9.99951288e-01 -8.58406229e-03 -9.61004091e+01] [ 3.11914001e-04 8.58264417e-03 9.99963120e-01 2.95993598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.129072329 meters Centerline goodness [0,1] 0.32734309623430957 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:295.99 [[ 9.99987108e-01 -5.07282168e-03 -2.26172203e-04 -1.70112845e+02] [ 5.07057779e-03 9.99946542e-01 -9.01119083e-03 -9.60988914e+01] [ 2.71872277e-04 9.00992783e-03 9.99959373e-01 2.95993940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15907232899997 meters Centerline goodness [0,1] 0.23382439106051733 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.10, Z:295.99 [[ 9.99976698e-01 -6.76110541e-03 9.44279258e-04 -1.70116531e+02] [ 6.77022156e-03 9.99926981e-01 -1.00098224e-02 -9.60990568e+01] [-8.76532843e-04 1.00159821e-02 9.99949455e-01 2.95994553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18907232899994 meters Centerline goodness [0,1] 0.3310282873020516 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.10, Z:295.99 [[ 9.99973044e-01 -7.11061008e-03 1.83070255e-03 -1.70118477e+02] [ 7.12842065e-03 9.99925452e-01 -9.91340166e-03 -9.60999338e+01] [-1.76007574e-03 9.92618445e-03 9.99949185e-01 2.95994043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21907232899997 meters Centerline goodness [0,1] 0.23941214646094588 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.10, Z:295.99 [[ 9.99964217e-01 -7.94828868e-03 2.89661086e-03 -1.70121234e+02] [ 7.97745005e-03 9.99916168e-01 -1.01988960e-02 -9.61005025e+01] [-2.81530426e-03 1.02216386e-02 9.99943795e-01 2.95993922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24907232899994 meters Centerline goodness [0,1] 0.244510435400895 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.10, Z:295.99 [[ 9.99962189e-01 -7.92571321e-03 3.57813570e-03 -1.70122182e+02] [ 7.95959688e-03 9.99922653e-01 -9.55686151e-03 -9.61026689e+01] [-3.50211399e-03 9.58498067e-03 9.99947930e-01 2.95992747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.279072329 meters Centerline goodness [0,1] 0.24292176243926955 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.10, Z:295.99 [[ 9.99958920e-01 -8.06048064e-03 4.14566210e-03 -1.70123250e+02] [ 8.09884533e-03 9.99923750e-01 -9.32218007e-03 -9.61036372e+01] [-4.07020474e-03 9.35537219e-03 9.99947954e-01 2.95992138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30907232899995 meters Centerline goodness [0,1] 0.2505183354625228 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.10, Z:295.99 [[ 9.99959147e-01 -7.93101884e-03 4.33618112e-03 -1.70123121e+02] [ 7.96953294e-03 9.99928296e-01 -8.93809786e-03 -9.61045070e+01] [-4.26498198e-03 8.97229005e-03 9.99950653e-01 2.95991229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.339072329 meters Centerline goodness [0,1] 0.2507273983212275 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.11, Z:295.99 [[ 9.99950951e-01 -8.36894385e-03 5.29689334e-03 -1.70125367e+02] [ 8.41554075e-03 9.99925543e-01 -8.83673707e-03 -9.61055827e+01] [-5.22254479e-03 8.88087986e-03 9.99946926e-01 2.95990925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36907232899995 meters Centerline goodness [0,1] 0.25531157766939483 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.11, Z:295.99 [[ 9.99936951e-01 -9.18093998e-03 6.46564608e-03 -1.70128439e+02] [ 9.24086294e-03 9.99914056e-01 -9.29982436e-03 -9.61054585e+01] [-6.37970927e-03 9.35898616e-03 9.99935852e-01 2.95991013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.399072329 meters Centerline goodness [0,1] 0.25868733936519217 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.11, Z:295.99 [[ 9.99909865e-01 -1.11063944e-02 7.54392155e-03 -1.70132323e+02] [ 1.11845623e-02 9.99883368e-01 -1.03997767e-02 -9.61066748e+01] [-7.42753766e-03 1.04832148e-02 9.99917464e-01 2.95991992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42907232899995 meters Centerline goodness [0,1] 0.2619157216386995 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.11, Z:295.99 [[ 9.99941093e-01 -7.28152228e-03 8.04927057e-03 -1.70133689e+02] [ 7.33407776e-03 9.99951855e-01 -6.51910156e-03 -9.61058269e+01] [-8.00141406e-03 6.57775152e-03 9.99946354e-01 2.95991907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.459072329 meters Centerline goodness [0,1] 0.2639847705116941 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99933934e-01 -7.90883594e-03 8.34130394e-03 -1.70133698e+02] [ 7.97063616e-03 9.99940839e-01 -7.40190334e-03 -9.61030596e+01] [-8.28227002e-03 7.46789983e-03 9.99937815e-01 2.95991107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48907232899995 meters Centerline goodness [0,1] 0.26545728453957695 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99931785e-01 -7.90777080e-03 8.59604655e-03 -1.70134185e+02] [ 7.96809597e-03 9.99943709e-01 -7.00633317e-03 -9.61045042e+01] [-8.54015819e-03 7.07434936e-03 9.99938508e-01 2.95990766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.519072329 meters Centerline goodness [0,1] 0.2701267199197023 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99952710e-01 -3.87888079e-03 8.91808797e-03 -1.70134819e+02] [ 3.90454938e-03 9.99988280e-01 -2.86265537e-03 -9.61042725e+01] [-8.90687955e-03 2.89734111e-03 9.99956135e-01 2.95990360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54907232899996 meters Centerline goodness [0,1] 0.2732885456562232 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99955398e-01 -3.84900395e-03 8.62474578e-03 -1.70134222e+02] [ 3.87651290e-03 9.99987446e-01 -3.17509265e-03 -9.61027391e+01] [-8.61241656e-03 3.20838497e-03 9.99957765e-01 2.95990621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.579072329 meters Centerline goodness [0,1] 0.2750460328088383 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.10, Z:295.99 [[ 9.99952182e-01 -4.05133040e-03 8.90062999e-03 -1.70135305e+02] [ 4.08154089e-03 9.99985963e-01 -3.37865880e-03 -9.61024352e+01] [-8.88681699e-03 3.41482552e-03 9.99954681e-01 2.95991109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60907232899996 meters Centerline goodness [0,1] 0.2792939749461488 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.10, Z:295.99 [[ 9.99947084e-01 -4.35433550e-03 9.32032406e-03 -1.70137031e+02] [ 4.38813265e-03 9.99983860e-01 -3.60880509e-03 -9.61025294e+01] [-9.30445968e-03 3.64951294e-03 9.99950053e-01 2.95991930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.639072329 meters Centerline goodness [0,1] 0.2811631164161632 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.10, Z:295.99 [[ 9.99950657e-01 -4.01689936e-03 9.08560278e-03 -1.70135998e+02] [ 4.04728391e-03 9.99986271e-01 -3.32834188e-03 -9.61026307e+01] [-9.07210842e-03 3.36494967e-03 9.99953186e-01 2.95991371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66907232899996 meters Centerline goodness [0,1] 0.28171805248445914 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99958212e-01 -3.11451198e-03 8.59495377e-03 -1.70133819e+02] [ 3.13361696e-03 9.99992648e-01 -2.21024252e-03 -9.61046209e+01] [-8.58800675e-03 2.23708345e-03 9.99960620e-01 2.95990105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.699072329 meters Centerline goodness [0,1] 0.28425345043914685 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.11, Z:295.99 [[ 9.99966970e-01 -2.35517696e-03 7.77891520e-03 -1.70132156e+02] [ 2.36781254e-03 9.99995892e-01 -1.61552737e-03 -9.61053238e+01] [-7.77507839e-03 1.63389302e-03 9.99968439e-01 2.95990545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72907232899996 meters Centerline goodness [0,1] 0.29662399598393574 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99973431e-01 -1.81193445e-03 7.06073391e-03 -1.70130083e+02] [ 1.82333911e-03 9.99997043e-01 -1.60912110e-03 -9.61036791e+01] [-7.05779741e-03 1.62195246e-03 9.99973778e-01 2.95990390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.759072329 meters Centerline goodness [0,1] 0.29402782135759853 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99969875e-01 -2.19980344e-03 7.44375556e-03 -1.70131293e+02] [ 2.21413172e-03 9.99995711e-01 -1.91717940e-03 -9.61032455e+01] [-7.43950622e-03 1.93360310e-03 9.99970457e-01 2.95990698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78907232899996 meters Centerline goodness [0,1] 0.3015521989485104 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99967033e-01 -2.64585935e-03 7.67675234e-03 -1.70131867e+02] [ 2.66512836e-03 9.99993321e-01 -2.50090367e-03 -9.61016785e+01] [-7.67008403e-03 2.52128075e-03 9.99967406e-01 2.95990735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.819072329 meters Centerline goodness [0,1] 0.3002820432466311 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99973807e-01 -1.83663907e-03 7.00088587e-03 -1.70129944e+02] [ 1.84976528e-03 9.99996543e-01 -1.86892223e-03 -9.61021501e+01] [-6.99742913e-03 1.88182327e-03 9.99973747e-01 2.95990519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84907232899997 meters Centerline goodness [0,1] 0.3060261096605744 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.10, Z:295.99 [[ 9.99965499e-01 -2.64450943e-03 7.87448389e-03 -1.70132671e+02] [ 2.66467959e-03 9.99993193e-01 -2.55206827e-03 -9.61012220e+01] [-7.86768132e-03 2.57296320e-03 9.99965739e-01 2.95991243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.879072329 meters Centerline goodness [0,1] 0.31426960661488346 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.10, Z:295.99 [[ 9.99948735e-01 -4.42235322e-03 9.10877869e-03 -1.70136489e+02] [ 4.45864563e-03 9.99982188e-01 -3.96788809e-03 -9.60997593e+01] [-9.09106904e-03 4.00829750e-03 9.99950642e-01 2.95992003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90907232899997 meters Centerline goodness [0,1] 0.31161325321315303 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.10, Z:295.99 [[ 9.99938451e-01 -4.87596928e-03 9.96586904e-03 -1.70138964e+02] [ 4.91555480e-03 9.99980111e-01 -3.95148094e-03 -9.61009200e+01] [-9.94640354e-03 4.00022550e-03 9.99942532e-01 2.95992262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93907232899994 meters Centerline goodness [0,1] 0.3308273816981999 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.10, Z:295.99 [[ 9.99921837e-01 -5.78694300e-03 1.10829217e-02 -1.70141937e+02] [ 5.83034101e-03 9.99975447e-01 -3.88745697e-03 -9.61030043e+01] [-1.10601531e-02 3.95177033e-03 9.99931026e-01 2.95992145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96907232899997 meters Centerline goodness [0,1] 0.3366642328152707 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.10, Z:295.99 [[ 9.99920577e-01 -5.72428598e-03 1.12282015e-02 -1.70141869e+02] [ 5.76652727e-03 9.99976405e-01 -3.73331037e-03 -9.61031344e+01] [-1.12065660e-02 3.79776158e-03 9.99929992e-01 2.95991527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99907232899994 meters Centerline goodness [0,1] 0.33152344157878255 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.10, Z:295.99 [[ 9.99903767e-01 -6.40812157e-03 1.23041549e-02 -1.70144093e+02] [ 6.45396594e-03 9.99972365e-01 -3.68984081e-03 -9.61043065e+01] [-1.22801700e-02 3.76889632e-03 9.99917493e-01 2.95990723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.029072329 meters Centerline goodness [0,1] 0.3373408325841052 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.10, Z:295.99 [[ 9.99888349e-01 -6.92074983e-03 1.32436155e-02 -1.70146334e+02] [ 6.97137113e-03 9.99968555e-01 -3.77997614e-03 -9.61048769e+01] [-1.32170388e-02 3.87188026e-03 9.99905155e-01 2.95990427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05907232899995 meters Centerline goodness [0,1] 0.35628917676556626 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.10, Z:295.99 [[ 9.99861250e-01 -8.21218729e-03 1.44927766e-02 -1.70149417e+02] [ 8.27734600e-03 9.99955877e-01 -4.44170084e-03 -9.61047335e+01] [-1.44556611e-02 4.56104628e-03 9.99885109e-01 2.95990182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.089072329 meters Centerline goodness [0,1] 0.3683495632549003 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.11, Z:295.99 [[ 9.99828334e-01 -1.00353573e-02 1.55754656e-02 -1.70151999e+02] [ 1.01147800e-02 9.99936199e-01 -5.02884744e-03 -9.61076759e+01] [-1.55240056e-02 5.18552656e-03 9.99866049e-01 2.95989649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11907232899995 meters Centerline goodness [0,1] 0.3344559964855762 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.11, Z:295.99 [[ 9.99832977e-01 -9.43365328e-03 1.56532536e-02 -1.70152098e+02] [ 9.49615243e-03 9.99947214e-01 -3.92321179e-03 -9.61108002e+01] [-1.56154172e-02 4.07120220e-03 9.99869784e-01 2.95989375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.149072329 meters Centerline goodness [0,1] 0.3518889584637863 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.11, Z:295.99 [[ 9.99773102e-01 -1.40007190e-02 1.60538100e-02 -1.70151801e+02] [ 1.41390368e-02 9.99863611e-01 -8.53499654e-03 -9.61093855e+01] [-1.59321243e-02 8.76004537e-03 9.99834701e-01 2.95987872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17907232899995 meters Centerline goodness [0,1] 0.33235122032764963 Centerline is valid? [False, False] Translation: X:-170.16, Y:-96.11, Z:295.99 [[ 9.99788190e-01 -1.16852479e-02 1.69419837e-02 -1.70155441e+02] [ 1.17854527e-02 9.99913572e-01 -5.82685417e-03 -9.61081716e+01] [-1.68724312e-02 6.02528893e-03 9.99839496e-01 2.95989290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.209072329 meters Centerline goodness [0,1] 0.342897715407426 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.11, Z:295.99 [[ 9.99792693e-01 -1.16934733e-02 1.66683325e-02 -1.70154969e+02] [ 1.17980670e-02 9.99911238e-01 -6.19053540e-03 -9.61064275e+01] [-1.65944641e-02 6.38590616e-03 9.99841909e-01 2.95989695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23907232899995 meters Centerline goodness [0,1] 0.25418137019481735 Centerline is valid? [False, False] Translation: X:-170.16, Y:-96.11, Z:295.99 [[ 9.99787828e-01 -1.18517213e-02 1.68474159e-02 -1.70155661e+02] [ 1.19608322e-02 9.99908046e-01 -6.39047382e-03 -9.61058055e+01] [-1.67701286e-02 6.59062706e-03 9.99837650e-01 2.95990015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.269072329 meters Centerline goodness [0,1] 0.25567018921515394 Centerline is valid? [False, False] Translation: X:-170.16, Y:-96.11, Z:295.99 [[ 9.99773701e-01 -1.21275065e-02 1.74776826e-02 -1.70156944e+02] [ 1.22385168e-02 9.99905520e-01 -6.25864264e-03 -9.61066703e+01] [-1.74001296e-02 6.47112723e-03 9.99827665e-01 2.95989489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29907232899996 meters Centerline goodness [0,1] 0.3523159169694692 Centerline is valid? [False, False] Translation: X:-170.16, Y:-96.11, Z:295.99 [[ 9.99767158e-01 -1.21706189e-02 1.78186948e-02 -1.70157531e+02] [ 1.22805556e-02 9.99906147e-01 -6.07337061e-03 -9.61072791e+01] [-1.77431058e-02 6.29077994e-03 9.99822788e-01 2.95989051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.329072329 meters Centerline goodness [0,1] 0.33432156502494936 Centerline is valid? [False, False] Translation: X:-170.16, Y:-96.11, Z:295.99 [[ 9.99753949e-01 -1.25279483e-02 1.83054981e-02 -1.70158626e+02] [ 1.26453638e-02 9.99900118e-01 -6.31260394e-03 -9.61068341e+01] [-1.82245858e-02 6.54253040e-03 9.99812512e-01 2.95988815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35907232899996 meters Centerline goodness [0,1] 0.34666805497709285 Centerline is valid? [False, False] Translation: X:-170.16, Y:-96.11, Z:295.99 [[ 9.99765295e-01 -1.19665277e-02 1.80598324e-02 -1.70157727e+02] [ 1.20672679e-02 9.99912174e-01 -5.47950471e-03 -9.61087990e+01] [-1.79926756e-02 5.69615148e-03 9.99821893e-01 2.95988396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.389072329 meters Centerline goodness [0,1] 0.2707456341432918 Centerline is valid? [False, False] Translation: X:-170.16, Y:-96.11, Z:295.99 [[ 9.99769250e-01 -1.18234178e-02 1.79347002e-02 -1.70157308e+02] [ 1.19217232e-02 9.99914437e-01 -5.38431616e-03 -9.61087162e+01] [-1.78695047e-02 5.59688627e-03 9.99824662e-01 2.95988227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41907232899996 meters Centerline goodness [0,1] 0.2744389183767292 Centerline is valid? [False, False] Translation: X:-170.16, Y:-96.11, Z:295.99 [[ 9.99778314e-01 -1.14954198e-02 1.76402463e-02 -1.70156666e+02] [ 1.15897758e-02 9.99919022e-01 -5.25602668e-03 -9.61085241e+01] [-1.75783976e-02 5.45930799e-03 9.99830584e-01 2.95988322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.449072329 meters Centerline goodness [0,1] 0.2798446699235876 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.11, Z:295.99 [[ 9.99802264e-01 -1.04964380e-02 1.68895769e-02 -1.70154940e+02] [ 1.05698667e-02 9.99935045e-01 -4.26419683e-03 -9.61102302e+01] [-1.68437210e-02 4.44187422e-03 9.99848268e-01 2.95988437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47907232899996 meters Centerline goodness [0,1] 0.2841181998538165 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.11, Z:295.99 [[ 9.99815857e-01 -1.00821637e-02 1.63279716e-02 -1.70153353e+02] [ 1.01523876e-02 9.99939543e-01 -4.22366744e-03 -9.61092503e+01] [-1.62844008e-02 4.38865758e-03 9.99857769e-01 2.95988263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.509072329 meters Centerline goodness [0,1] 0.2825097121851372 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.11, Z:295.99 [[ 9.99841572e-01 -6.26168225e-03 1.66620146e-02 -1.70154482e+02] [ 6.26876858e-03 9.99980281e-01 -3.73103760e-04 -9.61085066e+01] [-1.66593498e-02 4.77494964e-04 9.99861109e-01 2.95988417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53907232899996 meters Centerline goodness [0,1] 0.2907278123824255 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.11, Z:295.99 [[ 9.99921413e-01 9.51966170e-04 1.25004838e-02 -1.70145625e+02] [-9.68741885e-04 9.99998638e-01 1.33601872e-03 -9.61050892e+01] [-1.24991949e-02 -1.34802347e-03 9.99920973e-01 2.95993649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.569072329 meters Centerline goodness [0,1] 0.2975595474602145 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.10, Z:295.99 [[ 9.99935359e-01 1.48710681e-03 1.12724143e-02 -1.70143069e+02] [-1.49716361e-03 9.99998489e-01 8.83773903e-04 -9.61022286e+01] [-1.12710830e-02 -9.00593423e-04 9.99936074e-01 2.95994597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59907232899997 meters Centerline goodness [0,1] 0.29662522202486674 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.10, Z:296.00 [[ 9.99926300e-01 5.25433404e-03 1.09447211e-02 -1.70142760e+02] [-5.29854682e-03 9.99977904e-01 4.01457300e-03 -9.60985741e+01] [-1.09233854e-02 -4.07226824e-03 9.99932046e-01 2.95995413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.629072329 meters Centerline goodness [0,1] 0.2969004893964111 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.09, Z:296.00 [[ 9.99888293e-01 1.34931766e-02 6.42927181e-03 -1.70131629e+02] [-1.35319069e-02 9.99890323e-01 6.01912280e-03 -9.60941043e+01] [-6.34734958e-03 -6.10545073e-03 9.99961217e-01 2.95999957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65907232899997 meters Centerline goodness [0,1] 0.3016696656484078 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.09, Z:296.00 [[ 9.99869354e-01 1.52033252e-02 5.48939936e-03 -1.70128202e+02] [-1.52404040e-02 9.99860890e-01 6.77717856e-03 -9.60917110e+01] [-5.38560008e-03 -6.85995382e-03 9.99961967e-01 2.95999207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68907232899994 meters Centerline goodness [0,1] 0.3037296086109773 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.09, Z:296.01 [[ 9.99738145e-01 2.28557637e-02 1.12078182e-03 -1.70118890e+02] [-2.28632512e-02 9.99712689e-01 7.19800781e-03 -9.60879519e+01] [-9.55943840e-04 -7.22174769e-03 9.99973466e-01 2.96007015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71907232899997 meters Centerline goodness [0,1] 0.28404856604563533 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.09, Z:296.01 [[ 9.99693820e-01 2.47399678e-02 -4.48507043e-04 -1.70115698e+02] [-2.47358411e-02 9.99665048e-01 7.61116722e-03 -9.60861507e+01] [ 6.36656846e-04 -7.59774263e-03 9.99970934e-01 2.96008496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74907232899994 meters Centerline goodness [0,1] 0.3077968795750199 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.08, Z:296.01 [[ 9.99676184e-01 2.53946167e-02 -1.62508365e-03 -1.70113124e+02] [-2.53824205e-02 9.99652383e-01 7.13061656e-03 -9.60831691e+01] [ 1.80559801e-03 -7.08705899e-03 9.99973256e-01 2.96009398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.779072329 meters Centerline goodness [0,1] 0.2786713579626372 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.08, Z:296.02 [[ 9.99358287e-01 3.52211357e-02 -6.51808220e-03 -1.70101165e+02] [-3.51564680e-02 9.99333933e-01 9.78331342e-03 -9.60831361e+01] [ 6.85832013e-03 -9.54788259e-03 9.99930898e-01 2.96015821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80907232899995 meters Centerline goodness [0,1] 0.2793430672224899 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.08, Z:296.02 [[ 9.99354997e-01 3.51289699e-02 -7.45282968e-03 -1.70099241e+02] [-3.50635970e-02 9.99346969e-01 8.72805996e-03 -9.60790380e+01] [ 7.75457051e-03 -8.46110733e-03 9.99934136e-01 2.96016628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.839072329 meters Centerline goodness [0,1] 0.28104643612676206 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.08, Z:296.02 [[ 9.99301297e-01 3.63178807e-02 -8.82772623e-03 -1.70096088e+02] [-3.62390112e-02 9.99303199e-01 8.93588460e-03 -9.60774499e+01] [ 9.14610745e-03 -8.60973301e-03 9.99921107e-01 2.96017393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86907232899995 meters Centerline goodness [0,1] 0.28104643612676206 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.08, Z:296.02 [[ 9.99301297e-01 3.63178807e-02 -8.82772623e-03 -1.70096088e+02] [-3.62390112e-02 9.99303199e-01 8.93588460e-03 -9.60774499e+01] [ 9.14610745e-03 -8.60973301e-03 9.99921107e-01 2.96017393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.899072329 meters Centerline goodness [0,1] 0.2854267141958482 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.07, Z:296.02 [[ 9.99124111e-01 4.07346512e-02 -9.57598084e-03 -1.70093881e+02] [-4.06143734e-02 9.99097500e-01 1.24361617e-02 -9.60741555e+01] [ 1.00739212e-02 -1.20363465e-02 9.99876814e-01 2.96017766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92907232899995 meters Centerline goodness [0,1] 0.3198069660092321 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.07, Z:296.02 [[ 9.99091297e-01 4.13443889e-02 -1.03548366e-02 -1.70091742e+02] [-4.12127421e-02 9.99070694e-01 1.26197361e-02 -9.60735108e+01] [ 1.08669691e-02 -1.21815173e-02 9.99866751e-01 2.96017680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.959072329 meters Centerline goodness [0,1] 0.3102992680829646 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.07, Z:296.02 [[ 9.99080529e-01 4.15029205e-02 -1.07519655e-02 -1.70090990e+02] [-4.13673970e-02 9.99065376e-01 1.25344530e-02 -9.60729360e+01] [ 1.12621328e-02 -1.20781471e-02 9.99863632e-01 2.96018003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98907232899995 meters Centerline goodness [0,1] 0.30843590765165974 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.07, Z:296.02 [[ 9.99053947e-01 4.20045008e-02 -1.12620359e-02 -1.70090207e+02] [-4.18590848e-02 9.99040873e-01 1.28510787e-02 -9.60733618e+01] [ 1.17910373e-02 -1.23675024e-02 9.99853998e-01 2.96018677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.019072329 meters Centerline goodness [0,1] 0.3160057013498784 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.07, Z:296.02 [[ 9.98963621e-01 4.38686270e-02 -1.21337351e-02 -1.70087167e+02] [-4.36966239e-02 9.98945411e-01 1.40950791e-02 -9.60733871e+01] [ 1.27392708e-02 -1.35502680e-02 9.99827036e-01 2.96018111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04907232899996 meters Centerline goodness [0,1] 0.3232232064145082 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.07, Z:296.02 [[ 9.98898380e-01 4.50625098e-02 -1.30918176e-02 -1.70084773e+02] [-4.48704525e-02 9.98885958e-01 1.46111099e-02 -9.60726624e+01] [ 1.37356461e-02 -1.40075782e-02 9.99807541e-01 2.96018533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.079072329 meters Centerline goodness [0,1] 0.3152848871360242 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.07, Z:296.02 [[ 9.99020292e-01 4.19543091e-02 -1.40816138e-02 -1.70082805e+02] [-4.17963940e-02 9.99061936e-01 1.13273655e-02 -9.60739400e+01] [ 1.45436362e-02 -1.07277073e-02 9.99836686e-01 2.96018749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10907232899996 meters Centerline goodness [0,1] 0.31975731110784544 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.08, Z:296.02 [[ 9.99182301e-01 3.78206168e-02 -1.42944430e-02 -1.70083010e+02] [-3.77176948e-02 9.99261016e-01 7.40252122e-03 -9.60750666e+01] [ 1.45638476e-02 -6.85731474e-03 9.99870427e-01 2.96019043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.139072329 meters Centerline goodness [0,1] 0.32305691875340803 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.08, Z:296.02 [[ 9.99197085e-01 3.76949011e-02 -1.35749958e-02 -1.70084715e+02] [-3.75931520e-02 9.99263660e-01 7.67417394e-03 -9.60764625e+01] [ 1.38542772e-02 -7.15768534e-03 9.99878406e-01 2.96018682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16907232899996 meters Centerline goodness [0,1] 0.3275254749025035 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.09, Z:296.03 [[ 9.99448981e-01 2.86598660e-02 -1.67435368e-02 -1.70076229e+02] [-2.84905727e-02 9.99541368e-01 1.02635356e-02 -9.60851706e+01] [ 1.70300092e-02 -9.78084725e-03 9.99807138e-01 2.96025134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.199072329 meters Centerline goodness [0,1] 0.3296364627447692 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.09, Z:296.03 [[ 9.99541665e-01 2.49548242e-02 -1.71381619e-02 -1.70075523e+02] [-2.48394506e-02 9.99667556e-01 6.91219541e-03 -9.60875828e+01] [ 1.73049570e-02 -6.48332478e-03 9.99829238e-01 2.96025021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22907232899996 meters Centerline goodness [0,1] 0.3402606108853228 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.09, Z:296.02 [[ 9.99675442e-01 1.99600488e-02 -1.58305805e-02 -1.70078822e+02] [-1.99104884e-02 9.99796379e-01 3.28214323e-03 -9.60909913e+01] [ 1.58928688e-02 -2.96588339e-03 9.99869302e-01 2.96024113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.259072329 meters Centerline goodness [0,1] 0.3578742383315535 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.09, Z:296.02 [[ 9.99723807e-01 1.68129810e-02 -1.64205212e-02 -1.70077437e+02] [-1.68082887e-02 9.99858641e-01 4.23730797e-04 -9.60938569e+01] [ 1.64253242e-02 -1.47612903e-04 9.99865084e-01 2.96023945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28907232899996 meters Centerline goodness [0,1] 0.3534459303907411 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.10, Z:296.02 [[ 9.99896194e-01 1.40476228e-02 -3.20413786e-03 -1.70080933e+02] [-1.40366858e-02 9.99895664e-01 3.41072564e-03 -9.61003775e+01] [ 3.25171614e-03 -3.36539611e-03 9.99989050e-01 2.96019896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.319072329 meters Centerline goodness [0,1] 0.3258843487548956 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.10, Z:296.02 [[ 9.99953170e-01 9.43109739e-03 -2.17061111e-03 -1.70083334e+02] [-9.43118329e-03 9.99955525e-01 -2.93438433e-05 -9.61040142e+01] [ 2.17023782e-03 4.98139003e-05 9.99997644e-01 2.96019027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34907232899997 meters Centerline goodness [0,1] 0.35166031573217205 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.11, Z:296.02 [[ 9.99979810e-01 5.88033864e-03 -2.40851265e-03 -1.70082244e+02] [-5.88815395e-03 9.99977381e-01 -3.25073588e-03 -9.61062805e+01] [ 2.38934274e-03 3.26485194e-03 9.99991816e-01 2.96018299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.379072329 meters Centerline goodness [0,1] 0.3460659552611166 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.11, Z:296.02 [[ 9.99986026e-01 5.12092024e-03 -1.31270029e-03 -1.70084926e+02] [-5.12555558e-03 9.99980554e-01 -3.55244245e-03 -9.61064080e+01] [ 1.29448299e-03 3.55912113e-03 9.99992828e-01 2.96018016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40907232899997 meters Centerline goodness [0,1] 0.35896147403685097 Centerline is valid? [False, False] Translation: X:-170.08, Y:-96.11, Z:296.02 [[ 9.99996770e-01 1.79631183e-03 -1.79808039e-03 -1.70083271e+02] [-1.80826175e-03 9.99976144e-01 -6.66651378e-03 -9.61082896e+01] [ 1.78606235e-03 6.66974365e-03 9.99976162e-01 2.96017530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43907232899994 meters Centerline goodness [0,1] 0.34386067858415237 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.02 [[ 9.99999295e-01 9.87318154e-04 -6.60148794e-04 -1.70086097e+02] [-9.91848190e-04 9.99975721e-01 -6.89739650e-03 -9.61087315e+01] [ 6.53322842e-04 6.89804640e-03 9.99975995e-01 2.96017387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46907232899997 meters Centerline goodness [0,1] 0.3366686902095414 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.02 [[ 9.99999869e-01 -1.05607970e-04 5.00834519e-04 -1.70089100e+02] [ 1.09344351e-04 9.99972122e-01 -7.46616065e-03 -9.61085153e+01] [-5.00032071e-04 7.46621443e-03 9.99972002e-01 2.96017336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49907232899994 meters Centerline goodness [0,1] 0.36053937477752884 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.02 [[ 9.99987752e-01 -4.69360399e-03 1.57041479e-03 -1.70091350e+02] [ 4.71077965e-03 9.99927095e-01 -1.11181734e-02 -9.61113010e+01] [-1.51811600e-03 1.11254351e-02 9.99936958e-01 2.96016530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.529072329 meters Centerline goodness [0,1] 0.3662440371579212 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.02 [[ 9.99983004e-01 -5.24460541e-03 2.54690793e-03 -1.70093756e+02] [ 5.27242297e-03 9.99925146e-01 -1.10410460e-02 -9.61126121e+01] [-2.48881136e-03 1.10542867e-02 9.99935802e-01 2.96016228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55907232899995 meters Centerline goodness [0,1] 0.36669317040508875 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.02 [[ 9.99980650e-01 -5.36406468e-03 3.15050347e-03 -1.70095129e+02] [ 5.39748775e-03 9.99928209e-01 -1.06978843e-02 -9.61140194e+01] [-3.09289315e-03 1.07146821e-02 9.99937813e-01 2.96015893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.589072329 meters Centerline goodness [0,1] 0.31902688217067243 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.12, Z:296.01 [[ 9.99981554e-01 -5.13370017e-03 3.24596654e-03 -1.70094662e+02] [ 5.16657109e-03 9.99934624e-01 -1.02007332e-02 -9.61152082e+01] [-3.19338682e-03 1.02173155e-02 9.99942703e-01 2.96014852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61907232899995 meters Centerline goodness [0,1] 0.37716965725173257 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99989850e-01 -1.83402871e-03 4.11541988e-03 -1.70096819e+02] [ 1.86240593e-03 9.99974446e-01 -6.90213395e-03 -9.61132997e+01] [-4.10265600e-03 6.90972847e-03 9.99967711e-01 2.96014761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.649072329 meters Centerline goodness [0,1] 0.36010801984550656 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99990411e-01 -1.87692572e-03 3.95671830e-03 -1.70095811e+02] [ 1.90539264e-03 9.99972242e-01 -7.20312601e-03 -9.61116421e+01] [-3.94308874e-03 7.21059604e-03 9.99966229e-01 2.96014080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67907232899995 meters Centerline goodness [0,1] 0.35819237460437237 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99993708e-01 -9.47478770e-04 3.41839480e-03 -1.70093581e+02] [ 9.68958559e-04 9.99979765e-01 -6.28741462e-03 -9.61125944e+01] [-3.41236843e-03 6.29068735e-03 9.99974391e-01 2.96013021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.709072329 meters Centerline goodness [0,1] 0.3615073629527221 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99995175e-01 -5.20228926e-04 3.06246733e-03 -1.70092193e+02] [ 5.38329539e-04 9.99982375e-01 -5.91261319e-03 -9.61127714e+01] [-3.05933745e-03 5.91423328e-03 9.99977831e-01 2.96012394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73907232899995 meters Centerline goodness [0,1] 0.33902638362077997 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99996992e-01 3.79211624e-04 2.42307432e-03 -1.70089917e+02] [-3.66684644e-04 9.99986577e-01 -5.16822484e-03 -9.61132220e+01] [-2.42500165e-03 5.16732079e-03 9.99983709e-01 2.96011701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.769072329 meters Centerline goodness [0,1] 0.3437139803424356 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99998230e-01 2.90370388e-04 1.85884015e-03 -1.70088729e+02] [-2.78930762e-04 9.99981041e-01 -6.15147831e-03 -9.61088556e+01] [-1.86059112e-03 6.15094893e-03 9.99979352e-01 2.96012513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79907232899996 meters Centerline goodness [0,1] 0.35622578280448214 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99997044e-01 -5.68351411e-04 2.36400798e-03 -1.70090502e+02] [ 5.85670918e-04 9.99972948e-01 -7.33210334e-03 -9.61056615e+01] [-2.35977682e-03 7.33346620e-03 9.99970325e-01 2.96013347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.829072329 meters Centerline goodness [0,1] 0.35631197958073557 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99996618e-01 -6.53968508e-04 2.51724935e-03 -1.70091330e+02] [ 6.72737797e-04 9.99971928e-01 -7.46265839e-03 -9.61052999e+01] [-2.51229834e-03 7.46432660e-03 9.99968986e-01 2.96013995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85907232899996 meters Centerline goodness [0,1] 0.30378952651832025 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99992560e-01 -1.53539195e-03 3.53867664e-03 -1.70093947e+02] [ 1.56239145e-03 9.99969596e-01 -7.63973669e-03 -9.61065998e+01] [-3.52683906e-03 7.64520865e-03 9.99964555e-01 2.96013755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.889072329 meters Centerline goodness [0,1] 0.3177258925766936 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99990622e-01 -1.42418451e-03 4.08995329e-03 -1.70095156e+02] [ 1.45283626e-03 9.99974367e-01 -7.01099171e-03 -9.61089729e+01] [-4.07986351e-03 7.01686800e-03 9.99967059e-01 2.96013310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91907232899996 meters Centerline goodness [0,1] 0.35733851912259795 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99990360e-01 -1.21240551e-03 4.22011396e-03 -1.70095027e+02] [ 1.24020975e-03 9.99977503e-01 -6.59213490e-03 -9.61099661e+01] [-4.21202668e-03 6.59730518e-03 9.99969367e-01 2.96012633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.949072329 meters Centerline goodness [0,1] 0.36888712108524535 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99992733e-01 -7.33254136e-04 3.74114971e-03 -1.70093154e+02] [ 7.57382535e-04 9.99978898e-01 -6.45212569e-03 -9.61086946e+01] [-3.73633971e-03 6.45491229e-03 9.99972187e-01 2.96011956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97907232899996 meters Centerline goodness [0,1] 0.3345752140151119 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99994471e-01 -3.95978039e-04 3.30172895e-03 -1.70091816e+02] [ 4.16480800e-04 9.99980623e-01 -6.21133118e-03 -9.61086741e+01] [-3.29920542e-03 6.21267194e-03 9.99975259e-01 2.96011653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.009072329 meters Centerline goodness [0,1] 0.3188032577518163 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99987555e-01 3.80217859e-03 3.23015451e-03 -1.70091820e+02] [-3.79513731e-03 9.99990415e-01 -2.18319677e-03 -9.61079088e+01] [-3.23842445e-03 2.17091072e-03 9.99992400e-01 2.96011901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03907232899996 meters Centerline goodness [0,1] 0.3533585916731208 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.01 [[ 9.99964245e-01 8.09404074e-03 2.44845569e-03 -1.70090196e+02] [-8.09709411e-03 9.99966450e-01 1.23972614e-03 -9.61045888e+01] [-2.43833915e-03 -1.25950719e-03 9.99996234e-01 2.96012736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.069072329 meters Centerline goodness [0,1] 0.3345882746648261 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.01 [[ 9.99983212e-01 5.52642635e-03 1.74190835e-03 -1.70087358e+02] [-5.52340304e-03 9.99983240e-01 -1.73569099e-03 -9.61041161e+01] [-1.75147132e-03 1.72604059e-03 9.99996977e-01 2.96011707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09907232899997 meters Centerline goodness [0,1] 0.34428218753922757 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.01 [[ 9.99983515e-01 5.25526393e-03 2.31357543e-03 -1.70089117e+02] [-5.25131764e-03 9.99984752e-01 -1.70849446e-03 -9.61049972e+01] [-2.32251874e-03 1.69631697e-03 9.99995864e-01 2.96011979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.129072329 meters Centerline goodness [0,1] 0.33168648467593365 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99983417e-01 5.15705370e-03 2.56341665e-03 -1.70090044e+02] [-5.15284485e-03 9.99985370e-01 -1.64579355e-03 -9.61056526e+01] [-2.57186660e-03 1.63255737e-03 9.99995360e-01 2.96012319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15907232899997 meters Centerline goodness [0,1] 0.3347564038171773 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99982383e-01 5.37058769e-03 2.52783783e-03 -1.70089870e+02] [-5.36714523e-03 9.99984663e-01 -1.36663732e-03 -9.61062631e+01] [-2.53513871e-03 1.35304597e-03 9.99995871e-01 2.96012178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18907232899994 meters Centerline goodness [0,1] 0.3478488214009329 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99994097e-01 2.75990697e-03 2.04661836e-03 -1.70087852e+02] [-2.75256743e-03 9.99989802e-01 -3.58036671e-03 -9.61102068e+01] [-2.05647897e-03 3.57471212e-03 9.99991496e-01 2.96011023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21907232899997 meters Centerline goodness [0,1] 0.3430756337733082 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99993323e-01 2.65596133e-03 2.51010534e-03 -1.70088781e+02] [-2.64710543e-03 9.99990284e-01 -3.52486064e-03 -9.61105531e+01] [-2.51944285e-03 3.51819259e-03 9.99990637e-01 2.96010605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24907232899994 meters Centerline goodness [0,1] 0.33702362765000105 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99992501e-01 2.79569825e-03 2.68000988e-03 -1.70088833e+02] [-2.78710140e-03 9.99990976e-01 -3.20615402e-03 -9.61113989e+01] [-2.68894913e-03 3.19866052e-03 9.99991269e-01 2.96010033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.279072329 meters Centerline goodness [0,1] 0.33808737112863085 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99991877e-01 2.00698991e-03 3.49528392e-03 -1.70090249e+02] [-1.99427704e-03 9.99991398e-01 -3.63684528e-03 -9.61109567e+01] [-3.50255297e-03 3.62984518e-03 9.99987278e-01 2.96009142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30907232899995 meters Centerline goodness [0,1] 0.34707839076131297 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99990968e-01 2.29047031e-03 3.58007111e-03 -1.70090170e+02] [-2.27918654e-03 9.99992433e-01 -3.15273517e-03 -9.61120447e+01] [-3.58726526e-03 3.14454705e-03 9.99988622e-01 2.96008730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.339072329 meters Centerline goodness [0,1] 0.3621317375292936 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99988917e-01 1.76543454e-03 4.36443808e-03 -1.70091998e+02] [-1.75020391e-03 9.99992375e-01 -3.49107220e-03 -9.61116771e+01] [-4.37056806e-03 3.48339485e-03 9.99984382e-01 2.96008446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36907232899995 meters Centerline goodness [0,1] 0.3382223710089133 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99988742e-01 1.99085988e-03 4.30717158e-03 -1.70091224e+02] [-1.97657604e-03 9.99992542e-01 -3.31801072e-03 -9.61114503e+01] [-4.31374516e-03 3.30945992e-03 9.99985219e-01 2.96007660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.399072329 meters Centerline goodness [0,1] 0.3395223243254558 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99988519e-01 1.99804912e-03 4.35532395e-03 -1.70091512e+02] [-1.98382787e-03 9.99992695e-01 -3.26713422e-03 -9.61116143e+01] [-4.36182003e-03 3.25845650e-03 9.99985178e-01 2.96007895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42907232899995 meters Centerline goodness [0,1] 0.3658914404136401 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99989861e-01 1.83395854e-03 4.11263768e-03 -1.70091247e+02] [-1.81800792e-03 9.99990825e-01 -3.87883009e-03 -9.61092528e+01] [-4.11971356e-03 3.87131396e-03 9.99984020e-01 2.96008524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.459072329 meters Centerline goodness [0,1] 0.3434943615708099 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99991493e-01 1.85800708e-03 3.68261228e-03 -1.70090130e+02] [-1.84205768e-03 9.99988930e-01 -4.32967156e-03 -9.61068645e+01] [-3.69061608e-03 4.32285114e-03 9.99983846e-01 2.96008711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48907232899995 meters Centerline goodness [0,1] 0.3498327059807612 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99992137e-01 -2.13649441e-03 3.34080247e-03 -1.70088668e+02] [ 2.16518031e-03 9.99960618e-01 -8.60661893e-03 -9.61052297e+01] [-3.32228291e-03 8.61378470e-03 9.99957382e-01 2.96008227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.519072329 meters Centerline goodness [0,1] 0.3481963508536994 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99989240e-01 -2.36159218e-03 3.99285805e-03 -1.70089961e+02] [ 2.39536616e-03 9.99961217e-01 -8.47508127e-03 -9.61059908e+01] [-3.97268851e-03 8.48455443e-03 9.99956114e-01 2.96007640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54907232899996 meters Centerline goodness [0,1] 0.3491406348011542 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99981491e-01 -3.23887297e-03 5.15044693e-03 -1.70092767e+02] [ 3.28289877e-03 9.99957951e-01 -8.56260232e-03 -9.61075170e+01] [-5.12249717e-03 8.57935223e-03 9.99950076e-01 2.96007263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.579072329 meters Centerline goodness [0,1] 0.36336053567691984 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99984737e-01 -2.58789463e-03 4.88138173e-03 -1.70092161e+02] [ 2.62631552e-03 9.99965496e-01 -7.88098485e-03 -9.61089292e+01] [-4.86081814e-03 7.89368461e-03 9.99957030e-01 2.96007311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60907232899996 meters Centerline goodness [0,1] 0.359763239354137 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.01 [[ 9.99979647e-01 -3.09516452e-03 5.57901092e-03 -1.70094074e+02] [ 3.14156062e-03 9.99960398e-01 -8.32669792e-03 -9.61081515e+01] [-5.55301748e-03 8.34405525e-03 9.99949769e-01 2.96007508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.639072329 meters Centerline goodness [0,1] 0.2999623714357388 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99972617e-01 -3.58367329e-03 6.47470665e-03 -1.70096191e+02] [ 3.63901594e-03 9.99956775e-01 -8.55604952e-03 -9.61080651e+01] [-6.44376469e-03 8.57937679e-03 9.99942434e-01 2.96007291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66907232899996 meters Centerline goodness [0,1] 0.30836018243441143 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99968933e-01 -3.51344474e-03 7.05607323e-03 -1.70097340e+02] [ 3.57082110e-03 9.99960531e-01 -8.13541652e-03 -9.61094799e+01] [-7.02721140e-03 8.16035976e-03 9.99942012e-01 2.96006749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.699072329 meters Centerline goodness [0,1] 0.3289889332859145 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99962659e-01 -3.90249455e-03 7.71039825e-03 -1.70098708e+02] [ 3.96656798e-03 9.99957585e-01 -8.31226040e-03 -9.61092605e+01] [-7.67763266e-03 8.34253383e-03 9.99935726e-01 2.96006283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72907232899996 meters Centerline goodness [0,1] 0.33092035064962233 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99966537e-01 -3.38015637e-03 7.44979293e-03 -1.70097603e+02] [ 3.43731205e-03 9.99964657e-01 -7.67271341e-03 -9.61102863e+01] [-7.42359466e-03 7.69806392e-03 9.99942813e-01 2.96005717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.759072329 meters Centerline goodness [0,1] 0.33092035064962233 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99966537e-01 -3.38015637e-03 7.44979293e-03 -1.70097603e+02] [ 3.43731205e-03 9.99964657e-01 -7.67271341e-03 -9.61102863e+01] [-7.42359466e-03 7.69806392e-03 9.99942813e-01 2.96005717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78907232899996 meters Centerline goodness [0,1] 0.3216555183946488 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99957281e-01 -4.13338177e-03 8.26751718e-03 -1.70099244e+02] [ 4.20139900e-03 9.99957334e-01 -8.22666706e-03 -9.61091842e+01] [-8.23316048e-03 8.26105076e-03 9.99931983e-01 2.96005244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.819072329 meters Centerline goodness [0,1] 0.2745393004889056 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99943242e-01 -5.10698406e-03 9.35053029e-03 -1.70102270e+02] [ 5.18881588e-03 9.99948270e-01 -8.74832632e-03 -9.61092572e+01] [-9.30536903e-03 8.79634796e-03 9.99918014e-01 2.96005495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84907232899997 meters Centerline goodness [0,1] 0.26088861076345427 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.01 [[ 9.99940758e-01 -4.97144535e-03 9.68322004e-03 -1.70103055e+02] [ 5.05257405e-03 9.99952190e-01 -8.37191173e-03 -9.61102674e+01] [-9.64113658e-03 8.42034095e-03 9.99918070e-01 2.96005384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.879072329 meters Centerline goodness [0,1] 0.2819820950468541 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.00 [[ 9.99932270e-01 -5.27867489e-03 1.03726549e-02 -1.70104332e+02] [ 5.36672300e-03 9.99949651e-01 -8.47906282e-03 -9.61100944e+01] [-1.03273744e-02 8.53415569e-03 9.99910253e-01 2.96004711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90907232899997 meters Centerline goodness [0,1] 0.2985174497626665 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99918557e-01 -5.87240786e-03 1.13311003e-02 -1.70106473e+02] [ 5.96772853e-03 9.99946938e-01 -8.39691130e-03 -9.61115908e+01] [-1.12811890e-02 8.46384836e-03 9.99900544e-01 2.96004103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93907232899994 meters Centerline goodness [0,1] 0.29198209879125014 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99895698e-01 -7.11969603e-03 1.25659184e-02 -1.70109512e+02] [ 7.23038580e-03 9.99935267e-01 -8.78539099e-03 -9.61129806e+01] [-1.25025557e-02 8.87533110e-03 9.99882450e-01 2.96003685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96907232899997 meters Centerline goodness [0,1] 0.2935923710736543 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99892498e-01 -7.11478330e-03 1.28207808e-02 -1.70110339e+02] [ 7.22741391e-03 9.99935510e-01 -8.76019102e-03 -9.61130074e+01] [-1.27576271e-02 8.85191037e-03 9.99879436e-01 2.96003973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99907232899994 meters Centerline goodness [0,1] 0.28212956379908827 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.01 [[ 9.99868647e-01 -8.46186910e-03 1.38233385e-02 -1.70113816e+02] [ 8.59763266e-03 9.99915099e-01 -9.79160424e-03 -9.61125200e+01] [-1.37393096e-02 9.90916607e-03 9.99856510e-01 2.96005053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.029072329 meters Centerline goodness [0,1] 0.29930239358369193 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99869947e-01 -8.23557276e-03 1.38659748e-02 -1.70113879e+02] [ 8.36668004e-03 9.99920590e-01 -9.42401496e-03 -9.61133686e+01] [-1.37872616e-02 9.53880151e-03 9.99859451e-01 2.96004934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05907232899995 meters Centerline goodness [0,1] 0.30634811145251983 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.11, Z:296.00 [[ 9.99879578e-01 -5.03884517e-03 1.46778617e-02 -1.70115983e+02] [ 5.12979329e-03 9.99967837e-01 -6.16523350e-03 -9.61114294e+01] [-1.46463240e-02 6.23978547e-03 9.99873267e-01 2.96004909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.089072329 meters Centerline goodness [0,1] 0.2905534051679046 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99884216e-01 -4.75546373e-03 1.44547891e-02 -1.70114997e+02] [ 4.84084629e-03 9.99971009e-01 -5.87763184e-03 -9.61115961e+01] [-1.44264192e-02 5.94692472e-03 9.99878249e-01 2.96004321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11907232899995 meters Centerline goodness [0,1] 0.2901611890307725 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99892126e-01 -3.69685066e-03 1.42151418e-02 -1.70113262e+02] [ 3.76058493e-03 9.99982986e-01 -4.45943486e-03 -9.61143034e+01] [-1.41984141e-02 4.51241105e-03 9.99889015e-01 2.96002812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.149072329 meters Centerline goodness [0,1] 0.3198761013792093 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.11, Z:296.00 [[ 9.99877090e-01 -4.21847695e-03 1.50999581e-02 -1.70115421e+02] [ 4.29107929e-03 9.99979374e-01 -4.77894887e-03 -9.61141900e+01] [-1.50794867e-02 4.84315660e-03 9.99874569e-01 2.96002636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17907232899995 meters Centerline goodness [0,1] 0.3072979871950454 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.12, Z:296.00 [[ 9.99876804e-01 -3.90829446e-03 1.52020162e-02 -1.70115461e+02] [ 3.97383397e-03 9.99982930e-01 -4.28342305e-03 -9.61155647e+01] [-1.51850158e-02 4.34330564e-03 9.99875268e-01 2.96002231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.209072329 meters Centerline goodness [0,1] 0.29691330860627396 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99893754e-01 8.82868051e-04 1.45499635e-02 -1.70113663e+02] [-8.84116507e-04 9.99999606e-01 7.93727091e-05 -9.61148039e+01] [-1.45498877e-02 -9.22281390e-05 9.99894141e-01 2.96002029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23907232899995 meters Centerline goodness [0,1] 0.29590170797052917 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99904324e-01 2.48704168e-03 1.36072394e-02 -1.70110585e+02] [-2.50247226e-03 9.99996245e-01 1.11708866e-03 -9.61148752e+01] [-1.36044101e-02 -1.15103352e-03 9.99906793e-01 2.96001321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.269072329 meters Centerline goodness [0,1] 0.3004918890633176 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99917688e-01 3.29507017e-03 1.23999763e-02 -1.70107721e+02] [-3.30198831e-03 9.99994404e-01 5.37483388e-04 -9.61109747e+01] [-1.23981359e-02 -5.78383723e-04 9.99922973e-01 2.96002061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29907232899996 meters Centerline goodness [0,1] 0.30451253715099 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99924472e-01 3.68266511e-03 1.17255183e-02 -1.70106486e+02] [-3.68555932e-03 9.99993183e-01 2.25230946e-04 -9.61089614e+01] [-1.17246089e-02 -2.68429028e-04 9.99931228e-01 2.96002890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.329072329 meters Centerline goodness [0,1] 0.3027521017190179 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.11, Z:296.00 [[ 9.99928718e-01 3.37886001e-03 1.14517449e-02 -1.70106590e+02] [-3.37201510e-03 9.99994124e-01 -6.16973204e-04 -9.61063299e+01] [-1.14537623e-02 5.78313768e-04 9.99934236e-01 2.96004125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35907232899996 meters Centerline goodness [0,1] 0.30374848345395977 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:296.01 [[ 9.99933507e-01 3.29194417e-03 1.10518815e-02 -1.70106191e+02] [-3.27829210e-03 9.99993841e-01 -1.25316027e-03 -9.61039302e+01] [-1.10559388e-02 1.21684565e-03 9.99938141e-01 2.96005137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.389072329 meters Centerline goodness [0,1] 0.31316004098789185 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:296.01 [[ 9.99928855e-01 2.77816820e-03 1.16003055e-02 -1.70107794e+02] [-2.75831778e-03 9.99994705e-01 -1.72684707e-03 -9.61032164e+01] [-1.16050415e-02 1.69472689e-03 9.99931223e-01 2.96005454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41907232899996 meters Centerline goodness [0,1] 0.31792898665885994 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:296.01 [[ 9.99926388e-01 2.95949821e-03 1.17668694e-02 -1.70108324e+02] [-2.94362762e-03 9.99994735e-01 -1.36584265e-03 -9.61045510e+01] [-1.17708497e-02 1.33110483e-03 9.99929835e-01 2.96005473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.449072329 meters Centerline goodness [0,1] 0.3251159486900932 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.10, Z:296.00 [[ 9.99930122e-01 3.61846339e-03 1.12542594e-02 -1.70106412e+02] [-3.60927582e-03 9.99993137e-01 -8.36566565e-04 -9.61049494e+01] [-1.12572092e-02 7.95888380e-04 9.99936319e-01 2.96004706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47907232899996 meters Centerline goodness [0,1] 0.3310111090190171 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.00 [[ 9.99935072e-01 5.08596745e-03 1.01972789e-02 -1.70103283e+02] [-5.08736073e-03 9.99987053e-01 1.10697971e-04 -9.61053533e+01] [-1.01965839e-02 -1.62568020e-04 9.99948000e-01 2.96004242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.509072329 meters Centerline goodness [0,1] 0.3336263736263736 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.10, Z:296.00 [[ 9.99939272e-01 5.48335124e-03 9.55952446e-03 -1.70101513e+02] [-5.48519282e-03 9.99984942e-01 1.66435881e-04 -9.61045016e+01] [-9.55846789e-03 -2.18861609e-04 9.99954293e-01 2.96004074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53907232899996 meters Centerline goodness [0,1] 0.3372545736174488 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.10, Z:296.00 [[ 9.99908819e-01 1.02691906e-02 8.76912732e-03 -1.70098978e+02] [-1.03067341e-02 9.99937866e-01 4.24692134e-03 -9.61021719e+01] [-8.72497001e-03 -4.33691517e-03 9.99952532e-01 2.96003758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.569072329 meters Centerline goodness [0,1] 0.2993904099545426 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.10, Z:296.00 [[ 9.99910742e-01 1.03572675e-02 8.44009626e-03 -1.70098432e+02] [-1.03921291e-02 9.99937607e-01 4.09713540e-03 -9.61014828e+01] [-8.39713452e-03 -4.18448027e-03 9.99955988e-01 2.96004162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59907232899997 meters Centerline goodness [0,1] 0.2859206229590555 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.10, Z:296.01 [[ 9.99910135e-01 1.05950134e-02 8.21385304e-03 -1.70098642e+02] [-1.06281186e-02 9.99935530e-01 3.99729232e-03 -9.61011887e+01] [-8.17097212e-03 -4.08423091e-03 9.99958276e-01 2.96005224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.629072329 meters Centerline goodness [0,1] 0.3050474574140424 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.10, Z:296.00 [[ 9.99937827e-01 8.47635526e-03 7.24526754e-03 -1.70096125e+02] [-8.48761197e-03 9.99962818e-01 1.52433045e-03 -9.61032084e+01] [-7.23207738e-03 -1.58573070e-03 9.99972591e-01 2.96004986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65907232899997 meters Centerline goodness [0,1] 0.3102127125031404 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.00 [[ 9.99963444e-01 5.65739121e-03 6.41132000e-03 -1.70093541e+02] [-5.64856358e-03 9.99983075e-01 -1.39415327e-03 -9.61051157e+01] [-6.41909876e-03 1.35788756e-03 9.99978475e-01 2.96004339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68907232899994 meters Centerline goodness [0,1] 0.2949040315145419 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.00 [[ 9.99964166e-01 5.82728434e-03 6.14079596e-03 -1.70092765e+02] [-5.81882988e-03 9.99982099e-01 -1.39373762e-03 -9.61047145e+01] [-6.14880774e-03 1.35795543e-03 9.99980174e-01 2.96004238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71907232899997 meters Centerline goodness [0,1] 0.32319527123333613 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.00 [[ 9.99967090e-01 5.91143105e-03 5.55638077e-03 -1.70091558e+02] [-5.90192342e-03 9.99981094e-01 -1.72596206e-03 -9.61029981e+01] [-5.56647863e-03 1.69311193e-03 9.99983074e-01 2.96004792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74907232899994 meters Centerline goodness [0,1] 0.32449984288258094 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.01 [[ 9.99967404e-01 5.93269507e-03 5.47669027e-03 -1.70091717e+02] [-5.92313932e-03 9.99980910e-01 -1.75937710e-03 -9.61028581e+01] [-5.48702357e-03 1.72688055e-03 9.99983455e-01 2.96005321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.779072329 meters Centerline goodness [0,1] 0.32581443126074383 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.01 [[ 9.99964349e-01 7.12353369e-03 4.53377031e-03 -1.70089175e+02] [-7.11660109e-03 9.99973486e-01 -1.54340282e-03 -9.61007949e+01] [-4.54464458e-03 1.51108276e-03 9.99988531e-01 2.96005538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80907232899995 meters Centerline goodness [0,1] 0.33232723385524743 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.01 [[ 9.99965435e-01 6.99139659e-03 4.49994677e-03 -1.70089222e+02] [-6.98326245e-03 9.99973959e-01 -1.82078971e-03 -9.60998736e+01] [-4.51255945e-03 1.78930247e-03 9.99988218e-01 2.96005777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.839072329 meters Centerline goodness [0,1] 0.31008223546194513 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.01 [[ 9.99964868e-01 7.44311448e-03 3.85521330e-03 -1.70087495e+02] [-7.43623836e-03 9.99970740e-01 -1.79486304e-03 -9.60988222e+01] [-3.86845987e-03 1.76613170e-03 9.99990958e-01 2.96005762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86907232899995 meters Centerline goodness [0,1] 0.33140901838945336 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.01 [[ 9.99965367e-01 7.49803170e-03 3.61165869e-03 -1.70086456e+02] [-7.49137391e-03 9.99970222e-01 -1.85343308e-03 -9.60980504e+01] [-3.62544824e-03 1.82631261e-03 9.99991760e-01 2.96005275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.899072329 meters Centerline goodness [0,1] 0.32163092290258954 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.01 [[ 9.99964649e-01 7.54841399e-03 3.70427240e-03 -1.70086602e+02] [-7.54208359e-03 9.99970079e-01 -1.71994967e-03 -9.60982815e+01] [-3.71714446e-03 1.69195093e-03 9.99991660e-01 2.96005167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92907232899995 meters Centerline goodness [0,1] 0.33613957003694994 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.01 [[ 9.99963915e-01 7.66057990e-03 3.67217821e-03 -1.70086690e+02] [-7.65460730e-03 9.99969362e-01 -1.63775089e-03 -9.60983862e+01] [-3.68461182e-03 1.60958271e-03 9.99991916e-01 2.96005399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.959072329 meters Centerline goodness [0,1] 0.3315924154710965 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.00 [[ 9.99985650e-01 3.29981043e-03 4.22022707e-03 -1.70087825e+02] [-3.27604873e-03 9.99978813e-01 -5.62500352e-03 -9.60995224e+01] [-4.23869910e-03 5.61109713e-03 9.99975274e-01 2.96004929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98907232899995 meters Centerline goodness [0,1] 0.3134656911046353 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.00 [[ 9.99992167e-01 4.32204388e-04 3.93437585e-03 -1.70086075e+02] [-4.00439738e-04 9.99967350e-01 -8.07082913e-03 -9.61030653e+01] [-3.93773564e-03 8.06919043e-03 9.99959690e-01 2.96003575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.019072329 meters Centerline goodness [0,1] 0.31908067188122546 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.10, Z:296.00 [[ 9.99986345e-01 -7.02468936e-04 5.17854317e-03 -1.70089153e+02] [ 7.46302561e-04 9.99963872e-01 -8.46740298e-03 -9.61038791e+01] [-5.17240799e-03 8.47115212e-03 9.99950742e-01 2.96003243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04907232899996 meters Centerline goodness [0,1] 0.3230566093098317 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.00 [[ 9.99960756e-01 -5.83701357e-03 6.66446876e-03 -1.70092303e+02] [ 5.91439103e-03 9.99914641e-01 -1.16503811e-02 -9.61083451e+01] [-6.59589645e-03 1.16893401e-02 9.99909923e-01 2.96001755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.079072329 meters Centerline goodness [0,1] 0.3099960208590756 Centerline is valid? [False, False] Translation: X:-170.09, Y:-96.11, Z:296.00 [[ 9.99948234e-01 -6.47262200e-03 7.85078165e-03 -1.70094801e+02] [ 6.56318739e-03 9.99911578e-01 -1.15654667e-02 -9.61095873e+01] [-7.77522857e-03 1.16163942e-02 9.99902298e-01 2.96000888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.10907232899996 meters Centerline goodness [0,1] 0.32066548079941404 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.00 [[ 9.99905711e-01 -1.05896846e-02 8.74229699e-03 -1.70096485e+02] [ 1.07171264e-02 9.99835074e-01 -1.46618043e-02 -9.61134972e+01] [-8.58559127e-03 1.47541141e-02 9.99854291e-01 2.96000023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.139072329 meters Centerline goodness [0,1] 0.3445920462640909 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.11, Z:296.00 [[ 9.99883839e-01 -1.15398791e-02 9.95687881e-03 -1.70099555e+02] [ 1.16886379e-02 9.99818965e-01 -1.50137532e-02 -9.61139737e+01] [-9.78181937e-03 1.51283915e-02 9.99837711e-01 2.95999861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16907232899996 meters Centerline goodness [0,1] 0.3317294617267421 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.12, Z:296.00 [[ 9.99832276e-01 -1.53449780e-02 9.99758250e-03 -1.70099414e+02] [ 1.55287059e-02 9.99707031e-01 -1.85663859e-02 -9.61157630e+01] [-9.70975274e-03 1.87185214e-02 9.99777644e-01 2.95999640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.199072329 meters Centerline goodness [0,1] 0.3306048108526807 Centerline is valid? [False, False] Translation: X:-170.10, Y:-96.12, Z:296.00 [[ 9.99814162e-01 -1.57876511e-02 1.10631058e-02 -1.70101677e+02] [ 1.59894695e-02 9.99702883e-01 -1.83978830e-02 -9.61169821e+01] [-1.07693594e-02 1.85713571e-02 9.99769536e-01 2.95998895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22907232899996 meters Centerline goodness [0,1] 0.31715745821639507 Centerline is valid? [False, False] Translation: X:-170.11, Y:-96.12, Z:295.99 [[ 9.99670363e-01 -2.02517875e-02 1.57807091e-02 -1.70112786e+02] [ 2.04933309e-02 9.99672946e-01 -1.52978873e-02 -9.61191895e+01] [-1.54657384e-02 1.56162438e-02 9.99758443e-01 2.95991725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.259072329 meters Centerline goodness [0,1] 0.3500198898729142 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.12, Z:295.99 [[ 9.99523608e-01 -2.37201712e-02 1.97461370e-02 -1.70121628e+02] [ 2.40026324e-02 9.99611145e-01 -1.41926592e-02 -9.61185946e+01] [-1.94018063e-02 1.46598572e-02 9.99704286e-01 2.95987190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28907232899996 meters Centerline goodness [0,1] 0.33480600515086156 Centerline is valid? [False, False] Translation: X:-170.12, Y:-96.12, Z:295.99 [[ 9.99510321e-01 -2.37067315e-02 2.04232478e-02 -1.70122831e+02] [ 2.39870604e-02 9.99619866e-01 -1.35920903e-02 -9.61206393e+01] [-2.00932602e-02 1.40753283e-02 9.99699028e-01 2.95986301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.319072329 meters Centerline goodness [0,1] 0.3356637501569891 Centerline is valid? [False, False] Translation: X:-170.13, Y:-96.12, Z:295.98 [[ 9.99309338e-01 -2.80451931e-02 2.43785534e-02 -1.70132174e+02] [ 2.84031290e-02 9.99491924e-01 -1.44622181e-02 -9.61179946e+01] [-2.39605715e-02 1.51446568e-02 9.99598184e-01 2.95983785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34907232899997 meters Centerline goodness [0,1] 0.34211682037769 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.12, Z:295.99 [[ 9.99227839e-01 -2.98356827e-02 2.55647797e-02 -1.70136320e+02] [ 3.02555659e-02 9.99410941e-01 -1.61979130e-02 -9.61153105e+01] [-2.50664447e-02 1.69588824e-02 9.99541930e-01 2.95985357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.379072329 meters Centerline goodness [0,1] 0.29108815657410503 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.11, Z:295.99 [[ 9.99147345e-01 -3.16198362e-02 2.65474938e-02 -1.70140777e+02] [ 3.21009924e-02 9.99324365e-01 -1.78980561e-02 -9.61136509e+01] [-2.59636237e-02 1.87349962e-02 9.99487314e-01 2.95987884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40907232899997 meters Centerline goodness [0,1] 0.3268018863987313 Centerline is valid? [False, False] Translation: X:-170.14, Y:-96.11, Z:295.99 [[ 9.99093134e-01 -3.25342249e-02 2.74669586e-02 -1.70144651e+02] [ 3.30498062e-02 9.99281911e-01 -1.85303370e-02 -9.61136907e+01] [-2.68443647e-02 1.94213101e-02 9.99450946e-01 2.95989862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43907232899994 meters Centerline goodness [0,1] 0.3312537817931437 Centerline is valid? [False, False] Translation: X:-170.15, Y:-96.11, Z:295.99 [[ 9.99024112e-01 -3.37509826e-02 2.84902719e-02 -1.70147254e+02] [ 3.43180756e-02 9.99217648e-01 -1.96560987e-02 -9.61115220e+01] [-2.78045698e-02 2.06146478e-02 9.99400792e-01 2.95989896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46907232899997 meters Centerline goodness [0,1] 0.31286872771998586 Centerline is valid? [False, False] Translation: X:-170.16, Y:-96.11, Z:295.98 [[ 9.98767994e-01 -3.67655637e-02 3.33284676e-02 -1.70160188e+02] [ 3.72878821e-02 9.99189141e-01 -1.51879547e-02 -9.61110496e+01] [-3.27430492e-02 1.64119910e-02 9.99329045e-01 2.95984889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49907232899994 meters Centerline goodness [0,1] 0.32148583088679283 Centerline is valid? [False, False] Translation: X:-170.16, Y:-96.11, Z:295.99 [[ 9.98729637e-01 -3.71108653e-02 3.40865844e-02 -1.70162477e+02] [ 3.76463532e-02 9.99175451e-01 -1.52043136e-02 -9.61118857e+01] [-3.34942331e-02 1.64682342e-02 9.99303224e-01 2.95985250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.529072329 meters Centerline goodness [0,1] 0.3304038153154091 Centerline is valid? [False, False] Translation: X:-170.17, Y:-96.11, Z:295.99 [[ 9.98670796e-01 -3.79032896e-02 3.49282292e-02 -1.70165358e+02] [ 3.84726652e-02 9.99135116e-01 -1.57757651e-02 -9.61117447e+01] [-3.43000669e-02 1.70985779e-02 9.99265302e-01 2.95986108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55907232899995 meters Centerline goodness [0,1] 0.29649130109048527 Centerline is valid? [False, False] Translation: X:-170.18, Y:-96.10, Z:295.99 [[ 9.98656154e-01 -4.44726913e-02 2.66095199e-02 -1.70178987e+02] [ 4.49832178e-02 9.98808848e-01 -1.89048789e-02 -9.60976014e+01] [-2.57370731e-02 2.00764555e-02 9.99467128e-01 2.95987289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.589072329 meters Centerline goodness [0,1] 0.29444849494844283 Centerline is valid? [False, False] Translation: X:-170.18, Y:-96.09, Z:295.99 [[ 9.98694145e-01 -4.27577425e-02 2.79603151e-02 -1.70183023e+02] [ 4.32404186e-02 9.98921880e-01 -1.68920996e-02 -9.60945061e+01] [-2.72079025e-02 1.80790567e-02 9.99466296e-01 2.95987683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61907232899995 meters Centerline goodness [0,1] 0.3197605537195236 Centerline is valid? [False, False] Translation: X:-170.20, Y:-96.09, Z:295.99 [[ 9.98067484e-01 -5.23400512e-02 3.34935343e-02 -1.70200396e+02] [ 5.29990422e-02 9.98411905e-01 -1.90989246e-02 -9.60879110e+01] [-3.24407047e-02 2.08371409e-02 9.99256431e-01 2.95985523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.649072329 meters Centerline goodness [0,1] 0.34716502350347356 Centerline is valid? [False, False] Translation: X:-170.21, Y:-96.08, Z:295.98 [[ 9.98596460e-01 -3.96841165e-02 3.50753499e-02 -1.70212913e+02] [ 4.03735410e-02 9.99000734e-01 -1.91705470e-02 -9.60784357e+01] [-3.42795341e-02 2.05597564e-02 9.99200786e-01 2.95980914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67907232899995 meters Centerline goodness [0,1] 0.34716502350347356 Centerline is valid? [False, False] Translation: X:-170.21, Y:-96.08, Z:295.98 [[ 9.98596460e-01 -3.96841165e-02 3.50753499e-02 -1.70212913e+02] [ 4.03735410e-02 9.99000734e-01 -1.91705470e-02 -9.60784357e+01] [-3.42795341e-02 2.05597564e-02 9.99200786e-01 2.95980914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.709072329 meters Centerline goodness [0,1] 0.2951318036063799 Centerline is valid? [False, False] Translation: X:-170.22, Y:-96.07, Z:295.98 [[ 9.98691000e-01 -3.69386438e-02 3.53811067e-02 -1.70215416e+02] [ 3.75606141e-02 9.99148398e-01 -1.70786228e-02 -9.60729054e+01] [-3.47201149e-02 1.83852030e-02 9.99227951e-01 2.95982763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73907232899995 meters Centerline goodness [0,1] 0.3270613239982497 Centerline is valid? [False, False] Translation: X:-170.22, Y:-96.07, Z:295.98 [[ 9.98788145e-01 -3.39835242e-02 3.56000082e-02 -1.70217479e+02] [ 3.45212401e-02 9.99297315e-01 -1.46000216e-02 -9.60683810e+01] [-3.50788325e-02 1.58112849e-02 9.99259465e-01 2.95984383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.769072329 meters Centerline goodness [0,1] 0.3026460974746529 Centerline is valid? [False, False] Translation: X:-170.22, Y:-96.07, Z:295.98 [[ 9.98748162e-01 -3.46112682e-02 3.61132736e-02 -1.70219239e+02] [ 3.51800162e-02 9.99264875e-01 -1.52340627e-02 -9.60671320e+01] [-3.55594556e-02 1.64854577e-02 9.99231582e-01 2.95984948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79907232899996 meters Centerline goodness [0,1] 0.3393739703459637 Centerline is valid? [False, False] Translation: X:-170.23, Y:-96.05, Z:295.99 [[ 9.98999679e-01 -3.53719405e-02 2.73581283e-02 -1.70233225e+02] [ 3.57836243e-02 9.99251330e-01 -1.47075357e-02 -9.60502502e+01] [-2.68174120e-02 1.56717964e-02 9.99517494e-01 2.95987456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.829072329 meters Centerline goodness [0,1] 0.2551224804907566 Centerline is valid? [False, False] Translation: X:-170.24, Y:-96.05, Z:295.99 [[ 9.98936023e-01 -3.63153548e-02 2.84256560e-02 -1.70235954e+02] [ 3.67585542e-02 9.99208156e-01 -1.52272744e-02 -9.60501503e+01] [-2.78501634e-02 1.62559589e-02 9.99479921e-01 2.95987321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85907232899996 meters Centerline goodness [0,1] 0.3400800433568183 Centerline is valid? [False, False] Translation: X:-170.24, Y:-96.05, Z:295.99 [[ 9.98997160e-01 -3.36076430e-02 2.95838066e-02 -1.70239477e+02] [ 3.39694184e-02 9.99353065e-01 -1.18122542e-02 -9.60500849e+01] [-2.91676858e-02 1.28053531e-02 9.99492506e-01 2.95987443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.889072329 meters Centerline goodness [0,1] 0.31312036033030277 Centerline is valid? [False, False] Translation: X:-170.25, Y:-96.04, Z:295.99 [[ 9.99245216e-01 -3.44219201e-02 1.80035816e-02 -1.70245990e+02] [ 3.47362506e-02 9.99244193e-01 -1.74481128e-02 -9.60375424e+01] [-1.73893768e-02 1.80603201e-02 9.99685668e-01 2.95992841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91907232899996 meters Centerline goodness [0,1] 0.3468305817035754 Centerline is valid? [False, False] Translation: X:-170.25, Y:-96.04, Z:295.99 [[ 9.99083606e-01 -3.86018248e-02 1.84890899e-02 -1.70246950e+02] [ 3.90003252e-02 9.99003531e-01 -2.17007033e-02 -9.60374412e+01] [-1.76329793e-02 2.24018974e-02 9.99593534e-01 2.95992921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.949072329 meters Centerline goodness [0,1] 0.33824756026357494 Centerline is valid? [False, False] Translation: X:-170.25, Y:-96.04, Z:295.99 [[ 9.99094456e-01 -3.83003901e-02 1.85296401e-02 -1.70247787e+02] [ 3.86908432e-02 9.99026458e-01 -2.11932830e-02 -9.60391598e+01] [-1.76998897e-02 2.18910189e-02 9.99603670e-01 2.95993659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97907232899996 meters Centerline goodness [0,1] 0.2661799979142768 Centerline is valid? [False, False] Translation: X:-170.25, Y:-96.04, Z:295.99 [[ 9.99056903e-01 -3.90941337e-02 1.88932218e-02 -1.70248980e+02] [ 3.95113056e-02 9.98971679e-01 -2.22360234e-02 -9.60363948e+01] [-1.80044954e-02 2.29615485e-02 9.99574212e-01 2.95994102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.009072329 meters Centerline goodness [0,1] 0.3307653764249029 Centerline is valid? [False, False] Translation: X:-170.25, Y:-96.03, Z:295.99 [[ 9.99126353e-01 -3.67617058e-02 1.98773026e-02 -1.70252432e+02] [ 3.71596080e-02 9.99108515e-01 -2.00334208e-02 -9.60323258e+01] [-1.91231196e-02 2.07545514e-02 9.99601698e-01 2.95994909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03907232899996 meters Centerline goodness [0,1] 0.33516139794811906 Centerline is valid? [False, False] Translation: X:-170.26, Y:-96.03, Z:296.00 [[ 9.99020967e-01 -3.88617128e-02 2.11394131e-02 -1.70255864e+02] [ 3.93253390e-02 9.98984750e-01 -2.19769471e-02 -9.60291108e+01] [-2.02638895e-02 2.27867455e-02 9.99534961e-01 2.95995270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.069072329 meters Centerline goodness [0,1] 0.3387714124364686 Centerline is valid? [False, False] Translation: X:-170.26, Y:-96.02, Z:296.00 [[ 9.99379445e-01 -2.82854778e-02 2.09918426e-02 -1.70258145e+02] [ 2.85420664e-02 9.99520248e-01 -1.20259437e-02 -9.60230031e+01] [-2.06416122e-02 1.26176315e-02 9.99707317e-01 2.95997454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09907232899997 meters Centerline goodness [0,1] 0.2838483527030693 Centerline is valid? [False, False] Translation: X:-170.26, Y:-96.02, Z:296.00 [[ 9.99469043e-01 -2.50449438e-02 2.08418378e-02 -1.70258247e+02] [ 2.52495187e-02 9.99634979e-01 -9.61097388e-03 -9.60170315e+01] [-2.05935238e-02 1.01321172e-02 9.99736589e-01 2.95997987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.129072329 meters Centerline goodness [0,1] 0.2855143018323897 Centerline is valid? [False, False] Translation: X:-170.26, Y:-96.01, Z:296.00 [[ 9.99472931e-01 -2.42769172e-02 2.15520740e-02 -1.70261857e+02] [ 2.44849186e-02 9.99655626e-01 -9.44023005e-03 -9.60106360e+01] [-2.13154723e-02 9.96295517e-03 9.99723157e-01 2.96000265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15907232899997 meters Centerline goodness [0,1] 0.33802934659922246 Centerline is valid? [False, False] Translation: X:-170.26, Y:-96.01, Z:296.00 [[ 9.99588022e-01 -1.99472272e-02 2.06372127e-02 -1.70260741e+02] [ 2.00739452e-02 9.99780785e-01 -5.95141685e-03 -9.60072011e+01] [-2.05139744e-02 6.36323528e-03 9.99769316e-01 2.96001774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18907232899994 meters Centerline goodness [0,1] 0.28387960425861236 Centerline is valid? [False, False] Translation: X:-170.26, Y:-96.00, Z:296.00 [[ 9.99654454e-01 -1.64961864e-02 2.04657725e-02 -1.70261142e+02] [ 1.65660598e-02 9.99857494e-01 -3.24932130e-03 -9.60025019e+01] [-2.04092546e-02 3.58723572e-03 9.99785274e-01 2.96002768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21907232899997 meters Centerline goodness [0,1] 0.293396127681842 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99763147e-01 -1.14450762e-02 1.85110885e-02 -1.70273438e+02] [ 1.16798785e-02 9.99852066e-01 -1.26264342e-02 -9.59891345e+01] [-1.83638396e-02 1.28396509e-02 9.99748925e-01 2.96001953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24907232899994 meters Centerline goodness [0,1] 0.2894048739671582 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.99, Z:296.00 [[ 9.99792222e-01 -7.69922064e-03 1.88741803e-02 -1.70275396e+02] [ 7.86855841e-03 9.99929309e-01 -8.91414188e-03 -9.59882315e+01] [-1.88042142e-02 9.06080231e-03 9.99782128e-01 2.96003161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.279072329 meters Centerline goodness [0,1] 0.2963543954320136 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99810850e-01 -6.80206491e-03 1.82207403e-02 -1.70273633e+02] [ 6.95769491e-03 9.99939740e-01 -8.49163347e-03 -9.59879799e+01] [-1.81618817e-02 8.61680163e-03 9.99797928e-01 2.96003058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30907232899995 meters Centerline goodness [0,1] 0.30293889691866194 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99830087e-01 -2.79363340e-03 1.82206699e-02 -1.70273664e+02] [ 2.87816303e-03 9.99985211e-01 -4.61464453e-03 -9.59866419e+01] [-1.82075088e-02 4.66630250e-03 9.99823341e-01 2.96002971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.339072329 meters Centerline goodness [0,1] 0.29940771436344993 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99852462e-01 -1.51069312e-03 1.71106083e-02 -1.70271229e+02] [ 1.57492310e-03 9.99991762e-01 -3.74095820e-03 -9.59872142e+01] [-1.71048159e-02 3.76735416e-03 9.99846604e-01 2.96003444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36907232899995 meters Centerline goodness [0,1] 0.3062527474827824 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99866735e-01 -2.89115706e-04 1.63226382e-02 -1.70268535e+02] [ 3.40340413e-04 9.99995026e-01 -3.13557093e-03 -9.59862268e+01] [-1.63216505e-02 3.14070832e-03 9.99861860e-01 2.96002748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.399072329 meters Centerline goodness [0,1] 0.2727519979915478 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99882582e-01 1.42513244e-03 1.52575128e-02 -1.70265864e+02] [-1.39771303e-03 9.99997389e-01 -1.80762156e-03 -9.59876544e+01] [-1.52600490e-02 1.78608368e-03 9.99881963e-01 2.96002730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42907232899995 meters Centerline goodness [0,1] 0.28502951396156906 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99884137e-01 1.17628749e-03 1.51765905e-02 -1.70265839e+02] [-1.13911467e-03 9.99996331e-01 -2.45776438e-03 -9.59854854e+01] [-1.51794259e-02 2.44019174e-03 9.99881808e-01 2.96003032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.459072329 meters Centerline goodness [0,1] 0.31865144100054377 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99877840e-01 9.07161377e-04 1.56039361e-02 -1.70267511e+02] [-8.67741321e-04 9.99996416e-01 -2.53287421e-03 -9.59862500e+01] [-1.56061779e-02 2.51902461e-03 9.99875043e-01 2.96003649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48907232899995 meters Centerline goodness [0,1] 0.32246179610634285 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.01 [[ 9.99871281e-01 5.46419642e-03 1.50852085e-02 -1.70267362e+02] [-5.48653292e-03 9.99983912e-01 1.43970014e-03 -9.59849274e+01] [-1.50770990e-02 -1.52228031e-03 9.99885175e-01 2.96005303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.519072329 meters Centerline goodness [0,1] 0.32997907949790795 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.01 [[ 9.99876144e-01 6.12914102e-03 1.44958761e-02 -1.70266417e+02] [-6.15694813e-03 9.99979289e-01 1.87442751e-03 -9.59853130e+01] [-1.44840872e-02 -1.96344571e-03 9.99893172e-01 2.96005988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54907232899996 meters Centerline goodness [0,1] 0.30578616089165844 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.01 [[ 9.99877866e-01 5.98035787e-03 1.44391235e-02 -1.70267350e+02] [-6.00204853e-03 9.99980923e-01 1.45934717e-03 -9.59846213e+01] [-1.44301206e-02 -1.54583326e-03 9.99894685e-01 2.96007335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.579072329 meters Centerline goodness [0,1] 0.31325704483169803 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.01 [[ 9.99876522e-01 5.33810198e-03 1.47799248e-02 -1.70268631e+02] [-5.34611679e-03 9.99985583e-01 5.02819450e-04 -9.59820961e+01] [-1.47770276e-02 -5.81772567e-04 9.99890645e-01 2.96007944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.60907232899996 meters Centerline goodness [0,1] 0.3300757544050559 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.01 [[ 9.99874671e-01 5.11221425e-03 1.49835880e-02 -1.70269429e+02] [-5.11778162e-03 9.99986849e-01 3.33243869e-04 -9.59819619e+01] [-1.49816873e-02 -4.09884835e-04 9.99887684e-01 2.96008287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.639072329 meters Centerline goodness [0,1] 0.32073815544734474 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.01 [[ 9.99877092e-01 5.12549961e-03 1.48165806e-02 -1.70269157e+02] [-5.12912430e-03 9.99986825e-01 2.06647357e-04 -9.59811726e+01] [-1.48153262e-02 -2.82618042e-04 9.99890207e-01 2.96008504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66907232899996 meters Centerline goodness [0,1] 0.3226947386044954 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.01 [[ 9.99868848e-01 4.30443677e-03 1.56127629e-02 -1.70270774e+02] [-4.30193253e-03 9.99990728e-01 -1.93978351e-04 -9.59809566e+01] [-1.56134531e-02 1.26787858e-04 9.99878095e-01 2.96007921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.699072329 meters Centerline goodness [0,1] 0.3291327374348454 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.01 [[ 9.99861823e-01 3.92568277e-03 1.61531642e-02 -1.70272184e+02] [-3.91971753e-03 9.99992238e-01 -4.00935749e-04 -9.59808783e+01] [-1.61546128e-02 3.37564508e-04 9.99869449e-01 2.96007882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72907232899996 meters Centerline goodness [0,1] 0.3244560669456067 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.01 [[ 9.99871446e-01 2.29724183e-03 1.58686279e-02 -1.70269379e+02] [-2.27584164e-03 9.99996477e-01 -1.36651200e-03 -9.59856353e+01] [-1.58717112e-02 1.33022185e-03 9.99873152e-01 2.96005090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.759072329 meters Centerline goodness [0,1] 0.3250602662194738 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99868033e-01 2.28403500e-03 1.60841464e-02 -1.70269754e+02] [-2.26420010e-03 9.99996654e-01 -1.25129761e-03 -9.59861844e+01] [-1.60869506e-02 1.21471475e-03 9.99869859e-01 2.96004725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78907232899996 meters Centerline goodness [0,1] 0.3412240790053047 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99869690e-01 2.72645869e-03 1.59112745e-02 -1.70269034e+02] [-2.71600753e-03 9.99996082e-01 -6.78411947e-04 -9.59873797e+01] [-1.59130618e-02 6.35108402e-04 9.99873178e-01 2.96004235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.819072329 meters Centerline goodness [0,1] 0.33679994967814986 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99866645e-01 2.39287534e-03 1.61544412e-02 -1.70269845e+02] [-2.37554007e-03 9.99996582e-01 -1.09220045e-03 -9.59864687e+01] [-1.61569995e-02 1.05367928e-03 9.99868912e-01 2.96004519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84907232899997 meters Centerline goodness [0,1] 0.3528536396218901 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.00 [[ 9.99875689e-01 -1.29922343e-03 1.57136520e-02 -1.70269015e+02] [ 1.37691753e-03 9.99986877e-01 -4.93456168e-03 -9.59868303e+01] [-1.57070347e-02 4.95558467e-03 9.99864356e-01 2.96004921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.879072329 meters Centerline goodness [0,1] 0.3511979559353271 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.01 [[ 9.99863375e-01 -1.80374921e-03 1.64309862e-02 -1.70271270e+02] [ 1.89107140e-03 9.99984164e-01 -5.30049685e-03 -9.59865900e+01] [-1.64211653e-02 5.33084484e-03 9.99850953e-01 2.96005461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90907232899997 meters Centerline goodness [0,1] 0.32108940300380706 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.01 [[ 9.99847439e-01 -2.61294511e-03 1.72705241e-02 -1.70273491e+02] [ 2.71736320e-03 9.99978155e-01 -6.02532970e-03 -9.59853489e+01] [-1.72544030e-02 6.07134076e-03 9.99832698e-01 2.96005595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93907232899994 meters Centerline goodness [0,1] 0.31619063573163586 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.01 [[ 9.99846683e-01 -2.50750316e-03 1.73298081e-02 -1.70273728e+02] [ 2.60848022e-03 9.99979739e-01 -5.80663936e-03 -9.59860321e+01] [-1.73148968e-02 5.85095357e-03 9.99832966e-01 2.96005627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96907232899997 meters Centerline goodness [0,1] 0.3064981798401607 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.99, Z:296.01 [[ 9.99835397e-01 -2.95428371e-03 1.79011279e-02 -1.70275450e+02] [ 3.06401243e-03 9.99976668e-01 -6.10538681e-03 -9.59856579e+01] [-1.78826732e-02 6.15923113e-03 9.99821121e-01 2.96005938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99907232899994 meters Centerline goodness [0,1] 0.31827884977606635 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.99, Z:296.01 [[ 9.99827340e-01 -3.16678117e-03 1.83101622e-02 -1.70276355e+02] [ 3.28020209e-03 9.99975599e-01 -6.16771328e-03 -9.59856866e+01] [-1.82901836e-02 6.22670939e-03 9.99813331e-01 2.96005702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.029072329 meters Centerline goodness [0,1] 0.3384306003602999 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.99, Z:296.01 [[ 9.99828038e-01 -2.95113289e-03 1.83080733e-02 -1.70276170e+02] [ 3.05905190e-03 9.99978096e-01 -5.86941119e-03 -9.59861640e+01] [-1.82903509e-02 5.92440722e-03 9.99815165e-01 2.96005378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05907232899995 meters Centerline goodness [0,1] 0.3105514582634932 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.99, Z:296.00 [[ 9.99820171e-01 -3.21076226e-03 1.86900209e-02 -1.70276817e+02] [ 3.32253620e-03 9.99976764e-01 -5.95243044e-03 -9.59858992e+01] [-1.86704748e-02 6.01345829e-03 9.99807607e-01 2.96004862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.089072329 meters Centerline goodness [0,1] 0.3295466454276792 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.99, Z:296.00 [[ 9.99813739e-01 -3.45113528e-03 1.89888489e-02 -1.70277547e+02] [ 3.56850232e-03 9.99974719e-01 -6.15043147e-03 -9.59853982e+01] [-1.89671429e-02 6.21704764e-03 9.99800778e-01 2.96004791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11907232899995 meters Centerline goodness [0,1] 0.3333752251686146 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.00 [[ 9.99797598e-01 -4.06749872e-03 1.97032692e-02 -1.70279443e+02] [ 4.19902584e-03 9.99969148e-01 -6.63862998e-03 -9.59846001e+01] [-1.96756587e-02 6.72002084e-03 9.99783832e-01 2.96004866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.149072329 meters Centerline goodness [0,1] 0.3367680321688866 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.99, Z:296.01 [[ 9.99793177e-01 -4.02330547e-03 1.99353238e-02 -1.70280229e+02] [ 4.15183999e-03 9.99970834e-01 -6.41038836e-03 -9.59853556e+01] [-1.99089515e-02 6.49183082e-03 9.99780721e-01 2.96005059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17907232899995 meters Centerline goodness [0,1] 0.32154892726321294 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.99, Z:296.01 [[ 9.99800668e-01 -3.56142803e-03 1.96453863e-02 -1.70279893e+02] [ 3.67867916e-03 9.99975618e-01 -5.93547427e-03 -9.59862258e+01] [-1.96237685e-02 6.00656021e-03 9.99789392e-01 2.96005474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.209072329 meters Centerline goodness [0,1] 0.3512317853024426 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.99, Z:296.01 [[ 9.99813386e-01 -3.09911341e-03 1.90680008e-02 -1.70278433e+02] [ 3.20922576e-03 9.99978337e-01 -5.74683200e-03 -9.59857411e+01] [-1.90497777e-02 5.80695308e-03 9.99801673e-01 2.96005444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23907232899995 meters Centerline goodness [0,1] 0.3189413292013903 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.01 [[ 9.99825530e-01 6.10503965e-04 1.86691629e-02 -1.70277763e+02] [-5.59114065e-04 9.99996041e-01 -2.75775792e-03 -9.59816142e+01] [-1.86707727e-02 2.74683858e-03 9.99821913e-01 2.96005968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.269072329 meters Centerline goodness [0,1] 0.3288090151229526 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.01 [[ 9.99844621e-01 1.83465746e-03 1.75319129e-02 -1.70274946e+02] [-1.79543096e-03 9.99995850e-01 -2.25291225e-03 -9.59807151e+01] [-1.75359735e-02 2.22108486e-03 9.99843766e-01 2.96006154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29907232899996 meters Centerline goodness [0,1] 0.32122266714186876 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.01 [[ 9.99838327e-01 5.30748166e-03 1.71799448e-02 -1.70275483e+02] [-5.31239491e-03 9.99985860e-01 2.40362724e-04 -9.59755599e+01] [-1.71784261e-02 -3.31590515e-04 9.99852385e-01 2.96008272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.329072329 meters Centerline goodness [0,1] 0.33351492928234683 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99841432e-01 5.20564232e-03 1.70297178e-02 -1.70275492e+02] [-5.20470215e-03 9.99986450e-01 -9.95277998e-05 -9.59743776e+01] [-1.70300051e-02 1.08774093e-05 9.99854979e-01 2.96008862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35907232899996 meters Centerline goodness [0,1] 0.3495473216531143 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99846343e-01 5.20061039e-03 1.67404797e-02 -1.70275078e+02] [-5.19500786e-03 9.99986434e-01 -3.78138967e-04 -9.59731713e+01] [-1.67422192e-02 2.91113939e-04 9.99859797e-01 2.96009300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.389072329 meters Centerline goodness [0,1] 0.3050684099147233 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99844080e-01 5.05244021e-03 1.69200873e-02 -1.70275845e+02] [-5.04312248e-03 9.99987107e-01 -5.93313674e-04 -9.59727679e+01] [-1.69228669e-02 5.07891091e-04 9.99856669e-01 2.96009664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41907232899996 meters Centerline goodness [0,1] 0.3067548892332175 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99843520e-01 4.83942314e-03 1.70151449e-02 -1.70277391e+02] [-4.82706132e-03 9.99988055e-01 -7.67513420e-04 -9.59730898e+01] [-1.70186560e-02 6.85260172e-04 9.99854937e-01 2.96011278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.449072329 meters Centerline goodness [0,1] 0.30997823539260005 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99853171e-01 5.08424222e-03 1.63642009e-02 -1.70275966e+02] [-5.06520191e-03 9.99986446e-01 -1.20477099e-03 -9.59704574e+01] [-1.63701045e-02 1.12170611e-03 9.99865372e-01 2.96011744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47907232899996 meters Centerline goodness [0,1] 0.3053388820343378 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99852082e-01 4.58833824e-03 1.65759471e-02 -1.70276687e+02] [-4.56027419e-03 9.99988105e-01 -1.73046034e-03 -9.59694625e+01] [-1.65836899e-02 1.65461351e-03 9.99861112e-01 2.96011854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.509072329 meters Centerline goodness [0,1] 0.308213732792167 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99853394e-01 4.77860143e-03 1.64424650e-02 -1.70276563e+02] [-4.75311804e-03 9.99987442e-01 -1.58858244e-03 -9.59696917e+01] [-1.64498498e-02 1.51019657e-03 9.99863552e-01 2.96012072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53907232899996 meters Centerline goodness [0,1] 0.31498336576486097 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99862244e-01 5.15438833e-03 1.57773939e-02 -1.70275063e+02] [-5.12959152e-03 9.99985545e-01 -1.61173280e-03 -9.59685357e+01] [-1.57854734e-02 1.53057919e-03 9.99874230e-01 2.96012378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.569072329 meters Centerline goodness [0,1] 0.31498336576486097 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99862244e-01 5.15438833e-03 1.57773939e-02 -1.70275063e+02] [-5.12959152e-03 9.99985545e-01 -1.61173280e-03 -9.59685357e+01] [-1.57854734e-02 1.53057919e-03 9.99874230e-01 2.96012378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59907232899997 meters Centerline goodness [0,1] 0.3133950785055717 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.01 [[ 9.99866004e-01 5.37804998e-03 1.54612823e-02 -1.70274556e+02] [-5.35458634e-03 9.99984450e-01 -1.55857115e-03 -9.59681358e+01] [-1.54694239e-02 1.47557354e-03 9.99879253e-01 2.96012776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.629072329 meters Centerline goodness [0,1] 0.32045354699692474 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99857825e-01 4.94715783e-03 1.61200605e-02 -1.70276232e+02] [-4.92093880e-03 9.99986505e-01 -1.66574457e-03 -9.59685677e+01] [-1.61280837e-02 1.58618191e-03 9.99868676e-01 2.96012657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65907232899997 meters Centerline goodness [0,1] 0.32683018631202554 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.01 [[ 9.99875745e-01 2.12254367e-03 1.56201481e-02 -1.70274332e+02] [-2.05522084e-03 9.99988536e-01 -4.32479020e-03 -9.59711489e+01] [-1.56291486e-02 4.29214997e-03 9.99868645e-01 2.96011823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68907232899994 meters Centerline goodness [0,1] 0.31689772703510866 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.01 [[ 9.99863136e-01 1.61856509e-03 1.64648061e-02 -1.70276638e+02] [-1.54656841e-03 9.99989192e-01 -4.38455500e-03 -9.59720853e+01] [-1.64717249e-02 4.35849096e-03 9.99854832e-01 2.96011840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71907232899997 meters Centerline goodness [0,1] 0.3124947729363553 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.01 [[ 9.99859823e-01 -1.99741637e-03 1.66236271e-02 -1.70276587e+02] [ 2.12189946e-03 9.99969818e-01 -7.47405668e-03 -9.59750498e+01] [-1.66081965e-02 7.50828265e-03 9.99833883e-01 2.96011072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74907232899994 meters Centerline goodness [0,1] 0.34270543721387214 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.01 [[ 9.99838651e-01 -3.01824715e-03 1.77076586e-02 -1.70279242e+02] [ 3.15634906e-03 9.99964783e-01 -7.77623591e-03 -9.59758875e+01] [-1.76835644e-02 7.83087278e-03 9.99812967e-01 2.96010650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.779072329 meters Centerline goodness [0,1] 0.32342869074963454 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.01 [[ 9.99815420e-01 -6.27846632e-03 1.81578424e-02 -1.70278977e+02] [ 6.46230379e-03 9.99928278e-01 -1.00835196e-02 -9.59808712e+01] [-1.80932311e-02 1.01989999e-02 9.99784284e-01 2.96008592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80907232899995 meters Centerline goodness [0,1] 0.3277361883651876 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.01 [[ 9.99818346e-01 -2.73270315e-03 1.88628402e-02 -1.70281498e+02] [ 2.84845094e-03 9.99977264e-01 -6.11214879e-03 -9.59816216e+01] [-1.88457086e-02 6.16476837e-03 9.99803398e-01 2.96009292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.839072329 meters Centerline goodness [0,1] 0.33050564145424155 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.01 [[ 9.99832049e-01 -1.82176699e-03 1.82361012e-02 -1.70279293e+02] [ 1.92508761e-03 9.99982187e-01 -5.64976853e-03 -9.59804260e+01] [-1.82254838e-02 5.68392574e-03 9.99817746e-01 2.96008683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86907232899995 meters Centerline goodness [0,1] 0.32056156770985667 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.01 [[ 9.99825450e-01 -9.27920884e-03 1.62162356e-02 -1.70270184e+02] [ 9.28980951e-03 9.99956681e-01 -5.78500097e-04 -9.59869556e+01] [-1.62101651e-02 7.29044859e-04 9.99868341e-01 2.96013141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.899072329 meters Centerline goodness [0,1] 0.35132593567801396 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.99, Z:296.01 [[ 9.99832110e-01 -9.02751286e-03 1.59453990e-02 -1.70269322e+02] [ 9.03711900e-03 9.99959024e-01 -5.30485763e-04 -9.59862589e+01] [-1.59399567e-02 6.74497168e-04 9.99872723e-01 2.96012905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92907232899995 meters Centerline goodness [0,1] 0.33412049904913166 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.01 [[ 9.99838040e-01 -9.07388082e-03 1.55421620e-02 -1.70268897e+02] [ 9.09305414e-03 9.99957981e-01 -1.16340869e-03 -9.59835855e+01] [-1.55309522e-02 1.30454598e-03 9.99878536e-01 2.96013823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.959072329 meters Centerline goodness [0,1] 0.35037273695420657 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.01 [[ 9.99853194e-01 -8.72420166e-03 1.47471781e-02 -1.70267375e+02] [ 8.74563341e-03 9.99960791e-01 -1.38941199e-03 -9.59816747e+01] [-1.47344784e-02 1.51818143e-03 9.99890289e-01 2.96014579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98907232899995 meters Centerline goodness [0,1] 0.29894085942885795 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.02 [[ 9.99868579e-01 -5.76476346e-03 1.51522754e-02 -1.70269431e+02] [ 5.74882008e-03 9.99982875e-01 1.09555638e-03 -9.59774907e+01] [-1.51583315e-02 -1.00830469e-03 9.99884597e-01 2.96015787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.019072329 meters Centerline goodness [0,1] 0.2746972327386057 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99881049e-01 -5.55307441e-03 1.43892660e-02 -1.70267676e+02] [ 5.54390498e-03 9.99984403e-01 6.77051117e-04 -9.59749481e+01] [-1.43928013e-02 -5.97197858e-04 9.99896240e-01 2.96016084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04907232899996 meters Centerline goodness [0,1] 0.33664650861076817 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99902816e-01 -4.40661447e-03 1.32264795e-02 -1.70264520e+02] [ 4.39323575e-03 9.99989808e-01 1.04039448e-03 -9.59731818e+01] [-1.32309293e-02 -9.82186325e-04 9.99911985e-01 2.96016031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.079072329 meters Centerline goodness [0,1] 0.31277440936650636 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99909970e-01 -4.26212807e-03 1.27234264e-02 -1.70263669e+02] [ 4.25163806e-03 9.99990599e-01 8.51399375e-04 -9.59720735e+01] [-1.27269356e-02 -7.97227319e-04 9.99918691e-01 2.96016612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.10907232899996 meters Centerline goodness [0,1] 0.322222918363511 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99922756e-01 -3.57811369e-03 1.19028763e-02 -1.70262679e+02] [ 3.57155070e-03 9.99993458e-01 5.72590233e-04 -9.59698571e+01] [-1.19048472e-02 -5.30034278e-04 9.99928994e-01 2.96018238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.139072329 meters Centerline goodness [0,1] 0.3063723953434907 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99925828e-01 -3.68117097e-03 1.16097908e-02 -1.70262527e+02] [ 3.68058387e-03 9.99993224e-01 7.19353978e-05 -9.59680919e+01] [-1.16099770e-02 -2.91992533e-05 9.99932602e-01 2.96018995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16907232899996 meters Centerline goodness [0,1] 0.3136013043205619 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99933098e-01 -3.21357003e-03 1.11118177e-02 -1.70261308e+02] [ 3.20935074e-03 9.99994771e-01 3.97523019e-04 -9.59682249e+01] [-1.11130371e-02 -3.61834704e-04 9.99938183e-01 2.96019024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.199072329 meters Centerline goodness [0,1] 0.2894120598812411 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99945249e-01 -2.19101412e-03 1.02322105e-02 -1.70259104e+02] [ 2.18069529e-03 9.99997103e-01 1.01951310e-03 -9.59685080e+01] [-1.02344146e-02 -9.97143945e-04 9.99947130e-01 2.96018992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22907232899996 meters Centerline goodness [0,1] 0.3083791639656218 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99942213e-01 -2.55657607e-03 1.04419538e-02 -1.70259995e+02] [ 2.55114858e-03 9.99996604e-01 5.33063646e-04 -9.59674669e+01] [-1.04432812e-02 -5.06393866e-04 9.99945339e-01 2.96019438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.259072329 meters Centerline goodness [0,1] 0.2956111412703053 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99944736e-01 -2.38808905e-03 1.02382508e-02 -1.70259975e+02] [ 2.38279113e-03 9.99997021e-01 5.29630647e-04 -9.59671718e+01] [-1.02394851e-02 -5.05205764e-04 9.99947447e-01 2.96020033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28907232899996 meters Centerline goodness [0,1] 0.3186326713859132 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99947501e-01 -2.14566387e-03 1.00195257e-02 -1.70260301e+02] [ 2.14080517e-03 9.99997586e-01 4.95622728e-04 -9.59667676e+01] [-1.00205650e-02 -4.74146856e-04 9.99949680e-01 2.96021168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.319072329 meters Centerline goodness [0,1] 0.28149092200656034 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99947188e-01 -2.14991758e-03 1.00498334e-02 -1.70260712e+02] [ 2.14471693e-03 9.99997561e-01 5.28235393e-04 -9.59669072e+01] [-1.00509445e-02 -5.06653448e-04 9.99949360e-01 2.96021528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34907232899997 meters Centerline goodness [0,1] 0.2917781307473667 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.97, Z:296.02 [[ 9.99935368e-01 -2.93223200e-03 1.09846425e-02 -1.70263560e+02] [ 2.93033010e-03 9.99995689e-01 1.89232118e-04 -9.59676412e+01] [-1.09851500e-02 -1.57031259e-04 9.99939649e-01 2.96021938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.379072329 meters Centerline goodness [0,1] 0.29200526436733587 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99923447e-01 -3.58180417e-03 1.18436008e-02 -1.70265980e+02] [ 3.58378808e-03 9.99993568e-01 -1.46289783e-04 -9.59678371e+01] [-1.18430007e-02 1.88723540e-04 9.99929851e-01 2.96022130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40907232899997 meters Centerline goodness [0,1] 0.3051487461926816 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99909112e-01 -4.30252319e-03 1.27772014e-02 -1.70268117e+02] [ 4.30851754e-03 9.99990621e-01 -4.41654570e-04 -9.59680622e+01] [-1.27751813e-02 4.96665225e-04 9.99918271e-01 2.96021654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43907232899994 meters Centerline goodness [0,1] 0.29651805645380014 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99911675e-01 -3.79243583e-03 1.27381490e-02 -1.70267802e+02] [ 3.78676579e-03 9.99992720e-01 4.69213147e-04 -9.59706799e+01] [-1.27398357e-02 -4.20935317e-04 9.99918756e-01 2.96021143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46907232899997 meters Centerline goodness [0,1] 0.30587745760948715 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99897588e-01 -6.69790341e-03 1.26471818e-02 -1.70265823e+02] [ 6.72386678e-03 9.99975371e-01 -2.01149342e-03 -9.59738121e+01] [-1.26333976e-02 2.09632538e-03 9.99917998e-01 2.96018924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49907232899994 meters Centerline goodness [0,1] 0.2956015389414578 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.98, Z:296.02 [[ 9.99896938e-01 -6.35157189e-03 1.28752015e-02 -1.70266564e+02] [ 6.36957833e-03 9.99978792e-01 -1.35801179e-03 -9.59757633e+01] [-1.28663029e-02 1.43988144e-03 9.99916189e-01 2.96018986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.529072329 meters Centerline goodness [0,1] 0.3142821384618594 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99872311e-01 -7.79241013e-03 1.39513346e-02 -1.70270366e+02] [ 7.83128325e-03 9.99965598e-01 -2.73387658e-03 -9.59737473e+01] [-1.39295511e-02 2.84278435e-03 9.99898938e-01 2.96020226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55907232899995 meters Centerline goodness [0,1] 0.3170411438576014 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99852626e-01 -8.70131533e-03 1.47990792e-02 -1.70272472e+02] [ 8.75185060e-03 9.99956079e-01 -3.35342801e-03 -9.59729514e+01] [-1.47692500e-02 3.48245313e-03 9.99884864e-01 2.96020086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.589072329 meters Centerline goodness [0,1] 0.31420576750401974 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99861595e-01 -7.81573764e-03 1.46868682e-02 -1.70270552e+02] [ 7.84990491e-03 9.99966612e-01 -2.27017486e-03 -9.59739416e+01] [-1.46686347e-02 2.38515118e-03 9.99889565e-01 2.96017892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61907232899995 meters Centerline goodness [0,1] 0.32119502768202235 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99859120e-01 -7.73016410e-03 1.48991702e-02 -1.70270694e+02] [ 7.76038588e-03 9.99967944e-01 -1.97167315e-03 -9.59747003e+01] [-1.48834512e-02 2.08701869e-03 9.99887057e-01 2.96017260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.649072329 meters Centerline goodness [0,1] 0.3308068153345026 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99853616e-01 -7.88583101e-03 1.51842232e-02 -1.70271644e+02] [ 7.91850324e-03 9.99966458e-01 -2.09280366e-03 -9.59744095e+01] [-1.51672104e-02 2.21273363e-03 9.99882523e-01 2.96017549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67907232899995 meters Centerline goodness [0,1] 0.3350874994779267 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.97, Z:296.02 [[ 9.99837317e-01 -8.55983985e-03 1.58766596e-02 -1.70273932e+02] [ 8.60574628e-03 9.99958978e-01 -2.82537760e-03 -9.59729399e+01] [-1.58518235e-02 2.96154846e-03 9.99869966e-01 2.96018266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.709072329 meters Centerline goodness [0,1] 0.3092863105175292 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.02 [[ 9.99807739e-01 -1.02110185e-02 1.67398065e-02 -1.70278036e+02] [ 1.02891040e-02 9.99936553e-01 -4.58518894e-03 -9.59707598e+01] [-1.66919250e-02 4.75654499e-03 9.99849366e-01 2.96020725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73907232899995 meters Centerline goodness [0,1] 0.3175996996495912 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.02 [[ 9.99813784e-01 -1.00471180e-02 1.64758255e-02 -1.70278085e+02] [ 1.01240459e-02 9.99938205e-01 -4.59239366e-03 -9.59702809e+01] [-1.64286670e-02 4.75834049e-03 9.99853718e-01 2.96021657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.769072329 meters Centerline goodness [0,1] 0.3241692914207046 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.02 [[ 9.99805094e-01 -1.02650282e-02 1.68642614e-02 -1.70278895e+02] [ 1.03468597e-02 9.99935082e-01 -4.77229404e-03 -9.59696057e+01] [-1.68141789e-02 4.94585603e-03 9.99846399e-01 2.96021479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79907232899996 meters Centerline goodness [0,1] 0.3244911578244911 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.02 [[ 9.99780767e-01 -1.09245914e-02 1.78625867e-02 -1.70281141e+02] [ 1.10149202e-02 9.99927001e-01 -4.96632748e-03 -9.59699752e+01] [-1.78070276e-02 5.16199366e-03 9.99828117e-01 2.96020994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.829072329 meters Centerline goodness [0,1] 0.3470734406648709 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.02 [[ 9.99780247e-01 -1.06642397e-02 1.80480622e-02 -1.70281240e+02] [ 1.07448980e-02 9.99932688e-01 -4.37803074e-03 -9.59715428e+01] [-1.80001589e-02 4.57099324e-03 9.99827535e-01 2.96020353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85907232899996 meters Centerline goodness [0,1] 0.35316140637091886 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.97, Z:296.02 [[ 9.99724821e-01 -1.42671530e-02 1.86206987e-02 -1.70281166e+02] [ 1.44067732e-02 9.99868940e-01 -7.38563175e-03 -9.59746422e+01] [-1.85128863e-02 7.65186357e-03 9.99799341e-01 2.96018288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.889072329 meters Centerline goodness [0,1] 0.3495734359317497 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.02 [[ 9.99729077e-01 -1.37730856e-02 1.87636686e-02 -1.70281342e+02] [ 1.38961087e-02 9.99882693e-01 -6.44191606e-03 -9.59772719e+01] [-1.86727425e-02 6.70091277e-03 9.99803194e-01 2.96017842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91907232899996 meters Centerline goodness [0,1] 0.3671695432320615 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.02 [[ 9.99716180e-01 -1.40773827e-02 1.92194510e-02 -1.70282455e+02] [ 1.42112061e-02 9.99875592e-01 -6.84417571e-03 -9.59760347e+01] [-1.91207119e-02 7.11536477e-03 9.99791863e-01 2.96017813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.949072329 meters Centerline goodness [0,1] 0.37166200008358063 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.98, Z:296.02 [[ 9.99702258e-01 -1.41494936e-02 1.98793332e-02 -1.70284518e+02] [ 1.42818968e-02 9.99876658e-01 -6.53423006e-03 -9.59776308e+01] [-1.97844252e-02 6.81619913e-03 9.99781034e-01 2.96018176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97907232899996 meters Centerline goodness [0,1] 0.3351232762223151 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.98, Z:296.02 [[ 9.99684156e-01 -1.43589170e-02 2.06254731e-02 -1.70286278e+02] [ 1.44952056e-02 9.99873983e-01 -6.47354092e-03 -9.59780658e+01] [-2.05299209e-02 6.77046676e-03 9.99766314e-01 2.96017945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.009072329 meters Centerline goodness [0,1] 0.32791027943694917 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.98, Z:296.02 [[ 9.99667887e-01 -1.44263016e-02 2.13540994e-02 -1.70287580e+02] [ 1.45583561e-02 9.99875769e-01 -6.04154248e-03 -9.59795819e+01] [-2.12642894e-02 6.35041659e-03 9.99753721e-01 2.96017103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03907232899996 meters Centerline goodness [0,1] 0.33959585838343354 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.98, Z:296.02 [[ 9.99622024e-01 -1.55830816e-02 2.26490094e-02 -1.70290391e+02] [ 1.57443786e-02 9.99851820e-01 -6.96079479e-03 -9.59780043e+01] [-2.25371827e-02 7.31475835e-03 9.99719245e-01 2.96016579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.069072329 meters Centerline goodness [0,1] 0.3316211475820596 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.98, Z:296.02 [[ 9.99563179e-01 -1.73237378e-02 2.39445235e-02 -1.70294437e+02] [ 1.75142780e-02 9.99816415e-01 -7.77087932e-03 -9.59791046e+01] [-2.38055070e-02 8.18685588e-03 9.99683086e-01 2.96017342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09907232899997 meters Centerline goodness [0,1] 0.3746970836466951 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.98, Z:296.02 [[ 9.99490442e-01 -1.94759486e-02 2.52891931e-02 -1.70298315e+02] [ 1.97241664e-02 9.99759340e-01 -9.60308659e-03 -9.59768657e+01] [-2.50960778e-02 1.00970015e-02 9.99634052e-01 2.96018012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.129072329 meters Centerline goodness [0,1] 0.3312120516619025 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.98, Z:296.02 [[ 9.99483397e-01 -1.93830982e-02 2.56366013e-02 -1.70299358e+02] [ 1.96244333e-02 9.99765132e-01 -9.19582090e-03 -9.59783137e+01] [-2.54523366e-02 9.69417408e-03 9.99629032e-01 2.96018158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15907232899997 meters Centerline goodness [0,1] 0.3241455577348412 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.98, Z:296.02 [[ 9.99471133e-01 -1.96725172e-02 2.58929601e-02 -1.70300237e+02] [ 1.99279925e-02 9.99754887e-01 -9.64578916e-03 -9.59768030e+01] [-2.56968565e-02 1.01566825e-02 9.99618184e-01 2.96018477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18907232899994 meters Centerline goodness [0,1] 0.300870363799545 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.98, Z:296.02 [[ 9.99451767e-01 -1.99930977e-02 2.63901774e-02 -1.70301676e+02] [ 2.02610320e-02 9.99745463e-01 -9.92473499e-03 -9.59759895e+01] [-2.61850340e-02 1.04539862e-02 9.99602450e-01 2.96018752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21907232899997 meters Centerline goodness [0,1] 0.33997662673734297 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.98, Z:296.02 [[ 9.99429068e-01 -2.02466680e-02 2.70483016e-02 -1.70303031e+02] [ 2.05240071e-02 9.99739194e-01 -1.00154807e-02 -9.59758782e+01] [-2.68384671e-02 1.05649021e-02 9.99583953e-01 2.96018271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24907232899994 meters Centerline goodness [0,1] 0.32370123096181935 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.98, Z:296.02 [[ 9.99395021e-01 -2.06909629e-02 2.79548785e-02 -1.70305265e+02] [ 2.09717533e-02 9.99732146e-01 -9.78881428e-03 -9.59778977e+01] [-2.77448507e-02 1.03691551e-02 9.99561256e-01 2.96017850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.279072329 meters Centerline goodness [0,1] 0.32601213941555596 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.98, Z:296.02 [[ 9.99368765e-01 -2.10363053e-02 2.86277083e-02 -1.70306845e+02] [ 2.13293404e-02 9.99722796e-01 -9.96945391e-03 -9.59777156e+01] [-2.84100521e-02 1.05737710e-02 9.99540427e-01 2.96017615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30907232899995 meters Centerline goodness [0,1] 0.3228625659637486 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.98, Z:296.02 [[ 9.99367585e-01 -2.09639647e-02 2.87218224e-02 -1.70307309e+02] [ 2.12554511e-02 9.99725247e-01 -9.88112873e-03 -9.59777690e+01] [-2.85067833e-02 1.04853750e-02 9.99538604e-01 2.96017797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.339072329 meters Centerline goodness [0,1] 0.3357463231459268 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.97, Z:296.02 [[ 9.99369059e-01 -2.00669127e-02 2.93053325e-02 -1.70309701e+02] [ 2.03484675e-02 9.99749310e-01 -9.34119219e-03 -9.59735840e+01] [-2.91105371e-02 9.93161706e-03 9.99526858e-01 2.96019066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36907232899995 meters Centerline goodness [0,1] 0.34089676746611053 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.97, Z:296.02 [[ 9.99353411e-01 -2.04123011e-02 2.95989509e-02 -1.70310478e+02] [ 2.07109851e-02 9.99737279e-01 -9.81978343e-03 -9.59720324e+01] [-2.93907303e-02 1.04264575e-02 9.99513619e-01 2.96019076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.399072329 meters Centerline goodness [0,1] 0.33852058909424676 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.97, Z:296.02 [[ 9.99346593e-01 -2.05626169e-02 2.97248201e-02 -1.70310623e+02] [ 2.08712101e-02 9.99731065e-01 -1.01089192e-02 -9.59708756e+01] [-2.95089603e-02 1.07227069e-02 9.99507001e-01 2.96018753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42907232899995 meters Centerline goodness [0,1] 0.31218565436066537 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.95, Z:296.02 [[ 9.99413562e-01 -2.63244408e-02 2.18987791e-02 -1.70325734e+02] [ 2.66125863e-02 9.99561648e-01 -1.29723308e-02 -9.59534723e+01] [-2.15476904e-02 1.35475065e-02 9.99676029e-01 2.96019923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.459072329 meters Centerline goodness [0,1] 0.31683457439042195 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.95, Z:296.02 [[ 9.99446818e-01 -2.40930061e-02 2.29256435e-02 -1.70329627e+02] [ 2.43382524e-02 9.99648856e-01 -1.04792230e-02 -9.59516773e+01] [-2.26651173e-02 1.10313962e-02 9.99682250e-01 2.96021197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48907232899995 meters Centerline goodness [0,1] 0.31683457439042195 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.95, Z:296.02 [[ 9.99446818e-01 -2.40930061e-02 2.29256435e-02 -1.70329627e+02] [ 2.43382524e-02 9.99648856e-01 -1.04792230e-02 -9.59516773e+01] [-2.26651173e-02 1.10313962e-02 9.99682250e-01 2.96021197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.519072329 meters Centerline goodness [0,1] 0.30199513179520254 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.95, Z:296.02 [[ 9.99418291e-01 -2.48117716e-02 2.33977708e-02 -1.70331924e+02] [ 2.50862138e-02 9.99619032e-01 -1.15097219e-02 -9.59492011e+01] [-2.31032804e-02 1.20899881e-02 9.99659978e-01 2.96022777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54907232899996 meters Centerline goodness [0,1] 0.308153001815488 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.95, Z:296.03 [[ 9.99448275e-01 -2.27131012e-02 2.42334658e-02 -1.70335997e+02] [ 2.29468721e-02 9.99692376e-01 -9.41250798e-03 -9.59462310e+01] [-2.40122237e-02 9.96339710e-03 9.99662015e-01 2.96025001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.579072329 meters Centerline goodness [0,1] 0.20256645279560037 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.95, Z:296.03 [[ 9.99449405e-01 -2.26088282e-02 2.42843116e-02 -1.70336955e+02] [ 2.28414085e-02 9.99695442e-01 -9.34305453e-03 -9.59463272e+01] [-2.40656801e-02 9.89259817e-03 9.99661432e-01 2.96026065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.60907232899996 meters Centerline goodness [0,1] 0.20496609285341683 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.94, Z:296.03 [[ 9.99467815e-01 -2.07174478e-02 2.51967181e-02 -1.70341029e+02] [ 2.09121405e-02 9.99753275e-01 -7.48807996e-03 -9.59432836e+01] [-2.50353676e-02 8.01101222e-03 9.99654467e-01 2.96027985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.639072329 meters Centerline goodness [0,1] 0.20775484677923706 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.94, Z:296.03 [[ 9.99480153e-01 -2.04556701e-02 2.49196727e-02 -1.70340727e+02] [ 2.06483264e-02 9.99758681e-01 -7.49843957e-03 -9.59424665e+01] [-2.47602735e-02 8.00909106e-03 9.99661334e-01 2.96028515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66907232899996 meters Centerline goodness [0,1] 0.20995892153387408 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.94, Z:296.03 [[ 9.99459238e-01 -2.08228593e-02 2.54487844e-02 -1.70342387e+02] [ 2.10272263e-02 9.99748559e-01 -7.78944669e-03 -9.59420566e+01] [-2.52801870e-02 8.32035180e-03 9.99645779e-01 2.96028851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.699072329 meters Centerline goodness [0,1] 0.3428797897415573 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.94, Z:296.03 [[ 9.99452642e-01 -2.08825286e-02 2.56580482e-02 -1.70342653e+02] [ 2.10883774e-02 9.99747356e-01 -7.77852705e-03 -9.59420551e+01] [-2.54891305e-02 8.31535602e-03 9.99640515e-01 2.96028338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72907232899996 meters Centerline goodness [0,1] 0.32594276656098786 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.94, Z:296.03 [[ 9.99466136e-01 -2.05778883e-02 2.53770310e-02 -1.70342076e+02] [ 2.07743032e-02 9.99756055e-01 -7.50064440e-03 -9.59423895e+01] [-2.52164929e-02 8.02383021e-03 9.99649812e-01 2.96028373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.759072329 meters Centerline goodness [0,1] 0.3119979972044312 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.94, Z:296.03 [[ 9.99462019e-01 -2.07451842e-02 2.54029367e-02 -1.70342207e+02] [ 2.09506395e-02 9.99749704e-01 -7.84856958e-03 -9.59412053e+01] [-2.52337584e-02 8.37655497e-03 9.99646483e-01 2.96028401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78907232899996 meters Centerline goodness [0,1] 0.2149821491951479 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.93, Z:296.03 [[ 9.99749765e-01 -1.35376240e-02 1.78084339e-02 -1.70350830e+02] [ 1.37659938e-02 9.99823771e-01 -1.27642189e-02 -9.59269180e+01] [-1.76324983e-02 1.30061757e-02 9.99759938e-01 2.96028426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.819072329 meters Centerline goodness [0,1] 0.21952595936794583 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.93, Z:296.03 [[ 9.99783180e-01 -9.84616217e-03 1.83479081e-02 -1.70352350e+02] [ 1.00148713e-02 9.99908206e-01 -9.12591931e-03 -9.59254102e+01] [-1.82563686e-02 9.30769257e-03 9.99790014e-01 2.96028481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84907232899997 meters Centerline goodness [0,1] 0.22157891436573796 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.93, Z:296.03 [[ 9.99815358e-01 -5.56558353e-03 1.83922440e-02 -1.70352881e+02] [ 5.65637156e-03 9.99972057e-01 -4.88788392e-03 -9.59253710e+01] [-1.83645262e-02 4.99101478e-03 9.99818901e-01 2.96028837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.879072329 meters Centerline goodness [0,1] 0.22191545878563512 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.93, Z:296.03 [[ 9.99830203e-01 -4.87343045e-03 1.77711984e-02 -1.70351491e+02] [ 4.95468197e-03 9.99977461e-01 -4.53093092e-03 -9.59250889e+01] [-1.77487167e-02 4.61821221e-03 9.99831813e-01 2.96029095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90907232899997 meters Centerline goodness [0,1] 0.22312822764431617 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.92, Z:296.03 [[ 9.99842952e-01 -4.41796056e-03 1.71625247e-02 -1.70350244e+02] [ 4.49326205e-03 9.99980437e-01 -4.35147297e-03 -9.59246661e+01] [-1.71429643e-02 4.42790530e-03 9.99843244e-01 2.96029487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93907232899994 meters Centerline goodness [0,1] 0.22989130434782612 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.92, Z:296.03 [[ 9.99860992e-01 -3.35490855e-03 1.63322386e-02 -1.70348363e+02] [ 3.41731133e-03 9.99986962e-01 -3.79442670e-03 -9.59244452e+01] [-1.63192957e-02 3.84971159e-03 9.99859420e-01 2.96029860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96907232899997 meters Centerline goodness [0,1] 0.23418831982621768 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.92, Z:296.03 [[ 9.99859069e-01 -3.49861521e-03 1.64195570e-02 -1.70349086e+02] [ 3.56487621e-03 9.99985614e-01 -4.00796036e-03 -9.59239994e+01] [-1.64052985e-02 4.06592920e-03 9.99857157e-01 2.96030506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99907232899994 meters Centerline goodness [0,1] 0.2401671018276762 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.92, Z:296.03 [[ 9.99880968e-01 -1.99447346e-03 1.52994142e-02 -1.70346350e+02] [ 2.04928262e-03 9.99991536e-01 -3.56759523e-03 -9.59216120e+01] [-1.52921692e-02 3.59852340e-03 9.99876592e-01 2.96030950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.029072329 meters Centerline goodness [0,1] 0.24171091692101854 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.92, Z:296.03 [[ 9.99888089e-01 -1.84296991e-03 1.48462938e-02 -1.70345315e+02] [ 1.89966133e-03 9.99990955e-01 -3.80536052e-03 -9.59199404e+01] [-1.48391464e-02 3.83313759e-03 9.99882546e-01 2.96031187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05907232899995 meters Centerline goodness [0,1] 0.24047086373805593 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.92, Z:296.03 [[ 9.99883315e-01 -1.95355272e-03 1.51506037e-02 -1.70345730e+02] [ 2.01192979e-03 9.99990608e-01 -3.83883389e-03 -9.59198425e+01] [-1.51429620e-02 3.86886790e-03 9.99877854e-01 2.96030680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.089072329 meters Centerline goodness [0,1] 0.24305642567765107 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.92, Z:296.03 [[ 9.99886578e-01 -1.49806248e-03 1.49862443e-02 -1.70344738e+02] [ 1.54738183e-03 9.99993424e-01 -3.27992014e-03 -9.59208197e+01] [-1.49812322e-02 3.30273757e-03 9.99882320e-01 2.96029851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11907232899995 meters Centerline goodness [0,1] 0.25247286643384426 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.92, Z:296.03 [[ 9.99889030e-01 -1.27671514e-03 1.48424106e-02 -1.70344285e+02] [ 1.32243127e-03 9.99994411e-01 -3.07069551e-03 -9.59211232e+01] [-1.48384072e-02 3.08998282e-03 9.99885130e-01 2.96029651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.149072329 meters Centerline goodness [0,1] 0.2537338409404677 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.92, Z:296.03 [[ 9.99885934e-01 -1.47110502e-03 1.50317928e-02 -1.70345038e+02] [ 1.52140985e-03 9.99993279e-01 -3.33567529e-03 -9.59204990e+01] [-1.50267846e-02 3.35816432e-03 9.99881452e-01 2.96030041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17907232899995 meters Centerline goodness [0,1] 0.2584316679220019 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.92, Z:296.03 [[ 9.99903098e-01 -3.21740008e-04 1.39172979e-02 -1.70342844e+02] [ 3.61190973e-04 9.99995924e-01 -2.83225066e-03 -9.59202069e+01] [-1.39163299e-02 2.83700301e-03 9.99899139e-01 2.96030943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.209072329 meters Centerline goodness [0,1] 0.26128728414442703 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.92, Z:296.03 [[ 9.99913158e-01 8.08869402e-05 1.31783816e-02 -1.70340752e+02] [-4.05627000e-05 9.99995317e-01 -3.06011657e-03 -9.59179134e+01] [-1.31785675e-02 3.05931627e-03 9.99908479e-01 2.96030748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23907232899995 meters Centerline goodness [0,1] 0.258657037299881 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.92, Z:296.03 [[ 9.99923198e-01 1.27238611e-03 1.23280057e-02 -1.70337718e+02] [-1.24672084e-03 9.99997040e-01 -2.08932839e-03 -9.59183406e+01] [-1.23306276e-02 2.07379834e-03 9.99921824e-01 2.96029741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.269072329 meters Centerline goodness [0,1] 0.26967490899962343 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.91, Z:296.03 [[ 9.99918463e-01 6.14865113e-03 1.11920435e-02 -1.70334829e+02] [-6.16619374e-03 9.99979813e-01 1.53358547e-03 -9.59138553e+01] [-1.11823881e-02 -1.60247274e-03 9.99936191e-01 2.96030098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29907232899996 meters Centerline goodness [0,1] 0.27205959281036174 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.91, Z:296.03 [[ 9.99925850e-01 6.36248711e-03 1.03833051e-02 -1.70332971e+02] [-6.37402361e-03 9.99979104e-01 1.07834805e-03 -9.59113468e+01] [-1.03762272e-02 -1.14445152e-03 9.99945511e-01 2.96030507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.329072329 meters Centerline goodness [0,1] 0.2797037470970981 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.91, Z:296.03 [[ 9.99930563e-01 6.72822877e-03 9.67469521e-03 -1.70331610e+02] [-6.73830249e-03 9.99976788e-01 1.00902457e-03 -9.59101738e+01] [-9.66768170e-03 -1.07414553e-03 9.99952690e-01 2.96031185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35907232899996 meters Centerline goodness [0,1] 0.2807197405586358 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.91, Z:296.03 [[ 9.99948626e-01 4.73812066e-03 8.96076551e-03 -1.70329412e+02] [-4.72776086e-03 9.99988131e-01 -1.17695890e-03 -9.59109981e+01] [-8.96623573e-03 1.13453408e-03 9.99959159e-01 2.96030733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.389072329 meters Centerline goodness [0,1] 0.2851976503543282 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.91, Z:296.04 [[ 9.99932681e-01 1.08333050e-02 4.15596142e-03 -1.70318546e+02] [-1.08239142e-02 9.99938831e-01 -2.27546280e-03 -9.59113789e+01] [-4.18035799e-03 2.23032585e-03 9.99988775e-01 2.96037548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41907232899996 meters Centerline goodness [0,1] 0.28567241668062304 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.91, Z:296.04 [[ 9.99919707e-01 1.23099941e-02 3.00721502e-03 -1.70315619e+02] [-1.23046208e-02 9.99922677e-01 -1.79881724e-03 -9.59096432e+01] [-3.02912593e-03 1.76167017e-03 9.99993860e-01 2.96037795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.449072329 meters Centerline goodness [0,1] 0.2930012359385802 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.91, Z:296.04 [[ 9.99834667e-01 1.81194384e-02 1.52472935e-03 -1.70311863e+02] [-1.81233724e-02 9.99832359e-01 2.60717587e-03 -9.59076194e+01] [-1.47723318e-03 -2.63437806e-03 9.99995439e-01 2.96038307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47907232899996 meters Centerline goodness [0,1] 0.2956182975871313 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.91, Z:296.04 [[ 9.99814280e-01 1.92687371e-02 3.49316622e-04 -1.70308879e+02] [-1.92696494e-02 9.99810319e-01 2.82974756e-03 -9.59058966e+01] [-2.94724702e-04 -2.83595323e-03 9.99995935e-01 2.96038533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.509072329 meters Centerline goodness [0,1] 0.29914046121593296 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.90, Z:296.04 [[ 9.99726605e-01 2.33816856e-02 1.12844821e-04 -1.70308372e+02] [-2.33819235e-02 9.99705204e-01 6.54146913e-03 -9.59041146e+01] [ 4.01390200e-05 -6.54231925e-03 9.99978598e-01 2.96038955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53907232899996 meters Centerline goodness [0,1] 0.3345075590782328 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.90, Z:296.04 [[ 9.99548587e-01 2.98500087e-02 -3.40566849e-03 -1.70301413e+02] [-2.98222559e-02 9.99523778e-01 7.92787650e-03 -9.58989339e+01] [ 3.64069382e-03 -7.82273304e-03 9.99962774e-01 2.96044654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.569072329 meters Centerline goodness [0,1] 0.3607987917435811 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.90, Z:296.05 [[ 9.99524246e-01 3.05016738e-02 -4.57481232e-03 -1.70299484e+02] [-3.04666830e-02 9.99507399e-01 7.53262250e-03 -9.58962024e+01] [ 4.80231636e-03 -7.38965947e-03 9.99961165e-01 2.96046274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59907232899997 meters Centerline goodness [0,1] 0.3590318055235663 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.89, Z:296.05 [[ 9.99500521e-01 3.11025978e-02 -5.59795355e-03 -1.70297509e+02] [-3.10624570e-02 9.99492084e-01 7.12016842e-03 -9.58935156e+01] [ 5.81656599e-03 -6.94272585e-03 9.99958982e-01 2.96047335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.629072329 meters Centerline goodness [0,1] 0.36555290373906124 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.89, Z:296.05 [[ 9.99451551e-01 3.23796580e-02 -6.93937662e-03 -1.70295168e+02] [-3.23314514e-02 9.99453038e-01 6.94994538e-03 -9.58913168e+01] [ 7.16061790e-03 -6.72177357e-03 9.99951770e-01 2.96049100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65907232899997 meters Centerline goodness [0,1] 0.36264405214215245 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.89, Z:296.05 [[ 9.99426728e-01 3.29533505e-02 -7.76484284e-03 -1.70293237e+02] [-3.28987530e-02 9.99433773e-01 7.05725092e-03 -9.58904717e+01] [ 7.99300625e-03 -6.79775155e-03 9.99944950e-01 2.96049367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68907232899994 meters Centerline goodness [0,1] 0.35005242189138186 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.89, Z:296.05 [[ 9.99397487e-01 3.35766023e-02 -8.79061253e-03 -1.70290802e+02] [-3.35155314e-02 9.99413649e-01 7.00483573e-03 -9.58888033e+01] [ 9.02065673e-03 -6.70599317e-03 9.99936827e-01 2.96049751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71907232899997 meters Centerline goodness [0,1] 0.36739235404026616 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.89, Z:296.05 [[ 9.99245227e-01 3.77228562e-02 -9.27163785e-03 -1.70289447e+02] [-3.76264570e-02 9.99238163e-01 1.03606310e-02 -9.58852958e+01] [ 9.65540697e-03 -1.00039522e-02 9.99903342e-01 2.96050300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74907232899994 meters Centerline goodness [0,1] 0.29907756813417186 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.88, Z:296.05 [[ 9.99230625e-01 3.79188350e-02 -1.00160136e-02 -1.70288039e+02] [-3.78199379e-02 9.99235673e-01 9.88541492e-03 -9.58828388e+01] [ 1.03832016e-02 -9.49900431e-03 9.99900974e-01 2.96051125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.779072329 meters Centerline goodness [0,1] 0.35757537662119976 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.88, Z:296.05 [[ 9.99073522e-01 4.17863529e-02 -1.02955543e-02 -1.70287884e+02] [-4.16541584e-02 9.99050909e-01 1.27362861e-02 -9.58785244e+01] [ 1.08179858e-02 -1.22956336e-02 9.99865885e-01 2.96052552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80907232899995 meters Centerline goodness [0,1] 0.3115606330573315 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.88, Z:296.05 [[ 9.99037783e-01 4.23988660e-02 -1.12180301e-02 -1.70285951e+02] [-4.22570888e-02 9.99027477e-01 1.25872220e-02 -9.58765827e+01] [ 1.17408042e-02 -1.21010691e-02 9.99857849e-01 2.96053311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.839072329 meters Centerline goodness [0,1] 0.3473651126244107 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.87, Z:296.05 [[ 9.99019604e-01 4.26246501e-02 -1.19569890e-02 -1.70284310e+02] [-4.24813617e-02 9.99025286e-01 1.19921570e-02 -9.58734550e+01] [ 1.24564959e-02 -1.14724508e-02 9.99856599e-01 2.96053880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86907232899995 meters Centerline goodness [0,1] 0.3151525303071544 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.87, Z:296.05 [[ 9.98923064e-01 4.45482024e-02 -1.29680501e-02 -1.70281153e+02] [-4.43798954e-02 9.98930278e-01 1.29893949e-02 -9.58724467e+01] [ 1.35328321e-02 -1.23998855e-02 9.99831538e-01 2.96053680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.899072329 meters Centerline goodness [0,1] 0.321377662250545 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.87, Z:296.05 [[ 9.98920035e-01 4.45307327e-02 -1.32580985e-02 -1.70280788e+02] [-4.43629969e-02 9.98934904e-01 1.26878519e-02 -9.58713604e+01] [ 1.38089767e-02 -1.20859805e-02 9.99831606e-01 2.96054129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92907232899995 meters Centerline goodness [0,1] 0.3239365718600554 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.87, Z:296.05 [[ 9.99048931e-01 4.12220083e-02 -1.42119602e-02 -1.70278558e+02] [-4.10990254e-02 9.99115974e-01 8.83971036e-03 -9.58702910e+01] [ 1.45637870e-02 -8.24720547e-03 9.99859930e-01 2.96054094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.959072329 meters Centerline goodness [0,1] 0.32098972530928915 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.87, Z:296.05 [[ 9.99166506e-01 3.79318809e-02 -1.50819950e-02 -1.70276709e+02] [-3.78560380e-02 9.99269239e-01 5.28289215e-03 -9.58705016e+01] [ 1.52713637e-02 -4.70754432e-03 9.99872304e-01 2.96054144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98907232899995 meters Centerline goodness [0,1] 0.3285231872810789 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.87, Z:296.05 [[ 9.99169618e-01 3.78829606e-02 -1.49985192e-02 -1.70276864e+02] [-3.78086761e-02 9.99271436e-01 5.20584680e-03 -9.58701967e+01] [ 1.51848047e-02 -4.63444980e-03 9.99873964e-01 2.96054106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.019072329 meters Centerline goodness [0,1] 0.32148179242312935 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.87, Z:296.05 [[ 9.99163064e-01 3.79337198e-02 -1.53037309e-02 -1.70276027e+02] [-3.78613854e-02 9.99270546e-01 4.98904682e-03 -9.58686693e+01] [ 1.54818207e-02 -4.40545085e-03 9.99870444e-01 2.96054204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04907232899996 meters Centerline goodness [0,1] 0.32492027526015443 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.87, Z:296.06 [[ 9.99276513e-01 3.29775063e-02 -1.89455892e-02 -1.70266880e+02] [-3.27800424e-02 9.99405948e-01 1.06404429e-02 -9.58729790e+01] [ 1.92852298e-02 -1.00117075e-02 9.99763895e-01 2.96061561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.079072329 meters Centerline goodness [0,1] 0.2826899651363044 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.87, Z:296.06 [[ 9.99335271e-01 3.05544163e-02 -1.98857614e-02 -1.70264389e+02] [-3.04002252e-02 9.99505706e-01 8.01056531e-03 -9.58746487e+01] [ 2.01206901e-02 -7.40070883e-03 9.99770167e-01 2.96061234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.10907232899996 meters Centerline goodness [0,1] 0.3309351008935688 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.87, Z:296.06 [[ 9.99428807e-01 2.68313209e-02 -2.05460686e-02 -1.70263205e+02] [-2.67527035e-02 9.99633708e-01 4.09179062e-03 -9.58744321e+01] [ 2.06483309e-02 -3.53979053e-03 9.99780534e-01 2.96061558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.139072329 meters Centerline goodness [0,1] 0.29101361700342 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.88, Z:296.06 [[ 9.99535808e-01 2.26813692e-02 -2.03401961e-02 -1.70263913e+02] [-2.26807645e-02 9.99742724e-01 2.60446756e-04 -9.58755662e+01] [ 2.03408704e-02 2.01005339e-04 9.99793083e-01 2.96061400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16907232899996 meters Centerline goodness [0,1] 0.2897072710103872 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.88, Z:296.07 [[ 9.99612723e-01 1.61036876e-02 -2.26952802e-02 -1.70255148e+02] [-1.59656419e-02 9.99853003e-01 6.25070796e-03 -9.58834739e+01] [ 2.27926035e-02 -5.88594249e-03 9.99722888e-01 2.96067289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.199072329 meters Centerline goodness [0,1] 0.3449261352890496 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.88, Z:296.07 [[ 9.99614834e-01 1.60586032e-02 -2.26341665e-02 -1.70255435e+02] [-1.59232386e-02 9.99854315e-01 6.14814850e-03 -9.58831088e+01] [ 2.27295997e-02 -5.78537121e-03 9.99724910e-01 2.96067392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22907232899996 meters Centerline goodness [0,1] 0.29753332633567753 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.88, Z:296.07 [[ 9.99669908e-01 1.20110225e-02 -2.27114616e-02 -1.70255688e+02] [-1.19607190e-02 9.99925708e-01 2.34944803e-03 -9.58841498e+01] [ 2.27379936e-02 -2.07702708e-03 9.99739301e-01 2.96067772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.259072329 meters Centerline goodness [0,1] 0.29593420887005417 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.89, Z:296.06 [[ 9.99876847e-01 1.20081443e-02 -1.01042377e-02 -1.70262789e+02] [-1.19687954e-02 9.99920586e-01 3.94579797e-03 -9.58877127e+01] [ 1.01508170e-02 -3.82437648e-03 9.99941166e-01 2.96063657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28907232899996 meters Centerline goodness [0,1] 0.3077310184311506 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.89, Z:296.06 [[ 9.99919012e-01 7.93330105e-03 -9.95151992e-03 -1.70263152e+02] [-7.93158714e-03 9.99968522e-01 2.11681090e-04 -9.58891542e+01] [ 9.95288600e-03 -1.32732598e-04 9.99950460e-01 2.96063466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.319072329 meters Centerline goodness [0,1] 0.3084912192358532 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.89, Z:296.06 [[ 9.99922112e-01 7.91215611e-03 -9.65234490e-03 -1.70263854e+02] [-7.90928304e-03 9.99968665e-01 3.35791416e-04 -9.58897852e+01] [ 9.65469928e-03 -2.59422134e-04 9.99953359e-01 2.96063270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34907232899997 meters Centerline goodness [0,1] 0.313839379324806 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.89, Z:296.06 [[ 9.99922139e-01 8.05756549e-03 -9.52843037e-03 -1.70264221e+02] [-8.05143295e-03 9.99967354e-01 6.81789619e-04 -9.58909680e+01] [ 9.53361287e-03 -6.05019016e-04 9.99954371e-01 2.96063230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.379072329 meters Centerline goodness [0,1] 0.313839379324806 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.89, Z:296.06 [[ 9.99922139e-01 8.05756549e-03 -9.52843037e-03 -1.70264221e+02] [-8.05143295e-03 9.99967354e-01 6.81789619e-04 -9.58909680e+01] [ 9.53361287e-03 -6.05019016e-04 9.99954371e-01 2.96063230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40907232899997 meters Centerline goodness [0,1] 0.3098340735774743 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.89, Z:296.06 [[ 9.99940367e-01 4.55177036e-03 -9.92692028e-03 -1.70262534e+02] [-4.57959243e-03 9.99985644e-01 -2.78176036e-03 -9.58913359e+01] [ 9.91411584e-03 2.82705572e-03 9.99946858e-01 2.96062514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43907232899994 meters Centerline goodness [0,1] 0.3161781675513501 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.89, Z:296.06 [[ 9.99953437e-01 9.35786878e-04 -9.60455848e-03 -1.70262305e+02] [-9.90121083e-04 9.99983526e-01 -5.65393172e-03 -9.58949106e+01] [ 9.59910938e-03 5.66317813e-03 9.99937891e-01 2.96060962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46907232899997 meters Centerline goodness [0,1] 0.3212570014055256 Centerline is valid? [False, False] Translation: X:-170.26, Y:-95.90, Z:296.06 [[ 9.99963565e-01 5.35802219e-04 -8.51948355e-03 -1.70264553e+02] [-5.81195003e-04 9.99985645e-01 -5.32653180e-03 -9.58968655e+01] [ 8.51650729e-03 5.33128921e-03 9.99949522e-01 2.96060059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49907232899994 meters Centerline goodness [0,1] 0.326009015620086 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.90, Z:296.06 [[ 9.99963181e-01 -3.38068531e-03 -7.88722442e-03 -1.70265557e+02] [ 3.31407199e-03 9.99958861e-01 -8.44356206e-03 -9.59004521e+01] [ 7.91544497e-03 8.41711234e-03 9.99933247e-01 2.96059073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.529072329 meters Centerline goodness [0,1] 0.3310310184603793 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.90, Z:296.06 [[ 9.99942525e-01 -7.16551729e-03 -7.97507621e-03 -1.70265336e+02] [ 7.06960627e-03 9.99903123e-01 -1.19902511e-02 -9.59021492e+01] [ 8.06021996e-03 1.19331813e-02 9.99896311e-01 2.96059097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55907232899995 meters Centerline goodness [0,1] 0.3352455927306227 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.90, Z:296.06 [[ 9.99945570e-01 -7.60127331e-03 -7.14682949e-03 -1.70267616e+02] [ 7.51421559e-03 9.99898192e-01 -1.21302528e-02 -9.59025305e+01] [ 7.23830725e-03 1.20758898e-02 9.99900885e-01 2.96059241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.589072329 meters Centerline goodness [0,1] 0.344938100923773 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.90, Z:296.06 [[ 9.99939792e-01 -9.24712718e-03 -5.90791278e-03 -1.70271253e+02] [ 9.16744160e-03 9.99868517e-01 -1.33755696e-02 -9.59010432e+01] [ 6.03082158e-03 1.33206038e-02 9.99893090e-01 2.96059824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61907232899995 meters Centerline goodness [0,1] 0.34539026380201254 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.90, Z:296.06 [[ 9.99941227e-01 -9.38966464e-03 -5.42000365e-03 -1.70272308e+02] [ 9.31715783e-03 9.99868788e-01 -1.32513506e-02 -9.59016405e+01] [ 5.54371821e-03 1.32000727e-02 9.99897507e-01 2.96059542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.649072329 meters Centerline goodness [0,1] 0.3488226059654631 Centerline is valid? [False, False] Translation: X:-170.27, Y:-95.90, Z:296.06 [[ 9.99942445e-01 -9.81547100e-03 -4.33165042e-03 -1.70274733e+02] [ 9.75916294e-03 9.99870011e-01 -1.28343318e-02 -9.59039913e+01] [ 4.45706237e-03 1.27913199e-02 9.99908254e-01 2.96058823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67907232899995 meters Centerline goodness [0,1] 0.3517531204917519 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.90, Z:296.06 [[ 9.99936614e-01 -1.08093400e-02 -3.15051787e-03 -1.70277736e+02] [ 1.07662878e-02 9.99852575e-01 -1.33758953e-02 -9.59037199e+01] [ 3.29463800e-03 1.33411280e-02 9.99905575e-01 2.96058697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.709072329 meters Centerline goodness [0,1] 0.2773084704753561 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.90, Z:296.06 [[ 9.99933724e-01 -1.12947430e-02 -2.23066759e-03 -1.70280199e+02] [ 1.12638706e-02 9.99846786e-01 -1.33988593e-02 -9.59047148e+01] [ 2.38166249e-03 1.33728454e-02 9.99907743e-01 2.96058712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73907232899995 meters Centerline goodness [0,1] 0.27755102040816326 Centerline is valid? [False, False] Translation: X:-170.28, Y:-95.90, Z:296.06 [[ 9.99921262e-01 -1.25144180e-02 -9.27351882e-04 -1.70283946e+02] [ 1.25002126e-02 9.99823827e-01 -1.40021188e-02 -9.59049446e+01] [ 1.10241688e-03 1.39894242e-02 9.99901535e-01 2.96059002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.769072329 meters Centerline goodness [0,1] 0.28479782676836274 Centerline is valid? [False, False] Translation: X:-170.29, Y:-95.91, Z:296.05 [[ 9.99839975e-01 -1.75354732e-02 3.54012386e-03 -1.70294162e+02] [ 1.75797060e-02 9.99762551e-01 -1.28761925e-02 -9.59071690e+01] [-3.31349313e-03 1.29363664e-02 9.99910832e-01 2.96053443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79907232899996 meters Centerline goodness [0,1] 0.22700271909642333 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.91, Z:296.05 [[ 9.99828616e-01 -1.79419547e-02 4.56345641e-03 -1.70296670e+02] [ 1.79981218e-02 9.99758875e-01 -1.25801108e-02 -9.59091804e+01] [-4.33664427e-03 1.26600884e-02 9.99910454e-01 2.96053066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.829072329 meters Centerline goodness [0,1] 0.3649137480397282 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.91, Z:296.05 [[ 9.99798259e-01 -1.91395459e-02 6.09250621e-03 -1.70299738e+02] [ 1.92122560e-02 9.99742105e-01 -1.21083484e-02 -9.59129344e+01] [-5.85918669e-03 1.22229564e-02 9.99908130e-01 2.96051392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85907232899996 meters Centerline goodness [0,1] 0.3540799899646673 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.91, Z:296.05 [[ 9.99787826e-01 -1.94625998e-02 6.74616327e-03 -1.70300914e+02] [ 1.95440936e-02 9.99734165e-01 -1.22322697e-02 -9.59127822e+01] [-6.50629813e-03 1.23615219e-02 9.99902426e-01 2.96050622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.889072329 meters Centerline goodness [0,1] 0.34018183718256867 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.91, Z:296.05 [[ 9.99787984e-01 -1.93578262e-02 7.01869858e-03 -1.70301670e+02] [ 1.94398090e-02 9.99741312e-01 -1.18068718e-02 -9.59142210e+01] [-6.78832755e-03 1.19408107e-02 9.99905663e-01 2.96050491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91907232899996 meters Centerline goodness [0,1] 0.3392282286048748 Centerline is valid? [False, False] Translation: X:-170.30, Y:-95.91, Z:296.05 [[ 9.99778684e-01 -1.97498548e-02 7.24753929e-03 -1.70302830e+02] [ 1.98382573e-02 9.99727103e-01 -1.23354512e-02 -9.59130408e+01] [-7.00193809e-03 1.24764997e-02 9.99897650e-01 2.96051223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.949072329 meters Centerline goodness [0,1] 0.2382614876447715 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.91, Z:296.05 [[ 9.99823447e-01 -1.69526216e-02 8.10451995e-03 -1.70305979e+02] [ 1.70313502e-02 9.99807457e-01 -9.74589088e-03 -9.59098932e+01] [-7.93774108e-03 9.88220113e-03 9.99919664e-01 2.96052280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97907232899996 meters Centerline goodness [0,1] 0.24444397984570676 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.91, Z:296.05 [[ 9.99852832e-01 -1.46096238e-02 8.99299116e-03 -1.70309652e+02] [ 1.46750407e-02 9.99866019e-01 -7.25171555e-03 -9.59081907e+01] [-8.88584143e-03 7.38262084e-03 9.99933267e-01 2.96053722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.009072329 meters Centerline goodness [0,1] 0.24995296134467837 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.90, Z:296.05 [[ 9.99881368e-01 -1.19715764e-02 9.69183737e-03 -1.70312405e+02] [ 1.20198190e-02 9.99915582e-01 -4.93480505e-03 -9.59042550e+01] [-9.63194182e-03 5.05071375e-03 9.99940856e-01 2.96054898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03907232899996 meters Centerline goodness [0,1] 0.25016729401923876 Centerline is valid? [False, False] Translation: X:-170.31, Y:-95.90, Z:296.06 [[ 9.99873713e-01 -1.24091404e-02 9.92829742e-03 -1.70313106e+02] [ 1.24653635e-02 9.99906504e-01 -5.62121568e-03 -9.59019539e+01] [-9.85761471e-03 5.74426563e-03 9.99934913e-01 2.96055120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.069072329 meters Centerline goodness [0,1] 0.25355910943869553 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.90, Z:296.06 [[ 9.99889528e-01 -1.01227197e-02 1.08840519e-02 -1.70316521e+02] [ 1.01586819e-02 9.99943105e-01 -3.25392454e-03 -9.58991274e+01] [-1.08504941e-02 3.36413269e-03 9.99935473e-01 2.96056262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09907232899997 meters Centerline goodness [0,1] 0.2566273624351898 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.90, Z:296.06 [[ 9.99875782e-01 -1.05898677e-02 1.16736580e-02 -1.70318371e+02] [ 1.06297776e-02 9.99937850e-01 -3.36207060e-03 -9.58992052e+01] [-1.16373286e-02 3.48574136e-03 9.99926208e-01 2.96056114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.129072329 meters Centerline goodness [0,1] 0.2653713569413977 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.90, Z:296.06 [[ 9.99871215e-01 -1.06928161e-02 1.19673278e-02 -1.70319221e+02] [ 1.07351821e-02 9.99936315e-01 -3.48151061e-03 -9.58988143e+01] [-1.19293385e-02 3.60953369e-03 9.99922328e-01 2.96056220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15907232899997 meters Centerline goodness [0,1] 0.26643244034548386 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.90, Z:296.06 [[ 9.99858952e-01 -1.09074974e-02 1.27711949e-02 -1.70321370e+02] [ 1.09459278e-02 9.99935760e-01 -2.94312708e-03 -9.59017723e+01] [-1.27382723e-02 3.08250454e-03 9.99914114e-01 2.96056082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18907232899994 meters Centerline goodness [0,1] 0.27217253197358526 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.90, Z:296.06 [[ 9.99843206e-01 -1.13662161e-02 1.35784107e-02 -1.70323351e+02] [ 1.14096486e-02 9.99930023e-01 -3.12547042e-03 -9.59020475e+01] [-1.35419358e-02 3.27990526e-03 9.99902924e-01 2.96055851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21907232899997 meters Centerline goodness [0,1] 0.27429264011367915 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.90, Z:296.06 [[ 9.99833554e-01 -1.15294651e-02 1.41398639e-02 -1.70324736e+02] [ 1.15728290e-02 9.99928566e-01 -2.98879701e-03 -9.59029548e+01] [-1.41043946e-02 3.15193776e-03 9.99895560e-01 2.96055684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24907232899994 meters Centerline goodness [0,1] 0.2782654127481714 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.90, Z:296.06 [[ 9.99847019e-01 -1.09327761e-02 1.36533361e-02 -1.70323485e+02] [ 1.09672245e-02 9.99936855e-01 -2.45075388e-03 -9.59035492e+01] [-1.36256804e-02 2.60011816e-03 9.99903785e-01 2.96055603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.279072329 meters Centerline goodness [0,1] 0.2678993001149065 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.90, Z:296.05 [[ 9.99836610e-01 -1.11669453e-02 1.42144901e-02 -1.70324220e+02] [ 1.12015533e-02 9.99934482e-01 -2.35741682e-03 -9.59040688e+01] [-1.41872336e-02 2.51625601e-03 9.99896190e-01 2.96054608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30907232899995 meters Centerline goodness [0,1] 0.2870612338761943 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.90, Z:296.05 [[ 9.99816018e-01 -1.18213860e-02 1.51058170e-02 -1.70326412e+02] [ 1.18636256e-02 9.99925953e-01 -2.70969931e-03 -9.59038223e+01] [-1.50726660e-02 2.88841053e-03 9.99882229e-01 2.96054434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.339072329 meters Centerline goodness [0,1] 0.29222761100426453 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.90, Z:296.05 [[ 9.99789648e-01 -1.25559301e-02 1.62175178e-02 -1.70329270e+02] [ 1.26050441e-02 9.99916261e-01 -2.92978614e-03 -9.59044867e+01] [-1.61793736e-02 3.13359238e-03 9.99864195e-01 2.96054373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36907232899995 meters Centerline goodness [0,1] 0.2981979345235607 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.90, Z:296.06 [[ 9.99742741e-01 -1.46064843e-02 1.73523182e-02 -1.70333062e+02] [ 1.46867328e-02 9.99881990e-01 -4.50624965e-03 -9.59032593e+01] [-1.72844499e-02 4.75993923e-03 9.99839282e-01 2.96055371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.399072329 meters Centerline goodness [0,1] 0.30368034088060825 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.90, Z:296.05 [[ 9.99731654e-01 -1.47901233e-02 1.78289885e-02 -1.70333947e+02] [ 1.48738381e-02 9.99878926e-01 -4.57200114e-03 -9.59029392e+01] [-1.77592094e-02 4.83595975e-03 9.99830598e-01 2.96054905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42907232899995 meters Centerline goodness [0,1] 0.30721898921636115 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.90, Z:296.05 [[ 9.99710440e-01 -1.51267648e-02 1.87141003e-02 -1.70336076e+02] [ 1.52074041e-02 9.99875648e-01 -4.17423032e-03 -9.59049312e+01] [-1.86486306e-02 4.45761451e-03 9.99816162e-01 2.96054586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.459072329 meters Centerline goodness [0,1] 0.3124098576534772 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.90, Z:296.06 [[ 9.99657376e-01 -1.69005453e-02 1.99875411e-02 -1.70339705e+02] [ 1.70154903e-02 9.99839573e-01 -5.59480932e-03 -9.59031965e+01] [-1.98897793e-02 5.93299022e-03 9.99784575e-01 2.96055036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48907232899995 meters Centerline goodness [0,1] 0.31898459354515474 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.91, Z:296.05 [[ 9.99648546e-01 -1.67547260e-02 2.05441850e-02 -1.70341108e+02] [ 1.68579469e-02 9.99846076e-01 -4.86147592e-03 -9.59058524e+01] [-2.04595701e-02 5.20610012e-03 9.99777126e-01 2.96054854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.519072329 meters Centerline goodness [0,1] 0.3201253918495298 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.91, Z:296.06 [[ 9.99585166e-01 -1.87461163e-02 2.18650113e-02 -1.70344994e+02] [ 1.88863783e-02 9.99802250e-01 -6.22612851e-03 -9.59050573e+01] [-2.17439718e-02 6.63649658e-03 9.99741545e-01 2.96055389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54907232899996 meters Centerline goodness [0,1] 0.31163101883794353 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.90, Z:296.06 [[ 9.99582971e-01 -1.87512884e-02 2.19607360e-02 -1.70345256e+02] [ 1.88938571e-02 9.99801630e-01 -6.30257034e-03 -9.59044392e+01] [-2.18381983e-02 6.71486499e-03 9.99738968e-01 2.96055418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.579072329 meters Centerline goodness [0,1] 0.32754513540621866 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.90, Z:296.06 [[ 9.99571944e-01 -1.88751357e-02 2.23530482e-02 -1.70346301e+02] [ 1.90199872e-02 9.99799347e-01 -6.28536950e-03 -9.59046335e+01] [-2.22299258e-02 6.70783370e-03 9.99730381e-01 2.96055434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.60907232899996 meters Centerline goodness [0,1] 0.33676452165198145 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.90, Z:296.05 [[ 9.99506516e-01 -2.04973505e-02 2.38030159e-02 -1.70349389e+02] [ 2.06723819e-02 9.99760875e-01 -7.13066492e-03 -9.59044516e+01] [-2.36511643e-02 7.61921108e-03 9.99691237e-01 2.96054668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.639072329 meters Centerline goodness [0,1] 0.3281742141382116 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.90, Z:296.05 [[ 9.99462880e-01 -2.13945767e-02 2.48238560e-02 -1.70351885e+02] [ 2.15892437e-02 9.99738034e-01 -7.60057894e-03 -9.59042579e+01] [-2.46547418e-02 8.13242479e-03 9.99662947e-01 2.96054459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66907232899996 meters Centerline goodness [0,1] 0.3406079826409898 Centerline is valid? [False, False] Translation: X:-170.36, Y:-95.90, Z:296.05 [[ 9.99393893e-01 -2.28663773e-02 2.62483313e-02 -1.70355002e+02] [ 2.30859182e-02 9.99700738e-01 -8.09161601e-03 -9.59045481e+01] [-2.60554502e-02 8.69267845e-03 9.99622704e-01 2.96053740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.699072329 meters Centerline goodness [0,1] 0.3024007675781657 Centerline is valid? [False, False] Translation: X:-170.36, Y:-95.90, Z:296.05 [[ 9.99347373e-01 -2.37472218e-02 2.72194214e-02 -1.70357172e+02] [ 2.39960588e-02 9.99672862e-01 -8.85195844e-03 -9.59030227e+01] [-2.70003074e-02 9.49934025e-03 9.99590289e-01 2.96053336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72907232899996 meters Centerline goodness [0,1] 0.3684056822211561 Centerline is valid? [False, False] Translation: X:-170.36, Y:-95.90, Z:296.05 [[ 9.99300064e-01 -2.46157823e-02 2.81681560e-02 -1.70359956e+02] [ 2.48826577e-02 9.99648381e-01 -9.16334586e-03 -9.59036603e+01] [-2.79326886e-02 9.85783069e-03 9.99561198e-01 2.96053644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.759072329 meters Centerline goodness [0,1] 0.33948801402015394 Centerline is valid? [False, False] Translation: X:-170.36, Y:-95.90, Z:296.05 [[ 9.99308484e-01 -2.44191893e-02 2.80402693e-02 -1.70359898e+02] [ 2.46801268e-02 9.99654907e-01 -8.99769102e-03 -9.59038635e+01] [-2.78108765e-02 9.68350638e-03 9.99566298e-01 2.96053934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78907232899996 meters Centerline goodness [0,1] 0.3182367653188829 Centerline is valid? [False, False] Translation: X:-170.36, Y:-95.90, Z:296.05 [[ 9.99265419e-01 -2.50425700e-02 2.90084697e-02 -1.70362556e+02] [ 2.53170909e-02 9.99637732e-01 -9.13510782e-03 -9.59047138e+01] [-2.87691943e-02 9.86280741e-03 9.99537422e-01 2.96054093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.819072329 meters Centerline goodness [0,1] 0.3285449200425328 Centerline is valid? [False, False] Translation: X:-170.36, Y:-95.90, Z:296.05 [[ 9.99223858e-01 -2.58835652e-02 2.96938072e-02 -1.70364904e+02] [ 2.61901559e-02 9.99607131e-01 -9.98296598e-03 -9.59035337e+01] [-2.94237467e-02 1.07529032e-02 9.99509189e-01 2.96054747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84907232899997 meters Centerline goodness [0,1] 0.38012111087909795 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.88, Z:296.06 [[ 9.99465788e-01 -2.56990632e-02 2.01914968e-02 -1.70377104e+02] [ 2.59067442e-02 9.99613420e-01 -1.00921703e-02 -9.58846383e+01] [-1.99243318e-02 1.06098749e-02 9.99745193e-01 2.96058094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.879072329 meters Centerline goodness [0,1] 0.3490349264705882 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.88, Z:296.06 [[ 9.99485147e-01 -2.41206280e-02 2.11574244e-02 -1.70380718e+02] [ 2.42988515e-02 9.99671048e-01 -8.20740807e-03 -9.58822781e+01] [-2.09524968e-02 8.71728357e-03 9.99742468e-01 2.96059164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90907232899997 meters Centerline goodness [0,1] 0.3556080431420091 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.88, Z:296.06 [[ 9.99473844e-01 -2.42999893e-02 2.14835955e-02 -1.70381858e+02] [ 2.44828783e-02 9.99665866e-01 -8.29128655e-03 -9.58822364e+01] [-2.12749389e-02 8.81290430e-03 9.99734820e-01 2.96059481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93907232899994 meters Centerline goodness [0,1] 0.3335770540433266 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.88, Z:296.06 [[ 9.99485391e-01 -2.39554376e-02 2.13328423e-02 -1.70380892e+02] [ 2.41296759e-02 9.99677242e-01 -7.94797233e-03 -9.58824401e+01] [-2.11355598e-02 8.45863680e-03 9.99740836e-01 2.96058628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96907232899997 meters Centerline goodness [0,1] 0.33266432513798294 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.88, Z:296.06 [[ 9.99549209e-01 -2.05617623e-02 2.18767481e-02 -1.70383144e+02] [ 2.06685961e-02 9.99775482e-01 -4.66856722e-03 -9.58803360e+01] [-2.17758424e-02 5.11862434e-03 9.99749775e-01 2.96059417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99907232899994 meters Centerline goodness [0,1] 0.3204246692720851 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.88, Z:296.06 [[ 9.99559036e-01 -2.04540532e-02 2.15259173e-02 -1.70382930e+02] [ 2.05632929e-02 9.99776713e-01 -4.86572719e-03 -9.58794134e+01] [-2.14215869e-02 5.30622532e-03 9.99756450e-01 2.96060263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.029072329 meters Centerline goodness [0,1] 0.3311585110832288 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.88, Z:296.06 [[ 9.99628285e-01 -1.68559428e-02 2.14282407e-02 -1.70383337e+02] [ 1.68988958e-02 9.99855538e-01 -1.82499812e-03 -9.58757319e+01] [-2.13943831e-02 2.18643335e-03 9.99768723e-01 2.96060923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05907232899995 meters Centerline goodness [0,1] 0.33467126580955364 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.87, Z:296.06 [[ 9.99652099e-01 -1.64145189e-02 2.06456679e-02 -1.70381462e+02] [ 1.64584976e-02 9.99862625e-01 -1.96204624e-03 -9.58741503e+01] [-2.06106257e-02 2.30116031e-03 9.99784930e-01 2.96061070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.089072329 meters Centerline goodness [0,1] 0.3254597568885077 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.86, Z:296.06 [[ 9.99853771e-01 -1.45574255e-02 8.97322265e-03 -1.70384783e+02] [ 1.46171520e-02 9.99871204e-01 -6.62682964e-03 -9.58619747e+01] [-8.87559736e-03 6.75702356e-03 9.99937781e-01 2.96064992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11907232899995 meters Centerline goodness [0,1] 0.32913699204021785 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.86, Z:296.07 [[ 9.99911050e-01 -1.04683273e-02 8.26474235e-03 -1.70383659e+02] [ 1.04976910e-02 9.99938711e-01 -3.51754360e-03 -9.58577083e+01] [-8.22741302e-03 3.60399143e-03 9.99959660e-01 2.96065927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.149072329 meters Centerline goodness [0,1] 0.33542766189159756 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.86, Z:296.07 [[ 9.99927193e-01 -9.43130308e-03 7.52720783e-03 -1.70381602e+02] [ 9.45202179e-03 9.99951625e-01 -2.72169755e-03 -9.58584018e+01] [-7.50117454e-03 2.79264673e-03 9.99967966e-01 2.96065720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17907232899995 meters Centerline goodness [0,1] 0.28843899170923704 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.86, Z:296.07 [[ 9.99934670e-01 -8.86074662e-03 7.22103040e-03 -1.70380862e+02] [ 8.87709268e-03 9.99958101e-01 -2.23477411e-03 -9.58590912e+01] [-7.20092608e-03 2.29872986e-03 9.99971431e-01 2.96065729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.209072329 meters Centerline goodness [0,1] 0.34784793166973704 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.86, Z:296.07 [[ 9.99954867e-01 -5.38726445e-03 7.82568026e-03 -1.70383083e+02] [ 5.37904533e-03 9.99984959e-01 1.07094424e-03 -9.58571926e+01] [-7.83133202e-03 -1.02880122e-03 9.99968805e-01 2.96066480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23907232899995 meters Centerline goodness [0,1] 0.28800854289243916 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.86, Z:296.07 [[ 9.99955903e-01 -5.44432954e-03 7.65192779e-03 -1.70382632e+02] [ 5.43926059e-03 9.99984974e-01 6.83095166e-04 -9.58556274e+01] [-7.65553181e-03 -6.41444214e-04 9.99970490e-01 2.96066492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.269072329 meters Centerline goodness [0,1] 0.27815110217923755 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99964620e-01 -4.80161046e-03 6.90672508e-03 -1.70381154e+02] [ 4.79603950e-03 9.99988160e-01 8.22935950e-04 -9.58549104e+01] [-6.91059473e-03 -7.89781909e-04 9.99975810e-01 2.96067139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29907232899996 meters Centerline goodness [0,1] 0.27815110217923755 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99964620e-01 -4.80161046e-03 6.90672508e-03 -1.70381154e+02] [ 4.79603950e-03 9.99988160e-01 8.22935950e-04 -9.58549104e+01] [-6.91059473e-03 -7.89781909e-04 9.99975810e-01 2.96067139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.329072329 meters Centerline goodness [0,1] 0.35837799363590683 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99961837e-01 -5.01688758e-03 7.15226658e-03 -1.70382264e+02] [ 5.01260418e-03 9.99987247e-01 6.16687221e-04 -9.58546658e+01] [-7.15526922e-03 -5.80812205e-04 9.99974232e-01 2.96067748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35907232899996 meters Centerline goodness [0,1] 0.3628092778114739 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99965689e-01 -4.86214419e-03 6.70670557e-03 -1.70381345e+02] [ 4.85989372e-03 9.99988129e-01 3.51811400e-04 -9.58530651e+01] [-6.70833651e-03 -3.19205453e-04 9.99977448e-01 2.96068124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.389072329 meters Centerline goodness [0,1] 0.306316869412282 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99966168e-01 -4.86203318e-03 6.63494771e-03 -1.70381290e+02] [ 4.86049406e-03 9.99988157e-01 2.48077562e-04 -9.58525500e+01] [-6.63607530e-03 -2.15820046e-04 9.99977958e-01 2.96068350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41907232899996 meters Centerline goodness [0,1] 0.30606009876956564 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99965520e-01 -4.91254955e-03 6.69520134e-03 -1.70381214e+02] [ 4.91130624e-03 9.99987919e-01 2.02129299e-04 -9.58521766e+01] [-6.69611343e-03 -1.69240146e-04 9.99977566e-01 2.96068006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.449072329 meters Centerline goodness [0,1] 0.3125627720120522 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99969212e-01 -4.45281486e-03 6.46127450e-03 -1.70379471e+02] [ 4.44832315e-03 9.99989855e-01 7.09378820e-04 -9.58526223e+01] [-6.46436768e-03 -6.80615142e-04 9.99978874e-01 2.96066513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47907232899996 meters Centerline goodness [0,1] 0.30028032299903773 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99974563e-01 -3.81181568e-03 6.02856122e-03 -1.70378170e+02] [ 3.80326589e-03 9.99991746e-01 1.42904347e-03 -9.58540946e+01] [-6.03395871e-03 -1.40607890e-03 9.99980807e-01 2.96066183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.509072329 meters Centerline goodness [0,1] 0.30678466076696165 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99970366e-01 -4.12825073e-03 6.49809109e-03 -1.70379350e+02] [ 4.12085927e-03 9.99990847e-01 1.15046031e-03 -9.58536286e+01] [-6.50278101e-03 -1.12364850e-03 9.99978225e-01 2.96066081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53907232899996 meters Centerline goodness [0,1] 0.3089934684307486 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99975123e-01 -3.65939434e-03 6.03008547e-03 -1.70378280e+02] [ 3.65105993e-03 9.99992365e-01 1.39256808e-03 -9.58535992e+01] [-6.03513539e-03 -1.37051724e-03 9.99980849e-01 2.96066290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.569072329 meters Centerline goodness [0,1] 0.31399774162519345 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99958513e-01 -6.38165865e-03 6.49970058e-03 -1.70381914e+02] [ 6.39193079e-03 9.99978353e-01 -1.56085590e-03 -9.58525383e+01] [-6.48959903e-03 1.60233678e-03 9.99977659e-01 2.96069142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59907232899997 meters Centerline goodness [0,1] 0.27158529436395606 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99969172e-01 -5.27433183e-03 5.81690969e-03 -1.70379831e+02] [ 5.27844939e-03 9.99985829e-01 -6.92736656e-04 -9.58533613e+01] [-5.81317354e-03 7.23419563e-04 9.99982842e-01 2.96068682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.629072329 meters Centerline goodness [0,1] 0.3188062827225131 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99977723e-01 -4.20697613e-03 5.18218861e-03 -1.70377472e+02] [ 4.20542606e-03 9.99991109e-01 3.09975490e-04 -9.58546591e+01] [-5.18344660e-03 -2.88175273e-04 9.99986524e-01 2.96067717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65907232899997 meters Centerline goodness [0,1] 0.3203836729565017 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99978086e-01 -4.24423289e-03 5.08069240e-03 -1.70377287e+02] [ 4.24375463e-03 9.99990990e-01 1.04910445e-04 -9.58535920e+01] [-5.08109188e-03 -8.33469342e-05 9.99987088e-01 2.96067872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68907232899994 meters Centerline goodness [0,1] 0.278869109947644 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99977076e-01 -4.63702355e-03 4.93407888e-03 -1.70377416e+02] [ 4.64106342e-03 9.99988904e-01 -8.07633747e-04 -9.58505640e+01] [-4.93027912e-03 8.30514606e-04 9.99987501e-01 2.96068724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71907232899997 meters Centerline goodness [0,1] 0.30866599715457366 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99980165e-01 -4.30968935e-03 4.59301305e-03 -1.70376673e+02] [ 4.31258491e-03 9.99990508e-01 -6.20710856e-04 -9.58504507e+01] [-4.59029438e-03 6.40506303e-04 9.99989259e-01 2.96068923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74907232899994 meters Centerline goodness [0,1] 0.2928626761300588 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99984091e-01 -3.85881970e-03 4.11416848e-03 -1.70375323e+02] [ 3.86089049e-03 9.99992424e-01 -4.95510083e-04 -9.58496955e+01] [-4.11222523e-03 5.11386554e-04 9.99991414e-01 2.96068839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.779072329 meters Centerline goodness [0,1] 0.3058304219576996 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.85, Z:296.07 [[ 9.99987647e-01 -3.46993785e-03 3.55870609e-03 -1.70373917e+02] [ 3.47212275e-03 9.99993787e-01 -6.07962750e-04 -9.58481451e+01] [-3.55657439e-03 6.20311505e-04 9.99993483e-01 2.96069055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80907232899995 meters Centerline goodness [0,1] 0.2980585980858238 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.85, Z:296.07 [[ 9.99989471e-01 -3.21642562e-03 3.27313042e-03 -1.70373322e+02] [ 3.21796834e-03 9.99994714e-01 -4.66173580e-04 -9.58479102e+01] [-3.27161370e-03 4.76701502e-04 9.99994535e-01 2.96069290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.839072329 meters Centerline goodness [0,1] 0.3064701819019111 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.85, Z:296.07 [[ 9.99992238e-01 -2.81889297e-03 2.75295027e-03 -1.70371853e+02] [ 2.81998859e-03 9.99995946e-01 -3.94181110e-04 -9.58469483e+01] [-2.75182795e-03 4.01941339e-04 9.99996133e-01 2.96069201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86907232899995 meters Centerline goodness [0,1] 0.29577818730105543 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.85, Z:296.07 [[ 9.99997527e-01 -1.43345502e-03 1.70048341e-03 -1.70369197e+02] [ 1.43278695e-03 9.99998896e-01 3.94028889e-04 -9.58471074e+01] [-1.70104635e-03 -3.91591484e-04 9.99998477e-01 2.96069410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.899072329 meters Centerline goodness [0,1] 0.3017968079988286 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.85, Z:296.07 [[ 9.99998840e-01 -9.79314231e-04 1.16654081e-03 -1.70368250e+02] [ 9.78601546e-04 9.99999334e-01 6.11352421e-04 -9.58470152e+01] [-1.16713874e-03 -6.10210133e-04 9.99999133e-01 2.96069984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92907232899995 meters Centerline goodness [0,1] 0.31104693745160816 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.84, Z:296.07 [[ 9.99999978e-01 -5.66315412e-05 2.00619587e-04 -1.70365675e+02] [ 5.65068940e-05 9.99999805e-01 6.21262609e-04 -9.58446840e+01] [-2.00654731e-04 -6.21251259e-04 9.99999787e-01 2.96070228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.959072329 meters Centerline goodness [0,1] 0.33750418480080346 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.84, Z:296.07 [[ 9.99999990e-01 7.03220157e-05 1.25060739e-04 -1.70365051e+02] [-7.04162422e-05 9.99999714e-01 7.53601162e-04 -9.58448149e+01] [-1.25007709e-04 -7.53609961e-04 9.99999708e-01 2.96069645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98907232899995 meters Centerline goodness [0,1] 0.35304580743716907 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.84, Z:296.07 [[ 9.99999911e-01 -5.21003002e-05 4.19146243e-04 -1.70365461e+02] [ 5.17780334e-05 9.99999703e-01 7.68838961e-04 -9.58449038e+01] [-4.19186175e-04 -7.68817190e-04 9.99999617e-01 2.96069115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.019072329 meters Centerline goodness [0,1] 0.33668814864412455 Centerline is valid? [False, False] Translation: X:-170.36, Y:-95.85, Z:296.07 [[ 9.99999627e-01 8.09322885e-04 -3.02367131e-04 -1.70363544e+02] [-8.08848473e-04 9.99998447e-01 1.56583341e-03 -9.58461885e+01] [ 3.03633926e-04 -1.56558826e-03 9.99998728e-01 2.96068961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04907232899996 meters Centerline goodness [0,1] 0.3463350567044696 Centerline is valid? [False, False] Translation: X:-170.36, Y:-95.85, Z:296.07 [[ 9.99994695e-01 2.86768937e-03 -1.54466646e-03 -1.70360246e+02] [-2.86368387e-03 9.99992548e-01 2.58911626e-03 -9.58457367e+01] [ 1.55207973e-03 -2.58467909e-03 9.99995455e-01 2.96069093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.079072329 meters Centerline goodness [0,1] 0.2714554579673777 Centerline is valid? [False, False] Translation: X:-170.36, Y:-95.84, Z:296.07 [[ 9.99991766e-01 3.31533060e-03 -2.34032390e-03 -1.70358905e+02] [-3.30964634e-03 9.99991574e-01 2.42854303e-03 -9.58444326e+01] [ 2.34835560e-03 -2.42077739e-03 9.99994313e-01 2.96069992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.10907232899996 meters Centerline goodness [0,1] 0.34642834718181625 Centerline is valid? [False, False] Translation: X:-170.36, Y:-95.84, Z:296.07 [[ 9.99980162e-01 5.27237416e-03 -3.44644403e-03 -1.70355795e+02] [-5.25995261e-03 9.99979674e-01 3.60334616e-03 -9.58443300e+01] [ 3.46537217e-03 -3.58514654e-03 9.99987569e-01 2.96069782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.139072329 meters Centerline goodness [0,1] 0.3663459724580268 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.84, Z:296.08 [[ 9.99873859e-01 1.37680834e-02 -7.91864858e-03 -1.70345784e+02] [-1.37256918e-02 9.99891308e-01 5.38304499e-03 -9.58425697e+01] [ 7.99190210e-03 -5.27367704e-03 9.99954158e-01 2.96076553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16907232899996 meters Centerline goodness [0,1] 0.34456387369832586 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.84, Z:296.08 [[ 9.99855382e-01 1.44144363e-02 -9.02435589e-03 -1.70343516e+02] [-1.43704110e-02 9.99884614e-01 4.92448306e-03 -9.58394633e+01] [ 9.09429826e-03 -4.79408718e-03 9.99947154e-01 2.96077564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.199072329 meters Centerline goodness [0,1] 0.34360457804049804 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.84, Z:296.08 [[ 9.99776703e-01 1.86412888e-02 -9.95221259e-03 -1.70342268e+02] [-1.85619026e-02 9.99795624e-01 8.01038877e-03 -9.58353526e+01] [ 1.00995026e-02 -7.82386807e-03 9.99918390e-01 2.96079441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22907232899996 meters Centerline goodness [0,1] 0.3455243610726426 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.83, Z:296.08 [[ 9.99683597e-01 2.28425586e-02 -1.05320093e-02 -1.70341177e+02] [-2.27231314e-02 9.99677672e-01 1.13230062e-02 -9.58319261e+01] [ 1.07872610e-02 -1.10801034e-02 9.99880426e-01 2.96080363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.259072329 meters Centerline goodness [0,1] 0.33203321590337187 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.83, Z:296.08 [[ 9.99666475e-01 2.31967298e-02 -1.13512578e-02 -1.70339503e+02] [-2.30725079e-02 9.99673774e-01 1.09547208e-02 -9.58297384e+01] [ 1.16016685e-02 -1.06891652e-02 9.99875564e-01 2.96081038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28907232899996 meters Centerline goodness [0,1] 0.299573985855491 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.83, Z:296.08 [[ 9.99676725e-01 2.27216797e-02 -1.14092209e-02 -1.70339724e+02] [-2.26076068e-02 9.99694104e-01 1.00296816e-02 -9.58269517e+01] [ 1.16336221e-02 -9.76850408e-03 9.99884611e-01 2.96081563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.319072329 meters Centerline goodness [0,1] 0.3010547505714106 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.83, Z:296.08 [[ 9.99671100e-01 2.28203169e-02 -1.17014587e-02 -1.70339293e+02] [-2.27041380e-02 9.99692542e-01 9.96713300e-03 -9.58267357e+01] [ 1.19253141e-02 -9.69818328e-03 9.99881859e-01 2.96081942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34907232899997 meters Centerline goodness [0,1] 0.3166505852246507 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.83, Z:296.08 [[ 9.99664227e-01 2.30385717e-02 -1.18599090e-02 -1.70338599e+02] [-2.29184615e-02 9.99685653e-01 1.01656328e-02 -9.58269870e+01] [ 1.20903825e-02 -9.89040860e-03 9.99877994e-01 2.96081534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.379072329 meters Centerline goodness [0,1] 0.31006809848088 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.83, Z:296.08 [[ 9.99616822e-01 2.45541809e-02 -1.27789181e-02 -1.70335104e+02] [-2.44099674e-02 9.99637923e-01 1.13214820e-02 -9.58276351e+01] [ 1.30522809e-02 -1.10052109e-02 9.99854251e-01 2.96080349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40907232899997 meters Centerline goodness [0,1] 0.31654177948491913 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.83, Z:296.08 [[ 9.99619292e-01 2.43289085e-02 -1.30144537e-02 -1.70334586e+02] [-2.41907293e-02 9.99650403e-01 1.06714809e-02 -9.58253651e+01] [ 1.32695293e-02 -1.03525890e-02 9.99858362e-01 2.96080494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43907232899994 meters Centerline goodness [0,1] 0.3192360163710778 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.82, Z:296.08 [[ 9.99593312e-01 2.49434084e-02 -1.38215969e-02 -1.70332811e+02] [-2.47965786e-02 9.99635310e-01 1.06946847e-02 -9.58244328e+01] [ 1.40833182e-02 -1.03476070e-02 9.99847282e-01 2.96080976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46907232899997 meters Centerline goodness [0,1] 0.3191225600403421 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.82, Z:296.08 [[ 9.99585922e-01 2.50758403e-02 -1.41133814e-02 -1.70332757e+02] [-2.49264764e-02 9.99632435e-01 1.06613983e-02 -9.58244143e+01] [ 1.43755374e-02 -1.03051868e-02 9.99843561e-01 2.96081763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49907232899994 meters Centerline goodness [0,1] 0.3168655963688325 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.82, Z:296.08 [[ 9.99563099e-01 2.55290762e-02 -1.48955307e-02 -1.70331069e+02] [-2.53757302e-02 9.99623942e-01 1.03945443e-02 -9.58223996e+01] [ 1.51552922e-02 -1.00120180e-02 9.99835025e-01 2.96082309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.529072329 meters Centerline goodness [0,1] 0.3245433550283435 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.82, Z:296.08 [[ 9.99556401e-01 2.54998199e-02 -1.53870230e-02 -1.70330592e+02] [-2.53490486e-02 9.99629487e-01 9.91537400e-03 -9.58206934e+01] [ 1.56341621e-02 -9.52092916e-03 9.99832448e-01 2.96083357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55907232899995 meters Centerline goodness [0,1] 0.3352364559937868 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.82, Z:296.09 [[ 9.99566623e-01 2.48941344e-02 -1.57114132e-02 -1.70331606e+02] [-2.47619028e-02 9.99656767e-01 8.55545787e-03 -9.58170395e+01] [ 1.59190013e-02 -8.16270564e-03 9.99839965e-01 2.96085835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.589072329 meters Centerline goodness [0,1] 0.33081697701727897 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.82, Z:296.09 [[ 9.99636270e-01 2.13551996e-02 -1.64706950e-02 -1.70329966e+02] [-2.12778636e-02 9.99761805e-01 4.85642829e-03 -9.58174420e+01] [ 1.65704818e-02 -4.50420066e-03 9.99852555e-01 2.96085961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61907232899995 meters Centerline goodness [0,1] 0.31707317073170727 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.82, Z:296.09 [[ 9.99698823e-01 1.77278422e-02 -1.69701825e-02 -1.70328805e+02] [-1.77075904e-02 9.99842306e-01 1.34290534e-03 -9.58186509e+01] [ 1.69913132e-02 -1.04199984e-03 9.99855094e-01 2.96085808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.649072329 meters Centerline goodness [0,1] 0.35385549992668164 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.83, Z:296.09 [[ 9.99866543e-01 1.28448111e-02 -1.00949184e-02 -1.70321857e+02] [-1.27507489e-02 9.99875200e-01 9.32755214e-03 -9.58324710e+01] [ 1.02134692e-02 -9.19758954e-03 9.99905540e-01 2.96086233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67907232899995 meters Centerline goodness [0,1] 0.3514929282346778 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.83, Z:296.09 [[ 9.99898587e-01 9.23857503e-03 -1.08380739e-02 -1.70320429e+02] [-9.17874217e-03 9.99942431e-01 5.55743089e-03 -9.58328698e+01] [ 1.08887927e-02 -5.45738741e-03 9.99925823e-01 2.96086698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.709072329 meters Centerline goodness [0,1] 0.33619752466967723 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.83, Z:296.09 [[ 9.99915023e-01 6.07250042e-03 -1.15356809e-02 -1.70318408e+02] [-6.04653630e-03 9.99979110e-01 2.28431194e-03 -9.58336168e+01] [ 1.15493114e-02 -2.21436692e-03 9.99930853e-01 2.96086475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73907232899995 meters Centerline goodness [0,1] 0.3451991614255765 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.09 [[ 9.99942763e-01 1.51851603e-03 -1.05908221e-02 -1.70321002e+02] [-1.53337678e-03 9.99997851e-01 -1.39519327e-03 -9.58365750e+01] [ 1.05886808e-02 1.41135313e-03 9.99942942e-01 2.96086401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.769072329 meters Centerline goodness [0,1] 0.3503081890226005 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.09 [[ 9.99951065e-01 1.35485855e-03 -9.79955719e-03 -1.70322684e+02] [-1.36514043e-03 9.99998525e-01 -1.04260557e-03 -9.58382753e+01] [ 9.79813015e-03 1.05593232e-03 9.99951440e-01 2.96085759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79907232899996 meters Centerline goodness [0,1] 0.31908204966991516 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99956531e-01 1.63632843e-03 -9.17922706e-03 -1.70322813e+02] [-1.63592967e-03 9.99998661e-01 5.09499945e-05 -9.58413064e+01] [ 9.17929814e-03 -3.59312099e-05 9.99957869e-01 2.96083662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.829072329 meters Centerline goodness [0,1] 0.3364295898683217 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99964350e-01 1.15362258e-03 -8.36470460e-03 -1.70324325e+02] [-1.15430385e-03 9.99999331e-01 -7.66177355e-05 -9.58415707e+01] [ 8.36461061e-03 8.62704147e-05 9.99965012e-01 2.96082809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85907232899996 meters Centerline goodness [0,1] 0.3185584527280737 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99966545e-01 1.29909269e-03 -8.07591986e-03 -1.70324684e+02] [-1.29570104e-03 9.99999070e-01 4.25189183e-04 -9.58432071e+01] [ 8.07646471e-03 -4.14710981e-04 9.99967299e-01 2.96082185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.889072329 meters Centerline goodness [0,1] 0.3038964851941951 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99965895e-01 1.45245997e-03 -8.13011140e-03 -1.70324323e+02] [-1.44802586e-03 9.99998800e-01 5.51253305e-04 -9.58431341e+01] [ 8.13090232e-03 -5.39461893e-04 9.99966798e-01 2.96081929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91907232899996 meters Centerline goodness [0,1] 0.33277472872763836 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99965527e-01 1.53115373e-03 -8.16089237e-03 -1.70324235e+02] [-1.52626437e-03 9.99998652e-01 6.05315094e-04 -9.58431891e+01] [ 8.16180820e-03 -5.92838547e-04 9.99966516e-01 2.96081900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.949072329 meters Centerline goodness [0,1] 0.3251168542622985 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99958990e-01 2.18734119e-03 -8.78832873e-03 -1.70322425e+02] [-2.18032248e-03 9.99997297e-01 8.08141300e-04 -9.58422923e+01] [ 8.79007265e-03 -7.88946767e-04 9.99961055e-01 2.96081765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97907232899996 meters Centerline goodness [0,1] 0.33448753462603875 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99957389e-01 2.20384093e-03 -8.96454890e-03 -1.70321948e+02] [-2.19800483e-03 9.99997366e-01 6.60819473e-04 -9.58413845e+01] [ 8.96598162e-03 -6.41087193e-04 9.99959599e-01 2.96081797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.009072329 meters Centerline goodness [0,1] 0.3180301026513005 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99952403e-01 2.78415203e-03 -9.35098538e-03 -1.70320849e+02] [-2.77369710e-03 9.99995514e-01 1.13083948e-03 -9.58417854e+01] [ 9.35409186e-03 -1.10484886e-03 9.99955639e-01 2.96081763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03907232899996 meters Centerline goodness [0,1] 0.32544664413326896 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99956134e-01 2.39864298e-03 -9.05404325e-03 -1.70321737e+02] [-2.39351898e-03 9.99996969e-01 5.76729403e-04 -9.58402392e+01] [ 9.05539918e-03 -5.55033081e-04 9.99958845e-01 2.96081988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.069072329 meters Centerline goodness [0,1] 0.32707082581132707 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99959757e-01 2.05917229e-03 -8.73181429e-03 -1.70322658e+02] [-2.05726112e-03 9.99997858e-01 2.27851233e-04 -9.58394386e+01] [ 8.73226477e-03 -2.09878442e-04 9.99961851e-01 2.96082146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09907232899997 meters Centerline goodness [0,1] 0.3269614117548314 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99957211e-01 2.34896789e-03 -8.94751470e-03 -1.70321803e+02] [-2.34506374e-03 9.99997151e-01 4.46805195e-04 -9.58393495e+01] [ 8.94853874e-03 -4.25803584e-04 9.99959870e-01 2.96081797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.129072329 meters Centerline goodness [0,1] 0.3365457294028723 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99956275e-01 2.47360637e-03 -9.01831901e-03 -1.70321489e+02] [-2.46920864e-03 9.99996827e-01 4.98745930e-04 -9.58390081e+01] [ 9.01952410e-03 -4.76456011e-04 9.99959210e-01 2.96081687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15907232899997 meters Centerline goodness [0,1] 0.33440271749386674 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99952750e-01 2.70137378e-03 -9.33814611e-03 -1.70320803e+02] [-2.69644349e-03 9.99996219e-01 5.40523504e-04 -9.58386103e+01] [ 9.33957096e-03 -5.15318181e-04 9.99956252e-01 2.96081906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18907232899994 meters Centerline goodness [0,1] 0.33440271749386674 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99952750e-01 2.70137378e-03 -9.33814611e-03 -1.70320803e+02] [-2.69644349e-03 9.99996219e-01 5.40523504e-04 -9.58386103e+01] [ 9.33957096e-03 -5.15318181e-04 9.99956252e-01 2.96081906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21907232899997 meters Centerline goodness [0,1] 0.3388693172286529 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.83, Z:296.08 [[ 9.99965030e-01 9.12387266e-04 -8.31306855e-03 -1.70323853e+02] [-9.23513250e-04 9.99998683e-01 -1.33463233e-03 -9.58348844e+01] [ 8.31183990e-03 1.34226289e-03 9.99964555e-01 2.96082585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24907232899994 meters Centerline goodness [0,1] 0.34255546925838076 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.83, Z:296.08 [[ 9.99959849e-01 1.42103525e-03 -8.84762572e-03 -1.70322575e+02] [-1.43176887e-03 9.99998247e-01 -1.20694827e-03 -9.58338979e+01] [ 8.84589509e-03 1.21956757e-03 9.99960131e-01 2.96082904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.279072329 meters Centerline goodness [0,1] 0.3468425025159343 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.83, Z:296.08 [[ 9.99949521e-01 2.55005744e-03 -9.71863611e-03 -1.70321107e+02] [-2.55749419e-03 9.99996446e-01 -7.52853652e-04 -9.58333218e+01] [ 9.71668176e-03 7.77671004e-04 9.99952490e-01 2.96084163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30907232899995 meters Centerline goodness [0,1] 0.32145552108661024 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.83, Z:296.08 [[ 9.99957189e-01 1.93393378e-03 -9.04872562e-03 -1.70323049e+02] [-1.94615669e-03 9.99997206e-01 -1.34217813e-03 -9.58320997e+01] [ 9.04610465e-03 1.35973091e-03 9.99958159e-01 2.96084478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.339072329 meters Centerline goodness [0,1] 0.3575535039865716 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.83, Z:296.08 [[ 9.99956392e-01 2.15912670e-03 -9.08577507e-03 -1.70322727e+02] [-2.16921551e-03 9.99997041e-01 -1.10068832e-03 -9.58324974e+01] [ 9.08337166e-03 1.12034933e-03 9.99958118e-01 2.96084150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36907232899995 meters Centerline goodness [0,1] 0.35785876037909925 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99957346e-01 -4.82134852e-04 -9.22353361e-03 -1.70320258e+02] [ 4.54132426e-04 9.99995283e-01 -3.03782942e-03 -9.58371268e+01] [ 9.22495475e-03 3.03351114e-03 9.99952848e-01 2.96081323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.399072329 meters Centerline goodness [0,1] 0.36145336999643163 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99962346e-01 -5.43363769e-04 -8.66095766e-03 -1.70321216e+02] [ 5.19719297e-04 9.99996133e-01 -2.73202355e-03 -9.58384108e+01] [ 8.66240865e-03 2.72741941e-03 9.99958761e-01 2.96080533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42907232899995 meters Centerline goodness [0,1] 0.3554535161655554 Centerline is valid? [False, False] Translation: X:-170.32, Y:-95.84, Z:296.08 [[ 9.99970649e-01 -1.15366311e-03 -7.57436089e-03 -1.70323550e+02] [ 1.13424261e-03 9.99996060e-01 -2.56777494e-03 -9.58404417e+01] [ 7.57729339e-03 2.55910841e-03 9.99968017e-01 2.96079679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.459072329 meters Centerline goodness [0,1] 0.33664611900868036 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.84, Z:296.08 [[ 9.99976395e-01 -1.63881008e-03 -6.67267226e-03 -1.70325963e+02] [ 1.62140471e-03 9.99995272e-01 -2.61303037e-03 -9.58414476e+01] [ 6.67692297e-03 2.60214958e-03 9.99974323e-01 2.96079683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48907232899995 meters Centerline goodness [0,1] 0.35690489659940916 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.84, Z:296.08 [[ 9.99980732e-01 -2.32555708e-03 -5.75569237e-03 -1.70328631e+02] [ 2.30881171e-03 9.99993088e-01 -2.91429384e-03 -9.58417768e+01] [ 5.76242994e-03 2.90094888e-03 9.99979189e-01 2.96080015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.519072329 meters Centerline goodness [0,1] 0.3523584115281502 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.84, Z:296.08 [[ 9.99983279e-01 -2.40246478e-03 -5.26030043e-03 -1.70329784e+02] [ 2.38766005e-03 9.99993176e-01 -2.81889974e-03 -9.58422061e+01] [ 5.26703685e-03 2.80629279e-03 9.99982191e-01 2.96079853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54907232899996 meters Centerline goodness [0,1] 0.34495612657326546 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.84, Z:296.08 [[ 9.99965950e-01 -6.67190215e-03 -4.85642158e-03 -1.70330820e+02] [ 6.63947203e-03 9.99955756e-01 -6.66355013e-03 -9.58436773e+01] [ 4.90066527e-03 6.63107916e-03 9.99966006e-01 2.96079863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.579072329 meters Centerline goodness [0,1] 0.3267540187541862 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.85, Z:296.08 [[ 9.99967435e-01 -7.10573242e-03 -3.82594096e-03 -1.70333117e+02] [ 7.08131543e-03 9.99954714e-01 -6.35812251e-03 -9.58456301e+01] [ 3.87094681e-03 6.33082276e-03 9.99972468e-01 2.96079193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.60907232899996 meters Centerline goodness [0,1] 0.3359653164663008 Centerline is valid? [False, False] Translation: X:-170.33, Y:-95.85, Z:296.08 [[ 9.99968508e-01 -7.37437129e-03 -2.93294926e-03 -1.70334970e+02] [ 7.35650408e-03 9.99954598e-01 -6.05672390e-03 -9.58471774e+01] [ 2.97748063e-03 6.03495691e-03 9.99977357e-01 2.96078484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.639072329 meters Centerline goodness [0,1] 0.360586694604505 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.85, Z:296.08 [[ 9.99965643e-01 -8.11456686e-03 -1.69312464e-03 -1.70337684e+02] [ 8.10481684e-03 9.99950977e-01 -5.68810618e-03 -9.58497742e+01] [ 1.73919816e-03 5.67418829e-03 9.99982389e-01 2.96077613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66907232899996 meters Centerline goodness [0,1] 0.3161192966277534 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.85, Z:296.08 [[ 9.99961985e-01 -8.68242092e-03 -8.02626223e-04 -1.70340120e+02] [ 8.67747987e-03 9.99944545e-01 -5.96721052e-03 -9.58497294e+01] [ 8.54391547e-04 5.96001890e-03 9.99981874e-01 2.96077820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.699072329 meters Centerline goodness [0,1] 0.3511092507325241 Centerline is valid? [False, False] Translation: X:-170.34, Y:-95.85, Z:296.08 [[ 9.99904339e-01 -1.38298755e-02 2.17717817e-04 -1.70342716e+02] [ 1.38314256e-02 9.99845172e-01 -1.08776961e-02 -9.58486449e+01] [-6.72469249e-05 1.08796669e-02 9.99940812e-01 2.96078069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72907232899996 meters Centerline goodness [0,1] 0.36526331230746667 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.85, Z:296.08 [[ 9.99880977e-01 -1.53567932e-02 1.48351361e-03 -1.70346816e+02] [ 1.53733523e-02 9.99811210e-01 -1.18829126e-02 -9.58485872e+01] [-1.30075011e-03 1.19043049e-02 9.99928295e-01 2.96078952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.759072329 meters Centerline goodness [0,1] 0.3695688572624529 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.85, Z:296.08 [[ 9.99804602e-01 -1.96528657e-02 2.12673024e-03 -1.70348404e+02] [ 1.96840255e-02 9.99681637e-01 -1.57849164e-02 -9.58502978e+01] [-1.81583432e-03 1.58236947e-02 9.99873149e-01 2.96079011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78907232899996 meters Centerline goodness [0,1] 0.3356276150627615 Centerline is valid? [False, False] Translation: X:-170.35, Y:-95.85, Z:296.08 [[ 9.99763719e-01 -2.14522277e-02 3.50834966e-03 -1.70352726e+02] [ 2.15084488e-02 9.99626489e-01 -1.68602770e-02 -9.58507663e+01] [-3.14534876e-03 1.69317524e-02 9.99851700e-01 2.96079727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.819072329 meters Centerline goodness [0,1] 0.28944395631981923 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.85, Z:296.07 [[ 9.99575966e-01 -2.78704440e-02 8.43370290e-03 -1.70366475e+02] [ 2.79953672e-02 9.99494363e-01 -1.50757636e-02 -9.58521769e+01] [-8.00927028e-03 1.53054755e-02 9.99850786e-01 2.96074361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84907232899997 meters Centerline goodness [0,1] 0.2935526398392868 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.85, Z:296.07 [[ 9.99575062e-01 -2.77318502e-02 8.97997744e-03 -1.70367570e+02] [ 2.78599874e-02 9.99507053e-01 -1.44731785e-02 -9.58542009e+01] [-8.57418277e-03 1.47172103e-02 9.99854933e-01 2.96073741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.879072329 meters Centerline goodness [0,1] 0.2960110501862626 Centerline is valid? [False, False] Translation: X:-170.37, Y:-95.86, Z:296.07 [[ 9.99561010e-01 -2.79545945e-02 9.81465789e-03 -1.70369226e+02] [ 2.80927614e-02 9.99503974e-01 -1.42338838e-02 -9.58552494e+01] [-9.41188711e-03 1.45033561e-02 9.99850523e-01 2.96072944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90907232899997 meters Centerline goodness [0,1] 0.31998828035075233 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99344064e-01 -3.30809743e-02 1.47340103e-02 -1.70380483e+02] [ 3.32739184e-02 9.99361090e-01 -1.30483344e-02 -9.58525160e+01] [-1.42929449e-02 1.35300338e-02 9.99806306e-01 2.96066827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93907232899994 meters Centerline goodness [0,1] 0.348355256278885 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99297048e-01 -3.40053306e-02 1.57812215e-02 -1.70383108e+02] [ 3.42243658e-02 9.99318572e-01 -1.38233458e-02 -9.58511748e+01] [-1.53004003e-02 1.43537309e-02 9.99779910e-01 2.96066805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96907232899997 meters Centerline goodness [0,1] 0.36357547979322324 Centerline is valid? [False, False] Translation: X:-170.38, Y:-95.85, Z:296.07 [[ 9.99285264e-01 -3.40289637e-02 1.64617969e-02 -1.70384597e+02] [ 3.42500946e-02 9.99324221e-01 -1.33428433e-02 -9.58530460e+01] [-1.59966292e-02 1.38971248e-02 9.99775464e-01 2.96066309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99907232899994 meters Centerline goodness [0,1] 0.32385257738431594 Centerline is valid? [False, False] Translation: X:-170.39, Y:-95.85, Z:296.07 [[ 9.99272237e-01 -3.42175105e-02 1.68570226e-02 -1.70385507e+02] [ 3.44457871e-02 9.99316154e-01 -1.34429318e-02 -9.58528749e+01] [-1.63855113e-02 1.40138019e-02 9.99767537e-01 2.96066077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.029072329 meters Centerline goodness [0,1] 0.32247400246898084 Centerline is valid? [False, False] Translation: X:-170.39, Y:-95.85, Z:296.07 [[ 9.99313317e-01 -3.24312204e-02 1.79195351e-02 -1.70389206e+02] [ 3.26401939e-02 9.99401063e-01 -1.14949553e-02 -9.58502575e+01] [-1.75360070e-02 1.20719591e-02 9.99773352e-01 2.96066933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05907232899995 meters Centerline goodness [0,1] 0.3322935856640429 Centerline is valid? [False, False] Translation: X:-170.39, Y:-95.85, Z:296.07 [[ 9.99377796e-01 -2.98779687e-02 1.87437468e-02 -1.70392495e+02] [ 3.00482568e-02 9.99509091e-01 -8.87011822e-03 -9.58478299e+01] [-1.84695243e-02 9.42781611e-03 9.99784973e-01 2.96068105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.089072329 meters Centerline goodness [0,1] 0.32904507896663526 Centerline is valid? [False, False] Translation: X:-170.39, Y:-95.85, Z:296.07 [[ 9.99354880e-01 -3.03728909e-02 1.91653895e-02 -1.70393931e+02] [ 3.05584443e-02 9.99488174e-01 -9.46420323e-03 -9.58463732e+01] [-1.88681249e-02 1.00437622e-02 9.99771532e-01 2.96068592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11907232899995 meters Centerline goodness [0,1] 0.33890644290527105 Centerline is valid? [False, False] Translation: X:-170.39, Y:-95.85, Z:296.07 [[ 9.99352929e-01 -3.04017760e-02 1.92212329e-02 -1.70394285e+02] [ 3.05899079e-02 9.99486199e-01 -9.57059111e-03 -9.58459272e+01] [-1.89203940e-02 1.01523740e-02 9.99769447e-01 2.96068829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.149072329 meters Centerline goodness [0,1] 0.334902699309479 Centerline is valid? [False, False] Translation: X:-170.40, Y:-95.85, Z:296.07 [[ 9.99310981e-01 -3.11678210e-02 2.01526475e-02 -1.70396443e+02] [ 3.13745077e-02 9.99457448e-01 -1.00224693e-02 -9.58454817e+01] [-1.98293351e-02 1.06478430e-02 9.99746678e-01 2.96068523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17907232899995 meters Centerline goodness [0,1] 0.3377210421680443 Centerline is valid? [False, False] Translation: X:-170.40, Y:-95.85, Z:296.07 [[ 9.99304292e-01 -3.12120184e-02 2.04142605e-02 -1.70397484e+02] [ 3.14218100e-02 9.99455807e-01 -1.00379112e-02 -9.58455470e+01] [-2.00898477e-02 1.06723808e-02 9.99741216e-01 2.96068976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.209072329 meters Centerline goodness [0,1] 0.334873220594076 Centerline is valid? [False, False] Translation: X:-170.40, Y:-95.84, Z:296.07 [[ 9.99234080e-01 -3.26255621e-02 2.16061498e-02 -1.70401230e+02] [ 3.28703445e-02 9.99398287e-01 -1.10726606e-02 -9.58446887e+01] [-2.12318973e-02 1.17743815e-02 9.99705242e-01 2.96069926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23907232899995 meters Centerline goodness [0,1] 0.3414292581986915 Centerline is valid? [False, False] Translation: X:-170.40, Y:-95.84, Z:296.07 [[ 9.99170245e-01 -3.38058605e-02 2.27153051e-02 -1.70404479e+02] [ 3.40824668e-02 9.99348149e-01 -1.19022211e-02 -9.58440043e+01] [-2.22981332e-02 1.26665388e-02 9.99671122e-01 2.96070422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.269072329 meters Centerline goodness [0,1] 0.3480942524409877 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.85, Z:296.07 [[ 9.99160654e-01 -3.37768206e-02 2.31757078e-02 -1.70405436e+02] [ 3.40508697e-02 9.99353546e-01 -1.15337937e-02 -9.58453527e+01] [-2.27711509e-02 1.23132659e-02 9.99664873e-01 2.96069966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29907232899996 meters Centerline goodness [0,1] 0.36119758477320685 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.85, Z:296.07 [[ 9.99105310e-01 -3.46609295e-02 2.42321825e-02 -1.70407521e+02] [ 3.49535965e-02 9.99319742e-01 -1.17600945e-02 -9.58455595e+01] [-2.38080825e-02 1.25965747e-02 9.99637185e-01 2.96069064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.329072329 meters Centerline goodness [0,1] 0.3081210855949895 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.84, Z:296.07 [[ 9.99102759e-01 -3.47230513e-02 2.42484166e-02 -1.70407965e+02] [ 3.50197114e-02 9.99315550e-01 -1.19185187e-02 -9.58449675e+01] [-2.38179724e-02 1.27569975e-02 9.99634915e-01 2.96069570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35907232899996 meters Centerline goodness [0,1] 0.33443902031960615 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.84, Z:296.07 [[ 9.99144107e-01 -3.28434344e-02 2.51468246e-02 -1.70411981e+02] [ 3.31040316e-02 9.99401705e-01 -1.00177143e-02 -9.58419757e+01] [-2.48027632e-02 1.08416015e-02 9.99633574e-01 2.96071438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.389072329 meters Centerline goodness [0,1] 0.3196866840731071 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.84, Z:296.07 [[ 9.99107110e-01 -3.34638593e-02 2.57905712e-02 -1.70414140e+02] [ 3.37473628e-02 9.99373792e-01 -1.06366840e-02 -9.58409819e+01] [-2.54184765e-02 1.14975504e-02 9.99610778e-01 2.96072081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41907232899996 meters Centerline goodness [0,1] 0.3087590326218621 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.84, Z:296.07 [[ 9.98832432e-01 -3.77676252e-02 3.01227470e-02 -1.70423941e+02] [ 3.80860147e-02 9.99223757e-01 -1.00667543e-02 -9.58392275e+01] [-2.97191670e-02 1.12022560e-02 9.99495513e-01 2.96067443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.449072329 meters Centerline goodness [0,1] 0.32444277485599804 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.84, Z:296.07 [[ 9.98828728e-01 -3.77215861e-02 3.03026938e-02 -1.70424141e+02] [ 3.80371947e-02 9.99227213e-01 -9.90695549e-03 -9.58395988e+01] [-2.99055703e-02 1.10479812e-02 9.99491670e-01 2.96066950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47907232899996 meters Centerline goodness [0,1] 0.3339315900411127 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.83, Z:296.06 [[ 9.98927334e-01 -3.28609264e-02 3.26242529e-02 -1.70436473e+02] [ 3.34433327e-02 9.99287925e-01 -1.74695867e-02 -9.58328104e+01] [-3.20269552e-02 1.85419114e-02 9.99315001e-01 2.96062098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.509072329 meters Centerline goodness [0,1] 0.33405716910613237 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.83, Z:296.06 [[ 9.98907166e-01 -3.31352589e-02 3.29625194e-02 -1.70437484e+02] [ 3.37352340e-02 9.99272013e-01 -1.78150866e-02 -9.58319213e+01] [-3.23482156e-02 1.89076159e-02 9.99297801e-01 2.96062323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53907232899996 meters Centerline goodness [0,1] 0.32790270766406604 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.83, Z:296.06 [[ 9.98981412e-01 -2.99810341e-02 3.37235305e-02 -1.70440202e+02] [ 3.04732499e-02 9.99435031e-01 -1.41774738e-02 -9.58318357e+01] [-3.32794224e-02 1.51906984e-02 9.99330637e-01 2.96062867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.569072329 meters Centerline goodness [0,1] 0.3361149938455761 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.83, Z:296.06 [[ 9.99025544e-01 -2.76002196e-02 3.44411193e-02 -1.70442835e+02] [ 2.80240808e-02 9.99536588e-01 -1.18853078e-02 -9.58287555e+01] [-3.40971218e-02 1.28389068e-02 9.99336054e-01 2.96063552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59907232899997 meters Centerline goodness [0,1] 0.3154258760670382 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.83, Z:296.06 [[ 9.99051628e-01 -2.72719454e-02 3.39423816e-02 -1.70441923e+02] [ 2.76904686e-02 9.99545449e-01 -1.19219328e-02 -9.58278887e+01] [-3.36018188e-02 1.28505068e-02 9.99352682e-01 2.96063926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.629072329 meters Centerline goodness [0,1] 0.2870766469814904 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.82, Z:296.07 [[ 9.99074438e-01 -2.56524813e-02 3.45285071e-02 -1.70445284e+02] [ 2.60288083e-02 9.99606112e-01 -1.04939355e-02 -9.58241911e+01] [-3.42457112e-02 1.13829586e-02 9.99348618e-01 2.96066051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65907232899997 meters Centerline goodness [0,1] 0.3025062656641604 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.81, Z:296.07 [[ 9.99444361e-01 -2.48595823e-02 2.22029492e-02 -1.70448121e+02] [ 2.51727590e-02 9.99585935e-01 -1.39388329e-02 -9.58098030e+01] [-2.18472422e-02 1.44899974e-02 9.99656310e-01 2.96071022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68907232899994 meters Centerline goodness [0,1] 0.3399008596348121 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.81, Z:296.07 [[ 9.99521150e-01 -2.11730039e-02 2.25649032e-02 -1.70449023e+02] [ 2.14108207e-02 9.99717185e-01 -1.03502443e-02 -9.58077146e+01] [-2.23393757e-02 1.08284212e-02 9.99691801e-01 2.96070757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71907232899997 meters Centerline goodness [0,1] 0.3361678122975994 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.81, Z:296.07 [[ 9.99516532e-01 -2.13685278e-02 2.25851492e-02 -1.70449179e+02] [ 2.16147240e-02 9.99708970e-01 -1.07134582e-02 -9.58064575e+01] [-2.23496454e-02 1.11964503e-02 9.99687518e-01 2.96070925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74907232899994 meters Centerline goodness [0,1] 0.34516959260111735 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.81, Z:296.07 [[ 9.99626145e-01 -1.65713214e-02 2.17476563e-02 -1.70447723e+02] [ 1.67151415e-02 9.99839500e-01 -6.44808735e-03 -9.58051572e+01] [-2.16373125e-02 6.80919186e-03 9.99742698e-01 2.96071483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.779072329 meters Centerline goodness [0,1] 0.33564354362528526 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.80, Z:296.07 [[ 9.99683274e-01 -1.30310213e-02 2.15300734e-02 -1.70447932e+02] [ 1.31104640e-02 9.99907742e-01 -3.55281917e-03 -9.58009320e+01] [-2.14817902e-02 3.83396315e-03 9.99761888e-01 2.96072383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80907232899995 meters Centerline goodness [0,1] 0.3307945010566843 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.80, Z:296.07 [[ 9.99732185e-01 -9.12085681e-03 2.12689528e-02 -1.70447954e+02] [ 9.12354114e-03 9.99958379e-01 -2.91753988e-05 -9.57987994e+01] [-2.12678015e-02 2.23215751e-04 9.99773790e-01 2.96073138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.839072329 meters Centerline goodness [0,1] 0.32662286025195664 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.78, Z:296.07 [[ 9.99777001e-01 2.37538161e-03 2.09834695e-02 -1.70458823e+02] [-2.24523657e-03 9.99978112e-01 -6.22364829e-03 -9.57808763e+01] [-2.09977937e-02 6.17514757e-03 9.99760451e-01 2.96074575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86907232899995 meters Centerline goodness [0,1] 0.32806481326410986 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.78, Z:296.08 [[ 9.99793917e-01 3.78395469e-03 1.99450370e-02 -1.70456988e+02] [-3.66449583e-03 9.99975150e-01 -6.02255146e-03 -9.57779297e+01] [-1.99673304e-02 5.94822181e-03 9.99782939e-01 2.96075871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.899072329 meters Centerline goodness [0,1] 0.28508918851017506 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.77, Z:296.08 [[ 9.99808316e-01 9.82928726e-03 1.69326933e-02 -1.70451003e+02] [-9.75968772e-03 9.99943603e-01 -4.18810915e-03 -9.57723573e+01] [-1.69729045e-02 4.02204856e-03 9.99847860e-01 2.96080233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92907232899995 meters Centerline goodness [0,1] 0.3582942555685815 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.77, Z:296.08 [[ 9.99805722e-01 1.17386166e-02 1.58342162e-02 -1.70447562e+02] [-1.16929062e-02 9.99927206e-01 -2.97630895e-03 -9.57717386e+01] [-1.58680013e-02 2.79058271e-03 9.99870201e-01 2.96079718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.959072329 meters Centerline goodness [0,1] 0.3452562841415685 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99801317e-01 1.32892305e-02 1.48567382e-02 -1.70444504e+02] [-1.32579976e-02 9.99909691e-01 -2.19879216e-03 -9.57705353e+01] [-1.48846168e-02 2.00138470e-03 9.99887215e-01 2.96079323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98907232899995 meters Centerline goodness [0,1] 0.3256802899218636 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99799487e-01 1.45739223e-02 1.37326515e-02 -1.70441348e+02] [-1.45533464e-02 9.99892819e-01 -1.59706835e-03 -9.57696947e+01] [-1.37544552e-02 1.39689209e-03 9.99904427e-01 2.96079169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.019072329 meters Centerline goodness [0,1] 0.29796063800800654 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99726278e-01 1.94604648e-02 1.29869295e-02 -1.70439086e+02] [-1.94974351e-02 9.99806190e-01 2.72620909e-03 -9.57685282e+01] [-1.29313592e-02 -2.97867468e-03 9.99911950e-01 2.96078990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04907232899996 meters Centerline goodness [0,1] 0.2994608655520359 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99722662e-01 2.01242628e-02 1.22316693e-02 -1.70437447e+02] [-2.01615711e-02 9.99792428e-01 2.93451139e-03 -9.57681509e+01] [-1.21700755e-02 -3.18030721e-03 9.99920884e-01 2.96079364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.079072329 meters Centerline goodness [0,1] 0.349996855939131 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99794846e-01 1.66955148e-02 1.14684463e-02 -1.70435691e+02] [-1.66869505e-02 9.99860409e-01 -8.42063911e-04 -9.57681229e+01] [-1.14809041e-02 6.50517763e-04 9.99933881e-01 2.96079504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.10907232899996 meters Centerline goodness [0,1] 0.349996855939131 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99794846e-01 1.66955148e-02 1.14684463e-02 -1.70435691e+02] [-1.66869505e-02 9.99860409e-01 -8.42063911e-04 -9.57681229e+01] [-1.14809041e-02 6.50517763e-04 9.99933881e-01 2.96079504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.139072329 meters Centerline goodness [0,1] 0.3567386292181932 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99798382e-01 1.60772872e-02 1.20297949e-02 -1.70437773e+02] [-1.60587143e-02 9.99869707e-01 -1.63892108e-03 -9.57664744e+01] [-1.20545769e-02 1.44540760e-03 9.99926296e-01 2.96080458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16907232899996 meters Centerline goodness [0,1] 0.3521303783149692 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99799455e-01 1.58618170e-02 1.22250477e-02 -1.70438964e+02] [-1.58399869e-02 9.99872771e-01 -1.88044924e-03 -9.57662071e+01] [-1.22533197e-02 1.68642753e-03 9.99923503e-01 2.96081407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.199072329 meters Centerline goodness [0,1] 0.3117680333535857 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99796618e-01 1.58511017e-02 1.24685539e-02 -1.70439469e+02] [-1.58300814e-02 9.99873107e-01 -1.78275868e-03 -9.57664526e+01] [-1.24952304e-02 1.58501787e-03 9.99920675e-01 2.96081234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22907232899996 meters Centerline goodness [0,1] 0.3234178143932247 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99792730e-01 1.58436868e-02 1.27857546e-02 -1.70439908e+02] [-1.58250279e-02 9.99873561e-01 -1.55921863e-03 -9.57671496e+01] [-1.28088417e-02 1.35656053e-03 9.99917043e-01 2.96080655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.259072329 meters Centerline goodness [0,1] 0.3250555345991031 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99789956e-01 1.61563789e-02 1.26101305e-02 -1.70439068e+02] [-1.61421613e-02 9.99868952e-01 -1.22844757e-03 -9.57674734e+01] [-1.26283252e-02 1.02463478e-03 9.99919735e-01 2.96080111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28907232899996 meters Centerline goodness [0,1] 0.3122654759658722 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99791263e-01 1.58945644e-02 1.28371868e-02 -1.70439237e+02] [-1.58769397e-02 9.99872867e-01 -1.47369879e-03 -9.57667754e+01] [-1.28589785e-02 1.26957593e-03 9.99916514e-01 2.96079599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.319072329 meters Centerline goodness [0,1] 0.33261384354240453 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99787491e-01 1.60710909e-02 1.29109674e-02 -1.70439178e+02] [-1.60577206e-02 9.99870418e-01 -1.13858345e-03 -9.57675783e+01] [-1.29275927e-02 9.31020782e-04 9.99916002e-01 2.96079202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34907232899997 meters Centerline goodness [0,1] 0.3156494227586062 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.77, Z:296.08 [[ 9.99835675e-01 1.28839987e-02 1.27524988e-02 -1.70437567e+02] [-1.28357119e-02 9.99910164e-01 -3.86109057e-03 -9.57707132e+01] [-1.28010994e-02 3.69676870e-03 9.99911229e-01 2.96077423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.379072329 meters Centerline goodness [0,1] 0.32557019289169997 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99926812e-01 7.66035933e-03 9.36432125e-03 -1.70428662e+02] [-7.66864149e-03 9.99970235e-01 8.48850640e-04 -9.57784452e+01] [-9.35754002e-03 -9.20600136e-04 9.99955793e-01 2.96082337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40907232899997 meters Centerline goodness [0,1] 0.33068029490616624 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99942983e-01 5.76428726e-03 8.98911819e-03 -1.70426306e+02] [-5.75602745e-03 9.99982988e-01 -9.44467611e-04 -9.57800131e+01] [-8.99440944e-03 8.92672149e-04 9.99959151e-01 2.96080630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43907232899994 meters Centerline goodness [0,1] 0.31816849510091283 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99939305e-01 5.56994493e-03 9.50594232e-03 -1.70427424e+02] [-5.56187774e-03 9.99984150e-01 -8.74872196e-04 -9.57806961e+01] [-9.51066464e-03 8.21948206e-04 9.99954435e-01 2.96080264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46907232899997 meters Centerline goodness [0,1] 0.3231381585838483 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99934978e-01 5.49413539e-03 9.99274138e-03 -1.70428318e+02] [-5.48832469e-03 9.99984754e-01 -6.08821782e-04 -9.57817764e+01] [-9.99593398e-03 5.53938786e-04 9.99949886e-01 2.96079705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49907232899994 meters Centerline goodness [0,1] 0.3387296069027623 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99932253e-01 5.12786583e-03 1.04496455e-02 -1.70429336e+02] [-5.11810562e-03 9.99986441e-01 -9.60551122e-04 -9.57811251e+01] [-1.04544294e-02 9.07003658e-04 9.99944940e-01 2.96079484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.529072329 meters Centerline goodness [0,1] 0.3401520068675279 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99930305e-01 4.81116146e-03 1.07813221e-02 -1.70430796e+02] [-4.79803646e-03 9.99987717e-01 -1.24291865e-03 -9.57810056e+01] [-1.07871695e-02 1.19110285e-03 9.99941107e-01 2.96080262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55907232899995 meters Centerline goodness [0,1] 0.33421278556023204 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99930589e-01 4.81042514e-03 1.07553234e-02 -1.70431217e+02] [-4.79647300e-03 9.99987622e-01 -1.32264895e-03 -9.57807803e+01] [-1.07615528e-02 1.27096953e-03 9.99941285e-01 2.96080922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.589072329 meters Centerline goodness [0,1] 0.333723849372385 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99944946e-01 1.15036471e-03 1.04298008e-02 -1.70430344e+02] [-1.09840450e-03 9.99986965e-01 -4.98625910e-03 -9.57815728e+01] [-1.04354008e-02 4.97452845e-03 9.99933176e-01 2.96080924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61907232899995 meters Centerline goodness [0,1] 0.3457820738137083 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99948513e-01 1.77434125e-03 9.99112450e-03 -1.70428957e+02] [-1.73154024e-03 9.99989295e-01 -4.29092565e-03 -9.57827402e+01] [-9.99863111e-03 4.27340469e-03 9.99940881e-01 2.96080534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.649072329 meters Centerline goodness [0,1] 0.34608546507979665 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99950988e-01 2.36136204e-03 9.61490050e-03 -1.70427146e+02] [-2.32537796e-03 9.99990258e-01 -3.75199410e-03 -9.57827788e+01] [-9.62366665e-03 3.72945192e-03 9.99946737e-01 2.96079500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67907232899995 meters Centerline goodness [0,1] 0.3464888405008165 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99954717e-01 2.51818846e-03 9.17727254e-03 -1.70425755e+02] [-2.48283887e-03 9.99989463e-01 -3.86122213e-03 -9.57815690e+01] [-9.18689912e-03 3.83826159e-03 9.99950433e-01 2.96079267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.709072329 meters Centerline goodness [0,1] 0.33610401574473425 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99957622e-01 2.43970003e-03 8.87703853e-03 -1.70424875e+02] [-2.40070741e-03 9.99987436e-01 -4.40053419e-03 -9.57790911e+01] [-8.88766298e-03 4.37903653e-03 9.99950916e-01 2.96079359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73907232899995 meters Centerline goodness [0,1] 0.3506884861674967 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99955266e-01 2.12378268e-03 9.21715178e-03 -1.70426215e+02] [-2.08079979e-03 9.99986929e-01 -4.67044655e-03 -9.57789151e+01] [-9.22695032e-03 4.65105858e-03 9.99946614e-01 2.96079960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.769072329 meters Centerline goodness [0,1] 0.35932564998222094 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99955546e-01 2.41686848e-03 9.11394023e-03 -1.70426402e+02] [-2.37682035e-03 9.99987485e-01 -4.40243670e-03 -9.57793839e+01] [-9.12446627e-03 4.38057880e-03 9.99948776e-01 2.96080603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79907232899996 meters Centerline goodness [0,1] 0.36641349151549385 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99956197e-01 2.31323624e-03 9.06934953e-03 -1.70426394e+02] [-2.27028523e-03 9.99986173e-01 -4.74328065e-03 -9.57781322e+01] [-9.08019646e-03 4.72248287e-03 9.99947623e-01 2.96080794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.829072329 meters Centerline goodness [0,1] 0.3451723560910308 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99955935e-01 2.32210708e-03 9.09587681e-03 -1.70426456e+02] [-2.27958890e-03 9.99986441e-01 -4.68202693e-03 -9.57784216e+01] [-9.10662565e-03 4.66108576e-03 9.99947670e-01 2.96080702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85907232899996 meters Centerline goodness [0,1] 0.3503423438514207 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99939844e-01 6.88401066e-03 8.53923373e-03 -1.70424573e+02] [-6.87948584e-03 9.99976180e-01 -5.59146266e-04 -9.57768416e+01] [-8.54287950e-03 5.00367093e-04 9.99963384e-01 2.96080227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.889072329 meters Centerline goodness [0,1] 0.3358052622758505 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99941541e-01 7.60877271e-03 7.68254352e-03 -1.70422295e+02] [-7.60618703e-03 9.99971006e-01 -3.65727892e-04 -9.57757908e+01] [-7.68510351e-03 3.07271649e-04 9.99970422e-01 2.96080183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91907232899996 meters Centerline goodness [0,1] 0.3545328980411854 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99943137e-01 7.45326879e-03 7.62699281e-03 -1.70422626e+02] [-7.44789236e-03 9.99971995e-01 -7.33082054e-04 -9.57747543e+01] [-7.63224308e-03 6.76235347e-04 9.99970645e-01 2.96080837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.949072329 meters Centerline goodness [0,1] 0.34466080402010046 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99946746e-01 7.22841890e-03 7.36586604e-03 -1.70422590e+02] [-7.21756799e-03 9.99972830e-01 -1.49865265e-03 -9.57722950e+01] [-7.37649880e-03 1.44540920e-03 9.99971749e-01 2.96081776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97907232899996 meters Centerline goodness [0,1] 0.32038692657188916 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99947222e-01 7.43346814e-03 7.09202004e-03 -1.70422328e+02] [-7.42398335e-03 9.99971513e-01 -1.36277842e-03 -9.57726053e+01] [-7.10194818e-03 1.31005545e-03 9.99973923e-01 2.96082340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.009072329 meters Centerline goodness [0,1] 0.35780046869769 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99948576e-01 7.57015218e-03 6.74813156e-03 -1.70421605e+02] [-7.56062730e-03 9.99970387e-01 -1.43587848e-03 -9.57718535e+01] [-6.75880155e-03 1.38478453e-03 9.99976200e-01 2.96082593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03907232899996 meters Centerline goodness [0,1] 0.3401394735188792 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99948718e-01 8.05947034e-03 6.13237654e-03 -1.70419959e+02] [-8.05222229e-03 9.99966853e-01 -1.20570528e-03 -9.57715325e+01] [-6.14189062e-03 1.15626419e-03 9.99980470e-01 2.96082527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.069072329 meters Centerline goodness [0,1] 0.3509566019152993 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99948386e-01 7.73362737e-03 6.58906396e-03 -1.70421089e+02] [-7.72459967e-03 9.99969193e-01 -1.39445359e-03 -9.57714653e+01] [-6.59964515e-03 1.34348374e-03 9.99977320e-01 2.96082436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09907232899997 meters Centerline goodness [0,1] 0.3675013095861708 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99948081e-01 7.18299457e-03 7.22773255e-03 -1.70423021e+02] [-7.17111922e-03 9.99972897e-01 -1.66760228e-03 -9.57716266e+01] [-7.23951503e-03 1.61568477e-03 9.99972489e-01 2.96082748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.129072329 meters Centerline goodness [0,1] 0.34670409082340126 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99970418e-01 3.67030632e-03 6.75962504e-03 -1.70421694e+02] [-3.63528678e-03 9.99979946e-01 -5.18571239e-03 -9.57725840e+01] [-6.77852264e-03 5.16098581e-03 9.99963707e-01 2.96082571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15907232899997 meters Centerline goodness [0,1] 0.3482393334170749 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99966798e-01 3.21481591e-03 7.48788805e-03 -1.70423844e+02] [-3.17484528e-03 9.99980682e-01 -5.34382243e-03 -9.57730524e+01] [-7.50492281e-03 5.31987211e-03 9.99957687e-01 2.96082881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18907232899994 meters Centerline goodness [0,1] 0.3488532830662897 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.77, Z:296.08 [[ 9.99961926e-01 2.49974231e-03 8.36044921e-03 -1.70426311e+02] [-2.45410287e-03 9.99982057e-01 -5.46478163e-03 -9.57740616e+01] [-8.37395974e-03 5.44405616e-03 9.99950118e-01 2.96083041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21907232899997 meters Centerline goodness [0,1] 0.3626987447698745 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.77, Z:296.08 [[ 9.99962765e-01 2.76118843e-03 8.17588928e-03 -1.70425632e+02] [-2.71899423e-03 9.99982952e-01 -5.16743411e-03 -9.57742762e+01] [-8.19001815e-03 5.14501150e-03 9.99953225e-01 2.96082770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24907232899994 meters Centerline goodness [0,1] 0.35087388801674513 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99964546e-01 3.27648995e-03 7.75703953e-03 -1.70424297e+02] [-3.24052216e-03 9.99983962e-01 -4.64482939e-03 -9.57750023e+01] [-7.77213386e-03 4.61952785e-03 9.99959126e-01 2.96082381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.279072329 meters Centerline goodness [0,1] 0.35933801194092385 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99966246e-01 4.06872761e-03 7.13811940e-03 -1.70422202e+02] [-4.04018777e-03 9.99983806e-01 -4.00810424e-03 -9.57753944e+01] [-7.15431169e-03 3.97912961e-03 9.99966491e-01 2.96081756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30907232899995 meters Centerline goodness [0,1] 0.3342055683483358 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99967773e-01 4.42098178e-03 6.70128978e-03 -1.70420961e+02] [-4.39474089e-03 9.99982638e-01 -3.92547870e-03 -9.57748894e+01] [-6.71852790e-03 3.89590176e-03 9.99969841e-01 2.96081604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.339072329 meters Centerline goodness [0,1] 0.315484168202379 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99970250e-01 4.74655198e-03 6.08026684e-03 -1.70419565e+02] [-4.72199092e-03 9.99980660e-01 -4.04747732e-03 -9.57734435e+01] [-6.09936081e-03 4.01864594e-03 9.99973324e-01 2.96081981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36907232899995 meters Centerline goodness [0,1] 0.333507820515505 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99972373e-01 4.30456458e-03 6.06007751e-03 -1.70419742e+02] [-4.27444837e-03 9.99978495e-01 -4.97381939e-03 -9.57704000e+01] [-6.08135732e-03 4.94777849e-03 9.99969268e-01 2.96082464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.399072329 meters Centerline goodness [0,1] 0.3246573620017603 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99971338e-01 4.37804976e-03 6.17709433e-03 -1.70419804e+02] [-4.34826910e-03 9.99978899e-01 -4.82636537e-03 -9.57706315e+01] [-6.19809406e-03 4.79936736e-03 9.99969274e-01 2.96082123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42907232899995 meters Centerline goodness [0,1] 0.3233762158770003 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99971509e-01 5.11725131e-03 5.54940228e-03 -1.70418170e+02] [-5.09398204e-03 9.99978209e-01 -4.19917144e-03 -9.57712052e+01] [-5.57076957e-03 4.17078325e-03 9.99975785e-01 2.96082136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.459072329 meters Centerline goodness [0,1] 0.32900995285489787 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99973648e-01 3.66634373e-03 6.26588579e-03 -1.70420726e+02] [-3.62993694e-03 9.99976523e-01 -5.81184699e-03 -9.57678683e+01] [-6.28704691e-03 5.78894906e-03 9.99963480e-01 2.96083238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48907232899995 meters Centerline goodness [0,1] 0.34053669954857047 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.77, Z:296.09 [[ 9.99996427e-01 -3.88266675e-04 2.64498152e-03 -1.70412385e+02] [ 3.92079830e-04 9.99998884e-01 -1.44129085e-03 -9.57733759e+01] [-2.64441897e-03 1.44232275e-03 9.99995463e-01 2.96088383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.519072329 meters Centerline goodness [0,1] 0.33546345960442503 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.09 [[ 9.99992588e-01 -1.10425104e-03 3.68855375e-03 -1.70415086e+02] [ 1.11005816e-03 9.99998147e-01 -1.57268447e-03 -9.57743609e+01] [-3.68681028e-03 1.57676732e-03 9.99991961e-01 2.96088236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54907232899996 meters Centerline goodness [0,1] 0.34675493359031295 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.09 [[ 9.99985282e-01 -4.04086290e-03 3.62043528e-03 -1.70414280e+02] [ 4.05427770e-03 9.99984915e-01 -3.70565368e-03 -9.57797508e+01] [-3.60540663e-03 3.72027739e-03 9.99986580e-01 2.96087161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.579072329 meters Centerline goodness [0,1] 0.3531952364978195 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.09 [[ 9.99991027e-01 -2.99804582e-03 2.99308432e-03 -1.70411717e+02] [ 3.00645696e-03 9.99991533e-01 -2.80965670e-03 -9.57800447e+01] [-2.98463550e-03 2.81863006e-03 9.99991574e-01 2.96086034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.60907232899996 meters Centerline goodness [0,1] 0.3233953585615722 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.09 [[ 9.99992476e-01 -2.91942737e-03 2.55436859e-03 -1.70409804e+02] [ 2.92709266e-03 9.99991209e-01 -3.00228389e-03 -9.57783631e+01] [-2.54558119e-03 3.00973818e-03 9.99992231e-01 2.96085119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.639072329 meters Centerline goodness [0,1] 0.36204618385452714 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.09 [[ 9.99995894e-01 8.44918964e-04 2.73842921e-03 -1.70410572e+02] [-8.46101204e-04 9.99999549e-01 4.30591917e-04 -9.57761535e+01] [-2.73806416e-03 -4.32907137e-04 9.99996158e-01 2.96085516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66907232899996 meters Centerline goodness [0,1] 0.3616762448089266 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.77, Z:296.09 [[ 9.99995672e-01 5.07859941e-04 2.89790255e-03 -1.70411043e+02] [-5.07556128e-04 9.99999866e-01 -1.05573478e-04 -9.57744804e+01] [-2.89795578e-03 1.04102173e-04 9.99995795e-01 2.96085652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.699072329 meters Centerline goodness [0,1] 0.31169266901526593 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.77, Z:296.09 [[ 9.99995791e-01 4.76504835e-04 2.86207176e-03 -1.70411731e+02] [-4.75392832e-04 9.99999811e-01 -3.89198376e-04 -9.57737300e+01] [-2.86225667e-03 3.87836129e-04 9.99995829e-01 2.96086728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72907232899996 meters Centerline goodness [0,1] 0.34024922379793576 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.77, Z:296.09 [[ 9.99996552e-01 5.57143034e-04 2.56623115e-03 -1.70411144e+02] [-5.55761627e-04 9.99999700e-01 -5.38983629e-04 -9.57727063e+01] [-2.56653068e-03 5.37555558e-04 9.99996562e-01 2.96087014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.759072329 meters Centerline goodness [0,1] 0.3173604997274976 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.77, Z:296.09 [[ 9.99996467e-01 5.80040189e-04 2.59398251e-03 -1.70411271e+02] [-5.78507342e-04 9.99999658e-01 -5.91635463e-04 -9.57721564e+01] [-2.59432480e-03 5.90132735e-04 9.99996461e-01 2.96087170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78907232899996 meters Centerline goodness [0,1] 0.31950459214627924 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.09 [[ 9.99997888e-01 -7.36302342e-04 1.91872192e-03 -1.70408222e+02] [ 7.38961296e-04 9.99998767e-01 -1.38545389e-03 -9.57768914e+01] [-1.91769945e-03 1.38686882e-03 9.99997200e-01 2.96085442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.819072329 meters Centerline goodness [0,1] 0.3201434323100151 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.09 [[ 9.99996024e-01 -1.06698707e-03 2.61010600e-03 -1.70409920e+02] [ 1.07101565e-03 9.99998237e-01 -1.54254653e-03 -9.57769227e+01] [-2.60845552e-03 1.54533586e-03 9.99995404e-01 2.96085292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84907232899997 meters Centerline goodness [0,1] 0.3216181623617784 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99995373e-01 -1.16053393e-03 2.81201134e-03 -1.70410120e+02] [ 1.16483561e-03 9.99998153e-01 -1.52859905e-03 -9.57767400e+01] [-2.81023216e-03 1.53186750e-03 9.99994878e-01 2.96084880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.879072329 meters Centerline goodness [0,1] 0.3280666414872634 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99997841e-01 8.88502580e-04 1.87854928e-03 -1.70406723e+02] [-8.88446098e-04 9.99999605e-01 -3.09011388e-05 -9.57763645e+01] [-1.87857600e-03 2.92320823e-05 9.99998235e-01 2.96083945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90907232899997 meters Centerline goodness [0,1] 0.3310691823899371 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.77, Z:296.08 [[ 9.99998204e-01 6.45708990e-04 1.78192307e-03 -1.70406557e+02] [-6.44666105e-04 9.99999621e-01 -5.85770796e-04 -9.57743435e+01] [-1.78230063e-03 5.84620998e-04 9.99998241e-01 2.96084111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93907232899994 meters Centerline goodness [0,1] 0.3409958471412391 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.77, Z:296.08 [[ 9.99997859e-01 6.78859905e-04 1.95479334e-03 -1.70407495e+02] [-6.77860528e-04 9.99999639e-01 -5.11861834e-04 -9.57747585e+01] [-1.95514012e-03 5.10535661e-04 9.99997958e-01 2.96084704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96907232899997 meters Centerline goodness [0,1] 0.3219099121758997 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99995409e-01 -2.70994159e-03 1.35546365e-03 -1.70405798e+02] [ 2.71531712e-03 9.99988394e-01 -3.97982950e-03 -9.57756535e+01] [-1.34466281e-03 3.98349175e-03 9.99991162e-01 2.96084543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99907232899994 meters Centerline goodness [0,1] 0.3219099121758997 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99995409e-01 -2.70994159e-03 1.35546365e-03 -1.70405798e+02] [ 2.71531712e-03 9.99988394e-01 -3.97982950e-03 -9.57756535e+01] [-1.34466281e-03 3.98349175e-03 9.99991162e-01 2.96084543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.029072329 meters Centerline goodness [0,1] 0.32106322320979375 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99996091e-01 -2.50754965e-03 1.23698808e-03 -1.70405295e+02] [ 2.51220436e-03 9.99989716e-01 -3.77585386e-03 -9.57756507e+01] [-1.22750722e-03 3.77894666e-03 9.99992106e-01 2.96084278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05907232899995 meters Centerline goodness [0,1] 0.323931552237554 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99995532e-01 -2.52719581e-03 1.59634935e-03 -1.70405837e+02] [ 2.53283741e-03 9.99990519e-01 -3.54198502e-03 -9.57762803e+01] [-1.58738292e-03 3.54601249e-03 9.99992453e-01 2.96083738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.089072329 meters Centerline goodness [0,1] 0.3248793790644011 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99993999e-01 -2.72334746e-03 2.14122971e-03 -1.70407020e+02] [ 2.73076327e-03 9.99990258e-01 -3.46808051e-03 -9.57768303e+01] [-2.13176406e-03 3.47390689e-03 9.99991694e-01 2.96083407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11907232899995 meters Centerline goodness [0,1] 0.32027185769424404 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99986878e-01 -3.79640608e-03 3.43959608e-03 -1.70409667e+02] [ 3.80733659e-03 9.99987706e-01 -3.17688955e-03 -9.57796533e+01] [-3.42749303e-03 3.18994357e-03 9.99989038e-01 2.96082039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.149072329 meters Centerline goodness [0,1] 0.32789395305912705 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99981727e-01 -4.25586488e-03 4.29344361e-03 -1.70411263e+02] [ 4.27032739e-03 9.99985220e-01 -3.36498521e-03 -9.57796025e+01] [-4.27905924e-03 3.38325813e-03 9.99985121e-01 2.96081206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17907232899995 meters Centerline goodness [0,1] 0.32792112439689536 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99976584e-01 -4.57111753e-03 5.09282611e-03 -1.70413270e+02] [ 4.58687023e-03 9.99984719e-01 -3.08574212e-03 -9.57815098e+01] [-5.07864300e-03 3.10902999e-03 9.99982271e-01 2.96080980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.209072329 meters Centerline goodness [0,1] 0.3473748217730437 Centerline is valid? [False, False] Translation: X:-170.41, Y:-95.78, Z:296.08 [[ 9.99978434e-01 -4.27995662e-03 4.98129782e-03 -1.70412886e+02] [ 4.29401528e-03 9.99986818e-01 -2.81502348e-03 -9.57818146e+01] [-4.96918398e-03 2.83635254e-03 9.99983631e-01 2.96080842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23907232899995 meters Centerline goodness [0,1] 0.3407463249151903 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99962137e-01 -6.31545883e-03 5.98655821e-03 -1.70416715e+02] [ 6.34114821e-03 9.99970727e-01 -4.28195226e-03 -9.57821148e+01] [-5.95934047e-03 4.31975179e-03 9.99972913e-01 2.96082063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.269072329 meters Centerline goodness [0,1] 0.34376897786526506 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99959969e-01 -6.36867101e-03 6.28501052e-03 -1.70417378e+02] [ 6.39572246e-03 9.99970330e-01 -4.29344969e-03 -9.57819935e+01] [-6.25748048e-03 4.33347500e-03 9.99971032e-01 2.96081900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29907232899996 meters Centerline goodness [0,1] 0.3524706867671692 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99960016e-01 -6.28817963e-03 6.35810297e-03 -1.70418142e+02] [ 6.31517172e-03 9.99971095e-01 -4.23417858e-03 -9.57822413e+01] [-6.33129392e-03 4.27416179e-03 9.99970823e-01 2.96082662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.329072329 meters Centerline goodness [0,1] 0.3180048559946417 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99963649e-01 -6.04936824e-03 6.00881223e-03 -1.70417239e+02] [ 6.07468175e-03 9.99972714e-01 -4.20345017e-03 -9.57814925e+01] [-5.98322006e-03 4.23979900e-03 9.99973112e-01 2.96082677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35907232899996 meters Centerline goodness [0,1] 0.32002427438424674 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99957901e-01 -6.53075866e-03 6.44554308e-03 -1.70418523e+02] [ 6.56072990e-03 9.99967714e-01 -4.63977904e-03 -9.57806308e+01] [-6.41503371e-03 4.68187117e-03 9.99968463e-01 2.96082887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.389072329 meters Centerline goodness [0,1] 0.35290914422150543 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99971835e-01 -3.20391535e-03 6.78705512e-03 -1.70419516e+02] [ 3.21555537e-03 9.99993377e-01 -1.70481406e-03 -9.57771809e+01] [-6.78154809e-03 1.72659019e-03 9.99975514e-01 2.96083107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41907232899996 meters Centerline goodness [0,1] 0.27243046399196336 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99974639e-01 -2.85116269e-03 6.52625060e-03 -1.70418916e+02] [ 2.86035374e-03 9.99994930e-01 -1.39941853e-03 -9.57775459e+01] [-6.52222755e-03 1.41805042e-03 9.99977725e-01 2.96083177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.449072329 meters Centerline goodness [0,1] 0.32342529169023226 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.78, Z:296.08 [[ 9.99976531e-01 -2.85855116e-03 6.22621448e-03 -1.70418463e+02] [ 2.86913993e-03 9.99994452e-01 -1.69240720e-03 -9.57762095e+01] [-6.22134211e-03 1.71023136e-03 9.99979185e-01 2.96083660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47907232899996 meters Centerline goodness [0,1] 0.27336458376930484 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99977501e-01 -2.96255787e-03 6.01843153e-03 -1.70417845e+02] [ 2.97505979e-03 9.99993433e-01 -2.06938245e-03 -9.57744878e+01] [-6.01226134e-03 2.08724108e-03 9.99979748e-01 2.96083629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.509072329 meters Centerline goodness [0,1] 0.281183932346723 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.08 [[ 9.99981195e-01 4.64474644e-04 6.11508129e-03 -1.70418592e+02] [-4.69988217e-04 9.99999484e-01 9.00229236e-04 -9.57708532e+01] [-6.11466000e-03 -9.03086323e-04 9.99980898e-01 2.96084445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53907232899996 meters Centerline goodness [0,1] 0.33007007635184604 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.09 [[ 9.99975818e-01 -3.46293744e-04 6.94578459e-03 -1.70421339e+02] [ 3.45344502e-04 9.99999931e-01 1.37863459e-04 -9.57697670e+01] [-6.94583185e-03 -1.35461436e-04 9.99975868e-01 2.96085307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.569072329 meters Centerline goodness [0,1] 0.2801479964046071 Centerline is valid? [False, False] Translation: X:-170.42, Y:-95.77, Z:296.09 [[ 9.99958273e-01 -4.72589401e-03 7.81787594e-03 -1.70424552e+02] [ 4.75390577e-03 9.99982333e-01 -3.56834508e-03 -9.57731710e+01] [-7.80087420e-03 3.60536162e-03 9.99963073e-01 2.96086445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59907232899997 meters Centerline goodness [0,1] 0.28375553883454563 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.77, Z:296.09 [[ 9.99955556e-01 -4.60776537e-03 8.22523727e-03 -1.70425588e+02] [ 4.63400453e-03 9.99984226e-01 -3.17387637e-03 -9.57746502e+01] [-8.21048305e-03 3.21185109e-03 9.99961135e-01 2.96086349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.629072329 meters Centerline goodness [0,1] 0.28894692854157966 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.09 [[ 9.99941563e-01 -5.57262753e-03 9.26369707e-03 -1.70428217e+02] [ 5.60617955e-03 9.99977806e-01 -3.59986893e-03 -9.57750673e+01] [-9.24343074e-03 3.65159252e-03 9.99950611e-01 2.96086210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65907232899997 meters Centerline goodness [0,1] 0.30210576943183953 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99920174e-01 -6.86620120e-03 1.06066827e-02 -1.70430544e+02] [ 6.90728224e-03 9.99968766e-01 -3.84136277e-03 -9.57759703e+01] [-1.05799759e-02 3.91431947e-03 9.99936369e-01 2.96084563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68907232899994 meters Centerline goodness [0,1] 0.30525084101213984 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99914908e-01 -6.83496917e-03 1.11112800e-02 -1.70431510e+02] [ 6.87228140e-03 9.99970863e-01 -3.32334293e-03 -9.57778824e+01] [-1.10882413e-02 3.39941998e-03 9.99932745e-01 2.96084009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71907232899997 meters Centerline goodness [0,1] 0.2804288196989049 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99927486e-01 -5.50638793e-03 1.07099144e-02 -1.70430314e+02] [ 5.52277710e-03 9.99983622e-01 -1.50130768e-03 -9.57818351e+01] [-1.07014722e-02 1.56034729e-03 9.99941520e-01 2.96083611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74907232899994 meters Centerline goodness [0,1] 0.31313828896701823 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99922801e-01 -5.82964397e-03 1.09729912e-02 -1.70430653e+02] [ 5.85203903e-03 9.99980857e-01 -2.00992521e-03 -9.57800976e+01] [-1.09610640e-02 2.07398442e-03 9.99937775e-01 2.96083258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.779072329 meters Centerline goodness [0,1] 0.31713677710089294 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99879120e-01 -1.04269085e-02 1.15336258e-02 -1.70431522e+02] [ 1.05011541e-02 9.99924408e-01 -6.39559833e-03 -9.57798459e+01] [-1.14660676e-02 6.51594162e-03 9.99913032e-01 2.96082700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80907232899995 meters Centerline goodness [0,1] 0.29421110948508356 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99826328e-01 -1.43651530e-02 1.18724849e-02 -1.70432057e+02] [ 1.44835820e-02 9.99845599e-01 -9.95003292e-03 -9.57823100e+01] [-1.17277180e-02 1.01202610e-02 9.99880013e-01 2.96082257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.839072329 meters Centerline goodness [0,1] 0.293576831459735 Centerline is valid? [False, False] Translation: X:-170.43, Y:-95.78, Z:296.08 [[ 9.99821570e-01 -1.43849895e-02 1.22433960e-02 -1.70432851e+02] [ 1.45051652e-02 9.99846925e-01 -9.78401296e-03 -9.57829064e+01] [-1.21007789e-02 9.95985968e-03 9.99877179e-01 2.96082014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86907232899995 meters Centerline goodness [0,1] 0.3093708810176371 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.78, Z:296.08 [[ 9.99792866e-01 -1.53699887e-02 1.33412077e-02 -1.70435073e+02] [ 1.55058489e-02 9.99828355e-01 -1.01405107e-02 -9.57829120e+01] [-1.31830582e-02 1.03452770e-02 9.99859581e-01 2.96081176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.899072329 meters Centerline goodness [0,1] 0.3018611459640318 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.78, Z:296.08 [[ 9.99782957e-01 -1.55611570e-02 1.38524069e-02 -1.70435925e+02] [ 1.57019287e-02 9.99825582e-01 -1.01121644e-02 -9.57831686e+01] [-1.36926338e-02 1.03274792e-02 9.99852917e-01 2.96080525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92907232899995 meters Centerline goodness [0,1] 0.3154618935232566 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.78, Z:296.08 [[ 9.99780186e-01 -1.55529094e-02 1.40601176e-02 -1.70436371e+02] [ 1.56928450e-02 9.99827870e-01 -9.89773190e-03 -9.57837877e+01] [-1.39037589e-02 1.01161995e-02 9.99852163e-01 2.96080366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.959072329 meters Centerline goodness [0,1] 0.31372343985276896 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.78, Z:296.08 [[ 9.99792266e-01 -1.36366755e-02 1.51481059e-02 -1.70440159e+02] [ 1.37575942e-02 9.99874095e-01 -7.90710456e-03 -9.57809428e+01] [-1.50383721e-02 8.11386349e-03 9.99853996e-01 2.96081512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98907232899995 meters Centerline goodness [0,1] 0.31958956783415526 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.78, Z:296.08 [[ 9.99795856e-01 -1.33818746e-02 1.51384512e-02 -1.70440320e+02] [ 1.34979548e-02 9.99880077e-01 -7.59188968e-03 -9.57816700e+01] [-1.50350420e-02 7.79467796e-03 9.99856585e-01 2.96081718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.019072329 meters Centerline goodness [0,1] 0.3276701565210123 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.78, Z:296.08 [[ 9.99798515e-01 -1.31527191e-02 1.51635909e-02 -1.70439322e+02] [ 1.32637738e-02 9.99885773e-01 -7.24660984e-03 -9.57818344e+01] [-1.50665461e-02 7.44627619e-03 9.99858766e-01 2.96080272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.04907232899996 meters Centerline goodness [0,1] 0.32176715568298353 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.78, Z:296.08 [[ 9.99797367e-01 -1.30430190e-02 1.53331432e-02 -1.70439122e+02] [ 1.31509059e-02 9.99889324e-01 -6.95654114e-03 -9.57822553e+01] [-1.52407119e-02 7.15677623e-03 9.99858241e-01 2.96079392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.079072329 meters Centerline goodness [0,1] 0.276734693877551 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.78, Z:296.08 [[ 9.99798519e-01 -1.28101750e-02 1.54538527e-02 -1.70439225e+02] [ 1.29114765e-02 9.99895690e-01 -6.47322713e-03 -9.57834442e+01] [-1.53693175e-02 6.67145496e-03 9.99859628e-01 2.96079039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.10907232899996 meters Centerline goodness [0,1] 0.2601163325940494 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.78, Z:296.08 [[ 9.99768649e-01 -1.38626818e-02 1.64460991e-02 -1.70441352e+02] [ 1.39882946e-02 9.99873673e-01 -7.54755448e-03 -9.57811605e+01] [-1.63393922e-02 7.77586123e-03 9.99836267e-01 2.96078672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.139072329 meters Centerline goodness [0,1] 0.28718913270637414 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.78, Z:296.08 [[ 9.99683958e-01 -1.83478106e-02 1.71855314e-02 -1.70443548e+02] [ 1.85521859e-02 9.99758149e-01 -1.18093234e-02 -9.57819073e+01] [-1.69646999e-02 1.21244204e-02 9.99782575e-01 2.96079325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16907232899996 meters Centerline goodness [0,1] 0.291582266585921 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.78, Z:296.08 [[ 9.99627528e-01 -2.03045608e-02 1.82354113e-02 -1.70447651e+02] [ 2.05528743e-02 9.99697152e-01 -1.35345081e-02 -9.57803097e+01] [-1.79550765e-02 1.39042570e-02 9.99742110e-01 2.96081104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.199072329 meters Centerline goodness [0,1] 0.30180716598767365 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.78, Z:296.08 [[ 9.99507784e-01 -2.51024055e-02 1.88164616e-02 -1.70448526e+02] [ 2.54462917e-02 9.99509322e-01 -1.82647692e-02 -9.57793238e+01] [-1.83487391e-02 1.87345882e-02 9.99656110e-01 2.96080623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22907232899996 meters Centerline goodness [0,1] 0.32083829582732615 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.78, Z:296.08 [[ 9.99554440e-01 -2.21412860e-02 2.00171064e-02 -1.70451396e+02] [ 2.24348909e-02 9.99642218e-01 -1.45640696e-02 -9.57791412e+01] [-1.96874774e-02 1.50066621e-02 9.99693555e-01 2.96079954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.259072329 meters Centerline goodness [0,1] 0.3227719877190417 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.78, Z:296.08 [[ 9.99539418e-01 -2.23601153e-02 2.05177229e-02 -1.70452504e+02] [ 2.26605566e-02 9.99637635e-01 -1.45292302e-02 -9.57794510e+01] [-2.01854128e-02 1.49874813e-02 9.99683912e-01 2.96079661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28907232899996 meters Centerline goodness [0,1] 0.31941370526579527 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.78, Z:296.08 [[ 9.99563619e-01 -2.02888468e-02 2.14693706e-02 -1.70455741e+02] [ 2.05486421e-02 9.99717434e-01 -1.19501037e-02 -9.57783746e+01] [-2.12208503e-02 1.23860553e-02 9.99698085e-01 2.96080350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.319072329 meters Centerline goodness [0,1] 0.30916875522138676 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.78, Z:296.08 [[ 9.99604454e-01 -1.71467532e-02 2.22917964e-02 -1.70458281e+02] [ 1.73460324e-02 9.99811021e-01 -8.77714852e-03 -9.57764349e+01] [-2.21370841e-02 9.16035098e-03 9.99712978e-01 2.96080710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34907232899997 meters Centerline goodness [0,1] 0.31222050403310064 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.77, Z:296.08 [[ 9.99667283e-01 -1.32457531e-02 2.21330871e-02 -1.70458745e+02] [ 1.33635665e-02 9.99897268e-01 -5.18354987e-03 -9.57747476e+01] [-2.20621533e-02 5.47760220e-03 9.99741595e-01 2.96081654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.379072329 meters Centerline goodness [0,1] 0.32891440501043845 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.77, Z:296.08 [[ 9.99685774e-01 -1.28569702e-02 2.15186105e-02 -1.70457383e+02] [ 1.29675800e-02 9.99903373e-01 -5.00856549e-03 -9.57745417e+01] [-2.14521363e-02 5.28603598e-03 9.99755902e-01 2.96081841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40907232899997 meters Centerline goodness [0,1] 0.30157834221804114 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.77, Z:296.08 [[ 9.99725380e-01 -9.13206818e-03 2.15817101e-02 -1.70457615e+02] [ 9.16783444e-03 9.99956759e-01 -1.55888798e-03 -9.57720931e+01] [-2.15665410e-02 1.75631743e-03 9.99765872e-01 2.96081812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43907232899994 meters Centerline goodness [0,1] 0.3050836833197518 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.77, Z:296.08 [[ 9.99731598e-01 -9.21601954e-03 2.12555003e-02 -1.70456144e+02] [ 9.26100268e-03 9.99955078e-01 -2.01884090e-03 -9.57701276e+01] [-2.12359398e-02 2.21514629e-03 9.99772038e-01 2.96081037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46907232899997 meters Centerline goodness [0,1] 0.30664046165426107 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.77, Z:296.08 [[ 9.99899834e-01 -9.60688414e-03 1.03937434e-02 -1.70450260e+02] [ 9.63808304e-03 9.99949184e-01 -2.95578575e-03 -9.57689066e+01] [-1.03648194e-02 3.05566544e-03 9.99941615e-01 2.96084198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49907232899994 meters Centerline goodness [0,1] 0.28936321296547696 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.77, Z:296.08 [[ 9.99902773e-01 -9.38375108e-03 1.03145413e-02 -1.70450105e+02] [ 9.41247628e-03 9.99951948e-01 -2.73991461e-03 -9.57691803e+01] [-1.02883350e-02 2.83673359e-03 9.99943050e-01 2.96084240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.529072329 meters Centerline goodness [0,1] 0.31832911709978884 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.77, Z:296.09 [[ 9.99931134e-01 -5.66879515e-03 1.02757528e-02 -1.70450742e+02] [ 5.66431320e-03 9.99983849e-01 4.65218914e-04 -9.57662572e+01] [-1.02782241e-02 -4.06981795e-04 9.99947095e-01 2.96085195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55907232899995 meters Centerline goodness [0,1] 0.3211306474880308 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.77, Z:296.09 [[ 9.99941338e-01 -5.15217422e-03 9.52762456e-03 -1.70449454e+02] [ 5.14670370e-03 9.99986576e-01 5.98604511e-04 -9.57656263e+01] [-9.53058078e-03 -5.49533536e-04 9.99954432e-01 2.96086116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.589072329 meters Centerline goodness [0,1] 0.32139347176044997 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99951985e-01 -4.49135771e-03 8.70951017e-03 -1.70448080e+02] [ 4.48497724e-03 9.99989660e-01 7.51980477e-04 -9.57648232e+01] [-8.71279752e-03 -7.12882415e-04 9.99961789e-01 2.96087129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61907232899995 meters Centerline goodness [0,1] 0.3162795563925508 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99944701e-01 -4.98407460e-03 9.26034142e-03 -1.70449927e+02] [ 4.98121215e-03 9.99987539e-01 3.32146484e-04 -9.57644170e+01] [-9.26188147e-03 -2.86000391e-04 9.99957067e-01 2.96087740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.649072329 meters Centerline goodness [0,1] 0.3099546091576547 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99939997e-01 -5.29384041e-03 9.59047451e-03 -1.70451266e+02] [ 5.29399698e-03 9.99985987e-01 9.06191731e-06 -9.57639673e+01] [-9.59038809e-03 4.17105695e-05 9.99954010e-01 2.96088377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67907232899995 meters Centerline goodness [0,1] 0.2909608064583594 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99933219e-01 -5.64957421e-03 1.00816465e-02 -1.70452481e+02] [ 5.65104860e-03 9.99984026e-01 -1.17763993e-04 -9.57643295e+01] [-1.00808201e-02 1.74728003e-04 9.99949172e-01 2.96088231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.709072329 meters Centerline goodness [0,1] 0.29457656187906545 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.77, Z:296.09 [[ 9.99933195e-01 -5.46295266e-03 1.01863320e-02 -1.70452833e+02] [ 5.45948532e-03 9.99985029e-01 3.68167162e-04 -9.57661982e+01] [-1.01881908e-02 -3.12530437e-04 9.99948050e-01 2.96088207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73907232899995 meters Centerline goodness [0,1] 0.3305157443247202 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.77, Z:296.09 [[ 9.99942742e-01 -4.79034579e-03 9.56893218e-03 -1.70451324e+02] [ 4.78177930e-03 9.99988146e-01 9.17918058e-04 -9.57669841e+01] [-9.57321589e-03 -8.72108978e-04 9.99953795e-01 2.96088165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.769072329 meters Centerline goodness [0,1] 0.33608428813807834 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.77, Z:296.09 [[ 9.99953409e-01 -3.99142937e-03 8.78911750e-03 -1.70449101e+02] [ 3.97901398e-03 9.99991062e-01 1.42962021e-03 -9.57670444e+01] [-8.79474517e-03 -1.39458158e-03 9.99960353e-01 2.96087833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79907232899996 meters Centerline goodness [0,1] 0.2980710829999791 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99958050e-01 -3.88947175e-03 8.29281395e-03 -1.70447070e+02] [ 3.88156239e-03 9.99991997e-01 9.69642598e-04 -9.57642691e+01] [-8.29651898e-03 -9.37412847e-04 9.99965144e-01 2.96086969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.829072329 meters Centerline goodness [0,1] 0.30447161279517665 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99956364e-01 -3.94493310e-03 8.46809294e-03 -1.70447539e+02] [ 3.93585269e-03 9.99991662e-01 1.08870645e-03 -9.57649012e+01] [-8.47231721e-03 -1.05532977e-03 9.99963552e-01 2.96086914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85907232899996 meters Centerline goodness [0,1] 0.31273153477469184 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99967687e-01 5.09697372e-04 8.02282253e-03 -1.70446560e+02] [-5.50691222e-04 9.99986801e-01 5.10827490e-03 -9.57633864e+01] [-8.02011296e-03 -5.11252794e-03 9.99954769e-01 2.96087182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.889072329 meters Centerline goodness [0,1] 0.3584348699912071 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99966350e-01 -4.30060366e-04 8.19233752e-03 -1.70447645e+02] [ 4.01079586e-04 9.99993658e-01 3.53886173e-03 -9.57591404e+01] [-8.19380749e-03 -3.53545686e-03 9.99960180e-01 2.96088135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91907232899996 meters Centerline goodness [0,1] 0.3584348699912071 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99966350e-01 -4.30060366e-04 8.19233752e-03 -1.70447645e+02] [ 4.01079586e-04 9.99993658e-01 3.53886173e-03 -9.57591404e+01] [-8.19380749e-03 -3.53545686e-03 9.99960180e-01 2.96088135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.949072329 meters Centerline goodness [0,1] 0.2685318779666688 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99966639e-01 -4.45299982e-04 8.15616564e-03 -1.70448328e+02] [ 4.16463213e-04 9.99993658e-01 3.53693630e-03 -9.57596008e+01] [-8.15768892e-03 -3.53342156e-03 9.99960483e-01 2.96089082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97907232899996 meters Centerline goodness [0,1] 0.2865839626786051 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99969046e-01 -6.00969560e-04 7.84508075e-03 -1.70448920e+02] [ 5.78798564e-04 9.99995834e-01 2.82806628e-03 -9.57575838e+01] [-7.84674765e-03 -2.82343802e-03 9.99965228e-01 2.96091010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.009072329 meters Centerline goodness [0,1] 0.2930410592147922 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99970530e-01 -6.11837987e-04 7.65276885e-03 -1.70448625e+02] [ 5.92341712e-04 9.99996574e-01 2.54961782e-03 -9.57563212e+01] [-7.65430259e-03 -2.54500963e-03 9.99967467e-01 2.96091331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03907232899996 meters Centerline goodness [0,1] 0.3320925174620436 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99972902e-01 -3.33305036e-04 7.35414616e-03 -1.70448106e+02] [ 3.12956884e-04 9.99996120e-01 2.76787255e-03 -9.57565909e+01] [-7.35504018e-03 -2.76549602e-03 9.99969127e-01 2.96091605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.069072329 meters Centerline goodness [0,1] 0.30483395682250414 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99969866e-01 -3.28702989e-03 7.03298661e-03 -1.70446354e+02] [ 3.28634898e-03 9.99994594e-01 1.08371113e-04 -9.57594546e+01] [-7.03330481e-03 -8.52549991e-05 9.99975262e-01 2.96090463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09907232899997 meters Centerline goodness [0,1] 0.28702542231142336 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99954528e-01 -5.06931298e-03 8.07736529e-03 -1.70450171e+02] [ 5.07992731e-03 9.99986260e-01 -1.29410860e-03 -9.57586318e+01] [-8.07069406e-03 1.33508218e-03 9.99966540e-01 2.96091662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.129072329 meters Centerline goodness [0,1] 0.29434498318327096 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99950085e-01 -5.33077814e-03 8.45040939e-03 -1.70451169e+02] [ 5.34294192e-03 9.99984722e-01 -1.41750975e-03 -9.57584338e+01] [-8.44272386e-03 1.46258904e-03 9.99963290e-01 2.96091732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15907232899997 meters Centerline goodness [0,1] 0.3157960797439491 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99956542e-01 -4.70383842e-03 8.04907116e-03 -1.70449712e+02] [ 4.71094194e-03 9.99988530e-01 -8.63794928e-04 -9.57586252e+01] [-8.04491569e-03 9.01676097e-04 9.99967233e-01 2.96091211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18907232899994 meters Centerline goodness [0,1] 0.3174652951998662 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99958080e-01 -4.42124414e-03 8.01814321e-03 -1.70449123e+02] [ 4.42429534e-03 9.99990147e-01 -3.62838811e-04 -9.57595986e+01] [-8.01646001e-03 3.98298235e-04 9.99967788e-01 2.96090436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21907232899997 meters Centerline goodness [0,1] 0.3256670503296013 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99963575e-01 -3.65801112e-03 7.71149197e-03 -1.70447136e+02] [ 3.65398479e-03 9.99993180e-01 5.36145109e-04 -9.57610021e+01] [-7.71340061e-03 -5.07947906e-04 9.99970122e-01 2.96088775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24907232899994 meters Centerline goodness [0,1] 0.2928131674833522 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99959709e-01 -3.92051198e-03 8.07532518e-03 -1.70447884e+02] [ 3.91815113e-03 9.99992277e-01 3.08153438e-04 -9.57605743e+01] [-8.07647093e-03 -2.76500678e-04 9.99967347e-01 2.96088478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.279072329 meters Centerline goodness [0,1] 0.3001820807433917 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99959486e-01 -3.78370710e-03 8.16756419e-03 -1.70448434e+02] [ 3.77897023e-03 9.99992682e-01 5.95315479e-04 -9.57617915e+01] [-8.16975692e-03 -5.64426379e-04 9.99966468e-01 2.96088795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30907232899995 meters Centerline goodness [0,1] 0.30511419539868956 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99968947e-01 -3.21422914e-03 7.19546064e-03 -1.70446175e+02] [ 3.21216071e-03 9.99994796e-01 2.99000693e-04 -9.57594030e+01] [-7.19638425e-03 -2.75878432e-04 9.99974068e-01 2.96089332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.339072329 meters Centerline goodness [0,1] 0.31858203010355957 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99972997e-01 -2.99862500e-03 6.70928304e-03 -1.70445079e+02] [ 2.99823023e-03 9.99995503e-01 6.88972799e-05 -9.57576494e+01] [-6.70945946e-03 -4.87794442e-05 9.99977490e-01 2.96089669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36907232899995 meters Centerline goodness [0,1] 0.31026682863485944 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99968957e-01 -3.65664277e-03 6.97952948e-03 -1.70447265e+02] [ 3.66312508e-03 9.99992871e-01 -9.16201551e-04 -9.57556565e+01] [-6.97612950e-03 9.41739999e-04 9.99975223e-01 2.96091768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.399072329 meters Centerline goodness [0,1] 0.3074668732075946 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99958238e-01 -4.77823958e-03 7.79040950e-03 -1.70450305e+02] [ 4.79296611e-03 9.99986760e-01 -1.87276861e-03 -9.57548896e+01] [-7.78135782e-03 1.91002957e-03 9.99967901e-01 2.96092884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42907232899995 meters Centerline goodness [0,1] 0.31398438971311393 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99945581e-01 -5.68967291e-03 8.74424659e-03 -1.70452858e+02] [ 5.71124632e-03 9.99980704e-01 -2.44416764e-03 -9.57546265e+01] [-8.73017134e-03 2.49397518e-03 9.99958781e-01 2.96092898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.459072329 meters Centerline goodness [0,1] 0.3264237855946399 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99931633e-01 -6.31237911e-03 9.84292535e-03 -1.70454691e+02] [ 6.33264087e-03 9.99977891e-01 -2.02870381e-03 -9.57570964e+01] [-9.82990178e-03 2.09089682e-03 9.99949499e-01 2.96091239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48907232899995 meters Centerline goodness [0,1] 0.31950346444495614 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.76, Z:296.09 [[ 9.99927357e-01 -6.21534353e-03 1.03271680e-02 -1.70455244e+02] [ 6.22909855e-03 9.99979754e-01 -1.30029474e-03 -9.57596432e+01] [-1.03188771e-02 1.36452923e-03 9.99945828e-01 2.96090061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.519072329 meters Centerline goodness [0,1] 0.3243022549779109 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.76, Z:296.09 [[ 9.99943781e-01 -2.09296989e-03 1.03949443e-02 -1.70455147e+02] [ 2.06415351e-03 9.99994000e-01 2.78210933e-03 -9.57589264e+01] [-1.04007048e-02 -2.76049616e-03 9.99942101e-01 2.96089550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.54907232899996 meters Centerline goodness [0,1] 0.3219524426428183 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99950142e-01 3.11784703e-03 9.48648699e-03 -1.70452600e+02] [-3.18896478e-03 9.99966858e-01 7.49087397e-03 -9.57584023e+01] [-9.46281719e-03 -7.52075256e-03 9.99926944e-01 2.96089416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.579072329 meters Centerline goodness [0,1] 0.3273149990574534 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99955199e-01 4.04503812e-03 8.55791697e-03 -1.70451320e+02] [-4.11357684e-03 9.99959487e-01 8.00642299e-03 -9.57587473e+01] [-8.52518398e-03 -8.04126794e-03 9.99931327e-01 2.96090673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.60907232899996 meters Centerline goodness [0,1] 0.32243342823647625 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.76, Z:296.09 [[ 9.99960971e-01 4.37920787e-03 7.67331323e-03 -1.70450054e+02] [-4.43410865e-03 9.99964590e-01 7.15242382e-03 -9.57554362e+01] [-7.64171957e-03 -7.18616897e-03 9.99944980e-01 2.96092282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.639072329 meters Centerline goodness [0,1] 0.34540238309634996 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99963737e-01 5.09226485e-03 6.82599717e-03 -1.70448261e+02] [-5.14268582e-03 9.99959473e-01 7.38952139e-03 -9.57549389e+01] [-6.78809113e-03 -7.42435738e-03 9.99949399e-01 2.96092751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66907232899996 meters Centerline goodness [0,1] 0.3321742773355677 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99964678e-01 5.11580094e-03 6.66873438e-03 -1.70448375e+02] [-5.16451807e-03 9.99959955e-01 7.30866788e-03 -9.57547773e+01] [-6.63107764e-03 -7.34285052e-03 9.99951054e-01 2.96093372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.699072329 meters Centerline goodness [0,1] 0.32862139012795544 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99965838e-01 5.69800986e-03 5.98799388e-03 -1.70446573e+02] [-5.74308660e-03 9.99955098e-01 7.53781580e-03 -9.57545779e+01] [-5.94477446e-03 -7.57194786e-03 9.99953662e-01 2.96093277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72907232899996 meters Centerline goodness [0,1] 0.2973363790682566 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99966893e-01 5.58328755e-03 5.91949838e-03 -1.70446602e+02] [-5.62606837e-03 9.99957998e-01 7.23525238e-03 -9.57535488e+01] [-5.87885326e-03 -7.26831634e-03 9.99956304e-01 2.96093551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.759072329 meters Centerline goodness [0,1] 0.30448979591836733 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99966964e-01 6.79543020e-03 4.46023181e-03 -1.70444463e+02] [-6.82632393e-03 9.99952561e-01 6.94820061e-03 -9.57512569e+01] [-4.41280421e-03 -6.97841805e-03 9.99965914e-01 2.96096103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78907232899996 meters Centerline goodness [0,1] 0.3060053203745209 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99986990e-01 3.79909788e-03 3.40395984e-03 -1.70442453e+02] [-3.81036575e-03 9.99987263e-01 3.30987747e-03 -9.57510115e+01] [-3.39134193e-03 -3.32280474e-03 9.99988729e-01 2.96096958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.819072329 meters Centerline goodness [0,1] 0.30966242251633436 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99987577e-01 4.09850153e-03 2.83675837e-03 -1.70441740e+02] [-4.10789572e-03 9.99986072e-01 3.31372984e-03 -9.57507232e+01] [-2.82313753e-03 -3.32534178e-03 9.99990486e-01 2.96097867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84907232899997 meters Centerline goodness [0,1] 0.3148303309593632 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99988191e-01 4.50507878e-03 1.82274136e-03 -1.70439468e+02] [-4.51059562e-03 9.99985225e-01 3.03396682e-03 -9.57484991e+01] [-1.80904617e-03 -3.04215264e-03 9.99993736e-01 2.96098452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.879072329 meters Centerline goodness [0,1] 0.3217923460619525 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99988363e-01 4.65026224e-03 1.28378356e-03 -1.70437924e+02] [-4.65383797e-03 9.99985261e-01 2.79651846e-03 -9.57468700e+01] [-1.27076010e-03 -2.80246044e-03 9.99995266e-01 2.96098266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90907232899997 meters Centerline goodness [0,1] 0.322969516541574 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99987051e-01 5.00432900e-03 9.24260080e-04 -1.70436687e+02] [-5.00720259e-03 9.99982555e-01 3.13336649e-03 -9.57471826e+01] [-9.08563559e-04 -3.13795388e-03 9.99994664e-01 2.96097847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93907232899994 meters Centerline goodness [0,1] 0.3204473111073882 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99985907e-01 5.23661711e-03 8.73642626e-04 -1.70435798e+02] [-5.23967653e-03 9.99980017e-01 3.53717660e-03 -9.57478520e+01] [-8.55102328e-04 -3.54170436e-03 9.99993363e-01 2.96096783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96907232899997 meters Centerline goodness [0,1] 0.2823067886212973 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99988059e-01 4.67108834e-03 1.43617024e-03 -1.70437539e+02] [-4.67531430e-03 9.99984709e-01 2.95337642e-03 -9.57468962e+01] [-1.42235279e-03 -2.96005570e-03 9.99994607e-01 2.96097060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99907232899994 meters Centerline goodness [0,1] 0.33852997335235735 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99998050e-01 1.76494574e-03 8.86434687e-04 -1.70435439e+02] [-1.76488336e-03 9.99998440e-01 -7.11486016e-05 -9.57477549e+01] [-8.86558877e-04 6.95840090e-05 9.99999605e-01 2.96096315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.029072329 meters Centerline goodness [0,1] 0.33459103676686375 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99994101e-01 -2.94958378e-03 1.75984902e-03 -1.70437661e+02] [ 2.95712840e-03 9.99986383e-01 -4.29999401e-03 -9.57486550e+01] [-1.74714187e-03 4.30517274e-03 9.99989206e-01 2.96096260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05907232899995 meters Centerline goodness [0,1] 0.3433511474379126 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99991411e-01 -3.20211788e-03 2.63133753e-03 -1.70439922e+02] [ 3.21254453e-03 9.99986968e-01 -3.96786199e-03 -9.57506360e+01] [-2.61859768e-03 3.97628120e-03 9.99988666e-01 2.96096110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.089072329 meters Centerline goodness [0,1] 0.2978206202849958 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.75, Z:296.10 [[ 9.99982833e-01 -4.36006645e-03 3.91451120e-03 -1.70443273e+02] [ 4.37749264e-03 9.99980499e-01 -4.45421442e-03 -9.57511533e+01] [-3.89501419e-03 4.47127370e-03 9.99982418e-01 2.96096026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11907232899995 meters Centerline goodness [0,1] 0.3578616352201258 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99938860e-01 -9.66795435e-03 5.36716332e-03 -1.70445775e+02] [ 9.71131297e-03 9.99919939e-01 -8.11208665e-03 -9.57535089e+01] [-5.28830633e-03 8.16371289e-03 9.99952693e-01 2.96093807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.149072329 meters Centerline goodness [0,1] 0.2997400855202482 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99940747e-01 -9.45082416e-03 5.40223685e-03 -1.70445375e+02] [ 9.49261700e-03 9.99924805e-01 -7.76364146e-03 -9.57537180e+01] [-5.32845782e-03 7.81446281e-03 9.99955270e-01 2.96093190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17907232899995 meters Centerline goodness [0,1] 0.3126558668818241 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99921937e-01 -1.06547698e-02 6.52652797e-03 -1.70448460e+02] [ 1.07105649e-02 9.99905876e-01 -8.57451112e-03 -9.57529981e+01] [-6.43455423e-03 8.64374457e-03 9.99941939e-01 2.96093372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.209072329 meters Centerline goodness [0,1] 0.31241096120003353 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99859965e-01 -1.50605057e-02 7.29593430e-03 -1.70450060e+02] [ 1.51509423e-02 9.99807044e-01 -1.25029796e-02 -9.57543091e+01] [-7.10622531e-03 1.26117690e-02 9.99895217e-01 2.96092932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23907232899995 meters Centerline goodness [0,1] 0.3192562969787065 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.75, Z:296.09 [[ 9.99841604e-01 -1.57426975e-02 8.30262723e-03 -1.70452677e+02] [ 1.58477330e-02 9.99793242e-01 -1.27405652e-02 -9.57547860e+01] [-8.10033973e-03 1.28701250e-02 9.99884366e-01 2.96092851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.269072329 meters Centerline goodness [0,1] 0.2381620851491787 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.75, Z:296.09 [[ 9.99815061e-01 -1.67489431e-02 9.45078374e-03 -1.70455189e+02] [ 1.68755640e-02 9.99766710e-01 -1.34811417e-02 -9.57533541e+01] [-9.22278409e-03 1.36381358e-02 9.99864462e-01 2.96092315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29907232899996 meters Centerline goodness [0,1] 0.31539508110936687 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.75, Z:296.09 [[ 9.99704524e-01 -2.02791478e-02 1.34022410e-02 -1.70463680e+02] [ 2.04417179e-02 9.99717745e-01 -1.21064747e-02 -9.57534397e+01] [-1.31529491e-02 1.23768624e-02 9.99836893e-01 2.96087261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.329072329 meters Centerline goodness [0,1] 0.24051294924898536 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.75, Z:296.09 [[ 9.99692363e-01 -2.06868368e-02 1.36833618e-02 -1.70464828e+02] [ 2.08615648e-02 9.99701042e-01 -1.27523303e-02 -9.57515727e+01] [-1.34154657e-02 1.30338635e-02 9.99825057e-01 2.96087910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35907232899996 meters Centerline goodness [0,1] 0.24966002050337888 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.75, Z:296.09 [[ 9.99664346e-01 -2.15251810e-02 1.44173988e-02 -1.70468073e+02] [ 2.17201353e-02 9.99672873e-01 -1.35048834e-02 -9.57509306e+01] [-1.41219874e-02 1.38134983e-02 9.99804859e-01 2.96089670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.389072329 meters Centerline goodness [0,1] 0.2528774117942494 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.75, Z:296.09 [[ 9.99683391e-01 -1.98126635e-02 1.55104913e-02 -1.70472194e+02] [ 1.99926177e-02 9.99733592e-01 -1.15342923e-02 -9.57487737e+01] [-1.52778342e-02 1.18407358e-02 9.99813175e-01 2.96090999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41907232899996 meters Centerline goodness [0,1] 0.24850337003390965 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.75, Z:296.09 [[ 9.99653618e-01 -2.05172061e-02 1.64829510e-02 -1.70474741e+02] [ 2.07137617e-02 9.99715291e-01 -1.18438832e-02 -9.57490114e+01] [-1.62352548e-02 1.21812046e-02 9.99793996e-01 2.96090969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.449072329 meters Centerline goodness [0,1] 0.26247043308982065 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.75, Z:296.09 [[ 9.99703822e-01 -1.68897898e-02 1.75215157e-02 -1.70477119e+02] [ 1.70214977e-02 9.99827775e-01 -7.39521692e-03 -9.57506579e+01] [-1.73935944e-02 7.69126906e-03 9.99819137e-01 2.96090136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47907232899996 meters Centerline goodness [0,1] 0.265032241855791 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.75, Z:296.09 [[ 9.99671010e-01 -1.76334679e-02 1.86261269e-02 -1.70479707e+02] [ 1.77696951e-02 9.99816371e-01 -7.17374861e-03 -9.57532515e+01] [-1.84962085e-02 7.50236911e-03 9.99800783e-01 2.96089536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.509072329 meters Centerline goodness [0,1] 0.26768818554801976 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.75, Z:296.09 [[ 9.99677834e-01 -1.71346174e-02 1.87252034e-02 -1.70479152e+02] [ 1.72572870e-02 9.99830540e-01 -6.40919952e-03 -9.57549849e+01] [-1.86122111e-02 6.73028090e-03 9.99804125e-01 2.96088298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53907232899996 meters Centerline goodness [0,1] 0.2752635101221349 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.76, Z:296.09 [[ 9.99648934e-01 -1.76177183e-02 1.97895313e-02 -1.70481390e+02] [ 1.77367202e-02 9.99825554e-01 -5.85403006e-03 -9.57581392e+01] [-1.96829444e-02 6.20297629e-03 9.99787030e-01 2.96087322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.569072329 meters Centerline goodness [0,1] 0.2752101719017943 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.76, Z:296.09 [[ 9.99662952e-01 -1.71710380e-02 1.94714857e-02 -1.70481149e+02] [ 1.72809090e-02 9.99835610e-01 -5.48849866e-03 -9.57585729e+01] [-1.93740416e-02 5.82313374e-03 9.99795348e-01 2.96088001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59907232899997 meters Centerline goodness [0,1] 0.28162615922460177 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.76, Z:296.09 [[ 9.99735770e-01 -1.30247110e-02 1.89406082e-02 -1.70481161e+02] [ 1.30653390e-02 9.99912599e-01 -2.02285325e-03 -9.57560093e+01] [-1.89126056e-02 2.26978422e-03 9.99818564e-01 2.96089687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.629072329 meters Centerline goodness [0,1] 0.27801949546082083 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.76, Z:296.09 [[ 9.99738340e-01 -1.28756676e-02 1.89068397e-02 -1.70481404e+02] [ 1.29134640e-02 9.99914853e-01 -1.87835597e-03 -9.57563020e+01] [-1.88810447e-02 2.12201727e-03 9.99819485e-01 2.96090111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65907232899997 meters Centerline goodness [0,1] 0.2839082384460817 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.76, Z:296.09 [[ 9.99740813e-01 -1.28395947e-02 1.88003035e-02 -1.70481524e+02] [ 1.28816235e-02 9.99914789e-01 -2.11614128e-03 -9.57552448e+01] [-1.87715311e-02 2.35777124e-03 9.99821019e-01 2.96090605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68907232899994 meters Centerline goodness [0,1] 0.291789438488705 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.76, Z:296.09 [[ 9.99698998e-01 -1.43109603e-02 1.99275897e-02 -1.70484381e+02] [ 1.43678576e-02 9.99893091e-01 -2.71495385e-03 -9.57564767e+01] [-1.98866057e-02 3.00045341e-03 9.99797740e-01 2.96090282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71907232899997 meters Centerline goodness [0,1] 0.2935858353864784 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.76, Z:296.09 [[ 9.99691494e-01 -1.44441749e-02 2.02060170e-02 -1.70484713e+02] [ 1.45056722e-02 9.99890581e-01 -2.90025459e-03 -9.57556007e+01] [-2.01619143e-02 3.19246170e-03 9.99791631e-01 2.96089772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74907232899994 meters Centerline goodness [0,1] 0.3032841683031797 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.75, Z:296.09 [[ 9.99729777e-01 -1.09830298e-02 2.04877041e-02 -1.70485861e+02] [ 1.09759361e-02 9.99939657e-01 4.58664235e-04 -9.57535327e+01] [-2.04915053e-02 -2.33668563e-04 9.99790000e-01 2.96090224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.779072329 meters Centerline goodness [0,1] 0.30002719153297497 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.74, Z:296.09 [[ 9.99741114e-01 -2.64238414e-03 2.25991566e-02 -1.70497725e+02] [ 2.74377051e-03 9.99986306e-01 -4.45645982e-03 -9.57431133e+01] [-2.25870714e-02 4.51731300e-03 9.99734674e-01 2.96086176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80907232899995 meters Centerline goodness [0,1] 0.30002719153297497 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.74, Z:296.09 [[ 9.99741114e-01 -2.64238414e-03 2.25991566e-02 -1.70497725e+02] [ 2.74377051e-03 9.99986306e-01 -4.45645982e-03 -9.57431133e+01] [-2.25870714e-02 4.51731300e-03 9.99734674e-01 2.96086176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.839072329 meters Centerline goodness [0,1] 0.2793542585893227 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.74, Z:296.09 [[ 9.99740632e-01 -2.89466043e-03 2.25896073e-02 -1.70498291e+02] [ 3.00965740e-03 9.99982677e-01 -5.05836587e-03 -9.57413274e+01] [-2.25745737e-02 5.12504087e-03 9.99732025e-01 2.96087030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86907232899995 meters Centerline goodness [0,1] 0.3171884476232303 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.74, Z:296.09 [[ 9.99741640e-01 -3.14904540e-03 2.25108260e-02 -1.70498241e+02] [ 3.27872588e-03 9.99978230e-01 -5.72621970e-03 -9.57388164e+01] [-2.24923038e-02 5.79854710e-03 9.99730200e-01 2.96087435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.899072329 meters Centerline goodness [0,1] 0.29013171649592306 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.74, Z:296.09 [[ 9.99725430e-01 -3.85138650e-03 2.31134597e-02 -1.70499823e+02] [ 4.00483974e-03 9.99970223e-01 -6.59651594e-03 -9.57367090e+01] [-2.30873657e-02 6.68727043e-03 9.99711085e-01 2.96087583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92907232899995 meters Centerline goodness [0,1] 0.29257596324527513 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.74, Z:296.09 [[ 9.99709541e-01 -4.29497487e-03 2.37146985e-02 -1.70501585e+02] [ 4.45360284e-03 9.99968036e-01 -6.64025606e-03 -9.57377092e+01] [-2.36854207e-02 6.74394319e-03 9.99696714e-01 2.96087738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.959072329 meters Centerline goodness [0,1] 0.3238771673281805 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.09 [[ 9.99849853e-01 -9.15374110e-03 1.47132936e-02 -1.70514253e+02] [ 9.28383485e-03 9.99918199e-01 -8.79807017e-03 -9.57224140e+01] [-1.46315548e-02 8.93334496e-03 9.99853046e-01 2.96089444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98907232899995 meters Centerline goodness [0,1] 0.32666318537859007 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.09 [[ 9.99886232e-01 -4.56150509e-03 1.43776103e-02 -1.70512977e+02] [ 4.62390441e-03 9.99980022e-01 -4.30978448e-03 -9.57221891e+01] [-1.43576640e-02 4.37577486e-03 9.99887349e-01 2.96088728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.019072329 meters Centerline goodness [0,1] 0.3093120120560102 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.09 [[ 9.99902774e-01 -1.87213969e-04 1.39429989e-02 -1.70511179e+02] [ 1.90440521e-04 9.99999955e-01 -2.30082895e-04 -9.57207524e+01] [-1.39429552e-02 2.32715837e-04 9.99902765e-01 2.96087747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.04907232899996 meters Centerline goodness [0,1] 0.30993405213022085 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.09 [[ 9.99899212e-01 4.16176684e-03 1.35736930e-02 -1.70510350e+02] [-4.21417494e-03 9.99983768e-01 3.83469111e-03 -9.57196825e+01] [-1.35575135e-02 -3.89150653e-03 9.99900520e-01 2.96087902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.079072329 meters Centerline goodness [0,1] 0.31453825691724446 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.09 [[ 9.99908765e-01 5.51448936e-03 1.23309263e-02 -1.70507450e+02] [-5.56508482e-03 9.99976222e-01 4.07259431e-03 -9.57175002e+01] [-1.23081748e-02 -4.14084539e-03 9.99915678e-01 2.96088495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.10907232899996 meters Centerline goodness [0,1] 0.3216156198935769 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.72, Z:296.09 [[ 9.99912372e-01 1.07742201e-02 7.69185752e-03 -1.70496336e+02] [-1.07902611e-02 9.99939688e-01 2.04700927e-03 -9.57159059e+01] [-7.66933868e-03 -2.12982704e-03 9.99968322e-01 2.96094773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.139072329 meters Centerline goodness [0,1] 0.3207175901697683 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.71, Z:296.10 [[ 9.99918087e-01 1.05344387e-02 7.26938368e-03 -1.70495844e+02] [-1.05424848e-02 9.99943855e-01 1.06941793e-03 -9.57126242e+01] [-7.25770982e-03 -1.14596769e-03 9.99973006e-01 2.96095671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16907232899996 meters Centerline goodness [0,1] 0.32293893289743913 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.71, Z:296.10 [[ 9.99836490e-01 1.78039409e-02 3.16421371e-03 -1.70487717e+02] [-1.78125698e-02 9.99837643e-01 2.72011178e-03 -9.57105360e+01] [-3.11527127e-03 -2.77602979e-03 9.99991294e-01 2.96102306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.199072329 meters Centerline goodness [0,1] 0.3144352559405422 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.71, Z:296.10 [[ 9.99816330e-01 1.90702346e-02 1.90603240e-03 -1.70484819e+02] [-1.90756062e-02 9.99814008e-01 2.84092265e-03 -9.57081270e+01] [-1.85150084e-03 -2.87675959e-03 9.99994148e-01 2.96103084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22907232899996 meters Centerline goodness [0,1] 0.31505414633124573 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.70, Z:296.10 [[ 9.99715723e-01 2.38243957e-02 9.33828077e-04 -1.70482483e+02] [-2.38298876e-02 9.99695585e-01 6.39318543e-03 -9.57043217e+01] [-7.81230027e-04 -6.41362102e-03 9.99979127e-01 2.96103854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.259072329 meters Centerline goodness [0,1] 0.32780152543793484 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.70, Z:296.10 [[ 9.99608397e-01 2.79800147e-02 4.13909901e-04 -1.70481193e+02] [-2.79827157e-02 9.99561231e-01 9.71152629e-03 -9.57006289e+01] [-1.41999641e-04 -9.71930555e-03 9.99952756e-01 2.96104426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28907232899996 meters Centerline goodness [0,1] 0.32756380704915977 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.70, Z:296.11 [[ 9.99465611e-01 3.24542957e-02 -3.90026369e-03 -1.70471041e+02] [-3.24207370e-02 9.99439181e-01 8.37967838e-03 -9.56981527e+01] [ 4.17003291e-03 -8.24875094e-03 9.99957284e-01 2.96109341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.319072329 meters Centerline goodness [0,1] 0.3199387596736646 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.70, Z:296.11 [[ 9.99325582e-01 3.65150436e-02 -3.87711503e-03 -1.70471056e+02] [-3.64663476e-02 9.99263258e-01 1.19644049e-02 -9.56959974e+01] [ 4.31113936e-03 -1.18149516e-02 9.99920907e-01 2.96109825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34907232899997 meters Centerline goodness [0,1] 0.3075842402130381 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.11 [[ 9.99296235e-01 3.71992023e-02 -4.82228498e-03 -1.70469144e+02] [-3.71406538e-02 9.99241436e-01 1.17099754e-02 -9.56935880e+01] [ 5.25422872e-03 -1.15226315e-02 9.99919808e-01 2.96110742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.379072329 meters Centerline goodness [0,1] 0.3248777826734647 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.11 [[ 9.99104966e-01 4.19166169e-02 -5.68012727e-03 -1.70466575e+02] [-4.18278793e-02 9.99013250e-01 1.49316677e-02 -9.56889029e+01] [ 6.30040740e-03 -1.46807157e-02 9.99872383e-01 2.96111346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40907232899997 meters Centerline goodness [0,1] 0.33308840509730653 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.69, Z:296.11 [[ 9.99069937e-01 4.26292670e-02 -6.48125709e-03 -1.70464748e+02] [-4.25276966e-02 9.98981544e-01 1.50754361e-02 -9.56879752e+01] [ 7.11731101e-03 -1.47857821e-02 9.99865353e-01 2.96111775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43907232899994 meters Centerline goodness [0,1] 0.34466406479499767 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.69, Z:296.11 [[ 9.99002756e-01 4.39733591e-02 -7.73542401e-03 -1.70461830e+02] [-4.38509019e-02 9.98920220e-01 1.53457325e-02 -9.56866744e+01] [ 8.40187486e-03 -1.49912238e-02 9.99852325e-01 2.96112557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46907232899997 meters Centerline goodness [0,1] 0.3454537820418617 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.68, Z:296.11 [[ 9.99016864e-01 4.36197931e-02 -7.91321664e-03 -1.70462014e+02] [-4.35020454e-02 9.98948293e-01 1.44872636e-02 -9.56840019e+01] [ 8.53682570e-03 -1.41287796e-02 9.99863741e-01 2.96113452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49907232899994 meters Centerline goodness [0,1] 0.3180005875687245 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.68, Z:296.11 [[ 9.99133679e-01 4.06185428e-02 -9.05674164e-03 -1.70460104e+02] [-4.05188806e-02 9.99119002e-01 1.09288384e-02 -9.56837777e+01] [ 9.49267617e-03 -1.05524015e-02 9.99899263e-01 2.96114395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.529072329 meters Centerline goodness [0,1] 0.3530226119058606 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.68, Z:296.11 [[ 9.99127912e-01 4.07575308e-02 -9.06860136e-03 -1.70460508e+02] [-4.06559922e-02 9.99111404e-01 1.11127580e-02 -9.56844475e+01] [ 9.51347161e-03 -1.07343737e-02 9.99897128e-01 2.96114859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55907232899995 meters Centerline goodness [0,1] 0.31580052493438315 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.69, Z:296.11 [[ 9.99248760e-01 3.75115116e-02 -9.73666031e-03 -1.70459001e+02] [-3.74372407e-02 9.99269304e-01 7.70138242e-03 -9.56851436e+01] [ 1.00184363e-02 -7.33108314e-03 9.99922940e-01 2.96114753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.589072329 meters Centerline goodness [0,1] 0.3521918871844375 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.69, Z:296.11 [[ 9.99363449e-01 3.41142865e-02 -1.04360781e-02 -1.70457391e+02] [-3.40718136e-02 9.99410474e-01 4.22094653e-03 -9.56857715e+01] [ 1.05739203e-02 -3.86268358e-03 9.99936634e-01 2.96114549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61907232899995 meters Centerline goodness [0,1] 0.32118245230691655 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.70, Z:296.12 [[ 9.99552388e-01 2.70712225e-02 -1.27346627e-02 -1.70449838e+02] [-2.69390045e-02 9.99582540e-01 1.04419761e-02 -9.56972972e+01] [ 1.30120236e-02 -1.00942430e-02 9.99864388e-01 2.96118880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.649072329 meters Centerline goodness [0,1] 0.3216003360285624 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.70, Z:296.12 [[ 9.99641886e-01 2.33232834e-02 -1.31196236e-02 -1.70449061e+02] [-2.32362856e-02 9.99707248e-01 6.74494023e-03 -9.56980367e+01] [ 1.32730969e-02 -6.43767345e-03 9.99891185e-01 2.96118804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67907232899995 meters Centerline goodness [0,1] 0.3214878289542772 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.70, Z:296.12 [[ 9.99728308e-01 1.93546087e-02 -1.29887978e-02 -1.70449836e+02] [-1.93137724e-02 9.99808150e-01 3.26208408e-03 -9.57006376e+01] [ 1.30494423e-02 -3.01033512e-03 9.99910321e-01 2.96118865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.709072329 meters Centerline goodness [0,1] 0.32812532812532813 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.70, Z:296.12 [[ 9.99811381e-01 1.49311792e-02 -1.24202482e-02 -1.70451490e+02] [-1.49413991e-02 9.99888104e-01 -7.30458731e-04 -9.57019546e+01] [ 1.24079518e-02 9.15896838e-04 9.99922599e-01 2.96118724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73907232899995 meters Centerline goodness [0,1] 0.29121421520236923 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.71, Z:296.12 [[ 9.99859708e-01 1.13872684e-02 -1.22838789e-02 -1.70452144e+02] [-1.14317555e-02 9.99928327e-01 -3.55747199e-03 -9.57058624e+01] [ 1.22424886e-02 3.69739920e-03 9.99918222e-01 2.96118709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.769072329 meters Centerline goodness [0,1] 0.31488193760606764 Centerline is valid? [False, False] Translation: X:-170.44, Y:-95.71, Z:296.12 [[ 9.99873395e-01 5.67321433e-03 -1.48663290e-02 -1.70442374e+02] [-5.62894194e-03 9.99979603e-01 3.01818464e-03 -9.57143488e+01] [ 1.48831486e-02 -2.93412082e-03 9.99884935e-01 2.96124586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79907232899996 meters Centerline goodness [0,1] 0.3487557178228209 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.72, Z:296.12 [[ 9.99900649e-01 3.98302629e-03 -1.35213789e-02 -1.70446287e+02] [-3.95153877e-03 9.99989420e-01 2.35463981e-03 -9.57154073e+01] [ 1.35306145e-02 -2.30097562e-03 9.99905810e-01 2.96124669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.829072329 meters Centerline goodness [0,1] 0.29913955928646385 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.71, Z:296.12 [[ 9.99918696e-01 2.94636145e-03 -1.24064410e-02 -1.70449099e+02] [-2.92553046e-03 9.99994281e-01 1.69686014e-03 -9.57149054e+01] [ 1.24113696e-02 -1.66042676e-03 9.99921597e-01 2.96124447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85907232899996 meters Centerline goodness [0,1] 0.34527605302903175 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.72, Z:296.12 [[ 9.99927576e-01 -1.16142989e-03 -1.19788572e-02 -1.70449851e+02] [ 1.13962919e-03 9.99997682e-01 -1.82659658e-03 -9.57171600e+01] [ 1.19809509e-02 1.81281284e-03 9.99926583e-01 2.96123847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.889072329 meters Centerline goodness [0,1] 0.34306508106294176 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.72, Z:296.12 [[ 9.99923754e-01 -5.86763124e-03 -1.08653639e-02 -1.70451935e+02] [ 5.80908837e-03 9.99968483e-01 -5.41177044e-03 -9.57200398e+01] [ 1.08967757e-02 5.34823996e-03 9.99926326e-01 2.96122599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91907232899996 meters Centerline goodness [0,1] 0.32276608690178965 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.72, Z:296.12 [[ 9.99923495e-01 -4.99496213e-03 -1.13161538e-02 -1.70450492e+02] [ 4.94311224e-03 9.99977178e-01 -4.60528173e-03 -9.57209886e+01] [ 1.13388988e-02 4.54899238e-03 9.99925365e-01 2.96122249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.949072329 meters Centerline goodness [0,1] 0.3104887770086008 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.72, Z:296.12 [[ 9.99928514e-01 -5.97310063e-03 -1.03580510e-02 -1.70452936e+02] [ 5.91703131e-03 9.99967722e-01 -5.43533808e-03 -9.57193526e+01] [ 1.03901825e-02 5.37366061e-03 9.99931582e-01 2.96122243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97907232899996 meters Centerline goodness [0,1] 0.3164299351698382 Centerline is valid? [False, False] Translation: X:-170.45, Y:-95.72, Z:296.12 [[ 9.99932767e-01 -5.95388185e-03 -9.95050418e-03 -1.70453825e+02] [ 5.90314565e-03 9.99969466e-01 -5.12047390e-03 -9.57204328e+01] [ 9.98068705e-03 5.06139036e-03 9.99937382e-01 2.96121981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.009072329 meters Centerline goodness [0,1] 0.28059394727459575 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.72, Z:296.12 [[ 9.99934822e-01 -7.60587728e-03 -8.51483838e-03 -1.70457136e+02] [ 7.55840308e-03 9.99955789e-01 -5.59383300e-03 -9.57223044e+01] [ 8.55700794e-03 5.52910983e-03 9.99948102e-01 2.96121192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03907232899996 meters Centerline goodness [0,1] 0.31840681236629054 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.72, Z:296.12 [[ 9.99940162e-01 -7.53578795e-03 -7.92998038e-03 -1.70458199e+02] [ 7.49579121e-03 9.99959097e-01 -5.06142908e-03 -9.57242215e+01] [ 7.96779788e-03 5.00168474e-03 9.99955748e-01 2.96120474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.069072329 meters Centerline goodness [0,1] 0.3330889745308311 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.73, Z:296.12 [[ 9.99937488e-01 -9.17111973e-03 -6.39612989e-03 -1.70461179e+02] [ 9.13673363e-03 9.99943761e-01 -5.38473752e-03 -9.57256124e+01] [ 6.44515425e-03 5.32596118e-03 9.99965046e-01 2.96118916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09907232899997 meters Centerline goodness [0,1] 0.3150578664877558 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.73, Z:296.12 [[ 9.99937353e-01 -9.73377698e-03 -5.52659872e-03 -1.70463435e+02] [ 9.70272332e-03 9.99937144e-01 -5.61822562e-03 -9.57256795e+01] [ 5.58093790e-03 5.56425060e-03 9.99968946e-01 2.96118894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.129072329 meters Centerline goodness [0,1] 0.2981091732349489 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.73, Z:296.12 [[ 9.99936157e-01 -1.02233570e-02 -4.81289522e-03 -1.70465090e+02] [ 1.01948637e-02 9.99930578e-01 -5.90797738e-03 -9.57253800e+01] [ 4.87296046e-03 5.85853339e-03 9.99970965e-01 2.96118591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15907232899997 meters Centerline goodness [0,1] 0.3043742533168452 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.72, Z:296.12 [[ 9.99935930e-01 -1.03510257e-02 -4.58164464e-03 -1.70465803e+02] [ 1.03234332e-02 9.99928677e-01 -6.00562102e-03 -9.57249177e+01] [ 4.64348220e-03 5.95793794e-03 9.99971470e-01 2.96118834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18907232899994 meters Centerline goodness [0,1] 0.3108161855519038 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.72, Z:296.12 [[ 9.99925198e-01 -1.16749154e-02 -3.64623299e-03 -1.70469059e+02] [ 1.16494069e-02 9.99908057e-01 -6.94044327e-03 -9.57245163e+01] [ 3.72692683e-03 6.89744766e-03 9.99969267e-01 2.96119776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21907232899997 meters Centerline goodness [0,1] 0.3110348292029471 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.72, Z:296.12 [[ 9.99961105e-01 -8.39820720e-03 -2.69428054e-03 -1.70471941e+02] [ 8.38863084e-03 9.99958527e-01 -3.54615843e-03 -9.57233389e+01] [ 2.72395018e-03 3.52341918e-03 9.99990083e-01 2.96120154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24907232899994 meters Centerline goodness [0,1] 0.29626996738312283 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.72, Z:296.12 [[ 9.99943418e-01 -1.05474793e-02 -1.38255396e-03 -1.70475340e+02] [ 1.05400499e-02 9.99930538e-01 -5.27512862e-03 -9.57212279e+01] [ 1.43809724e-03 5.26025795e-03 9.99985131e-01 2.96120232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.279072329 meters Centerline goodness [0,1] 0.31934863497637866 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.72, Z:296.12 [[ 9.99929172e-01 -1.18989937e-02 -2.54060039e-04 -1.70478443e+02] [ 1.18972308e-02 9.99910764e-01 -6.07623664e-03 -9.57209300e+01] [ 3.26338469e-04 6.07278366e-03 9.99981507e-01 2.96120340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30907232899995 meters Centerline goodness [0,1] 0.31808666527109064 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.72, Z:296.12 [[ 9.99961969e-01 -8.69805121e-03 6.35938805e-04 -1.70481498e+02] [ 8.69973644e-03 9.99958519e-01 -2.69706618e-03 -9.57200248e+01] [-6.12453206e-04 2.70249610e-03 9.99996161e-01 2.96121041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.339072329 meters Centerline goodness [0,1] 0.29356722697871096 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.72, Z:296.12 [[ 9.99955030e-01 -9.37363884e-03 1.43981957e-03 -1.70483376e+02] [ 9.37776997e-03 9.99951852e-01 -2.88975822e-03 -9.57203679e+01] [-1.41266270e-03 2.90313057e-03 9.99994788e-01 2.96120730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36907232899995 meters Centerline goodness [0,1] 0.2943682265238363 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.72, Z:296.12 [[ 9.99951599e-01 -9.63949176e-03 1.96984742e-03 -1.70484215e+02] [ 9.64532532e-03 9.99949061e-01 -2.97370142e-03 -9.57201934e+01] [-1.94108211e-03 2.99255731e-03 9.99993638e-01 2.96120000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.399072329 meters Centerline goodness [0,1] 0.30683222010511113 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.72, Z:296.12 [[ 9.99952161e-01 -9.55554946e-03 2.08983816e-03 -1.70484337e+02] [ 9.56121743e-03 9.99950593e-01 -2.71919792e-03 -9.57209638e+01] [-2.06375148e-03 2.73904923e-03 9.99994119e-01 2.96119647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42907232899995 meters Centerline goodness [0,1] 0.31119092864451725 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99949675e-01 -9.70463965e-03 2.54309457e-03 -1.70485346e+02] [ 9.71154508e-03 9.99949150e-01 -2.71723232e-03 -9.57211392e+01] [-2.51659549e-03 2.74179295e-03 9.99993075e-01 2.96119412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.459072329 meters Centerline goodness [0,1] 0.3159215423863494 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99945583e-01 -9.98460853e-03 3.02317067e-03 -1.70486772e+02] [ 9.99343847e-03 9.99945801e-01 -2.91987530e-03 -9.57208440e+01] [-2.99385301e-03 2.94992828e-03 9.99991167e-01 2.96119637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48907232899995 meters Centerline goodness [0,1] 0.3207464278989979 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99946636e-01 -9.90014905e-03 2.95171322e-03 -1.70487044e+02] [ 9.90903793e-03 9.99946367e-01 -3.01217304e-03 -9.57202409e+01] [-2.92173395e-03 3.04126093e-03 9.99991107e-01 2.96120268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.519072329 meters Centerline goodness [0,1] 0.32170493997573935 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99941966e-01 -1.02452654e-02 3.33159607e-03 -1.70488610e+02] [ 1.02567573e-02 9.99941444e-01 -3.45078633e-03 -9.57192580e+01] [-3.29604676e-03 3.48475744e-03 9.99988496e-01 2.96121049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.54907232899996 meters Centerline goodness [0,1] 0.3162714841299712 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99968613e-01 -6.92603593e-03 3.84752249e-03 -1.70490813e+02] [ 6.92715628e-03 9.99975968e-01 -2.77937173e-04 -9.57172178e+01] [-3.84550502e-03 3.04580839e-04 9.99992560e-01 2.96122029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.579072329 meters Centerline goodness [0,1] 0.30850908178834935 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.71, Z:296.12 [[ 9.99990672e-01 -2.78515760e-03 3.30127762e-03 -1.70490574e+02] [ 2.77427499e-03 9.99990718e-01 3.29649325e-03 -9.57149482e+01] [-3.31042823e-03 -3.28730385e-03 9.99989117e-01 2.96123527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.60907232899996 meters Centerline goodness [0,1] 0.3193268527229016 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.71, Z:296.12 [[ 9.99993372e-01 -2.62214728e-03 2.52584041e-03 -1.70489203e+02] [ 2.61517881e-03 9.99992776e-01 2.75823788e-03 -9.57125548e+01] [-2.53305467e-03 -2.75161407e-03 9.99993006e-01 2.96124465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.639072329 meters Centerline goodness [0,1] 0.3404753933712755 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.71, Z:296.12 [[ 9.99996525e-01 -1.92133167e-03 1.80510884e-03 -1.70487400e+02] [ 1.91583365e-03 9.99993536e-01 3.04261930e-03 -9.57120716e+01] [-1.81094305e-03 -3.03915044e-03 9.99993742e-01 2.96124530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66907232899996 meters Centerline goodness [0,1] 0.31415836611701686 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.71, Z:296.12 [[ 9.99983646e-01 -5.51380096e-03 1.51836557e-03 -1.70486181e+02] [ 5.51446661e-03 9.99984701e-01 -4.34560510e-04 -9.57133672e+01] [-1.51594626e-03 4.42926379e-04 9.99998753e-01 2.96123962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.699072329 meters Centerline goodness [0,1] 0.3154271125434227 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.72, Z:296.12 [[ 9.99989138e-01 -4.51630197e-03 1.15165994e-03 -1.70484962e+02] [ 4.51544957e-03 9.99989530e-01 7.41679603e-04 -9.57157440e+01] [-1.15499753e-03 -7.36471284e-04 9.99999062e-01 2.96123461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72907232899996 meters Centerline goodness [0,1] 0.3154271125434227 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.72, Z:296.12 [[ 9.99989138e-01 -4.51630197e-03 1.15165994e-03 -1.70484962e+02] [ 4.51544957e-03 9.99989530e-01 7.41679603e-04 -9.57157440e+01] [-1.15499753e-03 -7.36471284e-04 9.99999062e-01 2.96123461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.759072329 meters Centerline goodness [0,1] 0.3054957009267588 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99989964e-01 -4.29679024e-03 1.26888991e-03 -1.70485113e+02] [ 4.29536875e-03 9.99990147e-01 1.12087340e-03 -9.57167771e+01] [-1.27369357e-03 -1.11541180e-03 9.99998567e-01 2.96123190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78907232899996 meters Centerline goodness [0,1] 0.31929501402436467 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99990922e-01 -4.10484072e-03 1.14306810e-03 -1.70485058e+02] [ 4.10339707e-03 9.99990784e-01 1.26246276e-03 -9.57167366e+01] [-1.14823977e-03 -1.25776084e-03 9.99998550e-01 2.96123548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.819072329 meters Centerline goodness [0,1] 0.3277604569898098 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99988938e-01 -4.41012812e-03 1.63515827e-03 -1.70486240e+02] [ 4.40851781e-03 9.99989795e-01 9.87103932e-04 -9.57162396e+01] [-1.63949483e-03 -9.79884389e-04 9.99998176e-01 2.96123392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84907232899997 meters Centerline goodness [0,1] 0.33890424729831614 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99985338e-01 -4.83876785e-03 2.43099997e-03 -1.70487827e+02] [ 4.83566709e-03 9.99987489e-01 1.27977069e-03 -9.57181585e+01] [-2.43716207e-03 -1.26799642e-03 9.99996226e-01 2.96122532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.879072329 meters Centerline goodness [0,1] 0.337395309882747 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99984196e-01 -4.96468920e-03 2.63821242e-03 -1.70488308e+02] [ 4.96122368e-03 9.99986824e-01 1.31851088e-03 -9.57184350e+01] [-2.64472365e-03 -1.30540128e-03 9.99995651e-01 2.96122424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90907232899997 meters Centerline goodness [0,1] 0.23018867924528297 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99993476e-01 -3.15420588e-03 1.76033471e-03 -1.70485474e+02] [ 3.14939821e-03 9.99991322e-01 2.72723579e-03 -9.57190349e+01] [-1.76892170e-03 -2.72167400e-03 9.99994732e-01 2.96121752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93907232899994 meters Centerline goodness [0,1] 0.3383162699160438 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99987642e-01 -4.31496629e-03 2.46925225e-03 -1.70486661e+02] [ 4.31176421e-03 9.99989858e-01 1.30063730e-03 -9.57154234e+01] [-2.47483941e-03 -1.28997440e-03 9.99996106e-01 2.96121151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96907232899997 meters Centerline goodness [0,1] 0.31888765481254844 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.72, Z:296.12 [[ 9.99996145e-01 -2.43533498e-03 1.33381071e-03 -1.70483641e+02] [ 2.43188097e-03 9.99993702e-01 2.58510796e-03 -9.57158602e+01] [-1.34009791e-03 -2.58185433e-03 9.99995769e-01 2.96121086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99907232899994 meters Centerline goodness [0,1] 0.2919582976411842 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.72, Z:296.12 [[ 9.99984746e-01 -5.47962756e-03 6.93640472e-04 -1.70481228e+02] [ 5.48013224e-03 9.99984719e-01 -7.27783516e-04 -9.57157334e+01] [-6.89641890e-04 7.31573656e-04 9.99999495e-01 2.96120435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.029072329 meters Centerline goodness [0,1] 0.2702357522716804 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.71, Z:296.12 [[ 9.99997487e-01 -1.93890174e-03 1.12575222e-03 -1.70482910e+02] [ 1.93603608e-03 9.99994897e-01 2.54109168e-03 -9.57134514e+01] [-1.13067341e-03 -2.53890580e-03 9.99996138e-01 2.96121094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05907232899995 meters Centerline goodness [0,1] 0.34937264742785445 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.71, Z:296.12 [[ 9.99998652e-01 -1.55369936e-03 5.31725882e-04 -1.70481879e+02] [ 1.55230166e-03 9.99995366e-01 2.61899092e-03 -9.57128430e+01] [-5.35792542e-04 -2.61816199e-03 9.99996429e-01 2.96121749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.089072329 meters Centerline goodness [0,1] 0.34258793969849244 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.71, Z:296.12 [[ 9.99999325e-01 -1.12096382e-03 -3.06153782e-04 -1.70479897e+02] [ 1.12160574e-03 9.99997156e-01 2.10467363e-03 -9.57095021e+01] [ 3.03793648e-04 -2.10501559e-03 9.99997738e-01 2.96122259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11907232899995 meters Centerline goodness [0,1] 0.3502039962339156 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.71, Z:296.12 [[ 9.99999293e-01 -1.18852633e-03 -2.38337931e-05 -1.70480963e+02] [ 1.18857439e-03 9.99997026e-01 2.12976926e-03 -9.57098879e+01] [ 2.13024354e-05 -2.12979609e-03 9.99997732e-01 2.96122670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.149072329 meters Centerline goodness [0,1] 0.35274681611911585 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.71, Z:296.12 [[ 9.99987645e-01 -4.96237969e-03 2.91575631e-04 -1.70482159e+02] [ 4.96274605e-03 9.99986880e-01 -1.26949356e-03 -9.57123680e+01] [-2.85272097e-04 1.27092489e-03 9.99999152e-01 2.96123115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17907232899995 meters Centerline goodness [0,1] 0.2895761789094564 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.71, Z:296.12 [[ 9.99981066e-01 -5.99458501e-03 1.39033338e-03 -1.70485247e+02] [ 5.99694702e-03 9.99980571e-01 -1.70097790e-03 -9.57128897e+01] [-1.38010971e-03 1.70928345e-03 9.99997587e-01 2.96123328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.209072329 meters Centerline goodness [0,1] 0.29239080363499304 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.71, Z:296.12 [[ 9.99975684e-01 -6.54330863e-03 2.41192479e-03 -1.70487791e+02] [ 6.54754493e-03 9.99977029e-01 -1.75270452e-03 -9.57137952e+01] [-2.40040090e-03 1.76845408e-03 9.99995555e-01 2.96123088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23907232899995 meters Centerline goodness [0,1] 0.31826276424126876 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99961357e-01 -7.99610659e-03 3.65334831e-03 -1.70491190e+02] [ 8.00353894e-03 9.99965922e-01 -2.02432498e-03 -9.57160481e+01] [-3.63703709e-03 2.05348647e-03 9.99991278e-01 2.96122968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.269072329 meters Centerline goodness [0,1] 0.325808815830803 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.71, Z:296.12 [[ 9.99946255e-01 -9.13196998e-03 4.90849043e-03 -1.70493612e+02] [ 9.14591024e-03 9.99954184e-01 -2.82512737e-03 -9.57148383e+01] [-4.88246657e-03 2.86986815e-03 9.99983963e-01 2.96121959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29907232899996 meters Centerline goodness [0,1] 0.27387481683064685 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99950325e-01 -8.55859511e-03 5.10866386e-03 -1.70493488e+02] [ 8.56710299e-03 9.99961947e-01 -1.64582838e-03 -9.57180562e+01] [-5.09438348e-03 1.68951307e-03 9.99985596e-01 2.96120897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.329072329 meters Centerline goodness [0,1] 0.2751393720920484 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.72, Z:296.12 [[ 9.99953105e-01 -8.05945992e-03 5.36955075e-03 -1.70492773e+02] [ 8.06341305e-03 9.99967235e-01 -7.14970410e-04 -9.57199043e+01] [-5.36361254e-03 7.58233788e-04 9.99985328e-01 2.96119007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35907232899996 meters Centerline goodness [0,1] 0.2822330341414311 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.72, Z:296.12 [[ 9.99938273e-01 -9.07807143e-03 6.40616696e-03 -1.70495286e+02] [ 9.08780505e-03 9.99957592e-01 -1.49194305e-03 -9.57186387e+01] [-6.39235133e-03 1.55006895e-03 9.99978367e-01 2.96118839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.389072329 meters Centerline goodness [0,1] 0.28319251975932414 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.72, Z:296.12 [[ 9.99933028e-01 -9.24756046e-03 6.95856539e-03 -1.70496502e+02] [ 9.25727004e-03 9.99956220e-01 -1.36442874e-03 -9.57192447e+01] [-6.94564311e-03 1.42875468e-03 9.99974858e-01 2.96118523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41907232899996 meters Centerline goodness [0,1] 0.293641473030786 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.72, Z:296.12 [[ 9.99879077e-01 -1.34466846e-02 7.81137499e-03 -1.70498575e+02] [ 1.34835703e-02 9.99898099e-01 -4.68872453e-03 -9.57228113e+01] [-7.74753120e-03 4.79348278e-03 9.99958498e-01 2.96118301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.449072329 meters Centerline goodness [0,1] 0.29956851409660257 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.72, Z:296.12 [[ 9.99860258e-01 -1.41280978e-02 8.93652299e-03 -1.70501281e+02] [ 1.41740997e-02 9.99886508e-01 -5.10540178e-03 -9.57223325e+01] [-8.86337915e-03 5.23135551e-03 9.99947035e-01 2.96118086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47907232899996 meters Centerline goodness [0,1] 0.303735969174066 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.72, Z:296.12 [[ 9.99829488e-01 -1.55153199e-02 1.00134899e-02 -1.70504958e+02] [ 1.55757445e-02 9.99860779e-01 -5.98480215e-03 -9.57225021e+01] [-9.91923969e-03 6.13974922e-03 9.99931954e-01 2.96119052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.509072329 meters Centerline goodness [0,1] 0.31200803885446327 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.12 [[ 9.99819426e-01 -1.57587752e-02 1.06196180e-02 -1.70506801e+02] [ 1.58237017e-02 9.99856447e-01 -6.05779219e-03 -9.57227871e+01] [-1.05226301e-02 6.22473998e-03 9.99925261e-01 2.96119404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53907232899996 meters Centerline goodness [0,1] 0.31936591699124683 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.12 [[ 9.99803935e-01 -1.63493941e-02 1.11709299e-02 -1.70507437e+02] [ 1.64229169e-02 9.99843864e-01 -6.52188879e-03 -9.57217673e+01] [-1.10625568e-02 6.70406932e-03 9.99916334e-01 2.96118370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.569072329 meters Centerline goodness [0,1] 0.31697362913352867 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.12 [[ 9.99817256e-01 -1.56985553e-02 1.09091470e-02 -1.70506565e+02] [ 1.57595631e-02 9.99860523e-01 -5.52906121e-03 -9.57240702e+01] [-1.08208272e-02 5.69997420e-03 9.99925207e-01 2.96117916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59907232899997 meters Centerline goodness [0,1] 0.31811416472758525 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.12 [[ 9.99859315e-01 -1.22769837e-02 1.14292088e-02 -1.70507556e+02] [ 1.23042439e-02 9.99921613e-01 -2.31788640e-03 -9.57211346e+01] [-1.13998562e-02 2.45818808e-03 9.99931998e-01 2.96117432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.629072329 meters Centerline goodness [0,1] 0.3201992090229969 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.12 [[ 9.99865811e-01 -1.18964739e-02 1.12620762e-02 -1.70507530e+02] [ 1.19192672e-02 9.99927044e-01 -1.95894480e-03 -9.57217904e+01] [-1.12379501e-02 2.09291763e-03 9.99934662e-01 2.96117932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65907232899997 meters Centerline goodness [0,1] 0.3220715063216947 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.72, Z:296.12 [[ 9.99890624e-01 -8.98731079e-03 1.17459924e-02 -1.70510413e+02] [ 8.97860227e-03 9.99959376e-01 7.93927363e-04 -9.57198169e+01] [-1.17526505e-02 -6.88377933e-04 9.99930698e-01 2.96119741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68907232899994 meters Centerline goodness [0,1] 0.33512687379616446 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.71, Z:296.12 [[ 9.99922710e-01 -5.29125183e-03 1.12505899e-02 -1.70509786e+02] [ 5.25188582e-03 9.99979993e-01 3.52568740e-03 -9.57149674e+01] [-1.12690201e-02 -3.46632809e-03 9.99930494e-01 2.96120566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71907232899997 meters Centerline goodness [0,1] 0.34011512297226587 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.71, Z:296.12 [[ 9.99935776e-01 -4.54506982e-03 1.03820429e-02 -1.70507404e+02] [ 4.50540048e-03 9.99982473e-01 3.84115457e-03 -9.57142804e+01] [-1.03993192e-02 -3.79413262e-03 9.99938727e-01 2.96120362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74907232899994 meters Centerline goodness [0,1] 0.3172217454103954 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.71, Z:296.12 [[ 9.99947780e-01 -8.46223899e-04 1.01843800e-02 -1.70506914e+02] [ 7.75561692e-04 9.99975615e-01 6.94024302e-03 -9.57103700e+01] [-1.01900047e-02 -6.93198199e-03 9.99924053e-01 2.96120514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.779072329 meters Centerline goodness [0,1] 0.31278123103325595 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.71, Z:296.12 [[ 9.99947529e-01 -9.97971816e-04 1.01952179e-02 -1.70507453e+02] [ 9.30819526e-04 9.99977857e-01 6.58926905e-03 -9.57094403e+01] [-1.02015680e-02 -6.57943340e-03 9.99926317e-01 2.96121171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80907232899995 meters Centerline goodness [0,1] 0.3003057719695066 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.71, Z:296.12 [[ 9.99949719e-01 -9.50574193e-04 9.98274311e-03 -1.70507767e+02] [ 8.86590495e-04 9.99979051e-01 6.41190116e-03 -9.57090301e+01] [-9.98862896e-03 -6.40272816e-03 9.99929614e-01 2.96122270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.839072329 meters Centerline goodness [0,1] 0.32305147212798924 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.71, Z:296.12 [[ 9.99952710e-01 -1.03098557e-03 9.67035413e-03 -1.70507629e+02] [ 9.75120419e-04 9.99982821e-01 5.77988681e-03 -9.57066365e+01] [-9.67614698e-03 -5.77018372e-03 9.99936537e-01 2.96123197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86907232899995 meters Centerline goodness [0,1] 0.31335355014116906 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.13 [[ 9.99954911e-01 -1.26479804e-03 9.41147225e-03 -1.70508554e+02] [ 1.21802529e-03 9.99986889e-01 4.97383183e-03 -9.57044638e+01] [-9.41763974e-03 -4.96214415e-03 9.99943341e-01 2.96125363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.899072329 meters Centerline goodness [0,1] 0.3108373766103396 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.13 [[ 9.99952091e-01 -1.65928837e-03 9.64693952e-03 -1.70509843e+02] [ 1.61674453e-03 9.99988942e-01 4.41621377e-03 -9.57032997e+01] [-9.65416061e-03 -4.40040556e-03 9.99943715e-01 2.96126216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92907232899995 meters Centerline goodness [0,1] 0.3189859107752214 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.13 [[ 9.99957043e-01 -1.48414488e-03 9.14933482e-03 -1.70509033e+02] [ 1.44520789e-03 9.99989878e-01 4.26086189e-03 -9.57024208e+01] [-9.15556595e-03 -4.24745616e-03 9.99949066e-01 2.96126775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.959072329 meters Centerline goodness [0,1] 0.3386455017590886 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.13 [[ 9.99957507e-01 -1.64992257e-03 9.06989123e-03 -1.70508806e+02] [ 1.61450258e-03 9.99991048e-01 3.91116341e-03 -9.57012462e+01] [-9.07626316e-03 -3.89635385e-03 9.99951219e-01 2.96126691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98907232899995 meters Centerline goodness [0,1] 0.2897358616936665 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.12 [[ 9.99963354e-01 8.28963973e-04 8.52079252e-03 -1.70505171e+02] [-8.83955789e-04 9.99978794e-01 6.45209947e-03 -9.57025274e+01] [-8.51526327e-03 -6.45939503e-03 9.99942882e-01 2.96124066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.019072329 meters Centerline goodness [0,1] 0.29064947029018884 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.12 [[ 9.99966723e-01 1.20029293e-03 8.06924603e-03 -1.70504078e+02] [-1.25546219e-03 9.99975850e-01 6.83539396e-03 -9.57034517e+01] [-8.06084668e-03 -6.84529713e-03 9.99944081e-01 2.96124004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.04907232899996 meters Centerline goodness [0,1] 0.32040965618141914 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.12 [[ 9.99968031e-01 1.45715458e-03 7.86218745e-03 -1.70503397e+02] [-1.51187940e-03 9.99974643e-01 6.95906027e-03 -9.57031415e+01] [-7.85184766e-03 -6.97072447e-03 9.99944877e-01 2.96123824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.079072329 meters Centerline goodness [0,1] 0.374369387285173 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.13 [[ 9.99973628e-01 2.31228742e-03 6.88458106e-03 -1.70501622e+02] [-2.35764488e-03 9.99975523e-01 6.58745634e-03 -9.57002065e+01] [-6.86918046e-03 -6.60351401e-03 9.99954603e-01 2.96125040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.10907232899996 meters Centerline goodness [0,1] 0.3755603972011564 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.13 [[ 9.99976918e-01 2.35098392e-03 6.37473852e-03 -1.70501145e+02] [-2.39075604e-03 9.99977682e-01 6.23859413e-03 -9.56989174e+01] [-6.35992941e-03 -6.25369057e-03 9.99960221e-01 2.96126099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.139072329 meters Centerline goodness [0,1] 0.316457818197058 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.13 [[ 9.99955634e-01 7.74657676e-03 5.35923699e-03 -1.70498859e+02] [-7.80360188e-03 9.99912274e-01 1.07027332e-02 -9.56969593e+01] [-5.27585730e-03 -1.07440797e-02 9.99928362e-01 2.96126747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16907232899996 meters Centerline goodness [0,1] 0.34654460900349837 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.70, Z:296.13 [[ 9.99930134e-01 1.17501073e-02 1.28948354e-03 -1.70490310e+02] [-1.17623261e-02 9.99881644e-01 9.91695320e-03 -9.56960403e+01] [-1.17280565e-03 -9.93142766e-03 9.99949994e-01 2.96131751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.199072329 meters Centerline goodness [0,1] 0.3079986585059109 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.69, Z:296.14 [[ 9.99798173e-01 1.98661126e-02 -2.99182318e-03 -1.70480521e+02] [-1.98307406e-02 9.99738109e-01 1.14216780e-02 -9.56933936e+01] [ 3.21794399e-03 -1.13600427e-02 9.99930295e-01 2.96138126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22907232899996 meters Centerline goodness [0,1] 0.32079627454270854 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.69, Z:296.14 [[ 9.99800008e-01 1.97075340e-02 -3.39970319e-03 -1.70480489e+02] [-1.96701429e-02 9.99749246e-01 1.07018955e-02 -9.56911634e+01] [ 3.60975867e-03 -1.06328825e-02 9.99936954e-01 2.96139453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.259072329 meters Centerline goodness [0,1] 0.3214270741625791 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.69, Z:296.14 [[ 9.99794486e-01 1.99023298e-02 -3.85796585e-03 -1.70480009e+02] [-1.98607879e-02 9.99747380e-01 1.05226188e-02 -9.56902127e+01] [ 4.06641588e-03 -1.04438340e-02 9.99937193e-01 2.96140370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28907232899996 meters Centerline goodness [0,1] 0.33207665724159596 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.69, Z:296.14 [[ 9.99771154e-01 2.08633960e-02 -4.72842338e-03 -1.70478128e+02] [-2.08104640e-02 9.99723143e-01 1.09800380e-02 -9.56901339e+01] [ 4.95619517e-03 -1.08791245e-02 9.99928538e-01 2.96140853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.319072329 meters Centerline goodness [0,1] 0.3465769786886277 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.69, Z:296.14 [[ 9.99746796e-01 2.17907194e-02 -5.61325689e-03 -1.70475901e+02] [-2.17258236e-02 9.99699268e-01 1.13737408e-02 -9.56895596e+01] [ 5.85941080e-03 -1.12489083e-02 9.99919561e-01 2.96140996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34907232899997 meters Centerline goodness [0,1] 0.33583198978203066 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.14 [[ 9.99748894e-01 2.16050283e-02 -5.94737208e-03 -1.70474977e+02] [-2.15406477e-02 9.99710882e-01 1.06842555e-02 -9.56868874e+01] [ 6.17648623e-03 -1.05534624e-02 9.99925235e-01 2.96140980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.379072329 meters Centerline goodness [0,1] 0.3177450754641937 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.14 [[ 9.99798021e-01 1.88367551e-02 -7.00664874e-03 -1.70472988e+02] [-1.87838629e-02 9.99795140e-01 7.53959077e-03 -9.56877956e+01] [ 7.14723478e-03 -7.40645600e-03 9.99947029e-01 2.96141640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40907232899997 meters Centerline goodness [0,1] 0.3577421177061322 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.14 [[ 9.99841248e-01 1.59252632e-02 -7.99149559e-03 -1.70470808e+02] [-1.58913642e-02 9.99864531e-01 4.28761219e-03 -9.56885284e+01] [ 8.05869435e-03 -4.15993576e-03 9.99958875e-01 2.96141881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43907232899994 meters Centerline goodness [0,1] 0.34200221956990595 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.14 [[ 9.99841409e-01 1.58616038e-02 -8.09733155e-03 -1.70470261e+02] [-1.58287767e-02 9.99866302e-01 4.10218828e-03 -9.56875876e+01] [ 8.16131624e-03 -3.97336685e-03 9.99958802e-01 2.96141562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46907232899997 meters Centerline goodness [0,1] 0.32264831752957956 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.14 [[ 9.99822290e-01 1.66355862e-02 -8.86818674e-03 -1.70468180e+02] [-1.65974353e-02 9.99852754e-01 4.35838041e-03 -9.56866327e+01] [ 8.93938515e-03 -4.21041673e-03 9.99951179e-01 2.96141563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49907232899994 meters Centerline goodness [0,1] 0.3440389090375464 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.14 [[ 9.99820686e-01 1.66343114e-02 -9.04960709e-03 -1.70468278e+02] [-1.65967172e-02 9.99853387e-01 4.21359907e-03 -9.56861707e+01] [ 9.11837061e-03 -4.06264974e-03 9.99950174e-01 2.96142260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.529072329 meters Centerline goodness [0,1] 0.34052546602084255 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.68, Z:296.14 [[ 9.99817117e-01 1.66674364e-02 -9.37704098e-03 -1.70467942e+02] [-1.66318394e-02 9.99854225e-01 3.86144422e-03 -9.56848376e+01] [ 9.44003442e-03 -3.70478059e-03 9.99948579e-01 2.96142923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55907232899995 meters Centerline goodness [0,1] 0.3076197661259902 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.68, Z:296.14 [[ 9.99857160e-01 1.34123133e-02 -1.02843837e-02 -1.70465885e+02] [-1.34129978e-02 9.99910042e-01 2.41476376e-06 -9.56838507e+01] [ 1.02834909e-02 1.35529997e-04 9.99947114e-01 2.96143240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.589072329 meters Centerline goodness [0,1] 0.3234350424661844 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.68, Z:296.14 [[ 9.99842851e-01 1.38942215e-02 -1.10101913e-02 -1.70464545e+02] [-1.38941454e-02 9.99903468e-01 8.34085270e-05 -9.56832156e+01] [ 1.10102874e-02 6.95817790e-05 9.99939383e-01 2.96143960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61907232899995 meters Centerline goodness [0,1] 0.3234350424661844 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.68, Z:296.14 [[ 9.99842851e-01 1.38942215e-02 -1.10101913e-02 -1.70464545e+02] [-1.38941454e-02 9.99903468e-01 8.34085270e-05 -9.56832156e+01] [ 1.10102874e-02 6.95817790e-05 9.99939383e-01 2.96143960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.649072329 meters Centerline goodness [0,1] 0.31510204081632653 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.68, Z:296.14 [[ 9.99832548e-01 1.41629117e-02 -1.15882877e-02 -1.70463594e+02] [-1.41656964e-02 9.99899649e-01 -1.58247780e-04 -9.56815638e+01] [ 1.15848836e-02 3.22377446e-04 9.99932841e-01 2.96144800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67907232899995 meters Centerline goodness [0,1] 0.32449484363209524 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.68, Z:296.15 [[ 9.99835090e-01 1.39257344e-02 -1.16561782e-02 -1.70464810e+02] [-1.39356220e-02 9.99902600e-01 -7.67476659e-04 -9.56800160e+01] [ 1.16443552e-02 9.29786188e-04 9.99931770e-01 2.96146570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.709072329 meters Centerline goodness [0,1] 0.32627847464026516 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.68, Z:296.15 [[ 9.99846516e-01 1.35743972e-02 -1.10761340e-02 -1.70466425e+02] [-1.35866913e-02 9.99907160e-01 -1.03547438e-03 -9.56798324e+01] [ 1.10610498e-02 1.18580347e-03 9.99938122e-01 2.96146595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73907232899995 meters Centerline goodness [0,1] 0.320398322851153 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.68, Z:296.15 [[ 9.99880088e-01 1.03949481e-02 -1.14784179e-02 -1.70464590e+02] [-1.04404200e-02 9.99937858e-01 -3.90872492e-03 -9.56821128e+01] [ 1.14370737e-02 4.02809572e-03 9.99926481e-01 2.96145470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.769072329 meters Centerline goodness [0,1] 0.3218219583324592 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.68, Z:296.14 [[ 9.99886293e-01 1.03322161e-02 -1.09839140e-02 -1.70465480e+02] [-1.03733560e-02 9.99939368e-01 -3.69512000e-03 -9.56829324e+01] [ 1.09450693e-02 3.80863989e-03 9.99932848e-01 2.96144884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79907232899996 meters Centerline goodness [0,1] 0.34454715043283235 Centerline is valid? [False, False] Translation: X:-170.46, Y:-95.69, Z:296.14 [[ 9.99912959e-01 6.99055329e-03 -1.11895735e-02 -1.70464410e+02] [-7.06424874e-03 9.99953529e-01 -6.56016298e-03 -9.56857998e+01] [ 1.11431943e-02 6.63863791e-03 9.99915875e-01 2.96144082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.829072329 meters Centerline goodness [0,1] 0.3319991617770327 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.14 [[ 9.99932896e-01 5.71932938e-03 -1.00743773e-02 -1.70467827e+02] [-5.79088566e-03 9.99958112e-01 -7.08800757e-03 -9.56866482e+01] [ 1.00334167e-02 7.14587150e-03 9.99924131e-01 2.96144451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85907232899996 meters Centerline goodness [0,1] 0.3481230098877157 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.14 [[ 9.99959930e-01 1.02456149e-03 -8.89316651e-03 -1.70470494e+02] [-1.11688927e-03 9.99945470e-01 -1.03831287e-02 -9.56909314e+01] [ 8.88204341e-03 1.03926453e-02 9.99906547e-01 2.96143402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.889072329 meters Centerline goodness [0,1] 0.34520542205275395 Centerline is valid? [False, False] Translation: X:-170.47, Y:-95.69, Z:296.14 [[ 9.99970436e-01 1.77324027e-04 -7.68736931e-03 -1.70473296e+02] [-2.56782014e-04 9.99946545e-01 -1.03364196e-02 -9.56926320e+01] [ 7.68512549e-03 1.03380879e-02 9.99917028e-01 2.96142725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91907232899996 meters Centerline goodness [0,1] 0.3434389993504997 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.69, Z:296.14 [[ 9.99977561e-01 -2.86747005e-04 -6.69296344e-03 -1.70475306e+02] [ 2.17759226e-04 9.99946868e-01 -1.03059624e-02 -9.56933782e+01] [ 6.69556304e-03 1.03042737e-02 9.99924493e-01 2.96141894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.949072329 meters Centerline goodness [0,1] 0.36155683103607195 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.70, Z:296.14 [[ 9.99971760e-01 -4.51951498e-03 -6.00446404e-03 -1.70477012e+02] [ 4.43589509e-03 9.99894004e-01 -1.38673668e-02 -9.56960711e+01] [ 6.06650136e-03 1.38403400e-02 9.99885815e-01 2.96141611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97907232899996 meters Centerline goodness [0,1] 0.3601558245716918 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.70, Z:296.14 [[ 9.99974776e-01 -5.08247494e-03 -4.96151231e-03 -1.70479396e+02] [ 5.01259166e-03 9.99889468e-01 -1.39973355e-02 -9.56966218e+01] [ 5.03210501e-03 1.39721123e-02 9.99889723e-01 2.96141099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.009072329 meters Centerline goodness [0,1] 0.32786679758497506 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.70, Z:296.14 [[ 9.99972669e-01 -6.32211834e-03 -3.83292724e-03 -1.70482412e+02] [ 6.26662490e-03 9.99877809e-01 -1.43212225e-02 -9.56980055e+01] [ 3.92299935e-03 1.42968116e-02 9.99890100e-01 2.96141044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03907232899996 meters Centerline goodness [0,1] 0.32994435379272835 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.70, Z:296.14 [[ 9.99973221e-01 -6.38005624e-03 -3.58492421e-03 -1.70483449e+02] [ 6.32828260e-03 9.99878118e-01 -1.42724057e-02 -9.56983477e+01] [ 3.67554603e-03 1.42493371e-02 9.99891718e-01 2.96141482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.069072329 meters Centerline goodness [0,1] 0.3367635063060802 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.70, Z:296.14 [[ 9.99974030e-01 -6.43387971e-03 -3.24711098e-03 -1.70484099e+02] [ 6.38713292e-03 9.99878674e-01 -1.42071101e-02 -9.56984080e+01] [ 3.33812386e-03 1.41860014e-02 9.99893802e-01 2.96141150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09907232899997 meters Centerline goodness [0,1] 0.26822987543180155 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.70, Z:296.14 [[ 9.99969851e-01 -7.45065042e-03 -2.18733999e-03 -1.70486458e+02] [ 7.41816556e-03 9.99867328e-01 -1.45016383e-02 -9.56992065e+01] [ 2.29509643e-03 1.44849750e-02 9.99892453e-01 2.96140527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.129072329 meters Centerline goodness [0,1] 0.3516338500209468 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.70, Z:296.14 [[ 9.99987631e-01 -4.83627349e-03 -1.16125744e-03 -1.70489686e+02] [ 4.82260372e-03 9.99922254e-01 -1.14991046e-02 -9.56982920e+01] [ 1.21677997e-03 1.14933621e-02 9.99933209e-01 2.96140997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15907232899997 meters Centerline goodness [0,1] 0.33775610572797854 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.70, Z:296.14 [[ 9.99999252e-01 -1.02067160e-03 -6.73527629e-04 -1.70490843e+02] [ 1.01543447e-03 9.99969602e-01 -7.73072245e-03 -9.56971498e+01] [ 6.81397684e-04 7.73003274e-03 9.99969891e-01 2.96140819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18907232899994 meters Centerline goodness [0,1] 0.30548576214405365 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.70, Z:296.14 [[ 9.99999171e-01 -9.93868933e-04 -8.18464609e-04 -1.70490489e+02] [ 9.87369061e-04 9.99968275e-01 -7.90401918e-03 -9.56960796e+01] [ 8.26294203e-04 7.90320450e-03 9.99968428e-01 2.96140881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21907232899997 meters Centerline goodness [0,1] 0.2744585120853824 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.14 [[ 9.99999063e-01 -1.18294140e-03 -6.89416582e-04 -1.70491230e+02] [ 1.17716451e-03 9.99964692e-01 -8.32040141e-03 -9.56945988e+01] [ 6.99234787e-04 8.31958206e-03 9.99965147e-01 2.96141568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24907232899994 meters Centerline goodness [0,1] 0.28077776382435427 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.14 [[ 9.99998320e-01 -1.83266711e-03 3.62107893e-05 -1.70493518e+02] [ 1.83291725e-03 9.99958514e-01 -8.92243560e-03 -9.56935379e+01] [-1.98574328e-05 8.92248698e-03 9.99960194e-01 2.96142141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.279072329 meters Centerline goodness [0,1] 0.38069716319480795 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.14 [[ 9.99995267e-01 -2.87622208e-03 1.09280275e-03 -1.70496664e+02] [ 2.88618168e-03 9.99953291e-01 -9.22424701e-03 -9.56949987e+01] [-1.06622072e-03 9.22735738e-03 9.99956859e-01 2.96142474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30907232899995 meters Centerline goodness [0,1] 0.34605480771243746 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.14 [[ 9.99993183e-01 -3.21278327e-03 1.81989012e-03 -1.70498256e+02] [ 3.22957342e-03 9.99951545e-01 -9.29935739e-03 -9.56952239e+01] [-1.78992512e-03 9.30517147e-03 9.99955104e-01 2.96142034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.339072329 meters Centerline goodness [0,1] 0.2979097725463913 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.14 [[ 9.99995296e-01 -2.63977390e-03 1.56190201e-03 -1.70497294e+02] [ 2.65307285e-03 9.99959717e-01 -8.57467769e-03 -9.56966311e+01] [-1.53920388e-03 8.57878119e-03 9.99962017e-01 2.96141542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36907232899995 meters Centerline goodness [0,1] 0.3502564639380299 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.14 [[ 9.99994259e-01 -2.88700239e-03 1.77409220e-03 -1.70497802e+02] [ 2.90272793e-03 9.99955947e-01 -8.92628904e-03 -9.56953690e+01] [-1.74824383e-03 8.93138750e-03 9.99958586e-01 2.96141523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.399072329 meters Centerline goodness [0,1] 0.30090090090090094 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.14 [[ 9.99994081e-01 -3.02049331e-03 1.64743971e-03 -1.70497658e+02] [ 3.03570412e-03 9.99952053e-01 -9.30999956e-03 -9.56938069e+01] [-1.61923993e-03 9.31494559e-03 9.99955304e-01 2.96141893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42907232899995 meters Centerline goodness [0,1] 0.3562380922471369 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.14 [[ 9.99994373e-01 -2.96339285e-03 1.57219010e-03 -1.70497519e+02] [ 2.97793483e-03 9.99952048e-01 -9.32923365e-03 -9.56932807e+01] [-1.54446852e-03 9.33386304e-03 9.99955246e-01 2.96141972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.459072329 meters Centerline goodness [0,1] 0.3129831765519264 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.14 [[ 9.99990362e-01 -3.59388496e-03 2.52202373e-03 -1.70499272e+02] [ 3.61783460e-03 9.99947788e-01 -9.55677609e-03 -9.56933510e+01] [-2.48754610e-03 9.56580824e-03 9.99951153e-01 2.96141062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48907232899995 meters Centerline goodness [0,1] 0.3019834054381675 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.14 [[ 9.99985061e-01 -4.16725000e-03 3.53718630e-03 -1.70501575e+02] [ 4.20034939e-03 9.99946976e-01 -9.40227721e-03 -9.56950560e+01] [-3.49781710e-03 9.41699417e-03 9.99949541e-01 2.96140439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.519072329 meters Centerline goodness [0,1] 0.30972876741020006 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.14 [[ 9.99985372e-01 -3.84484966e-03 3.80438940e-03 -1.70501833e+02] [ 3.87807306e-03 9.99954072e-01 -8.76441698e-03 -9.56967124e+01] [-3.77051680e-03 8.77904247e-03 9.99954355e-01 2.96139697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.54907232899996 meters Centerline goodness [0,1] 0.3343322994383435 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.14 [[ 9.99973819e-01 -5.14653383e-03 5.08668182e-03 -1.70504431e+02] [ 5.18976618e-03 9.99950213e-01 -8.52278557e-03 -9.57000867e+01] [-5.04256577e-03 8.54896113e-03 9.99950743e-01 2.96138308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.579072329 meters Centerline goodness [0,1] 0.3193372483221476 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99972135e-01 -5.23638425e-03 5.32059066e-03 -1.70505282e+02] [ 5.28186551e-03 9.99949324e-01 -8.57037138e-03 -9.57000161e+01] [-5.27544328e-03 8.59823521e-03 9.99949119e-01 2.96138608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.60907232899996 meters Centerline goodness [0,1] 0.3274275050846036 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99971682e-01 -5.22136271e-03 5.41970056e-03 -1.70505961e+02] [ 5.26773834e-03 9.99949332e-01 -8.57815106e-03 -9.56998763e+01] [-5.37463632e-03 8.60645770e-03 9.99948520e-01 2.96139190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.639072329 meters Centerline goodness [0,1] 0.3343886279771888 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99963350e-01 -6.01107558e-03 6.09628523e-03 -1.70508510e+02] [ 6.06829986e-03 9.99937292e-01 -9.41209464e-03 -9.56983274e+01] [-6.03932614e-03 9.44874378e-03 9.99937122e-01 2.96140333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66907232899996 meters Centerline goodness [0,1] 0.3692836484050803 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99957471e-01 -6.27220898e-03 6.76135059e-03 -1.70510559e+02] [ 6.33548918e-03 9.99935949e-01 -9.37867321e-03 -9.56991519e+01] [-6.70209252e-03 9.42111081e-03 9.99933160e-01 2.96140754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.699072329 meters Centerline goodness [0,1] 0.32561307901907355 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99960372e-01 -5.98003549e-03 6.59496263e-03 -1.70510234e+02] [ 6.04006132e-03 9.99940172e-01 -9.11972623e-03 -9.56994678e+01] [-6.54003178e-03 9.15919881e-03 9.99936667e-01 2.96140836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72907232899996 meters Centerline goodness [0,1] 0.36843097417422455 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99949224e-01 -6.76345421e-03 7.47028016e-03 -1.70512286e+02] [ 6.83547946e-03 9.99929992e-01 -9.65849497e-03 -9.56988223e+01] [-7.40443239e-03 9.70906750e-03 9.99925451e-01 2.96140556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.759072329 meters Centerline goodness [0,1] 0.3322174331506047 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99940026e-01 -7.29565195e-03 8.16804227e-03 -1.70513705e+02] [ 7.37354789e-03 9.99927235e-01 -9.54752515e-03 -9.57000919e+01] [-8.09779251e-03 9.60718000e-03 9.99921061e-01 2.96139890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78907232899996 meters Centerline goodness [0,1] 0.3655374934452019 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.70, Z:296.14 [[ 9.99952108e-01 -3.94711935e-03 8.95550157e-03 -1.70515826e+02] [ 4.00291454e-03 9.99972638e-01 -6.22092368e-03 -9.56981927e+01] [-8.93070180e-03 6.25647385e-03 9.99940548e-01 2.96139971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.819072329 meters Centerline goodness [0,1] 0.26172989759946286 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99955158e-01 -3.72718737e-03 8.70577729e-03 -1.70514972e+02] [ 3.78030565e-03 9.99974292e-01 -6.09303291e-03 -9.56978683e+01] [-8.68284360e-03 6.12567018e-03 9.99943541e-01 2.96139702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84907232899997 meters Centerline goodness [0,1] 0.3749842575878427 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.70, Z:296.14 [[ 9.99958027e-01 1.97219359e-05 9.16210540e-03 -1.70516375e+02] [ 2.57043070e-06 9.99997040e-01 -2.43308709e-03 -9.56967112e+01] [-9.16212627e-03 2.43300852e-03 9.99955067e-01 2.96139979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.879072329 meters Centerline goodness [0,1] 0.3700868325013633 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.70, Z:296.14 [[ 9.99956182e-01 -7.11065065e-05 9.36107938e-03 -1.70517087e+02] [ 9.38377325e-05 9.99997048e-01 -2.42785293e-03 -9.56970400e+01] [-9.36087911e-03 2.42862497e-03 9.99953237e-01 2.96140170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90907232899997 meters Centerline goodness [0,1] 0.3736673439038184 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.70, Z:296.14 [[ 9.99960237e-01 6.15874495e-04 8.89634502e-03 -1.70515009e+02] [-5.99179069e-04 9.99998055e-01 -1.87920465e-03 -9.56970780e+01] [-8.89748507e-03 1.87379942e-03 9.99958661e-01 2.96139113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93907232899994 meters Centerline goodness [0,1] 0.3159759344276042 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.70, Z:296.14 [[ 9.99958020e-01 4.73208186e-04 9.15068651e-03 -1.70515377e+02] [-4.55036556e-04 9.99997921e-01 -1.98780151e-03 -9.56967558e+01] [-9.15160813e-03 1.98355416e-03 9.99956156e-01 2.96138692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96907232899997 meters Centerline goodness [0,1] 0.27998910629739804 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99958761e-01 6.72286113e-04 9.05672850e-03 -1.70514888e+02] [-6.56600769e-04 9.99998280e-01 -1.73476163e-03 -9.56971514e+01] [-9.05787918e-03 1.72874344e-03 9.99957482e-01 2.96138302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99907232899994 meters Centerline goodness [0,1] 0.28466862416107386 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99959581e-01 6.43904949e-04 8.96779872e-03 -1.70514796e+02] [-6.26919206e-04 9.99998005e-01 -1.89676398e-03 -9.56965374e+01] [-8.96900216e-03 1.89106523e-03 9.99957990e-01 2.96138467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.029072329 meters Centerline goodness [0,1] 0.28654615529628624 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99967431e-01 1.79241598e-03 7.86918403e-03 -1.70513393e+02] [-1.78059433e-03 9.99997276e-01 -1.50901982e-03 -9.56961227e+01] [-7.87186739e-03 1.49495885e-03 9.99967899e-01 2.96140442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05907232899995 meters Centerline goodness [0,1] 0.2925004714707793 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99970632e-01 1.98225635e-03 7.40313875e-03 -1.70512913e+02] [-1.96939187e-03 9.99996539e-01 -1.74459221e-03 -9.56948448e+01] [-7.40657136e-03 1.72996129e-03 9.99971075e-01 2.96141450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.089072329 meters Centerline goodness [0,1] 0.29819163631797063 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99975224e-01 1.76552920e-03 6.81432089e-03 -1.70511366e+02] [-1.74672039e-03 9.99994651e-01 -2.76515412e-03 -9.56906273e+01] [-6.81916641e-03 2.75318289e-03 9.99972959e-01 2.96141706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11907232899995 meters Centerline goodness [0,1] 0.2928674729098112 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99977558e-01 2.26794168e-03 6.30389231e-03 -1.70509702e+02] [-2.25355848e-03 9.99994844e-01 -2.28780471e-03 -9.56911261e+01] [-6.30904842e-03 2.27354718e-03 9.99977513e-01 2.96141230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.149072329 meters Centerline goodness [0,1] 0.3002682650794316 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99979029e-01 3.56588401e-03 5.40605769e-03 -1.70506592e+02] [-3.55769126e-03 9.99992510e-01 -1.52433616e-03 -9.56904124e+01] [-5.41145280e-03 1.50507111e-03 9.99984225e-01 2.96140375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17907232899995 meters Centerline goodness [0,1] 0.30274248333123666 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99979819e-01 3.51757820e-03 5.29034094e-03 -1.70506311e+02] [-3.50880449e-03 9.99992455e-01 -1.66680929e-03 -9.56897487e+01] [-5.29616415e-03 1.64821288e-03 9.99984617e-01 2.96140390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.209072329 meters Centerline goodness [0,1] 0.3092718700890519 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.14 [[ 9.99981767e-01 3.96004319e-03 4.55887179e-03 -1.70504818e+02] [-3.95125831e-03 9.99990323e-01 -1.93438419e-03 -9.56874178e+01] [-4.56648792e-03 1.91633564e-03 9.99987737e-01 2.96141192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23907232899995 meters Centerline goodness [0,1] 0.2829074151654797 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.14 [[ 9.99982258e-01 4.12159793e-03 4.30071964e-03 -1.70504646e+02] [-4.11317562e-03 9.99989610e-01 -1.96535868e-03 -9.56868554e+01] [-4.30877537e-03 1.94763420e-03 9.99988821e-01 2.96141855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.269072329 meters Centerline goodness [0,1] 0.31480511864619765 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99980499e-01 3.85943861e-03 4.90978636e-03 -1.70506524e+02] [-3.84985891e-03 9.99990670e-01 -1.95910156e-03 -9.56877062e+01] [-4.91730158e-03 1.94016137e-03 9.99986028e-01 2.96142183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29907232899996 meters Centerline goodness [0,1] 0.32317404573769803 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.14 [[ 9.99988130e-01 1.94869231e-03 4.46561533e-03 -1.70503622e+02] [-1.93296019e-03 9.99991921e-01 -3.52455758e-03 -9.56909224e+01] [-4.47244753e-03 3.51588389e-03 9.99983818e-01 2.96140091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.329072329 meters Centerline goodness [0,1] 0.3204548310089207 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99983989e-01 9.90085362e-04 5.57150062e-03 -1.70506299e+02] [-9.68391617e-04 9.99991945e-01 -3.89505028e-03 -9.56913844e+01] [-5.57531217e-03 3.88959252e-03 9.99976893e-01 2.96139718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35907232899996 meters Centerline goodness [0,1] 0.33224352928848366 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99979398e-01 -2.96534980e-03 5.69305973e-03 -1.70506437e+02] [ 3.00842149e-03 9.99966806e-01 -7.57205138e-03 -9.56927899e+01] [-5.67041697e-03 7.58902250e-03 9.99955126e-01 2.96139464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.389072329 meters Centerline goodness [0,1] 0.27706833026293753 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99962395e-01 -6.24017395e-03 6.02242378e-03 -1.70506897e+02] [ 6.29999591e-03 9.99930493e-01 -9.96588558e-03 -9.56980648e+01] [-5.95981633e-03 1.00034521e-02 9.99932203e-01 2.96138729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41907232899996 meters Centerline goodness [0,1] 0.2827800134138162 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99940711e-01 -7.94885278e-03 7.44240092e-03 -1.70510087e+02] [ 8.03003483e-03 9.99907886e-01 -1.09424577e-02 -9.56978103e+01] [-7.35473539e-03 1.10015717e-02 9.99912433e-01 2.96138053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.449072329 meters Centerline goodness [0,1] 0.28181761045817355 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99927330e-01 -8.55633148e-03 8.49258012e-03 -1.70512292e+02] [ 8.64673395e-03 9.99905732e-01 -1.06658629e-02 -9.56999316e+01] [-8.40051888e-03 1.07385209e-02 9.99907053e-01 2.96137175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47907232899996 meters Centerline goodness [0,1] 0.2874039649144843 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99931671e-01 -7.80117406e-03 8.70604685e-03 -1.70512346e+02] [ 7.88101019e-03 9.99926862e-01 -9.17387491e-03 -9.57040455e+01] [-8.63384311e-03 9.24186051e-03 9.99920019e-01 2.96136254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.509072329 meters Centerline goodness [0,1] 0.2953316850354105 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99926511e-01 -8.11257391e-03 9.00881416e-03 -1.70512611e+02] [ 8.19913294e-03 9.99920177e-01 -9.61325880e-03 -9.57024957e+01] [-8.93010677e-03 9.68641680e-03 9.99913209e-01 2.96135672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53907232899996 meters Centerline goodness [0,1] 0.2953316850354105 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99926511e-01 -8.11257391e-03 9.00881416e-03 -1.70512611e+02] [ 8.19913294e-03 9.99920177e-01 -9.61325880e-03 -9.57024957e+01] [-8.93010677e-03 9.68641680e-03 9.99913209e-01 2.96135672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.569072329 meters Centerline goodness [0,1] 0.30305568936268246 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99926650e-01 -7.97593053e-03 9.11474377e-03 -1.70512534e+02] [ 8.06011156e-03 9.99924857e-01 -9.23659005e-03 -9.57033920e+01] [-9.04038847e-03 9.30937840e-03 9.99915800e-01 2.96135155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59907232899997 meters Centerline goodness [0,1] 0.3103852596314908 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.70, Z:296.14 [[ 9.99931944e-01 -6.01009790e-03 9.99927223e-03 -1.70515410e+02] [ 6.08842019e-03 9.99950881e-01 -7.82088368e-03 -9.56973063e+01] [-9.95177680e-03 7.88123120e-03 9.99919421e-01 2.96136284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.629072329 meters Centerline goodness [0,1] 0.3088733631761703 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.14 [[ 9.99939077e-01 -5.52813102e-03 9.55413359e-03 -1.70514555e+02] [ 5.59975287e-03 9.99956300e-01 -7.48600269e-03 -9.56974236e+01] [-9.51233247e-03 7.53904741e-03 9.99926336e-01 2.96136678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65907232899997 meters Centerline goodness [0,1] 0.3149810617950488 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.69, Z:296.14 [[ 9.99949985e-01 -1.91166318e-03 9.81701657e-03 -1.70515681e+02] [ 1.95303607e-03 9.99989245e-01 -4.20655043e-03 -9.56947666e+01] [-9.80886948e-03 4.22551302e-03 9.99942964e-01 2.96137346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68907232899994 meters Centerline goodness [0,1] 0.31449975934877683 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99953749e-01 -1.92006963e-03 9.42407296e-03 -1.70514874e+02] [ 1.96329791e-03 9.99987585e-01 -4.57990034e-03 -9.56929556e+01] [-9.41516223e-03 4.59819078e-03 9.99945104e-01 2.96137705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71907232899997 meters Centerline goodness [0,1] 0.31450566921886114 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.69, Z:296.14 [[ 9.99952266e-01 -2.25974605e-03 9.50575064e-03 -1.70515048e+02] [ 2.30907832e-03 9.99983908e-01 -5.18195944e-03 -9.56907829e+01] [-9.49388776e-03 5.20366161e-03 9.99941392e-01 2.96137780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74907232899994 meters Centerline goodness [0,1] 0.33304066060416015 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.69, Z:296.14 [[ 9.99939532e-01 -3.65364186e-03 1.03722420e-02 -1.70517746e+02] [ 3.72186190e-03 9.99971521e-01 -6.56550850e-03 -9.56884187e+01] [-1.03479586e-02 6.60371555e-03 9.99924653e-01 2.96138441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.779072329 meters Centerline goodness [0,1] 0.35405388458081644 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.69, Z:296.14 [[ 9.99946841e-01 -3.27496337e-03 9.77703767e-03 -1.70516128e+02] [ 3.33939366e-03 9.99972770e-01 -6.58092513e-03 -9.56869523e+01] [-9.75521915e-03 6.61322467e-03 9.99930548e-01 2.96138533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80907232899995 meters Centerline goodness [0,1] 0.3323583486545212 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99953908e-01 -2.53344063e-03 9.26087523e-03 -1.70514483e+02] [ 2.58858100e-03 9.99978966e-01 -5.94699088e-03 -9.56874693e+01] [-9.24561409e-03 5.97068930e-03 9.99939433e-01 2.96138129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.839072329 meters Centerline goodness [0,1] 0.340808861950047 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.69, Z:296.14 [[ 9.99949390e-01 -2.72578692e-03 9.68435360e-03 -1.70515539e+02] [ 2.78428154e-03 9.99977932e-01 -6.03177720e-03 -9.56874976e+01] [-9.66769855e-03 6.05843590e-03 9.99934913e-01 2.96138073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86907232899995 meters Centerline goodness [0,1] 0.35570834465319434 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99956086e-01 -1.83292131e-03 9.19060615e-03 -1.70513875e+02] [ 1.88042321e-03 9.99984906e-01 -5.16255260e-03 -9.56885585e+01] [-9.18100488e-03 5.17960812e-03 9.99944439e-01 2.96137604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.899072329 meters Centerline goodness [0,1] 0.2787347911527366 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99962024e-01 -1.04454507e-03 8.65211336e-03 -1.70512542e+02] [ 1.08110628e-03 9.99990503e-01 -4.22209842e-03 -9.56905378e+01] [-8.64762101e-03 4.23129193e-03 9.99953656e-01 2.96137517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92907232899995 meters Centerline goodness [0,1] 0.3565302878179384 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.69, Z:296.14 [[ 9.99961620e-01 3.02225598e-03 8.22337060e-03 -1.70511472e+02] [-3.01636840e-03 9.99995186e-01 -7.28266191e-04 -9.56875887e+01] [-8.22553201e-03 7.03433526e-04 9.99965922e-01 2.96137645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.959072329 meters Centerline goodness [0,1] 0.2848559705242003 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.68, Z:296.14 [[ 9.99934852e-01 1.06227645e-02 4.17715623e-03 -1.70502594e+02] [-1.06298043e-02 9.99942113e-01 1.66674687e-03 -9.56844516e+01] [-4.15920896e-03 -1.71104064e-03 9.99989887e-01 2.96142656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98907232899995 meters Centerline goodness [0,1] 0.3559893596967094 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.68, Z:296.14 [[ 9.99940321e-01 1.02950551e-02 3.65599213e-03 -1.70502132e+02] [-1.02971078e-02 9.99946836e-01 5.43065295e-04 -9.56807622e+01] [-3.65020687e-03 -5.80679030e-04 9.99993169e-01 2.96143968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.019072329 meters Centerline goodness [0,1] 0.36424076435784325 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.68, Z:296.14 [[ 9.99939377e-01 1.05379473e-02 3.19287045e-03 -1.70501560e+02] [-1.05396258e-02 9.99944327e-01 5.09326965e-04 -9.56803532e+01] [-3.18732543e-03 -5.42947748e-04 9.99994773e-01 2.96144745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.04907232899996 meters Centerline goodness [0,1] 0.3509307676218364 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.68, Z:296.15 [[ 9.99932212e-01 1.14304146e-02 2.21749030e-03 -1.70499191e+02] [-1.14318204e-02 9.99934461e-01 6.22316410e-04 -9.56787855e+01] [-2.21023163e-03 -6.47624175e-04 9.99997348e-01 2.96145095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.079072329 meters Centerline goodness [0,1] 0.32907308079114983 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.68, Z:296.15 [[ 9.99932312e-01 1.14822095e-02 1.87884567e-03 -1.70498482e+02] [-1.14831049e-02 9.99933958e-01 4.66476548e-04 -9.56779743e+01] [-1.87336540e-03 -4.88019955e-04 9.99998126e-01 2.96145274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.10907232899996 meters Centerline goodness [0,1] 0.3623947379446143 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.68, Z:296.15 [[ 9.99967419e-01 7.93979238e-03 1.45651908e-03 -1.70497840e+02] [-7.93520843e-03 9.99963628e-01 -3.12642767e-03 -9.56787591e+01] [-1.48128929e-03 3.11476802e-03 9.99994052e-01 2.96145778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.139072329 meters Centerline goodness [0,1] 0.3176340126375695 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.68, Z:296.15 [[ 9.99991623e-01 3.71825963e-03 1.71154003e-03 -1.70498908e+02] [-3.70579495e-03 9.99967002e-01 -7.22918345e-03 -9.56792782e+01] [-1.73836354e-03 7.22278028e-03 9.99972404e-01 2.96146248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16907232899996 meters Centerline goodness [0,1] 0.3695197456492637 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.68, Z:296.15 [[ 9.99991858e-01 3.08684486e-03 2.59897665e-03 -1.70501783e+02] [-3.06762769e-03 9.99968166e-01 -7.36592984e-03 -9.56805781e+01] [-2.62163140e-03 7.35789718e-03 9.99969494e-01 2.96146879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.199072329 meters Centerline goodness [0,1] 0.3148202402377265 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.68, Z:296.15 [[ 9.99992101e-01 1.38427836e-03 3.72583926e-03 -1.70505378e+02] [-1.35226056e-03 9.99962257e-01 -8.58229066e-03 -9.56799706e+01] [-3.73757892e-03 8.57718456e-03 9.99956230e-01 2.96147585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22907232899996 meters Centerline goodness [0,1] 0.3193038239477868 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.15 [[ 9.99975788e-01 -6.85883347e-03 1.17503291e-03 -1.70495640e+02] [ 6.86307036e-03 9.99969822e-01 -3.64049855e-03 -9.56931856e+01] [-1.15002788e-03 3.64847474e-03 9.99992683e-01 2.96151722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.259072329 meters Centerline goodness [0,1] 0.3289570115375756 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99978620e-01 -6.32322823e-03 1.66638278e-03 -1.70496433e+02] [ 6.32719136e-03 9.99977142e-01 -2.38383706e-03 -9.56971949e+01] [-1.65127115e-03 2.39432961e-03 9.99995770e-01 2.96150906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28907232899996 meters Centerline goodness [0,1] 0.31574979582434615 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99980982e-01 -5.86569802e-03 1.90500451e-03 -1.70496910e+02] [ 5.86865355e-03 9.99981579e-01 -1.54958836e-03 -9.56995137e+01] [-1.89588000e-03 1.56073870e-03 9.99996985e-01 2.96150607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.319072329 meters Centerline goodness [0,1] 0.3214765100671141 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99974174e-01 -6.54163139e-03 2.97644792e-03 -1.70499128e+02] [ 6.54635302e-03 9.99977325e-01 -1.57936024e-03 -9.57008374e+01] [-2.96604884e-03 1.59880433e-03 9.99994323e-01 2.96149744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34907232899997 meters Centerline goodness [0,1] 0.3226637618618682 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99975704e-01 -6.27753025e-03 3.03062391e-03 -1.70499071e+02] [ 6.28095959e-03 9.99979644e-01 -1.12337152e-03 -9.57021105e+01] [-3.02351022e-03 1.14237945e-03 9.99994777e-01 2.96149398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.379072329 meters Centerline goodness [0,1] 0.3270638065882452 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99980491e-01 -5.73732462e-03 2.46990340e-03 -1.70497384e+02] [ 5.73952783e-03 9.99983136e-01 -8.85860855e-04 -9.57014062e+01] [-2.46477927e-03 9.00019652e-04 9.99996557e-01 2.96149134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40907232899997 meters Centerline goodness [0,1] 0.28735824931351794 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99979386e-01 -5.88192513e-03 2.57495677e-03 -1.70497787e+02] [ 5.88479637e-03 9.99982070e-01 -1.10891014e-03 -9.57006401e+01] [-2.56838807e-03 1.12404038e-03 9.99996070e-01 2.96149359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43907232899994 meters Centerline goodness [0,1] 0.34189967535867627 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99981207e-01 -5.64497379e-03 2.39148811e-03 -1.70497494e+02] [ 5.64740903e-03 9.99983540e-01 -1.01276723e-03 -9.57003254e+01] [-2.38573170e-03 1.02625391e-03 9.99996628e-01 2.96149660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46907232899997 meters Centerline goodness [0,1] 0.3355689225158762 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99975650e-01 -6.19219090e-03 3.21796501e-03 -1.70499870e+02] [ 6.19626475e-03 9.99980012e-01 -1.25754701e-03 -9.57007810e+01] [-3.21011372e-03 1.27745575e-03 9.99994032e-01 2.96149935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49907232899994 meters Centerline goodness [0,1] 0.3031293200955134 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99978392e-01 -5.86300284e-03 2.97343581e-03 -1.70499153e+02] [ 5.86614917e-03 9.99982242e-01 -1.05053371e-03 -9.57004967e+01] [-2.96722372e-03 1.06795363e-03 9.99995028e-01 2.96149916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.529072329 meters Centerline goodness [0,1] 0.2995727569741141 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99972856e-01 -6.44214580e-03 3.57567564e-03 -1.70500901e+02] [ 6.44831238e-03 9.99977737e-01 -1.71575048e-03 -9.56988661e+01] [-3.56454292e-03 1.73876098e-03 9.99992135e-01 2.96150251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55907232899995 meters Centerline goodness [0,1] 0.35787907990111867 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99973099e-01 -6.38342517e-03 3.61295606e-03 -1.70501088e+02] [ 6.38922222e-03 9.99978316e-01 -1.59525680e-03 -9.56991181e+01] [-3.60269452e-03 1.61829786e-03 9.99992201e-01 2.96150364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.589072329 meters Centerline goodness [0,1] 0.32009047309891303 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99966590e-01 -6.74950032e-03 4.61111899e-03 -1.70502938e+02] [ 6.75429138e-03 9.99976665e-01 -1.02424174e-03 -9.57018675e+01] [-4.60409827e-03 1.05535236e-03 9.99988844e-01 2.96149207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61907232899995 meters Centerline goodness [0,1] 0.29520140691734365 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99964399e-01 -6.74643602e-03 5.06808116e-03 -1.70503895e+02] [ 6.75024623e-03 9.99976947e-01 -7.35075850e-04 -9.57029359e+01] [-5.06300518e-03 7.69260476e-04 9.99986887e-01 2.96148839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.649072329 meters Centerline goodness [0,1] 0.3171252223035882 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99965570e-01 -6.53557817e-03 5.11313994e-03 -1.70503916e+02] [ 6.53768381e-03 9.99978551e-01 -3.95202423e-04 -9.57037970e+01] [-5.11044740e-03 4.28616909e-04 9.99986850e-01 2.96148651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67907232899995 meters Centerline goodness [0,1] 0.32536976213886737 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99957030e-01 -7.27215158e-03 5.74924288e-03 -1.70505756e+02] [ 7.27897496e-03 9.99972827e-01 -1.16679859e-03 -9.57021910e+01] [-5.74060152e-03 1.20859705e-03 9.99982792e-01 2.96149039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.709072329 meters Centerline goodness [0,1] 0.3318754446909137 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99958475e-01 -7.17973395e-03 5.61239649e-03 -1.70505658e+02] [ 7.18624418e-03 9.99973528e-01 -1.14066906e-03 -9.57020454e+01] [-5.60405822e-03 1.18095375e-03 9.99983600e-01 2.96149335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73907232899995 meters Centerline goodness [0,1] 0.3252651618166984 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99957005e-01 -7.38116392e-03 5.61312634e-03 -1.70505558e+02] [ 7.39008309e-03 9.99971461e-01 -1.56990529e-03 -9.57003516e+01] [-5.60137842e-03 1.61131926e-03 9.99983014e-01 2.96149269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.769072329 meters Centerline goodness [0,1] 0.33273366245502467 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99954221e-01 -7.48000966e-03 5.96697148e-03 -1.70506314e+02] [ 7.48925447e-03 9.99970787e-01 -1.52849236e-03 -9.57005188e+01] [-5.95536403e-03 1.57311056e-03 9.99981029e-01 2.96149054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79907232899996 meters Centerline goodness [0,1] 0.3309570598319187 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99947305e-01 -7.95221954e-03 6.49230382e-03 -1.70507659e+02] [ 7.96474870e-03 9.99966464e-01 -1.90627996e-03 -9.56998862e+01] [-6.47692694e-03 1.95788907e-03 9.99977108e-01 2.96149048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.829072329 meters Centerline goodness [0,1] 0.3456022444151331 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99951854e-01 -7.54901102e-03 6.26913771e-03 -1.70507206e+02] [ 7.55835661e-03 9.99970357e-01 -1.46837826e-03 -9.57003287e+01] [-6.25786707e-03 1.51569194e-03 9.99979271e-01 2.96149253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85907232899996 meters Centerline goodness [0,1] 0.3348605619364422 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99952652e-01 -7.44791779e-03 6.26272026e-03 -1.70507221e+02] [ 7.45654354e-03 9.99971281e-01 -1.35509621e-03 -9.57003987e+01] [-6.25244776e-03 1.40173029e-03 9.99979471e-01 2.96149289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.889072329 meters Centerline goodness [0,1] 0.37693901902907745 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99952817e-01 -7.38787350e-03 6.30744670e-03 -1.70506882e+02] [ 7.39603980e-03 9.99971839e-01 -1.27236532e-03 -9.57003734e+01] [-6.29786901e-03 1.31895542e-03 9.99979298e-01 2.96148638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91907232899996 meters Centerline goodness [0,1] 0.32163485685585136 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99950515e-01 -7.36881775e-03 6.68344826e-03 -1.70507769e+02] [ 7.37597838e-03 9.99972249e-01 -1.04738232e-03 -9.57012081e+01] [-6.67554482e-03 1.09662746e-03 9.99977117e-01 2.96148507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.949072329 meters Centerline goodness [0,1] 0.3220019676386243 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99946861e-01 -7.47995943e-03 7.09403182e-03 -1.70509306e+02] [ 7.48766050e-03 9.99971406e-01 -1.05963320e-03 -9.57015263e+01] [-7.08590296e-03 1.11269460e-03 9.99974276e-01 2.96149131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97907232899996 meters Centerline goodness [0,1] 0.3293356775084767 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99935971e-01 -8.19915071e-03 7.79926831e-03 -1.70511544e+02] [ 8.21431091e-03 9.99964431e-01 -1.91375393e-03 -9.56996679e+01] [-7.78329973e-03 1.97769701e-03 9.99967754e-01 2.96149766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.009072329 meters Centerline goodness [0,1] 0.30098632546646287 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99944970e-01 -7.47280241e-03 7.36300467e-03 -1.70510919e+02] [ 7.48064730e-03 9.99971480e-01 -1.03848207e-03 -9.57015812e+01] [-7.35503431e-03 1.09350497e-03 9.99972353e-01 2.96150304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03907232899996 meters Centerline goodness [0,1] 0.3049091822214782 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99942332e-01 -7.69074774e-03 7.49568989e-03 -1.70511132e+02] [ 7.70194914e-03 9.99969264e-01 -1.46666065e-03 -9.56998947e+01] [-7.48417978e-03 1.52430749e-03 9.99970831e-01 2.96150200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.069072329 meters Centerline goodness [0,1] 0.32393128413299577 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99942400e-01 -7.32684652e-03 7.84309300e-03 -1.70510878e+02] [ 7.33030206e-03 9.99973048e-01 -4.11927299e-04 -9.57027711e+01] [-7.83986348e-03 4.69395813e-04 9.99969158e-01 2.96148488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09907232899997 meters Centerline goodness [0,1] 0.31944008536815016 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99930756e-01 -7.95057485e-03 8.67588020e-03 -1.70512557e+02] [ 7.95487781e-03 9.99968253e-01 -4.61572276e-04 -9.57035514e+01] [-8.67193501e-03 5.30555882e-04 9.99962257e-01 2.96147741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.129072329 meters Centerline goodness [0,1] 0.32736985440452493 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99935444e-01 -7.60506550e-03 8.44225337e-03 -1.70511300e+02] [ 7.60659141e-03 9.99971058e-01 -1.48651900e-04 -9.57032210e+01] [-8.44087853e-03 2.12859075e-04 9.99964352e-01 2.96146931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15907232899997 meters Centerline goodness [0,1] 0.32105351240533864 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99938772e-01 -7.38421519e-03 8.24175377e-03 -1.70510908e+02] [ 7.38391832e-03 9.99972736e-01 6.64483814e-05 -9.57034830e+01] [-8.24201973e-03 -5.58787623e-06 9.99966034e-01 2.96147083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18907232899994 meters Centerline goodness [0,1] 0.3345322988770154 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99937149e-01 -7.58447364e-03 8.25673055e-03 -1.70511401e+02] [ 7.58787388e-03 9.99971139e-01 -3.80564897e-04 -9.57018707e+01] [-8.25360587e-03 4.43192008e-04 9.99965840e-01 2.96147833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21907232899997 meters Centerline goodness [0,1] 0.32985342631644887 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99940822e-01 -7.36579205e-03 8.00608068e-03 -1.70510969e+02] [ 7.36775285e-03 9.99972835e-01 -2.15446889e-04 -9.57018683e+01] [-8.00427625e-03 2.74420963e-04 9.99967928e-01 2.96148118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24907232899994 meters Centerline goodness [0,1] 0.3298921675165092 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99935737e-01 -7.69908030e-03 8.32146892e-03 -1.70511824e+02] [ 7.70491584e-03 9.99970093e-01 -6.69431099e-04 -9.57006699e+01] [-8.31606605e-03 7.33504297e-04 9.99965152e-01 2.96148194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.279072329 meters Centerline goodness [0,1] 0.3419964929859719 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99927983e-01 -8.04167566e-03 8.90838621e-03 -1.70513241e+02] [ 8.04978657e-03 9.99967217e-01 -8.74998283e-04 -9.57005193e+01] [-8.90105771e-03 9.46645876e-04 9.99959937e-01 2.96148033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30907232899995 meters Centerline goodness [0,1] 0.34285833646655806 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99939606e-01 -7.21456347e-03 8.29061392e-03 -1.70512081e+02] [ 7.21531133e-03 9.99973967e-01 -6.02993319e-05 -9.57021823e+01] [-8.28996306e-03 1.20115051e-04 9.99965630e-01 2.96148430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.339072329 meters Centerline goodness [0,1] 0.3182862633689839 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99965835e-01 -2.96766141e-03 7.71500498e-03 -1.70511043e+02] [ 2.93938694e-03 9.99988932e-01 3.67362677e-03 -9.57001008e+01] [-7.72582168e-03 -3.65082388e-03 9.99963491e-01 2.96148917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36907232899995 meters Centerline goodness [0,1] 0.320442681144289 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.70, Z:296.15 [[ 9.99971471e-01 -3.14302045e-03 6.86867903e-03 -1.70509243e+02] [ 3.12429818e-03 9.99991380e-01 2.73477789e-03 -9.56964186e+01] [-6.87721528e-03 -2.71324007e-03 9.99972671e-01 2.96149515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.399072329 meters Centerline goodness [0,1] 0.28353282780806754 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.16 [[ 9.99976757e-01 6.43473776e-03 2.25375162e-03 -1.70496920e+02] [-6.44445398e-03 9.99969856e-01 4.33073610e-03 -9.56935375e+01] [-2.22581653e-03 -4.34515964e-03 9.99988083e-01 2.96155323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42907232899995 meters Centerline goodness [0,1] 0.28353282780806754 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.16 [[ 9.99976757e-01 6.43473776e-03 2.25375162e-03 -1.70496920e+02] [-6.44445398e-03 9.99969856e-01 4.33073610e-03 -9.56935375e+01] [-2.22581653e-03 -4.34515964e-03 9.99988083e-01 2.96155323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.459072329 meters Centerline goodness [0,1] 0.28087586970602374 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.16 [[ 9.99979767e-01 6.03714979e-03 2.00470476e-03 -1.70496670e+02] [-6.04411360e-03 9.99975658e-01 3.48603310e-03 -9.56909019e+01] [-1.98361026e-03 -3.49807923e-03 9.99991914e-01 2.96155886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48907232899995 meters Centerline goodness [0,1] 0.33006460785748637 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.16 [[ 9.99981104e-01 5.79960932e-03 2.03846184e-03 -1.70497147e+02] [-5.80592958e-03 9.99978314e-01 3.10838637e-03 -9.56900934e+01] [-2.02039020e-03 -3.12016280e-03 9.99993091e-01 2.96156381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.519072329 meters Centerline goodness [0,1] 0.2892273619990807 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.16 [[ 9.99983366e-01 5.49825933e-03 1.74266372e-03 -1.70497566e+02] [-5.50227804e-03 9.99982195e-01 2.30973490e-03 -9.56878503e+01] [-1.72993317e-03 -2.31928510e-03 9.99995814e-01 2.96158022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.54907232899996 meters Centerline goodness [0,1] 0.3474418701819625 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.69, Z:296.16 [[ 9.99996016e-01 2.71047974e-03 7.87800583e-04 -1.70495018e+02] [-2.70997684e-03 9.99996124e-01 -6.38733945e-04 -9.56891353e+01] [-7.89528805e-04 6.36596480e-04 9.99999486e-01 2.96157903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.579072329 meters Centerline goodness [0,1] 0.3331035923141187 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99994031e-01 3.44537255e-03 -2.59998512e-04 -1.70492650e+02] [-3.44545321e-03 9.99994016e-01 -3.10419738e-04 -9.56886733e+01] [ 2.58927445e-04 3.11313698e-04 9.99999918e-01 2.96158370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.60907232899996 meters Centerline goodness [0,1] 0.35102109139604953 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99973128e-01 7.31933969e-03 -4.13860131e-04 -1.70491756e+02] [-7.31796864e-03 9.99968031e-01 3.22260391e-03 -9.56861556e+01] [ 4.37434233e-04 -3.21948869e-03 9.99994722e-01 2.96157851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.639072329 meters Centerline goodness [0,1] 0.34733359854274404 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99971341e-01 7.53735569e-03 -7.10319674e-04 -1.70490865e+02] [-7.53490858e-03 9.99965876e-01 3.38698767e-03 -9.56864006e+01] [ 7.35824366e-04 -3.38153841e-03 9.99994012e-01 2.96157615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66907232899996 meters Centerline goodness [0,1] 0.35171389109781104 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99984768e-01 5.28125324e-03 -1.60353075e-03 -1.70488036e+02] [-5.27959449e-03 9.99985525e-01 1.03691637e-03 -9.56889190e+01] [ 1.60898375e-03 -1.02843459e-03 9.99998177e-01 2.96156817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.699072329 meters Centerline goodness [0,1] 0.3565392017404402 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99983775e-01 5.39522474e-03 -1.82786660e-03 -1.70487795e+02] [-5.39331979e-03 9.99984909e-01 1.04550194e-03 -9.56888145e+01] [ 1.83347973e-03 -1.03562671e-03 9.99997783e-01 2.96157227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72907232899996 meters Centerline goodness [0,1] 0.3116711984940389 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99983832e-01 5.29721281e-03 -2.06760395e-03 -1.70487417e+02] [-5.29575834e-03 9.99985727e-01 7.08298387e-04 -9.56876474e+01] [ 2.07132645e-03 -6.97337404e-04 9.99997612e-01 2.96157565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.759072329 meters Centerline goodness [0,1] 0.34520748405978885 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99983447e-01 5.30918925e-03 -2.21774942e-03 -1.70487203e+02] [-5.30788609e-03 9.99985737e-01 5.93078249e-04 -9.56871781e+01] [ 2.22086655e-03 -5.81296871e-04 9.99997365e-01 2.96157775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78907232899996 meters Centerline goodness [0,1] 0.32002259130653055 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99979795e-01 5.67131498e-03 -2.87145648e-03 -1.70486006e+02] [-5.66934574e-03 9.99983689e-01 6.93474886e-04 -9.56867242e+01] [ 2.87534256e-03 -6.77181595e-04 9.99995637e-01 2.96158410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.819072329 meters Centerline goodness [0,1] 0.3449424083769633 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99980411e-01 5.54802101e-03 -2.89761137e-03 -1.70486044e+02] [-5.54679048e-03 9.99984523e-01 4.32531423e-04 -9.56858579e+01] [ 2.89996622e-03 -4.16450507e-04 9.99995708e-01 2.96158586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84907232899997 meters Centerline goodness [0,1] 0.33186776375018323 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.69, Z:296.16 [[ 9.99989347e-01 2.88332845e-03 -3.60457079e-03 -1.70483582e+02] [-2.89054146e-03 9.99993827e-01 -1.99746882e-03 -9.56886088e+01] [ 3.59878918e-03 2.00786670e-03 9.99991509e-01 2.96157774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.879072329 meters Centerline goodness [0,1] 0.355533708452737 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.69, Z:296.16 [[ 9.99991631e-01 2.71138617e-03 -3.06356963e-03 -1.70484815e+02] [-2.71734362e-03 9.99994422e-01 -1.94212701e-03 -9.56890063e+01] [ 3.05828669e-03 1.95043553e-03 9.99993421e-01 2.96157546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90907232899997 meters Centerline goodness [0,1] 0.34284936896963103 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99995642e-01 -2.39730132e-03 -1.72285199e-03 -1.70487690e+02] [ 2.38743651e-03 9.99980875e-01 -5.70529136e-03 -9.56918333e+01] [ 1.73649634e-03 5.70115330e-03 9.99982241e-01 2.96156446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93907232899994 meters Centerline goodness [0,1] 0.3215302193202746 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.69, Z:296.16 [[ 9.99996144e-01 -2.66093357e-03 -7.94846920e-04 -1.70489649e+02] [ 2.65664787e-03 9.99982186e-01 -5.34509928e-03 -9.56936880e+01] [ 8.09055715e-04 5.34296704e-03 9.99985399e-01 2.96155760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96907232899997 meters Centerline goodness [0,1] 0.3318197987068695 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.70, Z:296.15 [[ 9.99976493e-01 -6.85074241e-03 2.84547198e-04 -1.70491629e+02] [ 6.85281755e-03 9.99943895e-01 -8.07743066e-03 -9.56991959e+01] [-2.29194837e-04 8.07919073e-03 9.99967337e-01 2.96154374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99907232899994 meters Centerline goodness [0,1] 0.35893682427486984 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.70, Z:296.15 [[ 9.99965973e-01 -8.12120659e-03 1.44853434e-03 -1.70494911e+02] [ 8.13339786e-03 9.99929779e-01 -8.61892031e-03 -9.56997876e+01] [-1.37843659e-03 8.63040854e-03 9.99961807e-01 2.96154618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.029072329 meters Centerline goodness [0,1] 0.36091733155102557 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.70, Z:296.15 [[ 9.99969331e-01 -7.74642362e-03 1.15288039e-03 -1.70493943e+02] [ 7.75567310e-03 9.99935914e-01 -8.24721863e-03 -9.57000690e+01] [-1.08892006e-03 8.25590706e-03 9.99965327e-01 2.96154351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05907232899995 meters Centerline goodness [0,1] 0.364675825096331 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99949237e-01 -9.77762384e-03 2.43346331e-03 -1.70497430e+02] [ 9.80217374e-03 9.99899014e-01 -1.02897443e-02 -9.56959777e+01] [-2.33260831e-03 1.03130752e-02 9.99944098e-01 2.96154826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.089072329 meters Centerline goodness [0,1] 0.3821412129075461 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99893927e-01 -1.41908481e-02 3.27955182e-03 -1.70499136e+02] [ 1.42353722e-02 9.99800978e-01 -1.39770514e-02 -9.56981350e+01] [-3.08055291e-03 1.40222544e-02 9.99896938e-01 2.96154268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11907232899995 meters Centerline goodness [0,1] 0.3254483579347349 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.70, Z:296.15 [[ 9.99857868e-01 -1.62319784e-02 4.55704838e-03 -1.70502764e+02] [ 1.62991097e-02 9.99753098e-01 -1.51023959e-02 -9.56987481e+01] [-4.31078147e-03 1.51745252e-02 9.99875568e-01 2.96154410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.149072329 meters Centerline goodness [0,1] 0.33932085583888116 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.70, Z:296.15 [[ 9.99716788e-01 -2.17532608e-02 9.65090912e-03 -1.70515583e+02] [ 2.18859280e-02 9.99664386e-01 -1.38608168e-02 -9.56970606e+01] [-9.34615218e-03 1.40681104e-02 9.99857359e-01 2.96149038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17907232899995 meters Centerline goodness [0,1] 0.3210542830247882 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.70, Z:296.15 [[ 9.99665873e-01 -2.34525037e-02 1.08684420e-02 -1.70519264e+02] [ 2.36138768e-02 9.99609135e-01 -1.49653293e-02 -9.56966694e+01] [-1.05132195e-02 1.52169750e-02 9.99828943e-01 2.96149668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.209072329 meters Centerline goodness [0,1] 0.33395927224169586 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.70, Z:296.15 [[ 9.99656761e-01 -2.35780127e-02 1.14208803e-02 -1.70520496e+02] [ 2.37462065e-02 9.99608133e-01 -1.48222037e-02 -9.56972273e+01] [-1.10669267e-02 1.50883188e-02 9.99824918e-01 2.96149404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23907232899995 meters Centerline goodness [0,1] 0.32631711093442695 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.70, Z:296.15 [[ 9.99614338e-01 -2.48199797e-02 1.24556799e-02 -1.70523872e+02] [ 2.50147812e-02 9.99563234e-01 -1.57353708e-02 -9.56964974e+01] [-1.20596881e-02 1.60408784e-02 9.99798607e-01 2.96150221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.269072329 meters Centerline goodness [0,1] 0.33375806822217113 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.70, Z:296.15 [[ 9.99574643e-01 -2.58480197e-02 1.35060579e-02 -1.70527038e+02] [ 2.60659393e-02 9.99528693e-01 -1.62160251e-02 -9.56969909e+01] [-1.30805402e-02 1.65611756e-02 9.99777289e-01 2.96150787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29907232899996 meters Centerline goodness [0,1] 0.33221203067215477 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.70, Z:296.15 [[ 9.99562125e-01 -2.61099670e-02 1.39222243e-02 -1.70528518e+02] [ 2.63381925e-02 9.99517410e-01 -1.64695733e-02 -9.56964795e+01] [-1.34854855e-02 1.68290479e-02 9.99767435e-01 2.96151310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.329072329 meters Centerline goodness [0,1] 0.2855416666666667 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.70, Z:296.15 [[ 9.99552756e-01 -2.62431462e-02 1.43382756e-02 -1.70529870e+02] [ 2.64774391e-02 9.99514834e-01 -1.64024805e-02 -9.56970212e+01] [-1.39008665e-02 1.67747854e-02 9.99762658e-01 2.96151644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35907232899996 meters Centerline goodness [0,1] 0.296137965550319 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.70, Z:296.15 [[ 9.99518113e-01 -2.70569204e-02 1.52139662e-02 -1.70532227e+02] [ 2.73146050e-02 9.99482447e-01 -1.69926436e-02 -9.56964284e+01] [-1.47463236e-02 1.74000185e-02 9.99739859e-01 2.96151759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.389072329 meters Centerline goodness [0,1] 0.3394962542517894 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.70, Z:296.15 [[ 9.99596007e-01 -2.34613998e-02 1.60432241e-02 -1.70534613e+02] [ 2.36728813e-02 9.99633642e-01 -1.31216224e-02 -9.56961713e+01] [-1.57294949e-02 1.34961107e-02 9.99785196e-01 2.96151716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41907232899996 meters Centerline goodness [0,1] 0.3270872023871627 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.70, Z:296.15 [[ 9.99584935e-01 -2.37410199e-02 1.63193475e-02 -1.70535200e+02] [ 2.39608686e-02 9.99622943e-01 -1.34107765e-02 -9.56954213e+01] [-1.59948086e-02 1.37962359e-02 9.99776890e-01 2.96151494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.449072329 meters Centerline goodness [0,1] 0.30995640292872195 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.69, Z:296.15 [[ 9.99637257e-01 -2.08788267e-02 1.70125981e-02 -1.70537573e+02] [ 2.10611650e-02 9.99721888e-01 -1.06100878e-02 -9.56925631e+01] [-1.67863406e-02 1.09645442e-02 9.99798979e-01 2.96152098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47907232899996 meters Centerline goodness [0,1] 0.31082180634662326 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.69, Z:296.15 [[ 9.99671795e-01 -1.84899570e-02 1.77319898e-02 -1.70540997e+02] [ 1.86393504e-02 9.99791844e-01 -8.29713223e-03 -9.56896826e+01] [-1.75748852e-02 8.62492184e-03 9.99808349e-01 2.96153813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.509072329 meters Centerline goodness [0,1] 0.32012856904324594 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.69, Z:296.15 [[ 9.99731458e-01 -1.49062407e-02 1.77430451e-02 -1.70541726e+02] [ 1.49994846e-02 9.99874322e-01 -5.13380398e-03 -9.56863183e+01] [-1.76642895e-02 5.39856187e-03 9.99829400e-01 2.96154679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53907232899996 meters Centerline goodness [0,1] 0.3236867399389861 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99735806e-01 -1.49758297e-02 1.74368209e-02 -1.70541247e+02] [ 1.50731831e-02 9.99871457e-01 -5.46522913e-03 -9.56848388e+01] [-1.73527332e-02 5.72661365e-03 9.99833030e-01 2.96155108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.569072329 meters Centerline goodness [0,1] 0.31405907525310506 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99740553e-01 -1.49583568e-02 1.71777343e-02 -1.70540766e+02] [ 1.50573509e-02 9.99870679e-01 -5.64812664e-03 -9.56837705e+01] [-1.70910262e-02 5.90531242e-03 9.99836499e-01 2.96155374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59907232899997 meters Centerline goodness [0,1] 0.3303953716660749 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99769257e-01 -1.20202942e-02 1.78029388e-02 -1.70543373e+02] [ 1.20719724e-02 9.99923216e-01 -2.79817146e-03 -9.56812918e+01] [-1.77679370e-02 3.01244239e-03 9.99837600e-01 2.96156567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.629072329 meters Centerline goodness [0,1] 0.33428672832418216 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99780573e-01 -1.16559139e-02 1.74053495e-02 -1.70542303e+02] [ 1.17009430e-02 9.99928448e-01 -2.48749194e-03 -9.56815524e+01] [-1.73751101e-02 2.69060512e-03 9.99845421e-01 2.96156444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65907232899997 meters Centerline goodness [0,1] 0.2906242839585894 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99770824e-01 -1.19316247e-02 1.77745728e-02 -1.70543224e+02] [ 1.19826881e-02 9.99924371e-01 -2.76910429e-03 -9.56809515e+01] [-1.77401886e-02 2.98145684e-03 9.99838185e-01 2.96156381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68907232899994 meters Centerline goodness [0,1] 0.3339660818957425 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99773777e-01 -1.18646964e-02 1.76528668e-02 -1.70542908e+02] [ 1.19156914e-02 9.99925123e-01 -2.78639285e-03 -9.56804870e+01] [-1.76184853e-02 2.99610862e-03 9.99840293e-01 2.96156328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71907232899997 meters Centerline goodness [0,1] 0.3477218225419664 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99778128e-01 -1.15612937e-02 1.76077101e-02 -1.70542713e+02] [ 1.16046190e-02 9.99929878e-01 -2.36040448e-03 -9.56813474e+01] [-1.75791861e-02 2.56421154e-03 9.99842186e-01 2.96156163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74907232899994 meters Centerline goodness [0,1] 0.3190810066357831 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99781279e-01 -1.14549215e-02 1.74979961e-02 -1.70542668e+02] [ 1.14976726e-02 9.99931151e-01 -2.34454904e-03 -9.56811293e+01] [-1.74699347e-02 2.54522246e-03 9.99844149e-01 2.96156448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.779072329 meters Centerline goodness [0,1] 0.31481751672676495 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99778401e-01 -1.16695679e-02 1.75205899e-02 -1.70543021e+02] [ 1.17203466e-02 9.99927399e-01 -2.79834882e-03 -9.56795244e+01] [-1.74866624e-02 3.00307610e-03 9.99842587e-01 2.96156934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80907232899995 meters Centerline goodness [0,1] 0.3130469205767147 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99777390e-01 -1.17902962e-02 1.74974009e-02 -1.70542963e+02] [ 1.18454221e-02 9.99925188e-01 -3.05022423e-03 -9.56784189e+01] [-1.74601289e-02 3.25680932e-03 9.99842256e-01 2.96156994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.839072329 meters Centerline goodness [0,1] 0.32960917144346014 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99785955e-01 -1.13787185e-02 1.72791209e-02 -1.70541810e+02] [ 1.14233251e-02 9.99931664e-01 -2.48502819e-03 -9.56792340e+01] [-1.72496637e-02 2.68188129e-03 9.99847617e-01 2.96156150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86907232899995 meters Centerline goodness [0,1] 0.3285886962320773 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99785499e-01 -1.14654414e-02 1.72481770e-02 -1.70541504e+02] [ 1.15141476e-02 9.99929991e-01 -2.72719428e-03 -9.56779320e+01] [-1.72157009e-02 2.92520735e-03 9.99847520e-01 2.96155900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.899072329 meters Centerline goodness [0,1] 0.3253443928057854 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99781633e-01 -1.15681215e-02 1.74030250e-02 -1.70542103e+02] [ 1.16192195e-02 9.99928467e-01 -2.83791313e-03 -9.56776702e+01] [-1.73689508e-02 3.03950299e-03 9.99844528e-01 2.96156164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92907232899995 meters Centerline goodness [0,1] 0.32833892512555485 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99761482e-01 -1.21302326e-02 1.81613958e-02 -1.70544213e+02] [ 1.21928377e-02 9.99920085e-01 -3.34039505e-03 -9.56766805e+01] [-1.81194247e-02 3.56103726e-03 9.99829488e-01 2.96156422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.959072329 meters Centerline goodness [0,1] 0.32576184218759774 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.68, Z:296.16 [[ 9.99771855e-01 -1.18314807e-02 1.77835357e-02 -1.70543773e+02] [ 1.18884438e-02 9.99924522e-01 -3.10083711e-03 -9.56771947e+01] [-1.77455059e-02 3.31154823e-03 9.99837052e-01 2.96157009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98907232899995 meters Centerline goodness [0,1] 0.32890510948905105 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.16 [[ 9.99808292e-01 -8.26392066e-03 1.77506876e-02 -1.70543876e+02] [ 8.26518915e-03 9.99965843e-01 1.90058471e-06 -9.56737371e+01] [-1.77500970e-02 1.44812571e-04 9.99842444e-01 2.96157182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.019072329 meters Centerline goodness [0,1] 0.3373121869782971 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.16 [[ 9.99807236e-01 -8.61845694e-03 1.76412214e-02 -1.70544020e+02] [ 8.63220243e-03 9.99962495e-01 -7.03168568e-04 -9.56714781e+01] [-1.76344995e-02 8.55315616e-04 9.99844134e-01 2.96157836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.04907232899996 meters Centerline goodness [0,1] 0.3453133805021602 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.16 [[ 9.99830078e-01 -7.88697371e-03 1.66616423e-02 -1.70542282e+02] [ 7.89820629e-03 9.99968624e-01 -6.08461116e-04 -9.56705672e+01] [-1.66563206e-02 7.39954813e-04 9.99861000e-01 2.96158800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.079072329 meters Centerline goodness [0,1] 0.3596309978502703 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.16 [[ 9.99902740e-01 -4.67143459e-03 1.31410642e-02 -1.70536000e+02] [ 4.68997201e-03 9.99988050e-01 -1.38018535e-03 -9.56700547e+01] [-1.31344597e-02 1.44168233e-03 9.99912700e-01 2.96163985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.10907232899996 meters Centerline goodness [0,1] 0.3331734078725046 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.16 [[ 9.99892380e-01 -5.22797269e-03 1.37075379e-02 -1.70537244e+02] [ 5.25561742e-03 9.99984226e-01 -1.98150693e-03 -9.56687688e+01] [-1.36969624e-02 2.05333526e-03 9.99904084e-01 2.96163704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.139072329 meters Centerline goodness [0,1] 0.3730664050268251 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.16 [[ 9.99914913e-01 -3.06187698e-03 1.26803345e-02 -1.70533964e+02] [ 3.06195065e-03 9.99995312e-01 1.36042158e-05 -9.56709966e+01] [-1.26803167e-02 2.52235000e-05 9.99919601e-01 2.96162695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16907232899996 meters Centerline goodness [0,1] 0.3274402858754937 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.16 [[ 9.99931866e-01 1.68088306e-03 1.15515514e-02 -1.70531595e+02] [-1.72676217e-03 9.99990657e-01 3.96285800e-03 -9.56688727e+01] [-1.15447824e-02 -3.98253477e-03 9.99925426e-01 2.96163364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.199072329 meters Centerline goodness [0,1] 0.3489184552947575 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.67, Z:296.17 [[ 9.99927879e-01 9.49827180e-03 7.34975052e-03 -1.70522266e+02] [-9.53990989e-03 9.99938526e-01 5.65107165e-03 -9.56657027e+01] [-7.29562328e-03 -5.72078004e-03 9.99957022e-01 2.96169156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22907232899996 meters Centerline goodness [0,1] 0.3560370223345799 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.17 [[ 9.99933266e-01 9.66079977e-03 6.33502787e-03 -1.70520036e+02] [-9.68979175e-03 9.99942647e-01 4.56184417e-03 -9.56607200e+01] [-6.29059348e-03 -4.62292484e-03 9.99969528e-01 2.96169929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.259072329 meters Centerline goodness [0,1] 0.35878564857405704 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.17 [[ 9.99933549e-01 1.04253485e-02 4.92042611e-03 -1.70517500e+02] [-1.04427584e-02 9.99939256e-01 3.52595682e-03 -9.56567074e+01] [-4.88336789e-03 -3.57710533e-03 9.99981678e-01 2.96171741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28907232899996 meters Centerline goodness [0,1] 0.3487271813766538 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.17 [[ 9.99926003e-01 1.16368786e-02 3.54566873e-03 -1.70514980e+02] [-1.16509845e-02 9.99924188e-01 3.98401066e-03 -9.56562535e+01] [-3.49903848e-03 -4.02502638e-03 9.99985778e-01 2.96172982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.319072329 meters Centerline goodness [0,1] 0.3504986514457755 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.17 [[ 9.99914565e-01 1.28899145e-02 2.17093674e-03 -1.70512185e+02] [-1.28983594e-02 9.99909121e-01 3.92194822e-03 -9.56535645e+01] [-2.12018587e-03 -3.94961467e-03 9.99989953e-01 2.96174241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34907232899997 meters Centerline goodness [0,1] 0.3504986514457755 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.17 [[ 9.99914565e-01 1.28899145e-02 2.17093674e-03 -1.70512185e+02] [-1.28983594e-02 9.99909121e-01 3.92194822e-03 -9.56535645e+01] [-2.12018587e-03 -3.94961467e-03 9.99989953e-01 2.96174241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.379072329 meters Centerline goodness [0,1] 0.35168746336152756 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.65, Z:296.18 [[ 9.99721284e-01 2.34522248e-02 -2.71079959e-03 -1.70499834e+02] [-2.34355037e-02 9.99707082e-01 6.04374206e-03 -9.56513465e+01] [ 2.85174475e-03 -5.97852861e-03 9.99978062e-01 2.96181538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40907232899997 meters Centerline goodness [0,1] 0.35771404647268157 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.65, Z:296.18 [[ 9.99727130e-01 2.31592566e-02 -3.05194988e-03 -1.70499711e+02] [-2.31431268e-02 9.99718542e-01 5.21847218e-03 -9.56489050e+01] [ 3.17194682e-03 -5.14641655e-03 9.99981726e-01 2.96182544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43907232899994 meters Centerline goodness [0,1] 0.37022006526650486 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.65, Z:296.18 [[ 9.99729760e-01 2.30362276e-02 -3.12084457e-03 -1.70499926e+02] [-2.30207657e-02 9.99722965e-01 4.90289643e-03 -9.56480213e+01] [ 3.23292422e-03 -4.82972723e-03 9.99983111e-01 2.96183067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46907232899997 meters Centerline goodness [0,1] 0.35087939435765525 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.65, Z:296.18 [[ 9.99726425e-01 2.31092520e-02 -3.61089726e-03 -1.70498875e+02] [-2.30920967e-02 9.99722188e-01 4.72253984e-03 -9.56471277e+01] [ 3.71902847e-03 -4.63786468e-03 9.99982329e-01 2.96183319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49907232899994 meters Centerline goodness [0,1] 0.350596109600502 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.65, Z:296.18 [[ 9.99726544e-01 2.31202362e-02 -3.50587372e-03 -1.70498858e+02] [-2.31032210e-02 9.99721473e-01 4.81856030e-03 -9.56474061e+01] [ 3.61630349e-03 -4.73624566e-03 9.99982245e-01 2.96182866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.529072329 meters Centerline goodness [0,1] 0.3546766054565632 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.65, Z:296.18 [[ 9.99718765e-01 2.34183555e-02 -3.73794698e-03 -1.70498132e+02] [-2.33986340e-02 9.99712506e-01 5.23532818e-03 -9.56486027e+01] [ 3.85947512e-03 -5.14639296e-03 9.99979309e-01 2.96182567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55907232899995 meters Centerline goodness [0,1] 0.35560159896193044 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.65, Z:296.18 [[ 9.99697316e-01 2.41599637e-02 -4.64453480e-03 -1.70495946e+02] [-2.41333221e-02 9.99692447e-01 5.70905243e-03 -9.56490270e+01] [ 4.78103686e-03 -5.59523634e-03 9.99972917e-01 2.96182679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.589072329 meters Centerline goodness [0,1] 0.3693100846676167 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.65, Z:296.18 [[ 9.99678807e-01 2.47352055e-02 -5.51831132e-03 -1.70493786e+02] [-2.47055603e-02 9.99680310e-01 5.37715398e-03 -9.56464723e+01] [ 5.64955218e-03 -5.23909390e-03 9.99970317e-01 2.96183022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61907232899995 meters Centerline goodness [0,1] 0.3579253859527849 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.65, Z:296.18 [[ 9.99673914e-01 2.48103258e-02 -6.04264938e-03 -1.70493023e+02] [-2.47793572e-02 9.99679694e-01 5.14706518e-03 -9.56455045e+01] [ 6.16841425e-03 -4.99565383e-03 9.99968497e-01 2.96183817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.649072329 meters Centerline goodness [0,1] 0.3523103347157639 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.64, Z:296.18 [[ 9.99643076e-01 2.57544593e-02 -7.10129929e-03 -1.70490584e+02] [-2.57199033e-02 9.99657104e-01 4.91528724e-03 -9.56422050e+01] [ 7.22545485e-03 -4.73088812e-03 9.99962705e-01 2.96184633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67907232899995 meters Centerline goodness [0,1] 0.35357449571647015 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.64, Z:296.18 [[ 9.99645032e-01 2.56820589e-02 -7.08820895e-03 -1.70490734e+02] [-2.56482618e-02 9.99659416e-01 4.81849774e-03 -9.56417601e+01] [ 7.20954376e-03 -4.63498708e-03 9.99963269e-01 2.96184789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.709072329 meters Centerline goodness [0,1] 0.36934331048649105 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.64, Z:296.19 [[ 9.99645042e-01 2.56372996e-02 -7.24705449e-03 -1.70490613e+02] [-2.56044284e-02 9.99661603e-01 4.59278594e-03 -9.56410253e+01] [ 7.36234874e-03 -4.40559900e-03 9.99963193e-01 2.96185121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73907232899995 meters Centerline goodness [0,1] 0.3648597660671614 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.64, Z:296.19 [[ 9.99716970e-01 2.23377473e-02 -8.18564071e-03 -1.70488625e+02] [-2.23290228e-02 9.99750008e-01 1.15567664e-03 -9.56419642e+01] [ 8.20940958e-03 -9.72572190e-04 9.99965829e-01 2.96185310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.769072329 meters Centerline goodness [0,1] 0.3539759994973717 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.64, Z:296.19 [[ 9.99716552e-01 2.22861225e-02 -8.37521243e-03 -1.70488565e+02] [-2.22797097e-02 9.99751408e-01 8.58219913e-04 -9.56407479e+01] [ 8.39225682e-03 -6.71379351e-04 9.99964559e-01 2.96186004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79907232899996 meters Centerline goodness [0,1] 0.3579933755398097 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.64, Z:296.19 [[ 9.99696904e-01 2.28395376e-02 -9.18996485e-03 -1.70486982e+02] [-2.28322650e-02 9.99738909e-01 8.95525083e-04 -9.56396149e+01] [ 9.20801881e-03 -6.85425941e-04 9.99957370e-01 2.96186804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.829072329 meters Centerline goodness [0,1] 0.2780864132827404 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.64, Z:296.19 [[ 9.99781318e-01 1.67723105e-02 -1.24902418e-02 -1.70479613e+02] [-1.67056860e-02 9.99845763e-01 5.41949881e-03 -9.56447914e+01] [ 1.25792128e-02 -5.20965561e-03 9.99907307e-01 2.96194813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85907232899996 meters Centerline goodness [0,1] 0.36380386080984883 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.65, Z:296.19 [[ 9.99809134e-01 1.41395589e-02 -1.34821490e-02 -1.70477170e+02] [-1.41049350e-02 9.99896983e-01 2.65977296e-03 -9.56469348e+01] [ 1.35183681e-02 -2.46910047e-03 9.99905574e-01 2.96194666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.889072329 meters Centerline goodness [0,1] 0.28009045983750736 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.65, Z:296.19 [[ 9.99814566e-01 1.40283470e-02 -1.31924122e-02 -1.70477978e+02] [-1.39940775e-02 9.99898469e-01 2.68640388e-03 -9.56474499e+01] [ 1.32287586e-02 -2.50129008e-03 9.99909368e-01 2.96194622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91907232899996 meters Centerline goodness [0,1] 0.30246693634591604 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.65, Z:296.19 [[ 9.99855585e-01 1.05401224e-02 -1.33309982e-02 -1.70476410e+02] [-1.05456919e-02 9.99944332e-01 -3.47561532e-04 -9.56497021e+01] [ 1.33265927e-02 4.88095938e-04 9.99911078e-01 2.96192914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.949072329 meters Centerline goodness [0,1] 0.30394129979035645 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.65, Z:296.19 [[ 9.99860850e-01 1.05836844e-02 -1.28944627e-02 -1.70477266e+02] [-1.05848913e-02 9.99943978e-01 -2.53538639e-05 -9.56508837e+01] [ 1.28934720e-02 1.61836822e-04 9.99916863e-01 2.96192470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97907232899996 meters Centerline goodness [0,1] 0.28764940239043824 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.65, Z:296.19 [[ 9.99870774e-01 1.02872819e-02 -1.23534353e-02 -1.70478840e+02] [-1.02905112e-02 9.99947032e-01 -1.97869020e-04 -9.56509200e+01] [ 1.23507454e-02 3.24966614e-04 9.99923674e-01 2.96192655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.009072329 meters Centerline goodness [0,1] 0.30610277475060776 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.65, Z:296.19 [[ 9.99878880e-01 1.00460819e-02 -1.18870447e-02 -1.70480179e+02] [-1.00514391e-02 9.99949407e-01 -3.91019945e-04 -9.56507681e+01] [ 1.18825151e-02 5.10454491e-04 9.99929270e-01 2.96192824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03907232899996 meters Centerline goodness [0,1] 0.31214914118139925 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.65, Z:296.19 [[ 9.99897663e-01 7.02504755e-03 -1.24624051e-02 -1.70478769e+02] [-7.06420211e-03 9.99970241e-01 -3.10058012e-03 -9.56535944e+01] [ 1.24402525e-02 3.18829977e-03 9.99917534e-01 2.96192807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.069072329 meters Centerline goodness [0,1] 0.3000062841701753 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.65, Z:296.19 [[ 9.99917382e-01 6.06334887e-03 -1.13342645e-02 -1.70481636e+02] [-6.10361299e-03 9.99975173e-01 -3.52121540e-03 -9.56537107e+01] [ 1.13126328e-02 3.59010445e-03 9.99929565e-01 2.96192655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09907232899997 meters Centerline goodness [0,1] 0.30771484170659746 Centerline is valid? [False, False] Translation: X:-170.48, Y:-95.66, Z:296.19 [[ 9.99938270e-01 2.19120500e-03 -1.08928923e-02 -1.70482157e+02] [-2.26313187e-03 9.99975691e-01 -6.59516647e-03 -9.56570306e+01] [ 1.08781762e-02 6.61941140e-03 9.99918921e-01 2.96191717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.129072329 meters Centerline goodness [0,1] 0.30908824514400535 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.66, Z:296.19 [[ 9.99952859e-01 4.70563870e-04 -9.69833341e-03 -1.70486095e+02] [-5.44328007e-04 9.99970936e-01 -7.60462137e-03 -9.56572212e+01] [ 9.69447308e-03 7.60954196e-03 9.99924053e-01 2.96192497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15907232899997 meters Centerline goodness [0,1] 0.31291179485034204 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.66, Z:296.19 [[ 9.99962954e-01 -6.81283506e-05 -8.60736323e-03 -1.70489090e+02] [ 3.00977689e-06 9.99971383e-01 -7.56523616e-03 -9.56586861e+01] [ 8.60763232e-03 7.56492999e-03 9.99934338e-01 2.96192606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18907232899994 meters Centerline goodness [0,1] 0.31132489804454666 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.66, Z:296.19 [[ 9.99959955e-01 -4.52795640e-03 -7.71924859e-03 -1.70491180e+02] [ 4.44065044e-03 9.99926405e-01 -1.12900312e-02 -9.56609607e+01] [ 7.76980127e-03 1.12553006e-02 9.99906470e-01 2.96192297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21907232899997 meters Centerline goodness [0,1] 0.31867947832276167 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.66, Z:296.19 [[ 9.99964471e-01 -4.58725542e-03 -7.07202111e-03 -1.70492829e+02] [ 4.50966626e-03 9.99929895e-01 -1.09484672e-02 -9.56623968e+01] [ 7.12174873e-03 1.09161858e-02 9.99915055e-01 2.96192203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24907232899994 meters Centerline goodness [0,1] 0.3231670327371614 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.19 [[ 9.99968244e-01 -5.37804394e-03 -5.88107141e-03 -1.70495391e+02] [ 5.31105839e-03 9.99921517e-01 -1.13469320e-02 -9.56620396e+01] [ 5.94163415e-03 1.13153370e-02 9.99918327e-01 2.96191567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.279072329 meters Centerline goodness [0,1] 0.334942024443748 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.19 [[ 9.99967546e-01 -6.67265719e-03 -4.51469906e-03 -1.70498398e+02] [ 6.62136062e-03 9.99914419e-01 -1.12832342e-02 -9.56641670e+01] [ 4.58960184e-03 1.12529745e-02 9.99926150e-01 2.96190516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30907232899995 meters Centerline goodness [0,1] 0.32096184004181916 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.19 [[ 9.99988726e-01 -2.96237486e-03 -3.71101233e-03 -1.70500878e+02] [ 2.93516027e-03 9.99968918e-01 -7.31757371e-03 -9.56644068e+01] [ 3.73257438e-03 7.30659880e-03 9.99966340e-01 2.96190879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.339072329 meters Centerline goodness [0,1] 0.34482974985359327 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.19 [[ 9.99989052e-01 -3.48151396e-03 -3.12650274e-03 -1.70502220e+02] [ 3.45680991e-03 9.99963037e-01 -7.87244205e-03 -9.56628246e+01] [ 3.15379519e-03 7.86154814e-03 9.99964124e-01 2.96190768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36907232899995 meters Centerline goodness [0,1] 0.3295043207164229 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.19 [[ 9.99988917e-01 -3.11721156e-03 -3.52827313e-03 -1.70501119e+02] [ 3.09036575e-03 9.99966429e-01 -7.58881464e-03 -9.56629939e+01] [ 3.55181063e-03 7.57782688e-03 9.99964980e-01 2.96190718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.399072329 meters Centerline goodness [0,1] 0.3397849462365592 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.19 [[ 9.99989202e-01 -3.81990580e-03 -2.64642270e-03 -1.70503524e+02] [ 3.79857845e-03 9.99960643e-01 -8.01762433e-03 -9.56627843e+01] [ 2.67694512e-03 8.00748511e-03 9.99964356e-01 2.96190899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42907232899995 meters Centerline goodness [0,1] 0.30972526898568886 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99989098e-01 -4.26682286e-03 -1.89691766e-03 -1.70505686e+02] [ 4.25113701e-03 9.99957362e-01 -8.19764925e-03 -9.56630107e+01] [ 1.93181470e-03 8.18949582e-03 9.99964599e-01 2.96191199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.459072329 meters Centerline goodness [0,1] 0.3592312196754225 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99988282e-01 -4.57253588e-03 -1.59006240e-03 -1.70506914e+02] [ 4.55884310e-03 9.99953389e-01 -8.51103344e-03 -9.56622881e+01] [ 1.62890529e-03 8.50368486e-03 9.99962516e-01 2.96191834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48907232899995 meters Centerline goodness [0,1] 0.3127677806341045 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99988415e-01 -4.60487283e-03 -1.40163528e-03 -1.70507127e+02] [ 4.59281116e-03 9.99953409e-01 -8.49032142e-03 -9.56620734e+01] [ 1.44066682e-03 8.48378561e-03 9.99962974e-01 2.96191522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.519072329 meters Centerline goodness [0,1] 0.3190876651155026 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99989475e-01 -4.37757008e-03 -1.37359096e-03 -1.70507147e+02] [ 4.36632258e-03 9.99957765e-01 -8.08724199e-03 -9.56631229e+01] [ 1.40893541e-03 8.08115933e-03 9.99966354e-01 2.96191395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.54907232899996 meters Centerline goodness [0,1] 0.36919795935435307 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99989244e-01 -4.53752449e-03 -9.60719721e-04 -1.70508346e+02] [ 4.52963755e-03 9.99957272e-01 -8.05831568e-03 -9.56634841e+01] [ 9.97243477e-04 8.05387730e-03 9.99967070e-01 2.96191574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.579072329 meters Centerline goodness [0,1] 0.31621073749764894 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99987129e-01 -5.07245029e-03 -1.09369892e-04 -1.70510245e+02] [ 5.07133936e-03 9.99951122e-01 -8.48739263e-03 -9.56625836e+01] [ 1.52416423e-04 8.48672874e-03 9.99963975e-01 2.96191273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.60907232899996 meters Centerline goodness [0,1] 0.31656254570527154 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99987125e-01 -5.05043685e-03 4.92703888e-04 -1.70511581e+02] [ 5.05423019e-03 9.99955000e-01 -8.02822699e-03 -9.56643166e+01] [-4.52135663e-04 8.03061387e-03 9.99967652e-01 2.96190953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.639072329 meters Centerline goodness [0,1] 0.3232699142797407 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99977811e-01 -6.39086756e-03 1.88009548e-03 -1.70514713e+02] [ 6.40670260e-03 9.99943005e-01 -8.54059362e-03 -9.56646897e+01] [-1.82540652e-03 8.55244933e-03 9.99961761e-01 2.96190358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66907232899996 meters Centerline goodness [0,1] 0.3239030505641455 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99960516e-01 -8.33056224e-03 3.09335283e-03 -1.70518355e+02] [ 8.36085514e-03 9.99915914e-01 -9.91262925e-03 -9.56635874e+01] [-3.01051495e-03 9.93810094e-03 9.99946084e-01 2.96190935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.699072329 meters Centerline goodness [0,1] 0.3143269351398821 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99971396e-01 -6.29829329e-03 4.18781421e-03 -1.70522126e+02] [ 6.32939186e-03 9.99952182e-01 -7.45465186e-03 -9.56623133e+01] [-4.14066238e-03 7.48094494e-03 9.99963445e-01 2.96191951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72907232899996 meters Centerline goodness [0,1] 0.3194699882962715 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99970706e-01 -6.28952191e-03 4.36230248e-03 -1.70523004e+02] [ 6.32162692e-03 9.99952746e-01 -7.38532692e-03 -9.56625780e+01] [-4.31564617e-03 7.41268742e-03 9.99963213e-01 2.96192585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.759072329 meters Centerline goodness [0,1] 0.32210380854672227 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99970839e-01 -6.32764950e-03 4.27579510e-03 -1.70523291e+02] [ 6.35966546e-03 9.99951530e-01 -7.51607451e-03 -9.56621357e+01] [-4.22802877e-03 7.54304796e-03 9.99962612e-01 2.96193253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78907232899996 meters Centerline goodness [0,1] 0.3268281459170014 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99967888e-01 -6.65320520e-03 4.46737099e-03 -1.70523679e+02] [ 6.68896653e-03 9.99945320e-01 -8.03835856e-03 -9.56604102e+01] [-4.41364587e-03 8.06798253e-03 9.99957713e-01 2.96193202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.819072329 meters Centerline goodness [0,1] 0.3322662314564895 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99963274e-01 -6.93834420e-03 5.03096862e-03 -1.70525113e+02] [ 6.97895641e-03 9.99942838e-01 -8.10032993e-03 -9.56605453e+01] [-4.97447816e-03 8.13514335e-03 9.99954536e-01 2.96193220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84907232899997 meters Centerline goodness [0,1] 0.3498433256736996 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99956421e-01 -7.31406665e-03 5.80172661e-03 -1.70527565e+02] [ 7.36095695e-03 9.99940082e-01 -8.10237516e-03 -9.56614839e+01] [-5.74211767e-03 8.14472833e-03 9.99950345e-01 2.96193848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.879072329 meters Centerline goodness [0,1] 0.3409413631807551 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99949752e-01 -7.67646859e-03 6.44707848e-03 -1.70529225e+02] [ 7.73046914e-03 9.99934895e-01 -8.39324262e-03 -9.56610037e+01] [-6.38222827e-03 8.44265982e-03 9.99943993e-01 2.96193897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90907232899997 meters Centerline goodness [0,1] 0.34246947082767976 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99946061e-01 -7.68593076e-03 6.98584725e-03 -1.70530532e+02] [ 7.74157419e-03 9.99938245e-01 -7.97333531e-03 -9.56627155e+01] [-6.92413334e-03 8.02698668e-03 9.99943810e-01 2.96193681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93907232899994 meters Centerline goodness [0,1] 0.3630969790665608 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99946017e-01 -7.49185514e-03 7.19968543e-03 -1.70530727e+02] [ 7.54541409e-03 9.99943848e-01 -7.44092361e-03 -9.56642782e+01] [-7.14353483e-03 7.49484653e-03 9.99946397e-01 2.96193115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96907232899997 meters Centerline goodness [0,1] 0.31968464417909204 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.19 [[ 9.99944623e-01 -7.32667082e-03 7.55445782e-03 -1.70531334e+02] [ 7.37925535e-03 9.99948575e-01 -6.95651036e-03 -9.56657217e+01] [-7.50310127e-03 7.01187140e-03 9.99947267e-01 2.96192665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99907232899994 meters Centerline goodness [0,1] 0.31704566810749857 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.19 [[ 9.99943714e-01 -7.12404480e-03 7.86242400e-03 -1.70531810e+02] [ 7.17500671e-03 9.99953311e-01 -6.47264313e-03 -9.56670912e+01] [-7.81594551e-03 6.52869175e-03 9.99948142e-01 2.96192191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.029072329 meters Centerline goodness [0,1] 0.32699532476206383 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.19 [[ 9.99930598e-01 -7.92285869e-03 8.71939676e-03 -1.70534590e+02] [ 7.98307713e-03 9.99944375e-01 -6.89326448e-03 -9.56673700e+01] [-8.66429739e-03 6.96239369e-03 9.99938226e-01 2.96192885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05907232899995 meters Centerline goodness [0,1] 0.3317249446463634 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.19 [[ 9.99942036e-01 -4.67957434e-03 9.69668289e-03 -1.70537378e+02] [ 4.71401040e-03 9.99982653e-01 -3.53151583e-03 -9.56659265e+01] [-9.67998869e-03 3.57702140e-03 9.99946750e-01 2.96193186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.089072329 meters Centerline goodness [0,1] 0.37720746515078685 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99930364e-01 -5.57864694e-03 1.03992716e-02 -1.70538531e+02] [ 5.62482358e-03 9.99974428e-01 -4.41642639e-03 -9.56636516e+01] [-1.03743680e-02 4.47461292e-03 9.99936173e-01 2.96192549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11907232899995 meters Centerline goodness [0,1] 0.329585823546621 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.19 [[ 9.99942907e-01 -4.64216169e-03 9.62464893e-03 -1.70537160e+02] [ 4.67387455e-03 9.99983714e-01 -3.27509224e-03 -9.56661109e+01] [-9.60928868e-03 3.31988966e-03 9.99948319e-01 2.96193153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.149072329 meters Centerline goodness [0,1] 0.33056763083096474 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99952400e-01 -8.77803374e-04 9.71739503e-03 -1.70537591e+02] [ 8.76875393e-04 9.99999611e-01 9.97570783e-05 -9.56633224e+01] [-9.71747882e-03 -9.12313853e-05 9.99952780e-01 2.96193443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17907232899995 meters Centerline goodness [0,1] 0.3533114452414312 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99937895e-01 -2.47336374e-03 1.08668725e-02 -1.70540408e+02] [ 2.48944124e-03 9.99995826e-01 -1.46621883e-03 -9.56603872e+01] [-1.08632006e-02 1.49318021e-03 9.99939879e-01 2.96193448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.209072329 meters Centerline goodness [0,1] 0.34998850166203244 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99924765e-01 -3.04714585e-03 1.18818550e-02 -1.70543117e+02] [ 3.06506794e-03 9.99994192e-01 -1.49043963e-03 -9.56619218e+01] [-1.18772444e-02 1.52674619e-03 9.99928297e-01 2.96193423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23907232899995 meters Centerline goodness [0,1] 0.34998850166203244 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99924765e-01 -3.04714585e-03 1.18818550e-02 -1.70543117e+02] [ 3.06506794e-03 9.99994192e-01 -1.49043963e-03 -9.56619218e+01] [-1.18772444e-02 1.52674619e-03 9.99928297e-01 2.96193423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.269072329 meters Centerline goodness [0,1] 0.3455739350467387 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99923162e-01 -2.88096979e-03 1.20569413e-02 -1.70544099e+02] [ 2.89402464e-03 9.99995245e-01 -1.06545943e-03 -9.56636369e+01] [-1.20538144e-02 1.10027065e-03 9.99926745e-01 2.96194020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29907232899996 meters Centerline goodness [0,1] 0.36658787105411794 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99929961e-01 -2.69035156e-03 1.15254179e-02 -1.70542682e+02] [ 2.70476365e-03 9.99995579e-01 -1.23505707e-03 -9.56621289e+01] [-1.15220442e-02 1.26614410e-03 9.99932817e-01 2.96193976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.329072329 meters Centerline goodness [0,1] 0.3239640016743407 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99919318e-01 -3.46383368e-03 1.22212496e-02 -1.70543642e+02] [ 3.48609649e-03 9.99992302e-01 -1.80081571e-03 -9.56609731e+01] [-1.22149178e-02 1.84327487e-03 9.99923696e-01 2.96192995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35907232899996 meters Centerline goodness [0,1] 0.37597954993085525 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99915140e-01 -3.49118175e-03 1.25509137e-02 -1.70544350e+02] [ 3.51127988e-03 9.99992588e-01 -1.57964931e-03 -9.56618201e+01] [-1.25453059e-02 1.62358503e-03 9.99919986e-01 2.96192722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.389072329 meters Centerline goodness [0,1] 0.37479044425817265 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99921772e-01 -3.10271746e-03 1.21170652e-02 -1.70543192e+02] [ 3.11790152e-03 9.99994377e-01 -1.23442415e-03 -9.56621651e+01] [-1.21131670e-02 1.27210740e-03 9.99925824e-01 2.96192617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41907232899996 meters Centerline goodness [0,1] 0.25940589911178147 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99935780e-01 -2.29667846e-03 1.10977871e-02 -1.70540899e+02] [ 2.30725122e-03 9.99996897e-01 -9.39981536e-04 -9.56614418e+01] [-1.10955938e-02 9.65526554e-04 9.99937976e-01 2.96193108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.449072329 meters Centerline goodness [0,1] 0.2617940338528574 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99934172e-01 -2.44964527e-03 1.12094516e-02 -1.70541521e+02] [ 2.46367165e-03 9.99996199e-01 -1.23766198e-03 -9.56606718e+01] [-1.12063771e-02 1.26519691e-03 9.99936406e-01 2.96193581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47907232899996 meters Centerline goodness [0,1] 0.26768734553679885 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99930353e-01 -2.28095162e-03 1.15796012e-02 -1.70542233e+02] [ 2.29022150e-03 9.99997067e-01 -7.87338339e-04 -9.56620687e+01] [-1.15777714e-02 8.13803355e-04 9.99932644e-01 2.96193133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.509072329 meters Centerline goodness [0,1] 0.26412920524529726 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99934998e-01 -1.95443116e-03 1.12329511e-02 -1.70541538e+02] [ 1.95985990e-03 9.99997968e-01 -4.72299976e-04 -9.56626348e+01] [-1.12320052e-02 4.94284286e-04 9.99936797e-01 2.96193324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53907232899996 meters Centerline goodness [0,1] 0.2662030248439399 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.19 [[ 9.99935947e-01 2.28668069e-03 1.10847809e-02 -1.70541879e+02] [-2.32740853e-03 9.99990584e-01 3.66270647e-03 -9.56621983e+01] [-1.10763011e-02 -3.68827068e-03 9.99931854e-01 2.96194251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.569072329 meters Centerline goodness [0,1] 0.2720110631521603 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.20 [[ 9.99945518e-01 2.78745349e-03 1.00593435e-02 -1.70539810e+02] [-2.82210618e-03 9.99990128e-01 3.43227804e-03 -9.56602167e+01] [-1.00496769e-02 -3.46047958e-03 9.99943513e-01 2.96195054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59907232899997 meters Centerline goodness [0,1] 0.2770486656200942 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.20 [[ 9.99956571e-01 3.53102766e-03 8.62489783e-03 -1.70537363e+02] [-3.55673015e-03 9.99989275e-01 2.96651546e-03 -9.56574273e+01] [-8.61433047e-03 -2.99706306e-03 9.99958405e-01 2.96196776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.629072329 meters Centerline goodness [0,1] 0.2814704712458391 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.20 [[ 9.99959442e-01 3.25589026e-03 8.39727912e-03 -1.70537019e+02] [-3.27544200e-03 9.99991955e-01 2.31564098e-03 -9.56553996e+01] [-8.38967209e-03 -2.34305186e-03 9.99962061e-01 2.96197078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65907232899997 meters Centerline goodness [0,1] 0.28384708687105276 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.20 [[ 9.99962168e-01 3.60224007e-03 7.91751704e-03 -1.70536078e+02] [-3.62314698e-03 9.99989984e-01 2.62783375e-03 -9.56560570e+01] [-7.90797164e-03 -2.65642066e-03 9.99965203e-01 2.96197333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68907232899994 meters Centerline goodness [0,1] 0.28780589834762604 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.20 [[ 9.99966557e-01 4.06208232e-03 7.09825534e-03 -1.70533807e+02] [-4.08153037e-03 9.99987951e-01 2.72749991e-03 -9.56554517e+01] [-7.08709049e-03 -2.75638044e-03 9.99971087e-01 2.96197038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71907232899997 meters Centerline goodness [0,1] 0.29069791775661824 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.65, Z:296.20 [[ 9.99946772e-01 7.73767953e-03 6.82506529e-03 -1.70533252e+02] [-7.77754456e-03 9.99952737e-01 5.83390096e-03 -9.56516128e+01] [-6.77960186e-03 -5.88667268e-03 9.99959691e-01 2.96197415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74907232899994 meters Centerline goodness [0,1] 0.2886980203205195 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99878703e-01 1.52974270e-02 2.92724922e-03 -1.70524178e+02] [-1.53161056e-02 9.99861778e-01 6.46859595e-03 -9.56458178e+01] [-2.82789173e-03 -6.51264538e-03 9.99974794e-01 2.96203710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.779072329 meters Centerline goodness [0,1] 0.26405330092815693 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99917963e-01 1.26732519e-02 1.85876387e-03 -1.70521194e+02] [-1.26795778e-02 9.99913721e-01 3.43196137e-03 -9.56463228e+01] [-1.81510939e-03 -3.45524817e-03 9.99992383e-01 2.96203338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80907232899995 meters Centerline goodness [0,1] 0.29914118139924595 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99948299e-01 1.01219358e-02 9.72755371e-04 -1.70518241e+02] [-1.01226571e-02 9.99948491e-01 7.39474294e-04 -9.56482309e+01] [-9.65220354e-04 -7.49282931e-04 9.99999253e-01 2.96202331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.839072329 meters Centerline goodness [0,1] 0.2987002113987902 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99966697e-01 8.15846395e-03 -2.11177585e-04 -1.70515022e+02] [-8.15870658e-03 9.99966027e-01 -1.17476979e-03 -9.56519212e+01] [ 2.01586094e-04 1.17645361e-03 9.99999288e-01 2.96201728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86907232899995 meters Centerline goodness [0,1] 0.27373599916256675 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99923285e-01 1.23652967e-02 -7.23059702e-04 -1.70513932e+02] [-1.23633972e-02 9.99920255e-01 2.57497260e-03 -9.56499182e+01] [ 7.54842341e-04 -2.56583558e-03 9.99996423e-01 2.96202169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.899072329 meters Centerline goodness [0,1] 0.27837860496311195 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99926476e-01 1.20990378e-02 -8.09445129e-04 -1.70513580e+02] [-1.20973461e-02 9.99924696e-01 2.06314736e-03 -9.56481514e+01] [ 8.34346272e-04 -2.05320354e-03 9.99997544e-01 2.96202019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92907232899995 meters Centerline goodness [0,1] 0.2814201927105153 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99923654e-01 1.23006775e-02 -1.17492603e-03 -1.70512987e+02] [-1.22980825e-02 9.99921976e-01 2.19087460e-03 -9.56482725e+01] [ 1.20178360e-03 -2.17625799e-03 9.99996910e-01 2.96202427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.959072329 meters Centerline goodness [0,1] 0.31954682526386324 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99924887e-01 1.21712899e-02 -1.44246345e-03 -1.70513618e+02] [-1.21689072e-02 9.99924596e-01 1.64928598e-03 -9.56467448e+01] [ 1.46242862e-03 -1.63160889e-03 9.99997600e-01 2.96204230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.98907232899995 meters Centerline goodness [0,1] 0.28945494155599316 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99964009e-01 8.27217682e-03 -1.88483816e-03 -1.70512872e+02] [-8.27640517e-03 9.99963226e-01 -2.24670056e-03 -9.56472222e+01] [ 1.86618374e-03 2.26221938e-03 9.99995700e-01 2.96204636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.019072329 meters Centerline goodness [0,1] 0.3271505432620847 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99962936e-01 8.45351240e-03 -1.63260206e-03 -1.70513676e+02] [-8.45643628e-03 9.99962637e-01 -1.79241395e-03 -9.56489314e+01] [ 1.61738886e-03 1.80615351e-03 9.99997061e-01 2.96204717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.04907232899996 meters Centerline goodness [0,1] 0.32307208717518865 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99963937e-01 8.43606735e-03 -9.78442240e-04 -1.70514360e+02] [-8.43729211e-03 9.99963619e-01 -1.25444080e-03 -9.56508895e+01] [ 9.67824096e-04 1.26265096e-03 9.99998735e-01 2.96203185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.079072329 meters Centerline goodness [0,1] 0.2980056144467256 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99965882e-01 8.24123535e-03 -5.62072709e-04 -1.70514814e+02] [-8.24196628e-03 9.99965175e-01 -1.31073867e-03 -9.56507493e+01] [ 5.51251029e-04 1.31532653e-03 9.99998983e-01 2.96202313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.10907232899996 meters Centerline goodness [0,1] 0.3055485656768998 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99962920e-01 8.57919838e-03 -7.45829061e-04 -1.70514150e+02] [-8.57981880e-03 9.99962846e-01 -8.32674531e-04 -9.56518113e+01] [ 7.38657670e-04 8.39042733e-04 9.99999375e-01 2.96201956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.139072329 meters Centerline goodness [0,1] 0.34245255352130377 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99963082e-01 8.54952670e-03 -8.60516943e-04 -1.70514291e+02] [-8.55037061e-03 9.99962963e-01 -9.81846377e-04 -9.56512169e+01] [ 8.52090751e-04 9.89167867e-04 9.99999148e-01 2.96202580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16907232899996 meters Centerline goodness [0,1] 0.3432635702763287 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99965470e-01 8.27149006e-03 -8.01121252e-04 -1.70514691e+02] [-8.27264489e-03 9.99964731e-01 -1.44909468e-03 -9.56497655e+01] [ 7.89106825e-04 1.45567204e-03 9.99998629e-01 2.96202968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.199072329 meters Centerline goodness [0,1] 0.3399291508583646 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99971324e-01 7.57273377e-03 -6.38799248e-05 -1.70516515e+02] [-7.57284463e-03 9.99969397e-01 -1.96384478e-03 -9.56491006e+01] [ 4.90062962e-05 1.96427222e-03 9.99998070e-01 2.96202877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22907232899996 meters Centerline goodness [0,1] 0.3462367842562546 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99993934e-01 3.48086994e-03 1.27216942e-04 -1.70516207e+02] [-3.48007325e-03 9.99977112e-01 -5.80211787e-03 -9.56498379e+01] [-1.47410448e-04 5.80163994e-03 9.99983159e-01 2.96201758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.259072329 meters Centerline goodness [0,1] 0.3537732883458725 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99991771e-01 4.05570965e-03 9.79918728e-05 -1.70515944e+02] [-4.05518815e-03 9.99980075e-01 -4.83783117e-03 -9.56524314e+01] [-1.17610759e-04 4.83739399e-03 9.99988293e-01 2.96201374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28907232899996 meters Centerline goodness [0,1] 0.359216179398512 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99993018e-01 3.59781608e-03 1.00991229e-03 -1.70518710e+02] [-3.59306615e-03 9.99982657e-01 -4.66636360e-03 -9.56546245e+01] [-1.02668349e-03 4.66270233e-03 9.99988602e-01 2.96201686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.319072329 meters Centerline goodness [0,1] 0.3622784597980475 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99993087e-01 3.39632762e-03 1.51389757e-03 -1.70520071e+02] [-3.38915893e-03 9.99983151e-01 -4.71293582e-03 -9.56549747e+01] [-1.52987873e-03 4.70777240e-03 9.99987748e-01 2.96201720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34907232899997 meters Centerline goodness [0,1] 0.3751598633037717 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99992634e-01 3.52010394e-03 1.52973033e-03 -1.70519999e+02] [-3.51322355e-03 9.99983805e-01 -4.47742846e-03 -9.56554345e+01] [-1.54546657e-03 4.47202120e-03 9.99988806e-01 2.96201505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.379072329 meters Centerline goodness [0,1] 0.33146220388329184 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99991920e-01 3.54796263e-03 1.88998206e-03 -1.70520717e+02] [-3.53987632e-03 9.99984640e-01 -4.26481143e-03 -9.56560517e+01] [-1.90508442e-03 4.25808667e-03 9.99989120e-01 2.96201189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40907232899997 meters Centerline goodness [0,1] 0.30803543381290444 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99993151e-01 2.57424038e-03 2.65907778e-03 -1.70523094e+02] [-2.56115532e-03 9.99984653e-01 -4.91263993e-03 -9.56558299e+01] [-2.67168328e-03 4.90579597e-03 9.99984398e-01 2.96201566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43907232899994 meters Centerline goodness [0,1] 0.3113881613410162 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99992927e-01 2.46531401e-03 2.84029262e-03 -1.70523268e+02] [-2.45097278e-03 9.99984287e-01 -5.04167387e-03 -9.56552538e+01] [-2.85267730e-03 5.03467673e-03 9.99983257e-01 2.96201164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46907232899997 meters Centerline goodness [0,1] 0.3362792938072001 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99994314e-01 -1.76928264e-03 2.87081073e-03 -1.70522729e+02] [ 1.79557075e-03 9.99956247e-01 -9.18044189e-03 -9.56550810e+01] [-2.85444233e-03 9.18554444e-03 9.99953738e-01 2.96200368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49907232899994 meters Centerline goodness [0,1] 0.32118546444653895 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99996151e-01 -1.28763836e-03 2.45778049e-03 -1.70521640e+02] [ 1.30890345e-03 9.99961556e-01 -8.67024309e-03 -9.56559102e+01] [-2.44652186e-03 8.67342671e-03 9.99959392e-01 2.96200243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.529072329 meters Centerline goodness [0,1] 0.3378536748702494 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99996408e-01 -1.15996935e-03 2.41635623e-03 -1.70521185e+02] [ 1.18043106e-03 9.99963315e-01 -8.48385556e-03 -9.56560062e+01] [-2.40642658e-03 8.48667742e-03 9.99961092e-01 2.96199770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55907232899995 meters Centerline goodness [0,1] 0.3236724087346494 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99997851e-01 -6.72294154e-04 1.96096927e-03 -1.70519841e+02] [ 6.88120085e-04 9.99967112e-01 -8.08098496e-03 -9.56562469e+01] [-1.95547198e-03 8.08231698e-03 9.99965426e-01 2.96199572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.589072329 meters Centerline goodness [0,1] 0.3626778242677824 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99998013e-01 -7.60064452e-04 1.84285763e-03 -1.70519821e+02] [ 7.75424515e-04 9.99964849e-01 -8.34857709e-03 -9.56550440e+01] [-1.83644740e-03 8.34998950e-03 9.99963452e-01 2.96200060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61907232899995 meters Centerline goodness [0,1] 0.3520676023342886 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99997388e-01 -8.02607776e-04 2.13985375e-03 -1.70520916e+02] [ 8.20211544e-04 9.99965727e-01 -8.23847565e-03 -9.56554650e+01] [-2.13316814e-03 8.24020927e-03 9.99963774e-01 2.96200510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.649072329 meters Centerline goodness [0,1] 0.35038084874863984 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99997236e-01 -7.53767391e-04 2.22705145e-03 -1.70521384e+02] [ 7.71914712e-04 9.99966417e-01 -8.15899481e-03 -9.56556426e+01] [-2.22082668e-03 8.16069136e-03 9.99964235e-01 2.96200807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67907232899995 meters Centerline goodness [0,1] 0.3346157062808397 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99998085e-01 -5.88539786e-04 1.86647458e-03 -1.70519715e+02] [ 6.04156700e-04 9.99964725e-01 -8.37756794e-03 -9.56534805e+01] [-1.86147820e-03 8.37867954e-03 9.99963166e-01 2.96199988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.709072329 meters Centerline goodness [0,1] 0.3478924798661228 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99998239e-01 -2.97714915e-04 1.85288187e-03 -1.70519430e+02] [ 3.12254207e-04 9.99969128e-01 -7.85151679e-03 -9.56548596e+01] [-1.85048715e-03 7.85208153e-03 9.99967460e-01 2.96199543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73907232899995 meters Centerline goodness [0,1] 0.3694343409005393 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99996473e-01 -6.43372734e-04 2.57680132e-03 -1.70521066e+02] [ 6.64022563e-04 9.99967611e-01 -8.02092320e-03 -9.56547559e+01] [-2.57155742e-03 8.02260597e-03 9.99964512e-01 2.96199227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.769072329 meters Centerline goodness [0,1] 0.294256671965197 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99989122e-01 4.11863556e-03 2.18934850e-03 -1.70520405e+02] [-4.11123672e-03 9.99985859e-01 -3.37329664e-03 -9.56553500e+01] [-2.20321092e-03 3.36425901e-03 9.99991914e-01 2.96199548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79907232899996 meters Centerline goodness [0,1] 0.2968537681613881 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99988475e-01 4.38887464e-03 1.94617915e-03 -1.70519756e+02] [-4.38275002e-03 9.99985465e-01 -3.14017255e-03 -9.56556064e+01] [-1.95993269e-03 3.13160675e-03 9.99993176e-01 2.96199485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.829072329 meters Centerline goodness [0,1] 0.35637997700909185 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.20 [[ 9.99998782e-01 5.23900668e-04 1.46994383e-03 -1.70517893e+02] [-5.13250030e-04 9.99973683e-01 -7.23665459e-03 -9.56546500e+01] [-1.47369643e-03 7.23589133e-03 9.99972735e-01 2.96198794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85907232899996 meters Centerline goodness [0,1] 0.3584452473944736 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.20 [[ 9.99998902e-01 1.33971876e-03 6.33484865e-04 -1.70515948e+02] [-1.33555945e-03 9.99977845e-01 -6.52122381e-03 -9.56555167e+01] [-6.42207436e-04 6.52037059e-03 9.99978536e-01 2.96199034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.889072329 meters Centerline goodness [0,1] 0.3583319390998829 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99996891e-01 2.49365762e-03 -1.17310062e-05 -1.70513245e+02] [-2.49368404e-03 9.99980801e-01 -5.67263525e-03 -9.56549345e+01] [-2.41482911e-06 5.67264686e-03 9.99983910e-01 2.96198054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91907232899996 meters Centerline goodness [0,1] 0.35746104778835097 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99995991e-01 2.78409440e-03 -5.15565488e-04 -1.70512320e+02] [-2.78695874e-03 9.99980206e-01 -5.64094522e-03 -9.56542927e+01] [ 4.99850359e-04 5.64235946e-03 9.99983957e-01 2.96198605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.949072329 meters Centerline goodness [0,1] 0.3602475382074387 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99996791e-01 2.52970588e-03 -1.32848758e-04 -1.70513259e+02] [-2.53044844e-03 9.99979255e-01 -5.92342285e-03 -9.56534680e+01] [ 1.17861484e-04 5.92374001e-03 9.99982448e-01 2.96198560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97907232899996 meters Centerline goodness [0,1] 0.3519376931429049 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.20 [[ 9.99996664e-01 2.57473042e-03 2.05938830e-04 -1.70513753e+02] [-2.57351907e-03 9.99980553e-01 -5.68064663e-03 -9.56541926e+01] [-2.20560959e-04 5.68009769e-03 9.99983844e-01 2.96197999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.009072329 meters Centerline goodness [0,1] 0.355353408615642 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.20 [[ 9.99995414e-01 2.99675172e-03 4.37979980e-04 -1.70513279e+02] [-2.99458951e-03 9.99983722e-01 -4.85675350e-03 -9.56560852e+01] [-4.52527335e-04 4.85541966e-03 9.99988110e-01 2.96196458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03907232899996 meters Centerline goodness [0,1] 0.330245881073848 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.20 [[ 9.99990581e-01 4.33242448e-03 -2.61418861e-04 -1.70510362e+02] [-4.33330656e-03 9.99984578e-01 -3.47365106e-03 -9.56577599e+01] [ 2.46365499e-04 3.47475115e-03 9.99993933e-01 2.96195105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.069072329 meters Centerline goodness [0,1] 0.3323572474377745 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99988860e-01 4.66997198e-03 -6.85892350e-04 -1.70509085e+02] [-4.67227038e-03 9.99983344e-01 -3.38848746e-03 -9.56569492e+01] [ 6.70056784e-04 3.39165439e-03 9.99994024e-01 2.96194898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09907232899997 meters Centerline goodness [0,1] 0.33913516453630677 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.20 [[ 9.99988452e-01 4.75241878e-03 -7.14767663e-04 -1.70509159e+02] [-4.75474624e-03 9.99983282e-01 -3.29057606e-03 -9.56571280e+01] [ 6.99117518e-04 3.29393660e-03 9.99994331e-01 2.96195080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.129072329 meters Centerline goodness [0,1] 0.3487632360942535 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.20 [[ 9.99989239e-01 4.59798328e-03 -6.16047903e-04 -1.70509507e+02] [-4.60014636e-03 9.99983093e-01 -3.55705182e-03 -9.56561643e+01] [ 5.99682223e-04 3.55984746e-03 9.99993484e-01 2.96195222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15907232899997 meters Centerline goodness [0,1] 0.3487632360942535 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.20 [[ 9.99989239e-01 4.59798328e-03 -6.16047903e-04 -1.70509507e+02] [-4.60014636e-03 9.99983093e-01 -3.55705182e-03 -9.56561643e+01] [ 5.99682223e-04 3.55984746e-03 9.99993484e-01 2.96195222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18907232899994 meters Centerline goodness [0,1] 0.35092342766309004 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99987057e-01 5.00229897e-03 -9.28355521e-04 -1.70508310e+02] [-5.00519566e-03 9.99982530e-01 -3.14459557e-03 -9.56564047e+01] [ 9.12609095e-04 3.14920147e-03 9.99994625e-01 2.96194754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21907232899997 meters Centerline goodness [0,1] 0.34184848611750906 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99985662e-01 5.21869127e-03 -1.20039053e-03 -1.70507458e+02] [-5.22225517e-03 9.99981908e-01 -2.98523153e-03 -9.56563159e+01] [ 1.18478981e-03 2.99145748e-03 9.99994824e-01 2.96194556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24907232899994 meters Centerline goodness [0,1] 0.35697236180904524 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99987785e-01 4.87995876e-03 -7.85141835e-04 -1.70508383e+02] [-4.88256718e-03 9.99982451e-01 -3.35534454e-03 -9.56552302e+01] [ 7.68754114e-04 3.35913706e-03 9.99994063e-01 2.96194412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.279072329 meters Centerline goodness [0,1] 0.35946795140343524 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99991447e-01 4.12946148e-03 2.31614188e-04 -1.70511157e+02] [-4.12859255e-03 9.99984873e-01 -3.63440047e-03 -9.56557762e+01] [-2.46618801e-04 3.63341315e-03 9.99993369e-01 2.96194485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30907232899995 meters Centerline goodness [0,1] 0.3616557734204793 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99999919e-01 3.37790454e-04 2.19126366e-04 -1.70510955e+02] [-3.36229462e-04 9.99974844e-01 -7.08505676e-03 -9.56577697e+01] [-2.21514118e-04 7.08498251e-03 9.99974877e-01 2.96194208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.339072329 meters Centerline goodness [0,1] 0.36887493458922027 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99999824e-01 3.07198181e-04 5.07737306e-04 -1.70511730e+02] [-3.03598776e-04 9.99974933e-01 -7.07404797e-03 -9.56578009e+01] [-5.09897713e-04 7.07389258e-03 9.99974850e-01 2.96194264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36907232899995 meters Centerline goodness [0,1] 0.3666764324279077 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99998827e-01 -4.37244452e-04 1.46816070e-03 -1.70514357e+02] [ 4.48227245e-04 9.99971859e-01 -7.48866996e-03 -9.56577477e+01] [-1.46484501e-03 7.48931925e-03 9.99970882e-01 2.96194413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.399072329 meters Centerline goodness [0,1] 0.3595195245469385 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99998031e-01 -3.33275346e-04 1.95621737e-03 -1.70515334e+02] [ 3.47082311e-04 9.99975004e-01 -7.06190023e-03 -9.56591582e+01] [-1.95381492e-03 7.06256530e-03 9.99973151e-01 2.96193937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42907232899995 meters Centerline goodness [0,1] 0.36868634053500093 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99995677e-01 -9.70871202e-04 2.77561525e-03 -1.70517412e+02] [ 9.91827583e-04 9.99970940e-01 -7.55879472e-03 -9.56583242e+01] [-2.76819597e-03 7.56151497e-03 9.99967580e-01 2.96193896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.459072329 meters Centerline goodness [0,1] 0.35401429347598945 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99993369e-01 -1.43834924e-03 3.34566880e-03 -1.70518516e+02] [ 1.46461287e-03 9.99968030e-01 -7.86087894e-03 -9.56576534e+01] [-3.33425515e-03 7.86572692e-03 9.99963506e-01 2.96193420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.48907232899995 meters Centerline goodness [0,1] 0.35071050373563817 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99994587e-01 -1.09086030e-03 3.10407223e-03 -1.70517670e+02] [ 1.11383148e-03 9.99971938e-01 -7.40825690e-03 -9.56583262e+01] [-3.09590375e-03 7.41167422e-03 9.99967741e-01 2.96193118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.519072329 meters Centerline goodness [0,1] 0.3283157718682054 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99989611e-01 -1.92362035e-03 4.13253103e-03 -1.70520184e+02] [ 1.95705260e-03 9.99965269e-01 -8.10126455e-03 -9.56571784e+01] [-4.11680375e-03 8.10926796e-03 9.99958645e-01 2.96192995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.54907232899996 meters Centerline goodness [0,1] 0.3638453981061477 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99982331e-01 -2.81808433e-03 5.23417645e-03 -1.70523047e+02] [ 2.86212602e-03 9.99960405e-01 -8.42590930e-03 -9.56576624e+01] [-5.21022428e-03 8.44074129e-03 9.99950803e-01 2.96192885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.579072329 meters Centerline goodness [0,1] 0.3188417925436211 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99974851e-01 -3.39166743e-03 6.22846831e-03 -1.70524815e+02] [ 3.44539827e-03 9.99956771e-01 -8.63628298e-03 -9.56575149e+01] [-6.19890766e-03 8.65752534e-03 9.99943309e-01 2.96191858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.60907232899996 meters Centerline goodness [0,1] 0.3424201849449767 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99973551e-01 -3.28874351e-03 6.48699509e-03 -1.70525165e+02] [ 3.34219288e-03 9.99960417e-01 -8.24590538e-03 -9.56585849e+01] [-6.45961964e-03 8.26736807e-03 9.99944960e-01 2.96191338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.639072329 meters Centerline goodness [0,1] 0.3355084284937466 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99974862e-01 -2.88814035e-03 6.47560086e-03 -1.70524238e+02] [ 2.93749150e-03 9.99966618e-01 -7.62457772e-03 -9.56596407e+01] [-6.45336384e-03 7.64340808e-03 9.99949965e-01 2.96190106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66907232899996 meters Centerline goodness [0,1] 0.2862589023879346 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99977922e-01 -2.49219396e-03 6.15993937e-03 -1.70523189e+02] [ 2.53714328e-03 9.99970136e-01 -7.30002898e-03 -9.56596501e+01] [-6.14156232e-03 7.31549646e-03 9.99954381e-01 2.96189836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.699072329 meters Centerline goodness [0,1] 0.3575583828576212 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99970359e-01 -3.20405988e-03 7.00107260e-03 -1.70525657e+02] [ 3.25942751e-03 9.99963392e-01 -7.91140265e-03 -9.56588158e+01] [-6.97546770e-03 7.93398764e-03 9.99944196e-01 2.96190273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72907232899996 meters Centerline goodness [0,1] 0.35626412252071304 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99961865e-01 -3.85192986e-03 7.83775293e-03 -1.70528212e+02] [ 3.91736639e-03 9.99957459e-01 -8.35073683e-03 -9.56585870e+01] [-7.80525305e-03 8.38112173e-03 9.99934415e-01 2.96190793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.759072329 meters Centerline goodness [0,1] 0.3599707204852034 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99960477e-01 -3.83689892e-03 8.02013439e-03 -1.70528817e+02] [ 3.90307381e-03 9.99958336e-01 -8.25179353e-03 -9.56588597e+01] [-7.98813895e-03 8.28277057e-03 9.99933790e-01 2.96190984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78907232899996 meters Centerline goodness [0,1] 0.3534410582719357 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99962144e-01 -3.42022403e-03 8.00075282e-03 -1.70528280e+02] [ 3.48057863e-03 9.99965502e-01 -7.54189481e-03 -9.56606256e+01] [-7.97468184e-03 7.56945656e-03 9.99939552e-01 2.96190158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.819072329 meters Centerline goodness [0,1] 0.36205523657851724 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.66, Z:296.19 [[ 9.99967757e-01 3.54616569e-04 8.02237863e-03 -1.70528073e+02] [-3.21571049e-04 9.99991461e-01 -4.12008223e-03 -9.56576187e+01] [-8.02377117e-03 4.11736962e-03 9.99959332e-01 2.96189879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84907232899997 meters Centerline goodness [0,1] 0.3204698689224842 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.65, Z:296.19 [[ 9.99971987e-01 2.69993998e-04 7.48017929e-03 -1.70526673e+02] [-2.34477142e-04 9.99988698e-01 -4.74859908e-03 -9.56547614e+01] [-7.48137684e-03 4.74671213e-03 9.99960748e-01 2.96190021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.879072329 meters Centerline goodness [0,1] 0.31465002826573985 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.65, Z:296.19 [[ 9.99969373e-01 -1.58667487e-04 7.82483275e-03 -1.70528012e+02] [ 2.00549723e-04 9.99985658e-01 -5.35198273e-03 -9.56531301e+01] [-7.82387134e-03 5.35338808e-03 9.99955063e-01 2.96190729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90907232899997 meters Centerline goodness [0,1] 0.31334841628959276 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.65, Z:296.19 [[ 9.99971966e-01 1.87349943e-03 7.24961150e-03 -1.70525753e+02] [-1.84742498e-03 9.99991807e-01 -3.60169587e-03 -9.56520986e+01] [-7.25629989e-03 3.58820179e-03 9.99967235e-01 2.96190107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93907232899994 meters Centerline goodness [0,1] 0.3579626371785206 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.19 [[ 9.99976919e-01 1.98828293e-03 6.49680705e-03 -1.70523800e+02] [-1.96106826e-03 9.99989288e-01 -4.19261878e-03 -9.56489661e+01] [-6.50507357e-03 4.17978132e-03 9.99970106e-01 2.96190285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96907232899997 meters Centerline goodness [0,1] 0.35824051586969263 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.19 [[ 9.99960979e-01 6.12211044e-03 6.36870242e-03 -1.70523460e+02] [-6.12008198e-03 9.99981215e-01 -3.37944477e-04 -9.56474438e+01] [-6.37065172e-03 2.98954309e-04 9.99979663e-01 2.96190346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99907232899994 meters Centerline goodness [0,1] 0.33710004813024463 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.65, Z:296.19 [[ 9.99963207e-01 6.61575598e-03 5.46050527e-03 -1.70521394e+02] [-6.61443993e-03 9.99978091e-01 -2.59037849e-04 -9.56467299e+01] [-5.46209937e-03 2.22910134e-04 9.99985058e-01 2.96190688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.029072329 meters Centerline goodness [0,1] 0.31545761149632356 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.64, Z:296.19 [[ 9.99960591e-01 7.74050774e-03 4.34763355e-03 -1.70518228e+02] [-7.74016033e-03 9.99970040e-01 -9.67278753e-05 -9.56444902e+01] [-4.34825202e-03 6.30726826e-05 9.99990544e-01 2.96190595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05907232899995 meters Centerline goodness [0,1] 0.32416741768490764 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.64, Z:296.19 [[ 9.99919134e-01 1.20345000e-02 4.11051678e-03 -1.70518146e+02] [-1.20508256e-02 9.99919504e-01 3.97026205e-03 -9.56438313e+01] [-4.06240578e-03 -4.01947611e-03 9.99983670e-01 2.96191420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.089072329 meters Centerline goodness [0,1] 0.3484962879073864 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.64, Z:296.19 [[ 9.99909096e-01 1.31617015e-02 2.92728575e-03 -1.70515699e+02] [-1.31744715e-02 9.99903590e-01 4.38677902e-03 -9.56431522e+01] [-2.86926606e-03 -4.42494568e-03 9.99986093e-01 2.96192272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11907232899995 meters Centerline goodness [0,1] 0.3203445962941226 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.64, Z:296.19 [[ 9.99904702e-01 1.35457092e-02 2.66458722e-03 -1.70515841e+02] [-1.35576826e-02 9.99897838e-01 4.52801244e-03 -9.56436639e+01] [-2.60297986e-03 -4.56370656e-03 9.99986198e-01 2.96193269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.149072329 meters Centerline goodness [0,1] 0.33463948201077054 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.64, Z:296.19 [[ 9.99945478e-01 1.02784497e-02 1.84227263e-03 -1.70513905e+02] [-1.02804643e-02 9.99946563e-01 1.08743932e-03 -9.56449112e+01] [-1.83099699e-03 -1.10631944e-03 9.99997712e-01 2.96193241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17907232899995 meters Centerline goodness [0,1] 0.3275429049811637 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.19 [[ 9.99939868e-01 1.08196819e-02 1.78760760e-03 -1.70513957e+02] [-1.08230851e-02 9.99939614e-01 1.90514948e-03 -9.56476013e+01] [-1.76688654e-03 -1.92438235e-03 9.99996587e-01 2.96193283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.209072329 meters Centerline goodness [0,1] 0.3278661017660137 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.19 [[ 9.99938870e-01 1.08435514e-02 2.16185291e-03 -1.70514964e+02] [-1.08482877e-02 9.99938755e-01 2.19130505e-03 -9.56488787e+01] [-2.13795898e-03 -2.21462350e-03 9.99995262e-01 2.96193188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23907232899995 meters Centerline goodness [0,1] 0.32770730684558125 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.19 [[ 9.99959806e-01 8.86244743e-03 1.35793307e-03 -1.70511726e+02] [-8.86271947e-03 9.99960706e-01 1.94443163e-04 -9.56513288e+01] [-1.35615647e-03 -2.06470327e-04 9.99999059e-01 2.96191694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.269072329 meters Centerline goodness [0,1] 0.32625466437465933 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.65, Z:296.19 [[ 9.99979650e-01 6.32662128e-03 8.20507609e-04 -1.70509101e+02] [-6.32480225e-03 9.99977576e-01 -2.20091856e-03 -9.56533311e+01] [-8.34413588e-04 2.19568422e-03 9.99997241e-01 2.96190134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29907232899996 meters Centerline goodness [0,1] 0.34034168326171266 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99996642e-01 1.95804276e-03 1.69773492e-03 -1.70510701e+02] [-1.94827617e-03 9.99981654e-01 -5.73541213e-03 -9.56561209e+01] [-1.70893395e-03 5.73208521e-03 9.99982111e-01 2.96188986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.329072329 meters Centerline goodness [0,1] 0.3392115747536171 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99995761e-01 2.62080897e-03 1.26848481e-03 -1.70509381e+02] [-2.61452003e-03 9.99984408e-01 -4.93435776e-03 -9.56576758e+01] [-1.28139704e-03 4.93102037e-03 9.99987021e-01 2.96188626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35907232899996 meters Centerline goodness [0,1] 0.3512804916416721 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99995859e-01 2.24174620e-03 1.80451454e-03 -1.70510629e+02] [-2.23216248e-03 9.99983487e-01 -5.29558018e-03 -9.56567482e+01] [-1.81635609e-03 5.29153028e-03 9.99984350e-01 2.96188449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.389072329 meters Centerline goodness [0,1] 0.3498720798557229 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99994456e-01 2.65903792e-03 2.00420420e-03 -1.70510357e+02] [-2.65001257e-03 9.99986397e-01 -4.49249358e-03 -9.56587077e+01] [-2.01612265e-03 4.48715751e-03 9.99987900e-01 2.96187288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41907232899996 meters Centerline goodness [0,1] 0.35378228782287824 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99993664e-01 2.52920350e-03 2.50497519e-03 -1.70511178e+02] [-2.51818841e-03 9.99987190e-01 -4.39072183e-03 -9.56590268e+01] [-2.51604813e-03 4.38438601e-03 9.99987223e-01 2.96186639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.449072329 meters Centerline goodness [0,1] 0.3538519637462235 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99992398e-01 2.56380903e-03 2.93799241e-03 -1.70511924e+02] [-2.55183865e-03 9.99988458e-01 -4.07087360e-03 -9.56600247e+01] [-2.94839544e-03 4.06334536e-03 9.99987398e-01 2.96186060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47907232899996 meters Centerline goodness [0,1] 0.29894467942543657 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.19 [[ 9.99991070e-01 -1.82266858e-03 3.81280020e-03 -1.70513603e+02] [ 1.85236347e-03 9.99967870e-01 -7.79923165e-03 -9.56620532e+01] [-3.79846228e-03 7.80622470e-03 9.99962317e-01 2.96185230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.509072329 meters Centerline goodness [0,1] 0.33195551825430125 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99983314e-01 -3.01970417e-03 4.92464505e-03 -1.70517153e+02] [ 3.06111925e-03 9.99959832e-01 -8.42401759e-03 -9.56625528e+01] [-4.89900920e-03 8.43895196e-03 9.99952391e-01 2.96185912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53907232899996 meters Centerline goodness [0,1] 0.3518301119449918 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99973663e-01 -3.97270972e-03 6.07373256e-03 -1.70520241e+02] [ 4.02812009e-03 9.99950133e-01 -9.13810261e-03 -9.56617361e+01] [-6.03712665e-03 9.16232767e-03 9.99939801e-01 2.96186102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.569072329 meters Centerline goodness [0,1] 0.3212662099595668 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99943651e-01 -8.36250540e-03 6.53943928e-03 -1.70521373e+02] [ 8.44891713e-03 9.99875857e-01 -1.32998838e-02 -9.56621461e+01] [-6.42740710e-03 1.33543855e-02 9.99890168e-01 2.96186101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59907232899997 meters Centerline goodness [0,1] 0.3200259316575348 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.19 [[ 9.99934417e-01 -8.73595437e-03 7.40571373e-03 -1.70523148e+02] [ 8.83302091e-03 9.99874162e-01 -1.31772000e-02 -9.56629638e+01] [-7.28966639e-03 1.32417506e-02 9.99885752e-01 2.96185401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.629072329 meters Centerline goodness [0,1] 0.2897924963320059 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.66, Z:296.18 [[ 9.99922524e-01 -9.15749215e-03 8.43121802e-03 -1.70524507e+02] [ 9.26326957e-03 9.99877790e-01 -1.25935400e-02 -9.56649627e+01] [-8.31486240e-03 1.26706650e-02 9.99885152e-01 2.96183448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65907232899997 meters Centerline goodness [0,1] 0.2775193798449612 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.18 [[ 9.99915176e-01 -9.34068117e-03 9.07703013e-03 -1.70525804e+02] [ 9.45259941e-03 9.99878856e-01 -1.23661591e-02 -9.56660930e+01] [-8.96042215e-03 1.24509117e-02 9.99882336e-01 2.96182839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68907232899994 meters Centerline goodness [0,1] 0.35613197671984254 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.18 [[ 9.99885842e-01 -1.11470211e-02 1.02003552e-02 -1.70529535e+02] [ 1.12868028e-02 9.99841757e-01 -1.37502219e-02 -9.56652590e+01] [-1.00454671e-02 1.38637816e-02 9.99853431e-01 2.96183747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71907232899997 meters Centerline goodness [0,1] 0.2838551490003772 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.18 [[ 9.99884503e-01 -1.09945175e-02 1.04928924e-02 -1.70530623e+02] [ 1.11341857e-02 9.99848939e-01 -1.33464676e-02 -9.56667377e+01] [-1.03445693e-02 1.34617559e-02 9.99855875e-01 2.96184146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74907232899994 meters Centerline goodness [0,1] 0.29488146100360224 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.18 [[ 9.99859002e-01 -1.21748047e-02 1.15650796e-02 -1.70533670e+02] [ 1.23393948e-02 9.99822058e-01 -1.42685255e-02 -9.56655829e+01] [-1.13893052e-02 1.44092197e-02 9.99831315e-01 2.96184561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.779072329 meters Centerline goodness [0,1] 0.3163290979997484 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.18 [[ 9.99888897e-01 -8.54345331e-03 1.22149088e-02 -1.70535429e+02] [ 8.67255335e-03 9.99906680e-01 -1.05554414e-02 -9.56645285e+01] [-1.21235889e-02 1.06602031e-02 9.99869681e-01 2.96184533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80907232899995 meters Centerline goodness [0,1] 0.319932928107315 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.18 [[ 9.99875626e-01 -9.21525239e-03 1.27989062e-02 -1.70536648e+02] [ 9.36041983e-03 9.99892013e-01 -1.13289661e-02 -9.56624989e+01] [-1.26931248e-02 1.14473602e-02 9.99853911e-01 2.96184240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.839072329 meters Centerline goodness [0,1] 0.29938840482573725 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.18 [[ 9.99882688e-01 -8.81138863e-03 1.25287443e-02 -1.70536010e+02] [ 8.94809595e-03 9.99900582e-01 -1.08976297e-02 -9.56632227e+01] [-1.24314755e-02 1.10084597e-02 9.99862127e-01 2.96184293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86907232899995 meters Centerline goodness [0,1] 0.3145537939556412 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.18 [[ 9.99884976e-01 -8.58868118e-03 1.25007908e-02 -1.70535944e+02] [ 8.72229181e-03 9.99904998e-01 -1.06731885e-02 -9.56635634e+01] [-1.24079345e-02 1.07809964e-02 9.99864898e-01 2.96184276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.899072329 meters Centerline goodness [0,1] 0.3115526337827652 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.18 [[ 9.99887556e-01 -8.38146275e-03 1.24348721e-02 -1.70535906e+02] [ 8.51080726e-03 9.99909849e-01 -1.03855608e-02 -9.56643220e+01] [-1.23467049e-02 1.04902238e-02 9.99868748e-01 2.96184368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92907232899995 meters Centerline goodness [0,1] 0.3196146193318672 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.18 [[ 9.99899942e-01 -5.13778162e-03 1.31798478e-02 -1.70537635e+02] [ 5.23301603e-03 9.99960376e-01 -7.20147802e-03 -9.56621899e+01] [-1.31423259e-02 7.26972781e-03 9.99887209e-01 2.96184096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.959072329 meters Centerline goodness [0,1] 0.3140871312831034 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.18 [[ 9.99894037e-01 -5.49869808e-03 1.34788600e-02 -1.70538199e+02] [ 5.60203169e-03 9.99955118e-01 -7.64061614e-03 -9.56609409e+01] [-1.34362416e-02 7.71531551e-03 9.99879963e-01 2.96183819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.98907232899995 meters Centerline goodness [0,1] 0.3269730227882037 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.18 [[ 9.99903602e-01 -1.97713688e-03 1.37432911e-02 -1.70539205e+02] [ 2.03780040e-03 9.99988237e-01 -4.40144454e-03 -9.56581107e+01] [-1.37344272e-02 4.42902634e-03 9.99895869e-01 2.96184321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.019072329 meters Centerline goodness [0,1] 0.2851403101261849 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.18 [[ 9.99896574e-01 -2.65877707e-03 1.41340976e-02 -1.70540486e+02] [ 2.73619952e-03 9.99981344e-01 -5.46119434e-03 -9.56550460e+01] [-1.41193138e-02 5.49930322e-03 9.99885195e-01 2.96184858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.04907232899996 meters Centerline goodness [0,1] 0.2851403101261849 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.66, Z:296.18 [[ 9.99896574e-01 -2.65877707e-03 1.41340976e-02 -1.70540486e+02] [ 2.73619952e-03 9.99981344e-01 -5.46119434e-03 -9.56550460e+01] [-1.41193138e-02 5.49930322e-03 9.99885195e-01 2.96184858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.079072329 meters Centerline goodness [0,1] 0.28721845432470905 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.65, Z:296.19 [[ 9.99886875e-01 -3.19396082e-03 1.46981677e-02 -1.70542084e+02] [ 3.28207182e-03 9.99976767e-01 -5.97448081e-03 -9.56539335e+01] [-1.46787440e-02 6.02204539e-03 9.99874127e-01 2.96185113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.10907232899996 meters Centerline goodness [0,1] 0.29625206879936317 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.65, Z:296.19 [[ 9.99883692e-01 4.80846355e-03 1.44734776e-02 -1.70542038e+02] [-4.83068780e-03 9.99987206e-01 1.50094663e-03 -9.56505693e+01] [-1.44660752e-02 -1.57068891e-03 9.99894127e-01 2.96185950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.139072329 meters Centerline goodness [0,1] 0.28850906958233835 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.65, Z:296.19 [[ 9.99887994e-01 4.97489304e-03 1.41156222e-02 -1.70540900e+02] [-4.99602076e-03 9.99986451e-01 1.46189356e-03 -9.56498111e+01] [-1.41081582e-02 -1.53225176e-03 9.99899301e-01 2.96185592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16907232899996 meters Centerline goodness [0,1] 0.29926196167232777 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.65, Z:296.19 [[ 9.99888670e-01 4.95729115e-03 1.40738177e-02 -1.70541000e+02] [-4.97837456e-03 9.99986537e-01 1.46342023e-03 -9.56500966e+01] [-1.40663736e-02 -1.53332205e-03 9.99899888e-01 2.96185766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.199072329 meters Centerline goodness [0,1] 0.29282010537760306 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.65, Z:296.19 [[ 9.99863096e-01 1.02275078e-02 1.30072140e-02 -1.70538183e+02] [-1.03078761e-02 9.99928103e-01 6.12678237e-03 -9.56494569e+01] [-1.29436171e-02 -6.26002034e-03 9.99896632e-01 2.96185786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22907232899996 meters Centerline goodness [0,1] 0.30282516661776415 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.64, Z:296.19 [[ 9.99872707e-01 1.12785463e-02 1.12855517e-02 -1.70535048e+02] [-1.13364455e-02 9.99922838e-01 5.07963453e-03 -9.56446833e+01] [-1.12273900e-02 -5.20692598e-03 9.99923414e-01 2.96188035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.259072329 meters Centerline goodness [0,1] 0.30478964130070396 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.64, Z:296.19 [[ 9.99862884e-01 1.47634166e-02 7.50035797e-03 -1.70526913e+02] [-1.47941327e-02 9.99882333e-01 4.05644941e-03 -9.56435430e+01] [-7.43958837e-03 -4.16685450e-03 9.99963644e-01 2.96192417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28907232899996 meters Centerline goodness [0,1] 0.32016597162555793 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.64, Z:296.20 [[ 9.99811652e-01 1.91286685e-02 3.27939307e-03 -1.70516808e+02] [-1.91359324e-02 9.99814475e-01 2.19812947e-03 -9.56405063e+01] [-3.23673737e-03 -2.26046970e-03 9.99992207e-01 2.96197372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.319072329 meters Centerline goodness [0,1] 0.311750398389667 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.64, Z:296.20 [[ 9.99787673e-01 2.04940187e-02 2.14555430e-03 -1.70513942e+02] [-2.04998595e-02 9.99786110e-01 2.73666273e-03 -9.56394478e+01] [-2.08901017e-03 -2.78006523e-03 9.99993954e-01 2.96197678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34907232899997 meters Centerline goodness [0,1] 0.31526226450680017 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.64, Z:296.20 [[ 9.99783412e-01 2.07593920e-02 1.47534735e-03 -1.70512365e+02] [-2.07629504e-02 9.99781452e-01 2.43896094e-03 -9.56374225e+01] [-1.42439357e-03 -2.46906526e-03 9.99995937e-01 2.96198048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.379072329 meters Centerline goodness [0,1] 0.313256043103629 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.64, Z:296.20 [[ 9.99771226e-01 2.13764632e-02 7.36841752e-04 -1.70511721e+02] [-2.13783642e-02 9.99767874e-01 2.67657757e-03 -9.56376559e+01] [-6.79454950e-04 -2.69171771e-03 9.99996146e-01 2.96199623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40907232899997 meters Centerline goodness [0,1] 0.3256077116512992 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.64, Z:296.20 [[ 9.99742677e-01 2.26821892e-02 -3.13233986e-04 -1.70509279e+02] [-2.26810412e-02 9.99737372e-01 3.27989049e-03 -9.56373854e+01] [ 3.87546818e-04 -3.27194202e-03 9.99994572e-01 2.96200109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43907232899994 meters Centerline goodness [0,1] 0.3277840599740336 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.64, Z:296.20 [[ 9.99738372e-01 2.28588391e-02 -8.12949635e-04 -1.70508668e+02] [-2.28561292e-02 9.99733644e-01 3.19968071e-03 -9.56369460e+01] [ 8.85874087e-04 -3.18026271e-03 9.99994551e-01 2.96200998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46907232899997 meters Centerline goodness [0,1] 0.3219516277512763 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.64, Z:296.20 [[ 9.99781249e-01 2.08469657e-02 -1.69086794e-03 -1.70506010e+02] [-2.08452929e-02 9.99782212e-01 1.00099340e-03 -9.56391598e+01] [ 1.71136737e-03 -9.65527795e-04 9.99998069e-01 2.96200299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49907232899994 meters Centerline goodness [0,1] 0.33000481483807487 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.64, Z:296.20 [[ 9.99836343e-01 1.79289025e-02 -2.41709363e-03 -1.70503577e+02] [-1.79334589e-02 9.99837421e-01 -1.87676437e-03 -9.56409883e+01] [ 2.38305233e-03 1.91980407e-03 9.99995318e-01 2.96199377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.529072329 meters Centerline goodness [0,1] 0.34677588301839357 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.64, Z:296.20 [[ 9.99836010e-01 1.79878900e-02 -2.09490082e-03 -1.70504141e+02] [-1.79912529e-02 9.99836868e-01 -1.59764715e-03 -9.56419598e+01] [ 2.06582077e-03 1.63507504e-03 9.99996529e-01 2.96198960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55907232899995 meters Centerline goodness [0,1] 0.3249633814605566 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.65, Z:296.20 [[ 9.99907193e-01 1.24726477e-02 -5.48073634e-03 -1.70495169e+02] [-1.24542564e-02 9.99916740e-01 3.37704018e-03 -9.56491521e+01] [ 5.52240065e-03 -3.30846827e-03 9.99979278e-01 2.96204874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.589072329 meters Centerline goodness [0,1] 0.3465342394145321 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.65, Z:296.20 [[ 9.99952573e-01 8.34693220e-03 -5.01802968e-03 -1.70496432e+02] [-8.34839827e-03 9.99965115e-01 -2.71284869e-04 -9.56513013e+01] [ 5.01559022e-03 3.13164513e-04 9.99987373e-01 2.96204734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61907232899995 meters Centerline goodness [0,1] 0.35157018222901015 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.65, Z:296.20 [[ 9.99973506e-01 4.98688638e-03 -5.30269077e-03 -1.70495000e+02] [-5.00460093e-03 9.99981923e-01 -3.33266693e-03 -9.56536411e+01] [ 5.28597528e-03 3.35911648e-03 9.99980387e-01 2.96203784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.649072329 meters Centerline goodness [0,1] 0.3471478755436601 Centerline is valid? [False, False] Translation: X:-170.49, Y:-95.66, Z:296.20 [[ 9.99987078e-01 1.45562561e-03 -4.87085250e-03 -1.70494657e+02] [-1.48371690e-03 9.99982261e-01 -5.76858736e-03 -9.56583218e+01] [ 4.86236919e-03 5.77573978e-03 9.99971499e-01 2.96201680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67907232899995 meters Centerline goodness [0,1] 0.30898559210388743 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.20 [[ 9.99992160e-01 8.27862489e-04 -3.87220338e-03 -1.70496341e+02] [-8.50512618e-04 9.99982519e-01 -5.85143171e-03 -9.56585686e+01] [ 3.86729151e-03 5.85467919e-03 9.99975383e-01 2.96200393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.709072329 meters Centerline goodness [0,1] 0.33020900893361504 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.20 [[ 9.99994167e-01 7.70534789e-04 -3.32747003e-03 -1.70496800e+02] [-7.88690452e-04 9.99984792e-01 -5.45843569e-03 -9.56596403e+01] [ 3.32321351e-03 5.46102819e-03 9.99979567e-01 2.96199050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73907232899995 meters Centerline goodness [0,1] 0.32088114582460847 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.20 [[ 9.99997725e-01 3.54326864e-04 -2.10347293e-03 -1.70498731e+02] [-3.64575615e-04 9.99988056e-01 -4.87391734e-03 -9.56619762e+01] [ 2.10172085e-03 4.87467313e-03 9.99985910e-01 2.96197176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.769072329 meters Centerline goodness [0,1] 0.3442194234068371 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.20 [[ 9.99999368e-01 -4.13815746e-04 -1.04531673e-03 -1.70501607e+02] [ 4.08485186e-04 9.99986939e-01 -5.09454609e-03 -9.56629094e+01] [ 1.04741128e-03 5.09411588e-03 9.99986476e-01 2.96197181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79907232899996 meters Centerline goodness [0,1] 0.34626896912611194 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.20 [[ 9.99999744e-01 -5.02685579e-04 -5.09192773e-04 -1.70503008e+02] [ 5.00110218e-04 9.99987147e-01 -5.04529576e-03 -9.56633545e+01] [ 5.11722426e-04 5.04503982e-03 9.99987143e-01 2.96197160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.829072329 meters Centerline goodness [0,1] 0.34116785265801586 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.20 [[ 9.99999852e-01 -5.41097134e-04 4.85921120e-05 -1.70504554e+02] [ 5.41323539e-04 9.99988396e-01 -4.78686454e-03 -9.56645723e+01] [-4.60013895e-05 4.78689013e-03 9.99988542e-01 2.96197264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85907232899996 meters Centerline goodness [0,1] 0.35664423358274466 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.20 [[ 9.99999894e-01 -4.16474297e-04 -1.96954082e-04 -1.70504639e+02] [ 4.15475657e-04 9.99987195e-01 -5.04356684e-03 -9.56632522e+01] [ 1.99052076e-04 5.04348447e-03 9.99987262e-01 2.96198359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.889072329 meters Centerline goodness [0,1] 0.3484468414231364 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.66, Z:296.20 [[ 9.99999784e-01 -6.57340348e-04 -1.30427398e-05 -1.70505528e+02] [ 6.57260763e-04 9.99985344e-01 -5.37407941e-03 -9.56624344e+01] [ 1.65751479e-05 5.37406968e-03 9.99985559e-01 2.96198953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91907232899996 meters Centerline goodness [0,1] 0.3206758986569752 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.20 [[ 9.99999580e-01 6.20320425e-04 -6.75223248e-04 -1.70502631e+02] [-6.23169875e-04 9.99990868e-01 -4.22801331e-03 -9.56627824e+01] [ 6.72594359e-04 4.22843231e-03 9.99990834e-01 2.96197765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.949072329 meters Centerline goodness [0,1] 0.2998701951260363 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.66, Z:296.20 [[ 9.99999966e-01 2.42090179e-04 -1.01678849e-04 -1.70503183e+02] [-2.42529819e-04 9.99990525e-01 -4.34628764e-03 -9.56625063e+01] [ 1.00625692e-04 4.34631215e-03 9.99990550e-01 2.96196480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97907232899996 meters Centerline goodness [0,1] 0.3240719415422625 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.67, Z:296.20 [[ 9.99999575e-01 9.15818861e-04 -1.04312298e-04 -1.70502782e+02] [-9.16153081e-04 9.99994298e-01 -3.25036735e-03 -9.56654234e+01] [ 1.01334955e-04 3.25046154e-03 9.99994712e-01 2.96195790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.009072329 meters Centerline goodness [0,1] 0.3371917779545359 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.67, Z:296.20 [[ 9.99999103e-01 1.30585717e-03 -2.98201528e-04 -1.70502005e+02] [-1.30670752e-03 9.99995029e-01 -2.86943515e-03 -9.56659281e+01] [ 2.94452973e-04 2.86982224e-03 9.99995839e-01 2.96195395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03907232899996 meters Centerline goodness [0,1] 0.34145472828591783 Centerline is valid? [False, False] Translation: X:-170.50, Y:-95.67, Z:296.20 [[ 9.99999586e-01 -2.09350119e-04 8.85467097e-04 -1.70504986e+02] [ 2.12753055e-04 9.99992586e-01 -3.84475073e-03 -9.56652131e+01] [-8.84655633e-04 3.84493753e-03 9.99992217e-01 2.96195167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.069072329 meters Centerline goodness [0,1] 0.30957464623628905 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99998666e-01 -4.51519210e-04 1.56958320e-03 -1.70506381e+02] [ 4.57463450e-04 9.99992718e-01 -3.78885126e-03 -9.56657671e+01] [-1.56786104e-03 3.78956423e-03 9.99991590e-01 2.96194604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09907232899997 meters Centerline goodness [0,1] 0.32847984580574874 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99996890e-01 -6.05861452e-04 2.41921740e-03 -1.70507578e+02] [ 6.13572461e-04 9.99994730e-01 -3.18792880e-03 -9.56679533e+01] [-2.41727321e-03 3.18940325e-03 9.99991992e-01 2.96193043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.129072329 meters Centerline goodness [0,1] 0.31155231632738545 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99996627e-01 -5.42251918e-04 2.54005978e-03 -1.70507659e+02] [ 5.50020741e-04 9.99995171e-01 -3.05882037e-03 -9.56681416e+01] [-2.53838886e-03 3.06020714e-03 9.99992096e-01 2.96192704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15907232899997 meters Centerline goodness [0,1] 0.32067324823408583 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99996279e-01 -6.70811543e-04 2.64411291e-03 -1.70507923e+02] [ 6.79457040e-04 9.99994422e-01 -3.27017435e-03 -9.56672845e+01] [-2.64190449e-03 3.27195874e-03 9.99991157e-01 2.96192740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18907232899994 meters Centerline goodness [0,1] 0.31438434982738783 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99996258e-01 -7.94953858e-04 2.61774987e-03 -1.70508357e+02] [ 8.04464070e-04 9.99993074e-01 -3.63392499e-03 -9.56659411e+01] [-2.61484293e-03 3.63601728e-03 9.99989971e-01 2.96193541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21907232899997 meters Centerline goodness [0,1] 0.3091849122953908 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99995692e-01 -9.45917187e-04 2.77871600e-03 -1.70509032e+02] [ 9.56658023e-04 9.99992067e-01 -3.86661302e-03 -9.56653314e+01] [-2.77503647e-03 3.86925464e-03 9.99988664e-01 2.96193916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24907232899994 meters Centerline goodness [0,1] 0.3176180217113933 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99996431e-01 -6.24353573e-04 2.59782671e-03 -1.70508522e+02] [ 6.33337332e-04 9.99993818e-01 -3.45879820e-03 -9.56660156e+01] [-2.59565114e-03 3.46043116e-03 9.99990644e-01 2.96193846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.279072329 meters Centerline goodness [0,1] 0.31554737810487576 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99997216e-01 -2.01529794e-04 2.35084108e-03 -1.70507430e+02] [ 2.08733081e-04 9.99995283e-01 -3.06428915e-03 -9.56663364e+01] [-2.35021244e-03 3.06477131e-03 9.99992542e-01 2.96193236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30907232899995 meters Centerline goodness [0,1] 0.35028307602314745 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99996668e-01 1.96616203e-04 2.57407510e-03 -1.70507729e+02] [-1.90778597e-04 9.99997410e-01 -2.26789494e-03 -9.56685757e+01] [-2.57451434e-03 2.26739631e-03 9.99994115e-01 2.96192711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.339072329 meters Centerline goodness [0,1] 0.34509369248787014 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99995173e-01 2.88938673e-05 3.10680428e-03 -1.70508829e+02] [-2.18858219e-05 9.99997456e-01 -2.25571902e-03 -9.56688173e+01] [-3.10686155e-03 2.25564014e-03 9.99992630e-01 2.96192303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36907232899995 meters Centerline goodness [0,1] 0.3281645106685336 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99993344e-01 -1.49030118e-04 3.64546840e-03 -1.70510336e+02] [ 1.57156985e-04 9.99997503e-01 -2.22912175e-03 -9.56693966e+01] [-3.64512709e-03 2.22967982e-03 9.99990871e-01 2.96192378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.399072329 meters Centerline goodness [0,1] 0.36497859454944137 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99988805e-01 -1.25501614e-03 4.56222642e-03 -1.70512782e+02] [ 1.26964221e-03 9.99994060e-01 -3.20442490e-03 -9.56676908e+01] [-4.55817771e-03 3.21018142e-03 9.99984459e-01 2.96192467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42907232899995 meters Centerline goodness [0,1] 0.35526891579320263 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99990255e-01 -1.03583347e-03 4.29161131e-03 -1.70511725e+02] [ 1.04906661e-03 9.99994699e-01 -3.08238748e-03 -9.56672827e+01] [-4.28839572e-03 3.08685963e-03 9.99986040e-01 2.96192022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.459072329 meters Centerline goodness [0,1] 0.3532204098703471 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99991911e-01 -8.23260079e-04 3.93694024e-03 -1.70510626e+02] [ 8.35584673e-04 9.99994753e-01 -3.12988121e-03 -9.56658372e+01] [-3.93434288e-03 3.13314554e-03 9.99987352e-01 2.96191876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.48907232899995 meters Centerline goodness [0,1] 0.31472070602505386 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99989329e-01 -1.02946637e-03 4.50355746e-03 -1.70511985e+02] [ 1.04347399e-03 9.99994622e-01 -3.10910366e-03 -9.56662398e+01] [-4.50033253e-03 3.11376983e-03 9.99985026e-01 2.96191696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.519072329 meters Centerline goodness [0,1] 0.36248119043638183 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99988783e-01 -8.59092156e-04 4.65779822e-03 -1.70512416e+02] [ 8.72113515e-04 9.99995716e-01 -2.79429398e-03 -9.56671082e+01] [-4.65537771e-03 2.79832477e-03 9.99985248e-01 2.96191695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.54907232899996 meters Centerline goodness [0,1] 0.32203460757851565 Centerline is valid? [False, False] Translation: X:-170.51, Y:-95.67, Z:296.19 [[ 9.99985226e-01 -1.30717055e-03 5.27633303e-03 -1.70513927e+02] [ 1.32436328e-03 9.99993821e-01 -3.25628554e-03 -9.56659149e+01] [-5.27204391e-03 3.26322521e-03 9.99980778e-01 2.96191634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.579072329 meters Centerline goodness [0,1] 0.344319892922871 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.67, Z:296.19 [[ 9.99978990e-01 -1.97018009e-03 6.17566215e-03 -1.70516056e+02] [ 1.98903694e-03 9.99993374e-01 -3.04875991e-03 -9.56680378e+01] [-6.16961463e-03 3.06097947e-03 9.99976283e-01 2.96191082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.60907232899996 meters Centerline goodness [0,1] 0.3154540515692257 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.67, Z:296.19 [[ 9.99980979e-01 -1.67551311e-03 5.93585223e-03 -1.70515148e+02] [ 1.69295022e-03 9.99994263e-01 -2.93378611e-03 -9.56674240e+01] [-5.93090258e-03 2.94377941e-03 9.99978079e-01 2.96190718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.639072329 meters Centerline goodness [0,1] 0.31480280364054813 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.67, Z:296.19 [[ 9.99978397e-01 -1.62355532e-03 6.36945624e-03 -1.70515624e+02] [ 1.63972748e-03 9.99995443e-01 -2.53461744e-03 -9.56685354e+01] [-6.36531212e-03 2.54500686e-03 9.99976503e-01 2.96189769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66907232899996 meters Centerline goodness [0,1] 0.3445620789220404 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.67, Z:296.19 [[ 9.99975002e-01 -1.72682343e-03 6.85661008e-03 -1.70516845e+02] [ 1.74352727e-03 9.99995525e-01 -2.43093699e-03 -9.56692164e+01] [-6.85238160e-03 2.44283091e-03 9.99973538e-01 2.96189636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.699072329 meters Centerline goodness [0,1] 0.3319311903566047 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.67, Z:296.19 [[ 9.99971266e-01 -1.92042246e-03 7.33339201e-03 -1.70518161e+02] [ 1.93869139e-03 9.99995033e-01 -2.48490218e-03 -9.56694021e+01] [-7.32858353e-03 2.49904796e-03 9.99970023e-01 2.96189731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72907232899996 meters Centerline goodness [0,1] 0.35083242700577266 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.67, Z:296.19 [[ 9.99962626e-01 -2.61931907e-03 8.23930814e-03 -1.70520655e+02] [ 2.64216772e-03 9.99992691e-01 -2.76346484e-03 -9.56698225e+01] [-8.23200952e-03 2.78513119e-03 9.99962238e-01 2.96189867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.759072329 meters Centerline goodness [0,1] 0.2962304409672831 Centerline is valid? [False, False] Translation: X:-170.52, Y:-95.67, Z:296.19 [[ 9.99953554e-01 -3.18060678e-03 9.09802573e-03 -1.70522727e+02] [ 3.20875770e-03 9.99990105e-01 -3.08125719e-03 -9.56694233e+01] [-9.08813543e-03 3.11030744e-03 9.99953865e-01 2.96189687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78907232899996 meters Centerline goodness [0,1] 0.3576865172298428 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.19 [[ 9.99936536e-01 -4.46580497e-03 1.03431387e-02 -1.70525741e+02] [ 4.50730324e-03 9.99981873e-01 -3.99232516e-03 -9.56682899e+01] [-1.03251223e-02 4.03869145e-03 9.99938539e-01 2.96189512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.819072329 meters Centerline goodness [0,1] 0.30604900299206994 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.19 [[ 9.99923950e-01 -4.92048723e-03 1.13085628e-02 -1.70528129e+02] [ 4.96475235e-03 9.99980111e-01 -3.88956674e-03 -9.56696476e+01] [-1.12891993e-02 3.94541515e-03 9.99928491e-01 2.96189227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84907232899997 meters Centerline goodness [0,1] 0.31157388028463795 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.19 [[ 9.99915167e-01 -5.12751370e-03 1.19736516e-02 -1.70529675e+02] [ 5.17267205e-03 9.99979614e-01 -3.74355766e-03 -9.56705568e+01] [-1.19542124e-02 3.80517585e-03 9.99921306e-01 2.96188915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.879072329 meters Centerline goodness [0,1] 0.30938983830819755 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.19 [[ 9.99897882e-01 -6.04908675e-03 1.29473346e-02 -1.70531052e+02] [ 6.10087096e-03 9.99973533e-01 -3.96385071e-03 -9.56708551e+01] [-1.29230142e-02 4.04243594e-03 9.99908323e-01 2.96187358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90907232899997 meters Centerline goodness [0,1] 0.30678941311852703 Centerline is valid? [False, False] Translation: X:-170.53, Y:-95.67, Z:296.19 [[ 9.99871840e-01 -7.42407366e-03 1.41840304e-02 -1.70534009e+02] [ 7.49390529e-03 9.99960030e-01 -4.87646650e-03 -9.56701528e+01] [-1.41472603e-02 4.98213531e-03 9.99887510e-01 2.96187057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93907232899994 meters Centerline goodness [0,1] 0.32160719891179246 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.19 [[ 9.99847294e-01 -8.40956792e-03 1.53188827e-02 -1.70537203e+02] [ 8.48857023e-03 9.99950969e-01 -5.09948323e-03 -9.56716310e+01] [-1.52752471e-02 5.22873992e-03 9.99869655e-01 2.96187245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96907232899997 meters Centerline goodness [0,1] 0.32160719891179246 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.19 [[ 9.99847294e-01 -8.40956792e-03 1.53188827e-02 -1.70537203e+02] [ 8.48857023e-03 9.99950969e-01 -5.09948323e-03 -9.56716310e+01] [-1.52752471e-02 5.22873992e-03 9.99869655e-01 2.96187245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99907232899994 meters Centerline goodness [0,1] 0.3303438904567785 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.19 [[ 9.99779299e-01 -1.31190818e-02 1.64086193e-02 -1.70539891e+02] [ 1.32738510e-02 9.99868097e-01 -9.35911435e-03 -9.56724186e+01] [-1.62836719e-02 9.57485435e-03 9.99821566e-01 2.96187264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.029072329 meters Centerline goodness [0,1] 0.32992535909176446 Centerline is valid? [False, False] Translation: X:-170.54, Y:-95.67, Z:296.19 [[ 9.99750029e-01 -1.40117998e-02 1.74226448e-02 -1.70542676e+02] [ 1.41895275e-02 9.99848115e-01 -1.01195264e-02 -9.56711923e+01] [-1.72782058e-02 1.03642159e-02 9.99797003e-01 2.96187554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05907232899995 meters Centerline goodness [0,1] 0.3301395368297735 Centerline is valid? [False, False] Translation: X:-170.55, Y:-95.67, Z:296.19 [[ 9.99696661e-01 -1.61643029e-02 1.85822710e-02 -1.70546908e+02] [ 1.63836738e-02 9.99797154e-01 -1.17143908e-02 -9.56703919e+01] [-1.83891467e-02 1.20152832e-02 9.99758707e-01 2.96188973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.089072329 meters Centerline goodness [0,1] 0.3391647855530474 Centerline is valid? [False, False] Translation: X:-170.55, Y:-95.67, Z:296.19 [[ 9.99577961e-01 -2.10057471e-02 2.00663665e-02 -1.70549466e+02] [ 2.13156843e-02 9.99654817e-01 -1.53586301e-02 -9.56732761e+01] [-1.97368204e-02 1.57798765e-02 9.99680676e-01 2.96187355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11907232899995 meters Centerline goodness [0,1] 0.344069636371227 Centerline is valid? [False, False] Translation: X:-170.56, Y:-95.67, Z:296.18 [[ 9.99386462e-01 -2.50099187e-02 2.45194500e-02 -1.70559036e+02] [ 2.53608843e-02 9.99578795e-01 -1.41088007e-02 -9.56729564e+01] [-2.41562623e-02 1.47219794e-02 9.99599789e-01 2.96182093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.149072329 meters Centerline goodness [0,1] 0.3534942024443748 Centerline is valid? [False, False] Translation: X:-170.57, Y:-95.66, Z:296.18 [[ 9.99465557e-01 -2.87092068e-02 1.56326861e-02 -1.70570369e+02] [ 2.89264338e-02 9.99485566e-01 -1.38515212e-02 -9.56612412e+01] [-1.52269779e-02 1.42963163e-02 9.99781853e-01 2.96182296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17907232899995 meters Centerline goodness [0,1] 0.33603584827011257 Centerline is valid? [False, False] Translation: X:-170.58, Y:-95.66, Z:296.18 [[ 9.99202347e-01 -3.41393408e-02 2.07165586e-02 -1.70582297e+02] [ 3.43940157e-02 9.99335535e-01 -1.20640128e-02 -9.56606765e+01] [-2.02909357e-02 1.27669155e-02 9.99712601e-01 2.96175997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.209072329 meters Centerline goodness [0,1] 0.3547357884639446 Centerline is valid? [False, False] Translation: X:-170.58, Y:-95.66, Z:296.18 [[ 9.99149508e-01 -3.50804938e-02 2.16706968e-02 -1.70584605e+02] [ 3.53639565e-02 9.99292030e-01 -1.28386229e-02 -9.56591919e+01] [-2.12049694e-02 1.35940654e-02 9.99682725e-01 2.96175776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23907232899995 meters Centerline goodness [0,1] 0.35766849423586067 Centerline is valid? [False, False] Translation: X:-170.59, Y:-95.66, Z:296.18 [[ 9.99089830e-01 -3.60959070e-02 2.27287728e-02 -1.70587494e+02] [ 3.64118657e-02 9.99243720e-01 -1.36442194e-02 -9.56578614e+01] [-2.22190830e-02 1.44593979e-02 9.99648557e-01 2.96175969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.269072329 meters Centerline goodness [0,1] 0.1257746537453729 Centerline is valid? [False, False] Translation: X:-170.59, Y:-95.66, Z:296.18 [[ 9.98994711e-01 -3.77376384e-02 2.41958241e-02 -1.70591266e+02] [ 3.80921897e-02 9.99170990e-01 -1.43637384e-02 -9.56583756e+01] [-2.36337120e-02 1.52709706e-02 9.99604044e-01 2.96175857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29907232899996 meters Centerline goodness [0,1] 0.12653562653562656 Centerline is valid? [False, False] Translation: X:-170.59, Y:-95.66, Z:296.18 [[ 9.98989370e-01 -3.77441276e-02 2.44053348e-02 -1.70591743e+02] [ 3.81002814e-02 9.99171644e-01 -1.42966278e-02 -9.56584718e+01] [-2.38455048e-02 1.52120294e-02 9.99599913e-01 2.96175693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.329072329 meters Centerline goodness [0,1] 0.12787521114424538 Centerline is valid? [False, False] Translation: X:-170.60, Y:-95.66, Z:296.18 [[ 9.99056920e-01 -3.52634889e-02 2.53329329e-02 -1.70595349e+02] [ 3.55693875e-02 9.99298395e-01 -1.17276151e-02 -9.56557870e+01] [-2.49016025e-02 1.26176319e-02 9.99610277e-01 2.96176679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35907232899996 meters Centerline goodness [0,1] 0.12525500645322452 Centerline is valid? [False, False] Translation: X:-170.60, Y:-95.65, Z:296.18 [[ 9.99043913e-01 -3.55321247e-02 2.54701465e-02 -1.70595590e+02] [ 3.58485878e-02 9.99284248e-01 -1.20777051e-02 -9.56546534e+01] [-2.50227696e-02 1.29792265e-02 9.99602621e-01 2.96176429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.389072329 meters Centerline goodness [0,1] 0.12162528404945061 Centerline is valid? [False, False] Translation: X:-170.60, Y:-95.65, Z:296.18 [[ 9.99126917e-01 -3.28016189e-02 2.58738908e-02 -1.70598585e+02] [ 3.30622577e-02 9.99406119e-01 -9.71067878e-03 -9.56509328e+01] [-2.55399988e-02 1.05576498e-02 9.99618049e-01 2.96178383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41907232899996 meters Centerline goodness [0,1] 0.2981549046179506 Centerline is valid? [False, False] Translation: X:-170.60, Y:-95.65, Z:296.18 [[ 9.99171044e-01 -3.08020332e-02 2.66169154e-02 -1.70602553e+02] [ 3.10262768e-02 9.99486126e-01 -8.05324498e-03 -9.56463757e+01] [-2.63551813e-02 8.87239297e-03 9.99613268e-01 2.96180648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.449072329 meters Centerline goodness [0,1] 0.3435911325943829 Centerline is valid? [False, False] Translation: X:-170.60, Y:-95.64, Z:296.18 [[ 9.99167044e-01 -3.10694348e-02 2.64557942e-02 -1.70602823e+02] [ 3.13172545e-02 9.99468929e-01 -9.00497752e-03 -9.56432454e+01] [-2.61619647e-02 9.82599960e-03 9.99609424e-01 2.96181585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47907232899996 meters Centerline goodness [0,1] 0.309786009260418 Centerline is valid? [False, False] Translation: X:-170.61, Y:-95.64, Z:296.18 [[ 9.99272289e-01 -2.53602337e-02 2.84912316e-02 -1.70613405e+02] [ 2.58081398e-02 9.99547290e-01 -1.54646206e-02 -9.56352031e+01] [-2.80861469e-02 1.61886725e-02 9.99474409e-01 2.96175672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.509072329 meters Centerline goodness [0,1] 0.3359182822597456 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.63, Z:296.18 [[ 9.99296704e-01 -2.32763631e-02 2.93991077e-02 -1.70616485e+02] [ 2.36846472e-02 9.99626744e-01 -1.36165653e-02 -9.56302667e+01] [-2.90711902e-02 1.43032963e-02 9.99475003e-01 2.96176596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53907232899996 meters Centerline goodness [0,1] 0.3616755236011253 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.63, Z:296.18 [[ 9.99330613e-01 -2.06922153e-02 3.01688437e-02 -1.70619548e+02] [ 2.10257045e-02 9.99720827e-01 -1.07790523e-02 -9.56285745e+01] [-2.99373789e-02 1.14061581e-02 9.99486695e-01 2.96177673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.569072329 meters Centerline goodness [0,1] 0.32760235622255063 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.63, Z:296.18 [[ 9.99309732e-01 -2.10709325e-02 3.05953586e-02 -1.70620435e+02] [ 2.14226555e-02 9.99707615e-01 -1.12140029e-02 -9.56271838e+01] [-3.03501235e-02 1.18616960e-02 9.99468944e-01 2.96177422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59907232899997 meters Centerline goodness [0,1] 0.34694430548607635 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.62, Z:296.18 [[ 9.99610381e-01 -2.14951864e-02 1.78056912e-02 -1.70623085e+02] [ 2.17736243e-02 9.99641301e-01 -1.55941631e-02 -9.56150804e+01] [-1.74641049e-02 1.59757818e-02 9.99719850e-01 2.96182980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.629072329 meters Centerline goodness [0,1] 0.3211339776703883 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.61, Z:296.18 [[ 9.99625141e-01 -2.00835835e-02 1.86071770e-02 -1.70626308e+02] [ 2.03513550e-02 9.99690405e-01 -1.43149288e-02 -9.56102376e+01] [-1.83139213e-02 1.46882440e-02 9.99724390e-01 2.96184457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65907232899997 meters Centerline goodness [0,1] 0.3842336801284323 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.61, Z:296.18 [[ 9.99650012e-01 -1.77631869e-02 1.96041562e-02 -1.70629062e+02] [ 1.80044321e-02 9.99763488e-01 -1.21986896e-02 -9.56055634e+01] [-1.93828320e-02 1.25473819e-02 9.99733399e-01 2.96184718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68907232899994 meters Centerline goodness [0,1] 0.12586800125117292 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.61, Z:296.18 [[ 9.99560676e-01 -2.19936506e-02 1.98678981e-02 -1.70628331e+02] [ 2.23209073e-02 9.99616288e-01 -1.64028336e-02 -9.56051842e+01] [-1.94995164e-02 1.68390970e-02 9.99668052e-01 2.96183046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71907232899997 meters Centerline goodness [0,1] 0.3125156445556946 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.60, Z:296.18 [[ 9.99595835e-01 -1.95074928e-02 2.06791029e-02 -1.70631617e+02] [ 1.97965153e-02 9.99707884e-01 -1.38651964e-02 -9.56025096e+01] [-2.04025870e-02 1.42689667e-02 9.99690017e-01 2.96184265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74907232899994 meters Centerline goodness [0,1] 0.3363003418660886 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.60, Z:296.18 [[ 9.99595151e-01 -1.96778196e-02 2.05503728e-02 -1.70631687e+02] [ 1.99751044e-02 9.99697312e-01 -1.43624696e-02 -9.56007807e+01] [-2.02615304e-02 1.47671508e-02 9.99685651e-01 2.96184831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.779072329 meters Centerline goodness [0,1] 0.3359378255615285 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.60, Z:296.19 [[ 9.99638849e-01 -1.64459047e-02 2.12533400e-02 -1.70634502e+02] [ 1.66832199e-02 9.99799903e-01 -1.10373637e-02 -9.55995335e+01] [-2.10675679e-02 1.13879516e-02 9.99713195e-01 2.96185873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80907232899995 meters Centerline goodness [0,1] 0.3404073285756021 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.59, Z:296.19 [[ 9.99667522e-01 -1.38848065e-02 2.17268818e-02 -1.70637360e+02] [ 1.40830480e-02 9.99860342e-01 -8.99799132e-03 -9.55947465e+01] [-2.15989121e-02 9.30098040e-03 9.99723451e-01 2.96187969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.839072329 meters Centerline goodness [0,1] 0.30006255212677235 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.59, Z:296.19 [[ 9.99658114e-01 -1.43364345e-02 2.18659991e-02 -1.70638002e+02] [ 1.45527639e-02 9.99846404e-01 -9.76657965e-03 -9.55922455e+01] [-2.17226227e-02 1.00814513e-02 9.99713205e-01 2.96188440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86907232899995 meters Centerline goodness [0,1] 0.3105578395976376 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.59, Z:296.19 [[ 9.99693736e-01 -1.08668224e-02 2.22339160e-02 -1.70638949e+02] [ 1.10123401e-02 9.99918670e-01 -6.43291094e-03 -9.55898587e+01] [-2.21622024e-02 6.67578821e-03 9.99732099e-01 2.96188312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.899072329 meters Centerline goodness [0,1] 0.3071723619977469 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.59, Z:296.19 [[ 9.99719738e-01 -9.75670621e-03 2.15697224e-02 -1.70636425e+02] [ 9.87015305e-03 9.99937979e-01 -5.15934964e-03 -9.55921664e+01] [-2.15180464e-02 5.37080013e-03 9.99754034e-01 2.96187118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92907232899995 meters Centerline goodness [0,1] 0.28556804412317716 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99938749e-01 -4.19572423e-03 1.02417594e-02 -1.70640383e+02] [ 4.27250812e-03 9.99962846e-01 -7.48680763e-03 -9.55786553e+01] [-1.02099663e-02 7.53010706e-03 9.99919524e-01 2.96190265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.959072329 meters Centerline goodness [0,1] 0.28481489228194934 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99952112e-01 -1.09455888e-04 9.78582340e-03 -1.70640595e+02] [ 1.51181195e-04 9.99990901e-01 -4.26321431e-03 -9.55754575e+01] [-9.78526772e-03 4.26448958e-03 9.99943030e-01 2.96192231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.98907232899995 meters Centerline goodness [0,1] 0.2860998932853466 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99958895e-01 7.59479593e-04 9.03496389e-03 -1.70638906e+02] [-7.26121448e-04 9.99992910e-01 -3.69482469e-03 -9.55756675e+01] [-9.03770598e-03 3.68811233e-03 9.99952358e-01 2.96192667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.019072329 meters Centerline goodness [0,1] 0.2953571503229717 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99958604e-01 8.08408362e-04 9.06289126e-03 -1.70639069e+02] [-7.75006657e-04 9.99992897e-01 -3.68845263e-03 -9.55754491e+01] [-9.06580866e-03 3.68127615e-03 9.99952129e-01 2.96192820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.04907232899996 meters Centerline goodness [0,1] 0.29220303506017786 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99963348e-01 1.94432672e-03 8.33796584e-03 -1.70636321e+02] [-1.92236363e-03 9.99994664e-01 -2.64131232e-03 -9.55766804e+01] [-8.34305692e-03 2.62518691e-03 9.99961750e-01 2.96191755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.079072329 meters Centerline goodness [0,1] 0.3029237563048074 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99963948e-01 2.37717943e-03 8.15185354e-03 -1.70635413e+02] [-2.36062761e-03 9.99995134e-01 -2.03945788e-03 -9.55780956e+01] [-8.15666203e-03 2.02014087e-03 9.99964693e-01 2.96191093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.10907232899996 meters Centerline goodness [0,1] 0.2761813002680965 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99964202e-01 2.30769162e-03 8.14056839e-03 -1.70635569e+02] [-2.28965445e-03 9.99994905e-01 -2.22433802e-03 -9.55774429e+01] [-8.14566000e-03 2.20561931e-03 9.99964391e-01 2.96191373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.139072329 meters Centerline goodness [0,1] 0.3034906134763661 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99959621e-01 1.75214978e-03 8.81399389e-03 -1.70637752e+02] [-1.72818216e-03 9.99994791e-01 -2.72615021e-03 -9.55766347e+01] [-8.81872460e-03 2.71080794e-03 9.99957440e-01 2.96192061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16907232899996 meters Centerline goodness [0,1] 0.3132865668516386 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99960470e-01 -2.01604218e-03 8.65986735e-03 -1.70637426e+02] [ 2.07141404e-03 9.99977439e-01 -6.38987374e-03 -9.55778123e+01] [-8.64678972e-03 6.40755932e-03 9.99942086e-01 2.96192209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.199072329 meters Centerline goodness [0,1] 0.31325704483169803 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99951127e-01 -2.56101827e-03 9.54907186e-03 -1.70639879e+02] [ 2.62475243e-03 9.99974325e-01 -6.66783456e-03 -9.55778225e+01] [-9.53175024e-03 6.69257263e-03 9.99932175e-01 2.96192393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22907232899996 meters Centerline goodness [0,1] 0.32822688513626486 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99915623e-01 -7.32843710e-03 1.07257477e-02 -1.70642351e+02] [ 7.44431801e-03 9.99913922e-01 -1.08042444e-02 -9.55789987e+01] [-1.06456463e-02 1.08831786e-02 9.99884107e-01 2.96191728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.259072329 meters Centerline goodness [0,1] 0.31651385727115144 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99897877e-01 -8.00181088e-03 1.18409083e-02 -1.70644696e+02] [ 8.13000796e-03 9.99908429e-01 -1.08183888e-02 -9.55798752e+01] [-1.17532573e-02 1.09135507e-02 9.99871369e-01 2.96190920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28907232899996 meters Centerline goodness [0,1] 0.31485421098736077 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.58, Z:296.19 [[ 9.99857403e-01 -1.13889315e-02 1.24686154e-02 -1.70644486e+02] [ 1.15536962e-02 9.99845820e-01 -1.32230500e-02 -9.55846735e+01] [-1.23160966e-02 1.33652230e-02 9.99834829e-01 2.96188518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.319072329 meters Centerline goodness [0,1] 0.3471648516710477 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.58, Z:296.19 [[ 9.99829580e-01 -1.23868838e-02 1.36885032e-02 -1.70647284e+02] [ 1.25744309e-02 9.99827068e-01 -1.37010059e-02 -9.55846455e+01] [-1.35164232e-02 1.38707962e-02 9.99812436e-01 2.96187982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34907232899997 meters Centerline goodness [0,1] 0.3226963667459225 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.59, Z:296.19 [[ 9.99805435e-01 -1.30138465e-02 1.48233647e-02 -1.70649852e+02] [ 1.32187916e-02 9.99817219e-01 -1.38127801e-02 -9.55852533e+01] [-1.46408979e-02 1.40060396e-02 9.99794716e-01 2.96187405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.379072329 meters Centerline goodness [0,1] 0.12619236056150285 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.59, Z:296.19 [[ 9.99729090e-01 -1.72110547e-02 1.56692809e-02 -1.70651405e+02] [ 1.74837010e-02 9.99695166e-01 -1.74325990e-02 -9.55875273e+01] [-1.53644709e-02 1.77018333e-02 9.99725251e-01 2.96186805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40907232899997 meters Centerline goodness [0,1] 0.12697420510897195 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.59, Z:296.19 [[ 9.99709123e-01 -1.76158215e-02 1.64727611e-02 -1.70653463e+02] [ 1.79056927e-02 9.99684441e-01 -1.76182750e-02 -9.55873875e+01] [-1.61572026e-02 1.79081065e-02 9.99709080e-01 2.96186777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43907232899994 meters Centerline goodness [0,1] 0.12539008862813628 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.59, Z:296.19 [[ 9.99471871e-01 -2.62681078e-02 1.91302032e-02 -1.70655416e+02] [ 2.64139127e-02 9.99623633e-01 -7.40930054e-03 -9.55917244e+01] [-1.89283749e-02 7.91069100e-03 9.99789547e-01 2.96187055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46907232899997 meters Centerline goodness [0,1] 0.12777881950955272 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.59, Z:296.19 [[ 9.99444632e-01 -2.66215750e-02 2.00429449e-02 -1.70657913e+02] [ 2.67748690e-02 9.99613957e-01 -7.41913006e-03 -9.55924880e+01] [-1.98376986e-02 7.95165694e-03 9.99771592e-01 2.96187130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49907232899994 meters Centerline goodness [0,1] 0.12390706969772669 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.59, Z:296.19 [[ 9.99390668e-01 -2.78598598e-02 2.10266840e-02 -1.70661325e+02] [ 2.80402903e-02 9.99572039e-01 -8.33548461e-03 -9.55919990e+01] [-2.07854600e-02 8.91999985e-03 9.99744166e-01 2.96188190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.529072329 meters Centerline goodness [0,1] 0.1244849544262705 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.59, Z:296.19 [[ 9.99358961e-01 -2.84574421e-02 2.17218942e-02 -1.70663769e+02] [ 2.86559153e-02 9.99549882e-01 -8.88103603e-03 -9.55910597e+01] [-2.14593852e-02 9.49780370e-03 9.99724605e-01 2.96189021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55907232899995 meters Centerline goodness [0,1] 0.1279423405407657 Centerline is valid? [False, False] Translation: X:-170.68, Y:-95.58, Z:296.19 [[ 9.99638645e-01 -1.64621284e-02 2.12503709e-02 -1.70675604e+02] [ 1.67190341e-02 9.99788587e-01 -1.19689444e-02 -9.55758300e+01] [-2.10488439e-02 1.23199050e-02 9.99702539e-01 2.96188568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.589072329 meters Centerline goodness [0,1] 0.12303370786516854 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.58, Z:296.19 [[ 9.99645995e-01 -1.62774125e-02 2.10459021e-02 -1.70674879e+02] [ 1.65297526e-02 9.99792888e-01 -1.18721300e-02 -9.55754674e+01] [-2.08482957e-02 1.22158108e-02 9.99708019e-01 2.96188289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61907232899995 meters Centerline goodness [0,1] 0.12802631305035705 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.58, Z:296.19 [[ 9.99658304e-01 -1.55747949e-02 2.09928964e-02 -1.70674217e+02] [ 1.58036734e-02 9.99816988e-01 -1.07812084e-02 -9.55781302e+01] [-2.08211393e-02 1.11092893e-02 9.99721493e-01 2.96187460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.649072329 meters Centerline goodness [0,1] 0.12278401997503119 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.58, Z:296.19 [[ 9.99657651e-01 -1.51610456e-02 2.13242598e-02 -1.70674612e+02] [ 1.53758590e-02 9.99832316e-01 -9.94603277e-03 -9.55805794e+01] [-2.11698918e-02 1.02705066e-02 9.99723138e-01 2.96186726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67907232899995 meters Centerline goodness [0,1] 0.12460669708903749 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.58, Z:296.19 [[ 9.99691639e-01 -1.35635976e-02 2.08003554e-02 -1.70673067e+02] [ 1.37369923e-02 9.99871888e-01 -8.21603432e-03 -9.55839856e+01] [-2.06862516e-02 8.49923514e-03 9.99749890e-01 2.96186175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.709072329 meters Centerline goodness [0,1] 0.1237984512217909 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.58, Z:296.19 [[ 9.99693043e-01 -1.34974363e-02 2.07759351e-02 -1.70673150e+02] [ 1.36707537e-02 9.99872739e-01 -8.22291763e-03 -9.55837807e+01] [-2.06623028e-02 8.50441623e-03 9.99750341e-01 2.96186345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73907232899995 meters Centerline goodness [0,1] 0.32748099552223264 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.57, Z:296.19 [[ 9.99894417e-01 -1.21944850e-02 7.90250922e-03 -1.70674202e+02] [ 1.22859305e-02 9.99856908e-01 -1.16283608e-02 -9.55715109e+01] [-7.75957657e-03 1.17242228e-02 9.99901161e-01 2.96191197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.769072329 meters Centerline goodness [0,1] 0.3114351176838158 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.57, Z:296.19 [[ 9.99937937e-01 -8.37901849e-03 7.34261897e-03 -1.70673070e+02] [ 8.44243518e-03 9.99926959e-01 -8.64878618e-03 -9.55666178e+01] [-7.26961432e-03 8.71023899e-03 9.99935640e-01 2.96191641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79907232899996 meters Centerline goodness [0,1] 0.33385406902872383 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.19 [[ 9.99941797e-01 -8.39916057e-03 6.77171184e-03 -1.70671659e+02] [ 8.46080266e-03 9.99922561e-01 -9.12621153e-03 -9.55640985e+01] [-6.69453493e-03 9.18297448e-03 9.99935426e-01 2.96191872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.829072329 meters Centerline goodness [0,1] 0.34323164124364425 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.19 [[ 9.99953852e-01 -6.29100300e-03 7.26063258e-03 -1.70674777e+02] [ 6.34701114e-03 9.99950082e-01 -7.71685915e-03 -9.55579601e+01] [-7.21172336e-03 7.76258635e-03 9.99943865e-01 2.96194443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85907232899996 meters Centerline goodness [0,1] 0.34323164124364425 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.19 [[ 9.99953852e-01 -6.29100300e-03 7.26063258e-03 -1.70674777e+02] [ 6.34701114e-03 9.99950082e-01 -7.71685915e-03 -9.55579601e+01] [-7.21172336e-03 7.76258635e-03 9.99943865e-01 2.96194443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.889072329 meters Centerline goodness [0,1] 0.3190694763196328 Centerline is valid? [False, False] Translation: X:-170.68, Y:-95.55, Z:296.20 [[ 9.99964047e-01 -3.17127278e-03 7.86432925e-03 -1.70677171e+02] [ 3.20963045e-03 9.99982992e-01 -4.86960826e-03 -9.55549243e+01] [-7.84875264e-03 4.89467478e-03 9.99957219e-01 2.96195474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91907232899996 meters Centerline goodness [0,1] 0.32142633588582636 Centerline is valid? [False, False] Translation: X:-170.68, Y:-95.55, Z:296.20 [[ 9.99965634e-01 -3.02806905e-03 7.71760265e-03 -1.70677124e+02] [ 3.06526919e-03 9.99983720e-01 -4.81290580e-03 -9.55547086e+01] [-7.70290320e-03 4.83639693e-03 9.99958636e-01 2.96195956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.949072329 meters Centerline goodness [0,1] 0.34893474949397996 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.19 [[ 9.99972521e-01 -1.35216104e-03 7.28902309e-03 -1.70674806e+02] [ 1.37339826e-03 9.99994825e-01 -2.90937184e-03 -9.55577966e+01] [-7.28505143e-03 2.91930262e-03 9.99969202e-01 2.96194398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97907232899996 meters Centerline goodness [0,1] 0.343027139874739 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.19 [[ 9.99976458e-01 -4.56055403e-04 6.84652955e-03 -1.70673099e+02] [ 4.68821675e-04 9.99998154e-01 -1.86314501e-03 -9.55596802e+01] [-6.84566721e-03 1.86631095e-03 9.99974827e-01 2.96193693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.009072329 meters Centerline goodness [0,1] 0.3418739167658543 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.19 [[ 9.99977131e-01 -3.34190906e-04 6.75472380e-03 -1.70672850e+02] [ 3.46699843e-04 9.99998227e-01 -1.85079384e-03 -9.55592249e+01] [-6.75409330e-03 1.85309338e-03 9.99975474e-01 2.96193723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03907232899996 meters Centerline goodness [0,1] 0.35656763748643916 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.20 [[ 9.99975304e-01 -4.78883665e-04 7.01156346e-03 -1.70674691e+02] [ 4.93300644e-04 9.99997768e-01 -2.05458674e-03 -9.55594086e+01] [-7.01056390e-03 2.05799481e-03 9.99973308e-01 2.96195221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.069072329 meters Centerline goodness [0,1] 0.3409119378679695 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.20 [[ 9.99975710e-01 -5.72108866e-04 6.94638649e-03 -1.70674928e+02] [ 5.88862348e-04 9.99996923e-01 -2.41002132e-03 -9.55581732e+01] [-6.94498632e-03 2.41405325e-03 9.99972969e-01 2.96195783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09907232899997 meters Centerline goodness [0,1] 0.32993324989570294 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.20 [[ 9.99973814e-01 3.65856180e-03 6.24393606e-03 -1.70673523e+02] [-3.66594980e-03 9.99992593e-01 1.17219440e-03 -9.55554498e+01] [-6.23960127e-03 -1.19505366e-03 9.99979819e-01 2.96196377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.129072329 meters Centerline goodness [0,1] 0.3313763997994317 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99976862e-01 4.33731541e-03 5.24048960e-03 -1.70671283e+02] [-4.34447208e-03 9.99989645e-01 1.35503740e-03 -9.55547525e+01] [-5.23455811e-03 -1.37777321e-03 9.99985350e-01 2.96196809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15907232899997 meters Centerline goodness [0,1] 0.3232024030538809 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99979592e-01 4.34028295e-03 4.68809709e-03 -1.70670081e+02] [-4.34449263e-03 9.99990168e-01 8.88140840e-04 -9.55526240e+01] [-4.68419621e-03 -9.08490118e-04 9.99988616e-01 2.96197159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18907232899994 meters Centerline goodness [0,1] 0.3117032392894462 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99957698e-01 8.00099435e-03 4.53717497e-03 -1.70670729e+02] [-8.01881725e-03 9.99960151e-01 3.92370227e-03 -9.55490256e+01] [-4.50560065e-03 -3.95991907e-03 9.99982009e-01 2.96198725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21907232899997 meters Centerline goodness [0,1] 0.32152622680498444 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99959399e-01 8.04148425e-03 4.06626617e-03 -1.70669923e+02] [-8.05638824e-03 9.99960840e-01 3.66227967e-03 -9.55478642e+01] [-4.03665678e-03 -3.69489040e-03 9.99985026e-01 2.96199260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24907232899994 meters Centerline goodness [0,1] 0.3233917150859006 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99912467e-01 1.27996399e-02 3.35086531e-03 -1.70668232e+02] [-1.28262772e-02 9.99885316e-01 8.05239834e-03 -9.55474678e+01] [-3.24741322e-03 -8.09467261e-03 9.99961965e-01 2.96199543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.279072329 meters Centerline goodness [0,1] 0.32461367961022936 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99913696e-01 1.28596779e-02 2.68862009e-03 -1.70666696e+02] [-1.28799461e-02 9.99887692e-01 7.66223266e-03 -9.55456071e+01] [-2.58978430e-03 -7.69620066e-03 9.99967030e-01 2.96199775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30907232899995 meters Centerline goodness [0,1] 0.32144427001569864 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.20 [[ 9.99843628e-01 1.75874814e-02 1.84371721e-03 -1.70664269e+02] [-1.76076394e-02 9.99778192e-01 1.15558220e-02 -9.55430749e+01] [-1.64007046e-03 -1.15864785e-02 9.99931529e-01 2.96199777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.339072329 meters Centerline goodness [0,1] 0.31744237171031975 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.20 [[ 9.99843016e-01 1.76727659e-02 1.27127787e-03 -1.70663363e+02] [-1.76858244e-02 9.99781729e-01 1.11223149e-02 -9.55412444e+01] [-1.07443832e-03 -1.11430525e-02 9.99937337e-01 2.96200541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36907232899995 meters Centerline goodness [0,1] 0.32728833790547196 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.20 [[ 9.99848230e-01 1.74123365e-02 5.71650082e-04 -1.70662537e+02] [-1.74172454e-02 9.99796746e-01 1.01541696e-02 -9.55379789e+01] [-3.94726075e-04 -1.01625851e-02 9.99948282e-01 2.96201897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.399072329 meters Centerline goodness [0,1] 0.3509117585411863 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.53, Z:296.21 [[ 9.99782297e-01 2.05523872e-02 -3.59983719e-03 -1.70655028e+02] [-2.05259640e-02 9.99763182e-01 7.22938613e-03 -9.55341284e+01] [ 3.74756583e-03 -7.15392214e-03 9.99967388e-01 2.96209619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42907232899995 meters Centerline goodness [0,1] 0.3473677592421829 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.53, Z:296.21 [[ 9.99781530e-01 2.04996196e-02 -4.08151574e-03 -1.70654495e+02] [-2.04715067e-02 9.99767213e-01 6.81445465e-03 -9.55326892e+01] [ 4.22025934e-03 -6.72941112e-03 9.99968452e-01 2.96210557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.459072329 meters Centerline goodness [0,1] 0.3684166422256673 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.53, Z:296.21 [[ 9.99771095e-01 2.08754890e-02 -4.68746488e-03 -1.70653562e+02] [-2.08433197e-02 9.99759562e-01 6.80990010e-03 -9.55321335e+01] [ 4.82849783e-03 -6.71063895e-03 9.99965826e-01 2.96211357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.48907232899995 meters Centerline goodness [0,1] 0.3695857169799459 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.54, Z:296.21 [[ 9.99817476e-01 1.82769434e-02 -5.56485278e-03 -1.70651089e+02] [-1.82530148e-02 9.99824064e-01 4.32080369e-03 -9.55352112e+01] [ 5.64284481e-03 -4.21843970e-03 9.99975181e-01 2.96210722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.519072329 meters Centerline goodness [0,1] 0.37035020107238603 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.54, Z:296.21 [[ 9.99814692e-01 1.84362262e-02 -5.53957479e-03 -1.70650898e+02] [-1.84109193e-02 9.99819991e-01 4.58518415e-03 -9.55358824e+01] [ 5.62311111e-03 -4.48234581e-03 9.99974144e-01 2.96210293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.54907232899996 meters Centerline goodness [0,1] 0.3505842371352451 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.54, Z:296.21 [[ 9.99852706e-01 1.59336854e-02 -6.37835996e-03 -1.70647747e+02] [-1.59204246e-02 9.99871005e-01 2.12443096e-03 -9.55384834e+01] [ 6.41138719e-03 -2.02257185e-03 9.99977401e-01 2.96208819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.579072329 meters Centerline goodness [0,1] 0.34507824119655617 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.54, Z:296.21 [[ 9.99872743e-01 1.41884875e-02 -7.29274258e-03 -1.70644464e+02] [-1.41857646e-02 9.99899287e-01 4.24966175e-04 -9.55413899e+01] [ 7.29803773e-03 -3.21458965e-04 9.99973317e-01 2.96207518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.60907232899996 meters Centerline goodness [0,1] 0.38232027992540907 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.54, Z:296.21 [[ 9.99877525e-01 1.38078112e-02 -7.36742362e-03 -1.70644181e+02] [-1.38102914e-02 9.99904593e-01 -2.85880931e-04 -9.55392325e+01] [ 7.36277332e-03 3.87592186e-04 9.99972819e-01 2.96207440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.639072329 meters Centerline goodness [0,1] 0.32879756787923264 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.54, Z:296.21 [[ 9.99878957e-01 1.35736763e-02 -7.60441161e-03 -1.70644033e+02] [-1.35800928e-02 9.99907472e-01 -7.92775840e-04 -9.55376758e+01] [ 7.59294710e-03 8.95948495e-04 9.99970772e-01 2.96208097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66907232899996 meters Centerline goodness [0,1] 0.38881429890073005 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.54, Z:296.21 [[ 9.99875605e-01 1.36589372e-02 -7.88726370e-03 -1.70643576e+02] [-1.36660165e-02 9.99906259e-01 -8.44353416e-04 -9.55372346e+01] [ 7.87499137e-03 9.52035858e-04 9.99968539e-01 2.96208452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.699072329 meters Centerline goodness [0,1] 0.3326488276093288 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.54, Z:296.21 [[ 9.99912676e-01 1.01334072e-02 -8.48254785e-03 -1.70642025e+02] [-1.01708243e-02 9.99938685e-01 -4.37960328e-03 -9.55380630e+01] [ 8.43764744e-03 4.46549534e-03 9.99954432e-01 2.96208378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72907232899996 meters Centerline goodness [0,1] 0.34857849196538937 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.54, Z:296.21 [[ 9.99901112e-01 1.06883119e-02 -9.13923915e-03 -1.70640420e+02] [-1.07261478e-02 9.99934064e-01 -4.10098896e-03 -9.55376391e+01] [ 9.09480389e-03 4.19861225e-03 9.99949827e-01 2.96208564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.759072329 meters Centerline goodness [0,1] 0.3204459252739884 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.54, Z:296.22 [[ 9.99902638e-01 7.60092510e-03 -1.17021413e-02 -1.70630295e+02] [-7.55517255e-03 9.99963662e-01 3.94901505e-03 -9.55385466e+01] [ 1.17317323e-02 -3.86021887e-03 9.99923730e-01 2.96215468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78907232899996 meters Centerline goodness [0,1] 0.322146386399799 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.54, Z:296.22 [[ 9.99892638e-01 8.03926398e-03 -1.22508590e-02 -1.70629091e+02] [-7.98764844e-03 9.99959040e-01 4.25633963e-03 -9.55388803e+01] [ 1.22845750e-02 -4.15802711e-03 9.99915896e-01 2.96215718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.819072329 meters Centerline goodness [0,1] 0.33306849544200046 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.54, Z:296.22 [[ 9.99904459e-01 5.33374619e-03 -1.27523813e-02 -1.70627532e+02] [-5.31194334e-03 9.99984373e-01 1.74296902e-03 -9.55422931e+01] [ 1.27614786e-02 -1.67506257e-03 9.99917166e-01 2.96215215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84907232899997 meters Centerline goodness [0,1] 0.3392147844629343 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.54, Z:296.22 [[ 9.99911953e-01 4.92398896e-03 -1.23223414e-02 -1.70629410e+02] [-4.90652651e-03 9.99986916e-01 1.44696765e-03 -9.55424990e+01] [ 1.23293050e-02 -1.38638036e-03 9.99923030e-01 2.96216057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.879072329 meters Centerline goodness [0,1] 0.33619103379056536 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.54, Z:296.22 [[ 9.99897105e-01 5.95229352e-03 -1.30517726e-02 -1.70626815e+02] [-5.92674182e-03 9.99980446e-01 1.99552543e-03 -9.55414287e+01] [ 1.30633953e-02 -1.91796562e-03 9.99912831e-01 2.96215416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90907232899997 meters Centerline goodness [0,1] 0.35275284073074265 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.54, Z:296.22 [[ 9.99912596e-01 5.23491658e-03 -1.21406811e-02 -1.70629302e+02] [-5.21482369e-03 9.99984981e-01 1.68607241e-03 -9.55417320e+01] [ 1.21493252e-02 -1.62261353e-03 9.99924878e-01 2.96215457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93907232899994 meters Centerline goodness [0,1] 0.36905185216172687 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.54, Z:296.22 [[ 9.99920099e-01 5.16156387e-03 -1.15392376e-02 -1.70630808e+02] [-5.13906885e-03 9.99984838e-01 1.97823958e-03 -9.55431950e+01] [ 1.15492734e-02 -1.91878058e-03 9.99931464e-01 2.96215281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96907232899997 meters Centerline goodness [0,1] 0.3245755437854586 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.54, Z:296.21 [[ 9.99929066e-01 4.90633743e-03 -1.08531832e-02 -1.70632445e+02] [-4.88386852e-03 9.99985878e-01 2.09579610e-03 -9.55443441e+01] [ 1.08633126e-02 -2.04264191e-03 9.99938906e-01 2.96214958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99907232899994 meters Centerline goodness [0,1] 0.3229558958908695 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.55, Z:296.21 [[ 9.99941978e-01 1.50148506e-03 -1.06670307e-02 -1.70631877e+02] [-1.50837126e-03 9.99998659e-01 -6.37543519e-04 -9.55481413e+01] [ 1.06660591e-02 6.53596370e-04 9.99942902e-01 2.96213498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.029072329 meters Centerline goodness [0,1] 0.3116980816650645 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.55, Z:296.21 [[ 9.99941335e-01 -2.56296654e-03 -1.05241270e-02 -1.70631808e+02] [ 2.51776251e-03 9.99987558e-01 -4.30628106e-03 -9.55498363e+01] [ 1.05350329e-02 4.27953118e-03 9.99935347e-01 2.96212862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05907232899995 meters Centerline goodness [0,1] 0.2746878072248834 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.55, Z:296.21 [[ 9.99941410e-01 -2.16552568e-03 -1.06060209e-02 -1.70631144e+02] [ 2.12613095e-03 9.99990805e-01 -3.72424140e-03 -9.55509661e+01] [ 1.06139883e-02 3.70147340e-03 9.99936819e-01 2.96212238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.089072329 meters Centerline goodness [0,1] 0.2789866432557848 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.56, Z:296.21 [[ 9.99931513e-01 -5.76496834e-03 -1.01850377e-02 -1.70631270e+02] [ 5.69936884e-03 9.99962904e-01 -6.45809888e-03 -9.55553070e+01] [ 1.02218906e-02 6.39960830e-03 9.99927276e-01 2.96210833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11907232899995 meters Centerline goodness [0,1] 0.2852367920783806 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.56, Z:296.21 [[ 9.99936824e-01 -6.34407755e-03 -9.27907514e-03 -1.70633853e+02] [ 6.28156924e-03 9.99957488e-01 -6.75018306e-03 -9.55554648e+01] [ 9.32150435e-03 6.69146946e-03 9.99934165e-01 2.96211077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.149072329 meters Centerline goodness [0,1] 0.28676793213681284 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.55, Z:296.21 [[ 9.99939270e-01 -7.14243848e-03 -8.39294845e-03 -1.70636676e+02] [ 7.08068425e-03 9.99947811e-01 -7.36469136e-03 -9.55549487e+01] [ 8.44511229e-03 7.30481628e-03 9.99937658e-01 2.96211721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17907232899995 meters Centerline goodness [0,1] 0.29882058240267195 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.56, Z:296.21 [[ 9.99900554e-01 -1.17283841e-02 -7.83117814e-03 -1.70638977e+02] [ 1.16355732e-02 9.99862752e-01 -1.17936701e-02 -9.55550781e+01] [ 7.96842402e-03 1.17013770e-02 9.99899786e-01 2.96212932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.209072329 meters Centerline goodness [0,1] 0.3022605355987392 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.56, Z:296.21 [[ 9.99902734e-01 -1.19363100e-02 -7.21435348e-03 -1.70640203e+02] [ 1.18512963e-02 9.99861155e-01 -1.17140214e-02 -9.55555067e+01] [ 7.35317399e-03 1.16273826e-02 9.99905363e-01 2.96212388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23907232899995 meters Centerline goodness [0,1] 0.31063057045649045 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.56, Z:296.21 [[ 9.99899378e-01 -1.28580633e-02 -5.99201055e-03 -1.70642990e+02] [ 1.27857213e-02 9.99846743e-01 -1.19589111e-02 -9.55562381e+01] [ 6.14486067e-03 1.18810956e-02 9.99910536e-01 2.96211756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.269072329 meters Centerline goodness [0,1] 0.24407691665971465 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.56, Z:296.21 [[ 9.99858840e-01 -1.67576079e-02 -1.21726331e-03 -1.70652710e+02] [ 1.67444836e-02 9.99808866e-01 -1.00922758e-02 -9.55573000e+01] [ 1.38615305e-03 1.00704687e-02 9.99948331e-01 2.96205306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29907232899996 meters Centerline goodness [0,1] 0.3156555650559947 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.56, Z:296.20 [[ 9.99846762e-01 -1.75049956e-02 -1.64271275e-04 -1.70655250e+02] [ 1.75023939e-02 9.99794316e-01 -1.02465942e-02 -9.55581179e+01] [ 3.43604074e-04 1.02421489e-02 9.99947489e-01 2.96204944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.329072329 meters Centerline goodness [0,1] 0.2500939182702342 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.56, Z:296.20 [[ 9.99835181e-01 -1.81335773e-02 8.85245148e-04 -1.70657559e+02] [ 1.81417974e-02 9.99781504e-01 -1.03835754e-02 -9.55584728e+01] [-6.96760359e-04 1.03979239e-02 9.99945697e-01 2.96204290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35907232899996 meters Centerline goodness [0,1] 0.2556433290951915 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.56, Z:296.20 [[ 9.99820218e-01 -1.88590664e-02 1.96676896e-03 -1.70659873e+02] [ 1.88788500e-02 9.99765812e-01 -1.05787998e-02 -9.55588507e+01] [-1.76680208e-03 1.06140282e-02 9.99942109e-01 2.96203562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.389072329 meters Centerline goodness [0,1] 0.26073901075986317 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.56, Z:296.20 [[ 9.99813237e-01 -1.90947532e-02 2.98003908e-03 -1.70661500e+02] [ 1.91238030e-02 9.99766664e-01 -1.00447404e-02 -9.55608892e+01] [-2.78754189e-03 1.00998541e-02 9.99945110e-01 2.96202111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41907232899996 meters Centerline goodness [0,1] 0.2610734757686295 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.56, Z:296.20 [[ 9.99805620e-01 -1.94017432e-02 3.50648436e-03 -1.70662817e+02] [ 1.94364993e-02 9.99759412e-01 -1.01656837e-02 -9.55608679e+01] [-3.30840876e-03 1.02318614e-02 9.99942180e-01 2.96201961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.449072329 meters Centerline goodness [0,1] 0.25808132385736016 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.56, Z:296.20 [[ 9.99796862e-01 -1.97291401e-02 4.12248938e-03 -1.70664395e+02] [ 1.97707383e-02 9.99751421e-01 -1.03059777e-02 -9.55608171e+01] [-3.91813654e-03 1.03853889e-02 9.99938394e-01 2.96201904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47907232899996 meters Centerline goodness [0,1] 0.2753677621283255 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.56, Z:296.20 [[ 9.99868355e-01 -1.56671242e-02 4.22060140e-03 -1.70664906e+02] [ 1.56938800e-02 9.99856472e-01 -6.38262897e-03 -9.55597270e+01] [-4.11999818e-03 6.44802634e-03 9.99970724e-01 2.96201941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.509072329 meters Centerline goodness [0,1] 0.276800635026738 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.20 [[ 9.99912387e-01 -1.23650654e-02 4.72482173e-03 -1.70667340e+02] [ 1.23803407e-02 9.99918184e-01 -3.21753669e-03 -9.55578485e+01] [-4.68465011e-03 3.27574970e-03 9.99983662e-01 2.96203189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53907232899996 meters Centerline goodness [0,1] 0.2843094360064171 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.20 [[ 9.99906876e-01 -1.26217353e-02 5.18957537e-03 -1.70668719e+02] [ 1.26397404e-02 9.99914159e-01 -3.45143830e-03 -9.55574783e+01] [-5.14556675e-03 3.51671177e-03 9.99980578e-01 2.96203432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.569072329 meters Centerline goodness [0,1] 0.28237579099053944 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.56, Z:296.20 [[ 9.99933691e-01 -9.76705715e-03 6.10060780e-03 -1.70671948e+02] [ 9.76977930e-03 9.99952188e-01 -4.16567881e-04 -9.55561479e+01] [-6.09624747e-03 4.76141851e-04 9.99981304e-01 2.96204254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59907232899997 meters Centerline goodness [0,1] 0.278977486320538 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99925346e-01 -1.03436208e-02 6.50475192e-03 -1.70672590e+02] [ 1.03505704e-02 9.99945895e-01 -1.03562859e-03 -9.55544047e+01] [-6.49368783e-03 1.10287917e-03 9.99978308e-01 2.96203814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.629072329 meters Centerline goodness [0,1] 0.28819009437901943 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99916580e-01 -1.07165775e-02 7.21027265e-03 -1.70674345e+02] [ 1.07256428e-02 9.99941735e-01 -1.21977736e-03 -9.55542934e+01] [-7.19678070e-03 1.29701042e-03 9.99973262e-01 2.96203712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65907232899997 meters Centerline goodness [0,1] 0.3031764927009586 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99917666e-01 -1.05505200e-02 7.30388793e-03 -1.70674073e+02] [ 1.05578993e-02 9.99943791e-01 -9.72504717e-04 -9.55544847e+01] [-7.29321696e-03 1.04953836e-03 9.99972853e-01 2.96203043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68907232899994 meters Centerline goodness [0,1] 0.3080570700424057 Centerline is valid? [False, False] Translation: X:-170.68, Y:-95.55, Z:296.20 [[ 9.99911364e-01 -1.07576960e-02 7.84446693e-03 -1.70675071e+02] [ 1.07654325e-02 9.99941605e-01 -9.44675245e-04 -9.55546473e+01] [-7.83384632e-03 1.02904059e-03 9.99968785e-01 2.96202472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71907232899997 meters Centerline goodness [0,1] 0.2994444676496387 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99912733e-01 -1.07417223e-02 7.69031809e-03 -1.70674850e+02] [ 1.07503495e-02 9.99941629e-01 -1.08137359e-03 -9.55538090e+01] [-7.67825338e-03 1.16395283e-03 9.99969844e-01 2.96202763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74907232899994 meters Centerline goodness [0,1] 0.30142561940345236 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99925623e-01 -9.97392043e-03 7.01923798e-03 -1.70672864e+02] [ 9.97838261e-03 9.99950034e-01 -6.00972052e-04 -9.55536199e+01] [-7.01289321e-03 6.70967995e-04 9.99975184e-01 2.96202504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.779072329 meters Centerline goodness [0,1] 0.30142561940345236 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99925623e-01 -9.97392043e-03 7.01923798e-03 -1.70672864e+02] [ 9.97838261e-03 9.99950034e-01 -6.00972052e-04 -9.55536199e+01] [-7.01289321e-03 6.70967995e-04 9.99975184e-01 2.96202504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80907232899995 meters Centerline goodness [0,1] 0.2997017166934357 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99923571e-01 -1.00988612e-02 7.13192558e-03 -1.70673227e+02] [ 1.01048903e-02 9.99948616e-01 -8.09834007e-04 -9.55528043e+01] [-7.12338071e-03 8.81839437e-04 9.99974240e-01 2.96202629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.839072329 meters Centerline goodness [0,1] 0.3115833019932306 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99953925e-01 -6.40817507e-03 7.14720614e-03 -1.70673868e+02] [ 6.39027279e-03 9.99976395e-01 2.52482478e-03 -9.55503604e+01] [-7.16321695e-03 -2.47903586e-03 9.99971271e-01 2.96203286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86907232899995 meters Centerline goodness [0,1] 0.3124307602265839 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99962242e-01 -5.81458082e-03 6.45801141e-03 -1.70672050e+02] [ 5.79678770e-03 9.99979361e-01 2.77050993e-03 -9.55500190e+01] [-6.47398747e-03 -2.73296960e-03 9.99975309e-01 2.96203197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.899072329 meters Centerline goodness [0,1] 0.3239633840494901 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99983221e-01 -1.41738855e-03 5.61685724e-03 -1.70671135e+02] [ 1.38098193e-03 9.99978049e-01 6.48025817e-03 -9.55479969e+01] [-5.62591899e-03 -6.47239266e-03 9.99963228e-01 2.96204767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92907232899995 meters Centerline goodness [0,1] 0.3218566318739934 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.21 [[ 9.99987998e-01 -1.20827666e-03 4.74809101e-03 -1.70669711e+02] [ 1.17961317e-03 9.99981093e-01 6.03501491e-03 -9.55458863e+01] [-4.75529321e-03 -6.02934156e-03 9.99970517e-01 2.96205815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.959072329 meters Centerline goodness [0,1] 0.32208492755441265 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.21 [[ 9.99993580e-01 -6.28912772e-05 3.58283105e-03 -1.70667023e+02] [ 3.95261191e-05 9.99978736e-01 6.52112093e-03 -9.55454665e+01] [-3.58316499e-03 -6.52093745e-03 9.99972319e-01 2.96206211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.98907232899995 meters Centerline goodness [0,1] 0.3246913580246914 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.54, Z:296.21 [[ 9.99996124e-01 3.70525479e-04 2.75937114e-03 -1.70665501e+02] [-3.88109892e-04 9.99979605e-01 6.37480948e-03 -9.55441844e+01] [-2.75695284e-03 -6.37585571e-03 9.99975874e-01 2.96206962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.019072329 meters Centerline goodness [0,1] 0.3402985699629405 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99997869e-01 1.29083227e-03 1.61106662e-03 -1.70663209e+02] [-1.30111004e-03 9.99978706e-01 6.39482126e-03 -9.55425837e+01] [-1.60277767e-03 -6.39690380e-03 9.99978255e-01 2.96207879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.04907232899996 meters Centerline goodness [0,1] 0.3325030351237075 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99998174e-01 1.29475363e-03 1.40545080e-03 -1.70662846e+02] [-1.30352305e-03 9.99979577e-01 6.25669468e-03 -9.55419932e+01] [-1.39732122e-03 -6.25851530e-03 9.99979439e-01 2.96208107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.079072329 meters Centerline goodness [0,1] 0.3323440896171209 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99999246e-01 -1.13516484e-03 4.68682854e-04 -1.70659541e+02] [ 1.13351471e-03 9.99993211e-01 3.50616321e-03 -9.55428643e+01] [-4.72659745e-04 -3.50562931e-03 9.99993744e-01 2.96207218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.10907232899996 meters Centerline goodness [0,1] 0.3255687407128356 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99999222e-01 -1.14343681e-03 4.97628773e-04 -1.70659799e+02] [ 1.14168849e-03 9.99993225e-01 3.49950835e-03 -9.55429111e+01] [-5.01626868e-04 -3.49893749e-03 9.99993753e-01 2.96207405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.139072329 meters Centerline goodness [0,1] 0.31584342768677165 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99998693e-01 -1.35438665e-03 8.82813370e-04 -1.70660714e+02] [ 1.35139252e-03 9.99993363e-01 3.38339337e-03 -9.55427753e+01] [-8.87389933e-04 -3.38219592e-03 9.99993887e-01 2.96207282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16907232899996 meters Centerline goodness [0,1] 0.31831021279266836 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99998044e-01 -1.65417585e-03 1.08393061e-03 -1.70660987e+02] [ 1.65093355e-03 9.99994181e-01 2.98534354e-03 -9.55416732e+01] [-1.08886258e-03 -2.98354820e-03 9.99994956e-01 2.96206986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.199072329 meters Centerline goodness [0,1] 0.3419300816411974 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99995416e-01 -2.33894219e-03 1.92307442e-03 -1.70662886e+02] [ 2.33384473e-03 9.99993769e-01 2.64866826e-03 -9.55416481e+01] [-1.92925752e-03 -2.64416796e-03 9.99994643e-01 2.96206589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22907232899996 meters Centerline goodness [0,1] 0.3308003841175734 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99992058e-01 -3.75182408e-03 1.34436659e-03 -1.70659990e+02] [ 3.74987070e-03 9.99991914e-01 1.45260009e-03 -9.55446001e+01] [-1.34980562e-03 -1.44754735e-03 9.99998041e-01 2.96205014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.259072329 meters Centerline goodness [0,1] 0.34915360501567394 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99987351e-01 -4.47432090e-03 2.29758840e-03 -1.70662595e+02] [ 4.47171827e-03 9.99989356e-01 1.13665953e-03 -9.55449525e+01] [-2.30264972e-03 -1.12637099e-03 9.99996715e-01 2.96205161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28907232899996 meters Centerline goodness [0,1] 0.3321213640922769 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.55, Z:296.21 [[ 9.99985092e-01 -4.67601622e-03 2.81955485e-03 -1.70664145e+02] [ 4.67293965e-03 9.99988480e-01 1.09675801e-03 -9.55451940e+01] [-2.82465083e-03 -1.08356605e-03 9.99995424e-01 2.96205471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.319072329 meters Centerline goodness [0,1] 0.33426666945274464 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.54, Z:296.21 [[ 9.99981346e-01 -5.06451194e-03 3.41440912e-03 -1.70665496e+02] [ 5.06194909e-03 9.99986900e-01 7.58822632e-04 -9.55445408e+01] [-3.41820746e-03 -7.41524912e-04 9.99993883e-01 2.96205223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34907232899997 meters Centerline goodness [0,1] 0.3313624302697282 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99966551e-01 -6.70817603e-03 4.67940634e-03 -1.70668170e+02] [ 6.70865714e-03 9.99977493e-01 -8.71249047e-05 -9.55451906e+01] [-4.67871657e-03 1.18514523e-04 9.99989048e-01 2.96204339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.379072329 meters Centerline goodness [0,1] 0.33938976254620634 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.55, Z:296.20 [[ 9.99970531e-01 -6.21337661e-03 4.50910234e-03 -1.70667837e+02] [ 6.21083423e-03 9.99980546e-01 5.77617282e-04 -9.55468710e+01] [-4.51260357e-03 -5.49594973e-04 9.99989667e-01 2.96204377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40907232899997 meters Centerline goodness [0,1] 0.3212711280111986 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.54, Z:296.20 [[ 9.99978977e-01 -5.39894919e-03 3.59126245e-03 -1.70665361e+02] [ 5.39685341e-03 9.99985261e-01 5.93013955e-04 -9.55448567e+01] [-3.59441117e-03 -5.73619971e-04 9.99993376e-01 2.96204349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43907232899994 meters Centerline goodness [0,1] 0.2885677235840375 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.54, Z:296.20 [[ 9.99993575e-01 -1.09555665e-03 3.41324989e-03 -1.70665051e+02] [ 1.07943480e-03 9.99988271e-01 4.72158087e-03 -9.55442104e+01] [-3.41838261e-03 -4.71786615e-03 9.99983028e-01 2.96204421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46907232899997 meters Centerline goodness [0,1] 0.29130371205949324 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.20 [[ 9.99996311e-01 -8.63834723e-04 2.57535754e-03 -1.70663282e+02] [ 8.52727370e-04 9.99990344e-01 4.31091908e-03 -9.55419582e+01] [-2.57905659e-03 -4.30870709e-03 9.99987392e-01 2.96204996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49907232899994 meters Centerline goodness [0,1] 0.296340443329151 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99998995e-01 3.81978796e-04 1.36505004e-03 -1.70660850e+02] [-3.88672939e-04 9.99987885e-01 4.90705861e-03 -9.55417849e+01] [-1.36315911e-03 -4.90758424e-03 9.99987029e-01 2.96205842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.529072329 meters Centerline goodness [0,1] 0.32147113555104856 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.54, Z:296.21 [[ 9.99990188e-01 4.37687446e-03 6.82984789e-04 -1.70659646e+02] [-4.38209083e-03 9.99959722e-01 7.83277793e-03 -9.55369495e+01] [-6.48674194e-04 -7.83569398e-03 9.99969090e-01 2.96206761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55907232899995 meters Centerline goodness [0,1] 0.2930176128519433 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.53, Z:296.21 [[ 9.99992028e-01 3.95909226e-03 5.19257435e-04 -1.70659441e+02] [-3.96263442e-03 9.99967593e-01 7.00783954e-03 -9.55343127e+01] [-4.91495924e-04 -7.00984130e-03 9.99975310e-01 2.96207059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.589072329 meters Centerline goodness [0,1] 0.2883065358112341 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.53, Z:296.21 [[ 9.99999399e-01 9.37628136e-04 -5.67894310e-04 -1.70656606e+02] [-9.35551574e-04 9.99992916e-01 3.64589255e-03 -9.55347252e+01] [ 5.71308778e-04 -3.64535907e-03 9.99993192e-01 2.96207052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61907232899995 meters Centerline goodness [0,1] 0.31399623981616875 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.53, Z:296.21 [[ 9.99999995e-01 -3.91055616e-06 9.85843790e-05 -1.70658564e+02] [ 3.64867560e-06 9.99996472e-01 2.65627058e-03 -9.55329940e+01] [-9.85944187e-05 -2.65627021e-03 9.99996467e-01 2.96207373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.649072329 meters Centerline goodness [0,1] 0.32598980955562984 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.53, Z:296.21 [[ 9.99999885e-01 4.59746235e-04 -1.35139990e-04 -1.70658329e+02] [-4.59303524e-04 9.99994587e-01 3.25791948e-03 -9.55345605e+01] [ 1.36637075e-04 -3.25785704e-03 9.99994684e-01 2.96207774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67907232899995 meters Centerline goodness [0,1] 0.312922897001086 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.53, Z:296.21 [[ 9.99999333e-01 9.05118559e-04 -7.18124592e-04 -1.70657061e+02] [-9.02658845e-04 9.99993751e-01 3.41815357e-03 -9.55342529e+01] [ 7.21213939e-04 -3.41750306e-03 9.99993900e-01 2.96208095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.709072329 meters Centerline goodness [0,1] 0.32275021903291756 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.54, Z:296.21 [[ 9.99997907e-01 -1.65247832e-03 -1.20621201e-03 -1.70654081e+02] [ 1.65358511e-03 9.99998212e-01 9.17157208e-04 -9.55359658e+01] [ 1.20469428e-03 -9.19149863e-04 9.99998852e-01 2.96206094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73907232899995 meters Centerline goodness [0,1] 0.2963102173776859 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.54, Z:296.21 [[ 9.99998018e-01 -1.80740448e-03 -8.34460840e-04 -1.70654588e+02] [ 1.80814305e-03 9.99997974e-01 8.85189718e-04 -9.55358957e+01] [ 8.32859253e-04 -8.86696789e-04 9.99999260e-01 2.96205483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.769072329 meters Centerline goodness [0,1] 0.29333027063147343 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.54, Z:296.20 [[ 9.99998328e-01 -5.11744531e-04 -1.75578388e-03 -1.70651561e+02] [ 5.15083396e-04 9.99998059e-01 1.90171295e-03 -9.55365045e+01] [ 1.75480728e-03 -1.90261414e-03 9.99996650e-01 2.96204825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79907232899996 meters Centerline goodness [0,1] 0.2982261640798226 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.53, Z:296.21 [[ 9.99990766e-01 3.57512628e-03 -2.38472769e-03 -1.70650642e+02] [-3.56240516e-03 9.99979517e-01 5.31749904e-03 -9.55333998e+01] [ 2.40368957e-03 -5.30895457e-03 9.99983018e-01 2.96205834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.829072329 meters Centerline goodness [0,1] 0.3007053012703794 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.53, Z:296.21 [[ 9.99876573e-01 1.39896565e-02 -7.15037028e-03 -1.70636891e+02] [-1.39388012e-02 9.99877548e-01 7.11329402e-03 -9.55305196e+01] [ 7.24900724e-03 -7.01274846e-03 9.99949135e-01 2.96211470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85907232899996 meters Centerline goodness [0,1] 0.32602825745682884 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.53, Z:296.21 [[ 9.99854616e-01 1.48641980e-02 -8.35482011e-03 -1.70633915e+02] [-1.48078444e-02 9.99867460e-01 6.76691145e-03 -9.55269125e+01] [ 8.45429747e-03 -6.64221077e-03 9.99942201e-01 2.96211981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.889072329 meters Centerline goodness [0,1] 0.27751986616478463 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.52, Z:296.21 [[ 9.99739435e-01 2.05429199e-02 -9.95243947e-03 -1.70630232e+02] [-2.04397654e-02 9.99737430e-01 1.03579068e-02 -9.55232100e+01] [ 1.01626079e-02 -1.01517823e-02 9.99896826e-01 2.96213456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91907232899996 meters Centerline goodness [0,1] 0.30936094550779203 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.52, Z:296.21 [[ 9.99708085e-01 2.14098262e-02 -1.11965935e-02 -1.70627522e+02] [-2.12942743e-02 9.99719784e-01 1.03396261e-02 -9.55211717e+01] [ 1.14148256e-02 -1.00981844e-02 9.99883857e-01 2.96214289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.949072329 meters Centerline goodness [0,1] 0.31518169075960756 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.51, Z:296.22 [[ 9.99604485e-01 2.54232004e-02 -1.20222792e-02 -1.70627427e+02] [-2.52753152e-02 9.99604894e-01 1.22969283e-02 -9.55142277e+01] [ 1.23301564e-02 -1.19881977e-02 9.99852114e-01 2.96217771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97907232899996 meters Centerline goodness [0,1] 0.3183977565242869 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.51, Z:296.22 [[ 9.99602567e-01 2.53228129e-02 -1.23880424e-02 -1.70627644e+02] [-2.51778690e-02 9.99614288e-01 1.17196176e-02 -9.55124732e+01] [ 1.26800379e-02 -1.14030553e-02 9.99854583e-01 2.96219281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.009072329 meters Centerline goodness [0,1] 0.3188581459500125 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.51, Z:296.22 [[ 9.99662687e-01 2.21253039e-02 -1.36008350e-02 -1.70625494e+02] [-2.20176519e-02 9.99725457e-01 8.01454383e-03 -9.55123762e+01] [ 1.37744252e-02 -7.71238197e-03 9.99875384e-01 2.96220199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03907232899996 meters Centerline goodness [0,1] 0.32676910212187726 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.51, Z:296.22 [[ 9.99699358e-01 1.96311047e-02 -1.46905826e-02 -1.70622514e+02] [-1.95566977e-02 9.99795271e-01 5.19158776e-03 -9.55135728e+01] [ 1.47894916e-02 -4.90272767e-03 9.99878610e-01 2.96219803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.069072329 meters Centerline goodness [0,1] 0.3296273850076279 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.51, Z:296.22 [[ 9.99697152e-01 1.96455301e-02 -1.48208582e-02 -1.70622434e+02] [-1.95708820e-02 9.99795131e-01 5.16503608e-03 -9.55136180e+01] [ 1.49192917e-02 -4.87341459e-03 9.99876825e-01 2.96220055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09907232899997 meters Centerline goodness [0,1] 0.33038440624084997 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.51, Z:296.22 [[ 9.99597391e-01 2.41305533e-02 -1.49255278e-02 -1.70621905e+02] [-2.39911280e-02 9.99667497e-01 9.45098197e-03 -9.55133211e+01] [ 1.51486225e-02 -9.08909668e-03 9.99843942e-01 2.96219995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.129072329 meters Centerline goodness [0,1] 0.3350905819840174 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.51, Z:296.22 [[ 9.99676402e-01 2.01761621e-02 -1.54923861e-02 -1.70620175e+02] [-2.00954258e-02 9.99783755e-01 5.34947986e-03 -9.55127615e+01] [ 1.55969680e-02 -5.03642268e-03 9.99865675e-01 2.96219366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15907232899997 meters Centerline goodness [0,1] 0.3400196821541489 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.51, Z:296.22 [[ 9.99661944e-01 2.06884898e-02 -1.57475356e-02 -1.70619424e+02] [-2.05964097e-02 9.99769944e-01 5.98717875e-03 -9.55144693e+01] [ 1.58677785e-02 -5.66081205e-03 9.99858074e-01 2.96219084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18907232899994 meters Centerline goodness [0,1] 0.3429898136334163 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.51, Z:296.22 [[ 9.99643270e-01 2.11161076e-02 -1.63536767e-02 -1.70617890e+02] [-2.10171351e-02 9.99759889e-01 6.20042536e-03 -9.55144833e+01] [ 1.64806788e-02 -5.85450605e-03 9.99847044e-01 2.96219101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21907232899997 meters Centerline goodness [0,1] 0.3478342710141593 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.51, Z:296.22 [[ 9.99624282e-01 2.14974624e-02 -1.70045470e-02 -1.70615844e+02] [-2.13950499e-02 9.99751988e-01 6.18183553e-03 -9.55131565e+01] [ 1.71332235e-02 -5.81569977e-03 9.99836302e-01 2.96218745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24907232899994 meters Centerline goodness [0,1] 0.34645735217163787 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.51, Z:296.22 [[ 9.99628738e-01 2.14156295e-02 -1.68451007e-02 -1.70616316e+02] [-2.13158550e-02 9.99754301e-01 6.08048879e-03 -9.55130260e+01] [ 1.69711794e-02 -5.71916361e-03 9.99839622e-01 2.96218752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.279072329 meters Centerline goodness [0,1] 0.349889070283394 Centerline is valid? [False, False] Translation: X:-170.62, Y:-95.51, Z:296.22 [[ 9.99697417e-01 1.75387338e-02 -1.72472419e-02 -1.70615612e+02] [-1.75021077e-02 9.99844244e-01 2.27225937e-03 -9.55137357e+01] [ 1.72844081e-02 -1.96970874e-03 9.99848673e-01 2.96218897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30907232899995 meters Centerline goodness [0,1] 0.3488668940551173 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.52, Z:296.21 [[ 9.99921451e-01 1.19973821e-02 -3.62681366e-03 -1.70627655e+02] [-1.19983418e-02 9.99927988e-01 -2.42979477e-04 -9.55150634e+01] [ 3.62363737e-03 2.86476141e-04 9.99993394e-01 2.96214438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.339072329 meters Centerline goodness [0,1] 0.29118237310811945 Centerline is valid? [False, False] Translation: X:-170.63, Y:-95.52, Z:296.21 [[ 9.99961291e-01 8.24338118e-03 -3.07626554e-03 -1.70628941e+02] [-8.25316001e-03 9.99960886e-01 -3.17976106e-03 -9.55192821e+01] [ 3.04993323e-03 3.20502688e-03 9.99990213e-01 2.96213934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36907232899995 meters Centerline goodness [0,1] 0.3013847634188177 Centerline is valid? [False, False] Translation: X:-170.64, Y:-95.52, Z:296.21 [[ 9.99990260e-01 -3.81115590e-03 2.22585510e-03 -1.70643948e+02] [ 3.82800204e-03 9.99963687e-01 -7.61381244e-03 -9.55176632e+01] [-2.19675684e-03 7.62225886e-03 9.99968537e-01 2.96209259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.399072329 meters Centerline goodness [0,1] 0.3376742824891825 Centerline is valid? [False, False] Translation: X:-170.65, Y:-95.52, Z:296.21 [[ 9.99978291e-01 -5.52603650e-03 3.58881377e-03 -1.70647399e+02] [ 5.55769197e-03 9.99945204e-01 -8.87135100e-03 -9.55161406e+01] [-3.53959371e-03 8.89110394e-03 9.99954209e-01 2.96209234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42907232899995 meters Centerline goodness [0,1] 0.3638757130618301 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.52, Z:296.20 [[ 9.99920087e-01 -9.86593039e-03 7.90456740e-03 -1.70657080e+02] [ 9.93162548e-03 9.99916105e-01 -8.31533570e-03 -9.55153855e+01] [-7.82186573e-03 8.39317641e-03 9.99934184e-01 2.96204635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.459072329 meters Centerline goodness [0,1] 0.31456988236277394 Centerline is valid? [False, False] Translation: X:-170.66, Y:-95.52, Z:296.20 [[ 9.99905172e-01 -1.04522714e-02 8.96641324e-03 -1.70659420e+02] [ 1.05253135e-02 9.99911491e-01 -8.13805106e-03 -9.55167163e+01] [-8.88055852e-03 8.23165366e-03 9.99926685e-01 2.96203993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.48907232899995 meters Centerline goodness [0,1] 0.3286491007946466 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.52, Z:296.20 [[ 9.99773234e-01 -1.60643809e-02 1.39791107e-02 -1.70671560e+02] [ 1.61691174e-02 9.99841799e-01 -7.41186462e-03 -9.55160007e+01] [-1.38578321e-02 7.63621375e-03 9.99874817e-01 2.96198973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.519072329 meters Centerline goodness [0,1] 0.34378721714966254 Centerline is valid? [False, False] Translation: X:-170.67, Y:-95.52, Z:296.20 [[ 9.99756255e-01 -1.64095900e-02 1.47701088e-02 -1.70673501e+02] [ 1.65215095e-02 9.99835474e-01 -7.48757192e-03 -9.55163154e+01] [-1.46448108e-02 7.72977135e-03 9.99862881e-01 2.96198852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.54907232899996 meters Centerline goodness [0,1] 0.33729777183228127 Centerline is valid? [False, False] Translation: X:-170.68, Y:-95.52, Z:296.20 [[ 9.99702559e-01 -1.82787826e-02 1.61455477e-02 -1.70677377e+02] [ 1.84172895e-02 9.99794493e-01 -8.47200932e-03 -9.55166344e+01] [-1.59873716e-02 8.76684662e-03 9.99833759e-01 2.96199095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.579072329 meters Centerline goodness [0,1] 0.33805731485545876 Centerline is valid? [False, False] Translation: X:-170.68, Y:-95.52, Z:296.20 [[ 9.99663421e-01 -1.91903724e-02 1.74577778e-02 -1.70680064e+02] [ 1.93436834e-02 9.99775425e-01 -8.65574346e-03 -9.55175215e+01] [-1.72877503e-02 8.99052784e-03 9.99810134e-01 2.96198029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.60907232899996 meters Centerline goodness [0,1] 0.3417991186114998 Centerline is valid? [False, False] Translation: X:-170.68, Y:-95.52, Z:296.20 [[ 9.99643591e-01 -1.94626618e-02 1.82728324e-02 -1.70681610e+02] [ 1.96199192e-02 9.99771662e-01 -8.46659954e-03 -9.55187678e+01] [-1.81038775e-02 8.82209346e-03 9.99797190e-01 2.96197120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.639072329 meters Centerline goodness [0,1] 0.35000836890116327 Centerline is valid? [False, False] Translation: X:-170.68, Y:-95.52, Z:296.20 [[ 9.99676562e-01 -1.65659489e-02 1.92961285e-02 -1.70684742e+02] [ 1.66665760e-02 9.99848270e-01 -5.06578519e-03 -9.55187388e+01] [-1.92092812e-02 5.38574712e-03 9.99800979e-01 2.96197445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66907232899996 meters Centerline goodness [0,1] 0.35000836890116327 Centerline is valid? [False, False] Translation: X:-170.68, Y:-95.52, Z:296.20 [[ 9.99676562e-01 -1.65659489e-02 1.92961285e-02 -1.70684742e+02] [ 1.66665760e-02 9.99848270e-01 -5.06578519e-03 -9.55187388e+01] [-1.92092812e-02 5.38574712e-03 9.99800979e-01 2.96197445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.699072329 meters Centerline goodness [0,1] 0.34336820083682007 Centerline is valid? [False, False] Translation: X:-170.69, Y:-95.52, Z:296.20 [[ 9.99675699e-01 -1.65665979e-02 1.93402477e-02 -1.70685195e+02] [ 1.66676405e-02 9.99848205e-01 -5.07500956e-03 -9.55186839e+01] [-1.92532363e-02 5.39572003e-03 9.99800080e-01 2.96197897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72907232899996 meters Centerline goodness [0,1] 0.3253656498119515 Centerline is valid? [False, False] Translation: X:-170.69, Y:-95.52, Z:296.20 [[ 9.99625827e-01 -1.82158521e-02 2.04056198e-02 -1.70688932e+02] [ 1.83502832e-02 9.99811006e-01 -6.42017104e-03 -9.55174697e+01] [-2.02848143e-02 6.79221768e-03 9.99771170e-01 2.96199170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.759072329 meters Centerline goodness [0,1] 0.33231961339776706 Centerline is valid? [False, False] Translation: X:-170.69, Y:-95.52, Z:296.20 [[ 9.99618383e-01 -1.81296347e-02 2.08423810e-02 -1.70689907e+02] [ 1.82582296e-02 9.99815324e-01 -5.99621527e-03 -9.55189918e+01] [-2.07298227e-02 6.37447199e-03 9.99764793e-01 2.96198878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78907232899996 meters Centerline goodness [0,1] 0.3313702148988159 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.51, Z:296.20 [[ 9.99764803e-01 -1.96658339e-02 9.14293481e-03 -1.70696695e+02] [ 1.97496697e-02 9.99762890e-01 -9.17143208e-03 -9.55059704e+01] [-8.96040307e-03 9.34984494e-03 9.99916142e-01 2.96203786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.819072329 meters Centerline goodness [0,1] 0.35784344479996655 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.50, Z:296.20 [[ 9.99754218e-01 -2.00239512e-02 9.51548611e-03 -1.70697226e+02] [ 2.01147821e-02 9.99752088e-01 -9.54772504e-03 -9.55048494e+01] [-9.32194393e-03 9.73678031e-03 9.99909144e-01 2.96203190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84907232899997 meters Centerline goodness [0,1] 0.34202396359537424 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.51, Z:296.20 [[ 9.99711245e-01 -2.14349476e-02 1.08614234e-02 -1.70700067e+02] [ 2.15443077e-02 9.99717343e-01 -1.00537245e-02 -9.55053260e+01] [-1.06428523e-02 1.02848233e-02 9.99890470e-01 2.96202343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.879072329 meters Centerline goodness [0,1] 0.2963968101540645 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.51, Z:296.20 [[ 9.99703860e-01 -2.16009453e-02 1.12067430e-02 -1.70701836e+02] [ 2.17131247e-02 9.99714361e-01 -9.98678550e-03 -9.55063157e+01] [-1.09878179e-02 1.02271614e-02 9.99887330e-01 2.96203367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90907232899997 meters Centerline goodness [0,1] 0.32822816548265776 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.50, Z:296.20 [[ 9.99774342e-01 -1.80957587e-02 1.11269087e-02 -1.70702157e+02] [ 1.81769439e-02 9.99808580e-01 -7.23896239e-03 -9.55013368e+01] [-1.09937843e-02 7.43958206e-03 9.99911891e-01 2.96203969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93907232899994 meters Centerline goodness [0,1] 0.34263906315349224 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.50, Z:296.21 [[ 9.99786978e-01 -1.66544066e-02 1.21914033e-02 -1.70705896e+02] [ 1.67282668e-02 9.99842180e-01 -5.98168394e-03 -9.54964995e+01] [-1.20898579e-02 6.18435076e-03 9.99907790e-01 2.96205249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96907232899997 meters Centerline goodness [0,1] 0.350622493315508 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.50, Z:296.21 [[ 9.99779318e-01 -1.69315433e-02 1.24353940e-02 -1.70706540e+02] [ 1.70115604e-02 9.99835082e-01 -6.35727772e-03 -9.54952675e+01] [-1.23257047e-02 6.56742023e-03 9.99902468e-01 2.96205310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99907232899994 meters Centerline goodness [0,1] 0.3355903866248694 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.49, Z:296.21 [[ 9.99796783e-01 -1.49843611e-02 1.34855760e-02 -1.70709993e+02] [ 1.50431809e-02 9.99877724e-01 -4.27086242e-03 -9.54923159e+01] [-1.34199309e-02 4.47286047e-03 9.99899944e-01 2.96206099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.029072329 meters Centerline goodness [0,1] 0.3178532631403025 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.49, Z:296.21 [[ 9.99830871e-01 -1.17264189e-02 1.41675534e-02 -1.70712453e+02] [ 1.17409577e-02 9.99930627e-01 -9.43465041e-04 -9.54911690e+01] [-1.41555071e-02 1.10964612e-03 9.99899190e-01 2.96206746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05907232899995 meters Centerline goodness [0,1] 0.3528143963172212 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.49, Z:296.21 [[ 9.99860057e-01 -8.22367890e-03 1.45683504e-02 -1.70714101e+02] [ 8.19086900e-03 9.99963785e-01 2.31037423e-03 -9.54887864e+01] [-1.45868226e-02 -2.19072346e-03 9.99891207e-01 2.96207419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.089072329 meters Centerline goodness [0,1] 0.3160788576923881 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.49, Z:296.21 [[ 9.99861602e-01 -8.43082399e-03 1.43421637e-02 -1.70713998e+02] [ 8.40685958e-03 9.99963165e-01 1.73037705e-03 -9.54868616e+01] [-1.43562239e-02 -1.60956501e-03 9.99895649e-01 2.96208065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11907232899995 meters Centerline goodness [0,1] 0.3224600605617626 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.48, Z:296.21 [[ 9.99821822e-01 -1.11987313e-02 1.51958117e-02 -1.70717684e+02] [ 1.12184435e-02 9.99936336e-01 -1.21258758e-03 -9.54833170e+01] [-1.51812648e-02 1.38284488e-03 9.99883802e-01 2.96209988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.149072329 meters Centerline goodness [0,1] 0.3261214601954724 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.48, Z:296.21 [[ 9.99819055e-01 -1.10265076e-02 1.55007628e-02 -1.70718298e+02] [ 1.10391448e-02 9.99938800e-01 -7.29929387e-04 -9.54848125e+01] [-1.54917656e-02 9.00912474e-04 9.99879590e-01 2.96209701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17907232899995 meters Centerline goodness [0,1] 0.3422278872474246 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.49, Z:296.21 [[ 9.99806027e-01 -1.12645766e-02 1.61560613e-02 -1.70719690e+02] [ 1.12774201e-02 9.99936160e-01 -7.04078502e-04 -9.54853057e+01] [-1.61470987e-02 8.86140620e-04 9.99869234e-01 2.96209248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.209072329 meters Centerline goodness [0,1] 0.32792092449794163 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.49, Z:296.21 [[ 9.99806606e-01 -1.07687589e-02 1.64555432e-02 -1.70720129e+02] [ 1.07640636e-02 9.99941996e-01 3.73882619e-04 -9.54887359e+01] [-1.64586150e-02 -1.96681799e-04 9.99864528e-01 2.96208592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23907232899995 meters Centerline goodness [0,1] 0.33617447981950366 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.49, Z:296.21 [[ 9.99801548e-01 -1.07418614e-02 1.67773048e-02 -1.70721108e+02] [ 1.07336719e-02 9.99942225e-01 5.78101699e-04 -9.54896402e+01] [-1.67825454e-02 -3.97904888e-04 9.99859084e-01 2.96208718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.269072329 meters Centerline goodness [0,1] 0.33320106925068915 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.49, Z:296.21 [[ 9.99811125e-01 -1.06406950e-02 1.62631714e-02 -1.70720780e+02] [ 1.06369585e-02 9.99943376e-01 3.16242879e-04 -9.54884729e+01] [-1.62656156e-02 -1.43192470e-04 9.99867696e-01 2.96210125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29907232899996 meters Centerline goodness [0,1] 0.3393876058104295 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.49, Z:296.21 [[ 9.99817086e-01 -1.04671171e-02 1.60073413e-02 -1.70720414e+02] [ 1.04627264e-02 9.99945200e-01 3.58015134e-04 -9.54880606e+01] [-1.60102115e-02 -1.90469215e-04 9.99871810e-01 2.96210513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.329072329 meters Centerline goodness [0,1] 0.32636437686668474 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.49, Z:296.21 [[ 9.99813437e-01 -1.05954066e-02 1.61501674e-02 -1.70721000e+02] [ 1.05931396e-02 9.99943866e-01 2.25909861e-04 -9.54878276e+01] [-1.61516545e-02 -5.47867364e-05 9.99869552e-01 2.96210758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35907232899996 meters Centerline goodness [0,1] 0.31564105777666374 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.49, Z:296.21 [[ 9.99798758e-01 -1.09315099e-02 1.68210070e-02 -1.70722437e+02] [ 1.09298034e-02 9.99940249e-01 1.93382523e-04 -9.54882693e+01] [-1.68221158e-02 -9.49330771e-06 9.99858498e-01 2.96210349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.389072329 meters Centerline goodness [0,1] 0.3356986329959303 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.49, Z:296.21 [[ 9.99768433e-01 -1.19589250e-02 1.78903615e-02 -1.70725346e+02] [ 1.19680825e-02 9.99928298e-01 -4.04884621e-04 -9.54881505e+01] [-1.78842367e-02 6.18904184e-04 9.99839873e-01 2.96210523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41907232899996 meters Centerline goodness [0,1] 0.34156928213689486 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.49, Z:296.21 [[ 9.99757783e-01 -1.21313625e-02 1.83631612e-02 -1.70726667e+02] [ 1.21410372e-02 9.99926209e-01 -4.15456437e-04 -9.54885422e+01] [-1.83567661e-02 6.38303629e-04 9.99831297e-01 2.96210584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.449072329 meters Centerline goodness [0,1] 0.35499687043605255 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.49, Z:296.21 [[ 9.99734601e-01 -1.27755315e-02 1.91706311e-02 -1.70728728e+02] [ 1.27913537e-02 9.99917940e-01 -7.02938144e-04 -9.54888451e+01] [-1.91600775e-02 9.47969908e-04 9.99815979e-01 2.96210503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47907232899996 meters Centerline goodness [0,1] 0.3205438823676845 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.48, Z:296.21 [[ 9.99909428e-01 -1.11768262e-02 7.49762581e-03 -1.70732504e+02] [ 1.12229280e-02 9.99918199e-01 -6.13522326e-03 -9.54779399e+01] [-7.42844017e-03 6.21881290e-03 9.99953071e-01 2.96213937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.509072329 meters Centerline goodness [0,1] 0.33346552012022035 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.48, Z:296.21 [[ 9.99906386e-01 -1.13261159e-02 7.67718346e-03 -1.70732969e+02] [ 1.13750514e-02 9.99915071e-01 -6.36073691e-03 -9.54770564e+01] [-7.60448900e-03 6.44746981e-03 9.99950300e-01 2.96213938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53907232899996 meters Centerline goodness [0,1] 0.32155757385948425 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.48, Z:296.21 [[ 9.99899139e-01 -1.16035999e-02 8.18946921e-03 -1.70733707e+02] [ 1.16557309e-02 9.99911927e-01 -6.34684677e-03 -9.54774066e+01] [-8.11510167e-03 6.44166087e-03 9.99946324e-01 2.96213094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.569072329 meters Centerline goodness [0,1] 0.34185196784633054 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.48, Z:296.21 [[ 9.99891798e-01 -1.18836461e-02 8.67014103e-03 -1.70734775e+02] [ 1.19405678e-02 9.99907300e-01 -6.54329717e-03 -9.54769322e+01] [-8.59157908e-03 6.64611557e-03 9.99941005e-01 2.96212862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59907232899997 meters Centerline goodness [0,1] 0.34523809523809523 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.48, Z:296.21 [[ 9.99929227e-01 -7.87815076e-03 8.91495442e-03 -1.70736249e+02] [ 7.90139220e-03 9.99965469e-01 -2.57480525e-03 -9.54764076e+01] [-8.89436187e-03 2.64506357e-03 9.99956946e-01 2.96213856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.629072329 meters Centerline goodness [0,1] 0.3385007521310379 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.48, Z:296.21 [[ 9.99939576e-01 -6.99378101e-03 8.48121853e-03 -1.70735575e+02] [ 7.00798689e-03 9.99974088e-01 -1.64642042e-03 -9.54782892e+01] [-8.46948407e-03 1.70575721e-03 9.99962678e-01 2.96214323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65907232899997 meters Centerline goodness [0,1] 0.32236100087722963 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.48, Z:296.21 [[ 9.99951067e-01 -6.05730841e-03 7.82128706e-03 -1.70734443e+02] [ 6.06403867e-03 9.99981263e-01 -8.37077794e-04 -9.54793929e+01] [-7.81607007e-03 8.84465421e-04 9.99969063e-01 2.96214975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68907232899994 meters Centerline goodness [0,1] 0.33865848055799186 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99931047e-01 -7.82523737e-03 8.75594467e-03 -1.70736037e+02] [ 7.85161074e-03 9.99964730e-01 -2.98174324e-03 -9.54745466e+01] [-8.73230300e-03 3.05028591e-03 9.99957220e-01 2.96214316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71907232899997 meters Centerline goodness [0,1] 0.347436379591325 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.48, Z:296.21 [[ 9.99945567e-01 -6.72006821e-03 7.98144905e-03 -1.70733940e+02] [ 6.73411671e-03 9.99975821e-01 -1.73457529e-03 -9.54769145e+01] [-7.96959961e-03 1.78822888e-03 9.99966643e-01 2.96213972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74907232899994 meters Centerline goodness [0,1] 0.34433705702690265 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.48, Z:296.21 [[ 9.99959462e-01 -5.27506434e-03 7.29717175e-03 -1.70731194e+02] [ 5.28065748e-03 9.99985778e-01 -7.47425715e-04 -9.54764259e+01] [-7.29312525e-03 7.85929280e-04 9.99973096e-01 2.96212900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.779072329 meters Centerline goodness [0,1] 0.290886653140622 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.21 [[ 9.99979972e-01 -8.25925266e-04 6.27480451e-03 -1.70729506e+02] [ 8.09631612e-04 9.99996295e-01 2.59877572e-03 -9.54725744e+01] [-6.27692766e-03 -2.59364340e-03 9.99976936e-01 2.96214271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80907232899995 meters Centerline goodness [0,1] 0.32770630687166613 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.22 [[ 9.99986105e-01 -1.62773699e-04 5.26901108e-03 -1.70727646e+02] [ 1.49338463e-04 9.99996737e-01 2.55015216e-03 -9.54708477e+01] [-5.26940899e-03 -2.54932986e-03 9.99982867e-01 2.96215315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.839072329 meters Centerline goodness [0,1] 0.3489987654579314 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.22 [[ 9.99990100e-01 -5.47203367e-05 4.44947129e-03 -1.70726449e+02] [ 4.62861425e-05 9.99998202e-01 1.89563062e-03 -9.54680235e+01] [-4.44956702e-03 -1.89540590e-03 9.99988304e-01 2.96216620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86907232899995 meters Centerline goodness [0,1] 0.3045512459009545 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99994043e-01 8.73302628e-04 3.33932207e-03 -1.70723388e+02] [-8.79910694e-04 9.99997657e-01 1.97790753e-03 -9.54655132e+01] [-3.33758694e-03 -1.98083405e-03 9.99992468e-01 2.96216649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.899072329 meters Centerline goodness [0,1] 0.33587147519036065 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.46, Z:296.22 [[ 9.99995330e-01 1.33941840e-03 2.74698896e-03 -1.70721405e+02] [-1.34531566e-03 9.99996792e-01 2.14608607e-03 -9.54647192e+01] [-2.74410564e-03 -2.14977161e-03 9.99993924e-01 2.96216003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92907232899995 meters Centerline goodness [0,1] 0.30836488380362703 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99994511e-01 2.74138358e-03 1.86085165e-03 -1.70719415e+02] [-2.74800032e-03 9.99989878e-01 3.56256842e-03 -9.54675864e+01] [-1.85106645e-03 -3.56766249e-03 9.99991923e-01 2.96216156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.959072329 meters Centerline goodness [0,1] 0.3037339190461249 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99992356e-01 3.84367364e-03 7.17662823e-04 -1.70717355e+02] [-3.84645315e-03 9.99984948e-01 3.91264952e-03 -9.54670259e+01] [-7.02613072e-04 -3.91538007e-03 9.99992088e-01 2.96217366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.98907232899995 meters Centerline goodness [0,1] 0.3067269076305221 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99988634e-01 4.74935562e-03 -4.18280266e-04 -1.70715072e+02] [-4.74761508e-03 9.99980455e-01 4.06825163e-03 -9.54657012e+01] [ 4.37593664e-04 -4.06621956e-03 9.99991637e-01 2.96218259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.019072329 meters Centerline goodness [0,1] 0.3195336863475585 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99953301e-01 9.53213979e-03 -1.59178236e-03 -1.70712874e+02] [-9.52026391e-03 9.99927971e-01 7.30871333e-03 -9.54611885e+01] [ 1.66133538e-03 -7.29321783e-03 9.99972024e-01 2.96219836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.04907232899996 meters Centerline goodness [0,1] 0.3515102074966533 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99945672e-01 1.01379343e-02 -2.42381291e-03 -1.70711025e+02] [-1.01193690e-02 9.99920273e-01 7.55289535e-03 -9.54609028e+01] [ 2.50019043e-03 -7.52795756e-03 9.99968539e-01 2.96220204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.079072329 meters Centerline goodness [0,1] 0.3514622453892692 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99946757e-01 9.99943243e-03 -2.54834623e-03 -1.70710591e+02] [-9.98101502e-03 9.99924695e-01 7.14024837e-03 -9.54594668e+01] [ 2.61955276e-03 -7.11443312e-03 9.99971261e-01 2.96220104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.10907232899996 meters Centerline goodness [0,1] 0.3649650320365174 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99965454e-01 7.54949367e-03 -3.47798759e-03 -1.70707781e+02] [-7.53396590e-03 9.99961690e-01 4.45626170e-03 -9.54611631e+01] [ 3.51149687e-03 -4.42990471e-03 9.99984023e-01 2.96219518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.139072329 meters Centerline goodness [0,1] 0.3103708201595511 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99975685e-01 5.38665743e-03 -4.42868763e-03 -1.70705328e+02] [-5.37722940e-03 9.99983257e-01 2.13801369e-03 -9.54637869e+01] [ 4.44013022e-03 -2.11414764e-03 9.99987908e-01 2.96219289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16907232899996 meters Centerline goodness [0,1] 0.3197692711064499 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99968746e-01 5.94309133e-03 -5.21410363e-03 -1.70703523e+02] [-5.93216839e-03 9.99980183e-01 2.10785443e-03 -9.54623273e+01] [ 5.22652747e-03 -2.07685761e-03 9.99984185e-01 2.96219683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.199072329 meters Centerline goodness [0,1] 0.314222203581764 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99964334e-01 6.11331106e-03 -5.82736659e-03 -1.70702322e+02] [-6.10211809e-03 9.99979507e-01 1.93660690e-03 -9.54611568e+01] [ 5.83908625e-03 -1.90097855e-03 9.99981145e-01 2.96220196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22907232899996 meters Centerline goodness [0,1] 0.3073569482288828 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99962958e-01 6.06724213e-03 -6.10500768e-03 -1.70701673e+02] [-6.05748481e-03 9.99980348e-01 1.61547196e-03 -9.54597469e+01] [ 6.11468916e-03 -1.57843113e-03 9.99980059e-01 2.96220342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.259072329 meters Centerline goodness [0,1] 0.3528277365530541 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99968799e-01 5.64854090e-03 -5.52221667e-03 -1.70703245e+02] [-5.64025036e-03 9.99982945e-01 1.51573000e-03 -9.54601878e+01] [ 5.53068415e-03 -1.48453602e-03 9.99983604e-01 2.96220375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28907232899996 meters Centerline goodness [0,1] 0.3448767697954903 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99971286e-01 5.64847939e-03 -5.05187225e-03 -1.70704570e+02] [-5.63949767e-03 9.99982495e-01 1.79038024e-03 -9.54615179e+01] [ 5.06189675e-03 -1.76183881e-03 9.99985636e-01 2.96220456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.319072329 meters Centerline goodness [0,1] 0.310132287888635 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99990469e-01 1.51268016e-03 -4.09547264e-03 -1.70707146e+02] [-1.51872443e-03 9.99997762e-01 -1.47313420e-03 -9.54654871e+01] [ 4.09323509e-03 1.47934005e-03 9.99990528e-01 2.96220380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34907232899997 meters Centerline goodness [0,1] 0.32161046255737435 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99989017e-01 -2.32397575e-03 -4.06999477e-03 -1.70706437e+02] [ 2.30332540e-03 9.99984489e-01 -5.07116073e-03 -9.54669189e+01] [ 4.08171690e-03 5.06173051e-03 9.99978859e-01 2.96219359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.379072329 meters Centerline goodness [0,1] 0.32775856648852564 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99988695e-01 -3.74769032e-03 -2.92663815e-03 -1.70709499e+02] [ 3.73107227e-03 9.99977004e-01 -5.66316776e-03 -9.54677047e+01] [ 2.94779465e-03 5.65218424e-03 9.99979681e-01 2.96219133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40907232899997 meters Centerline goodness [0,1] 0.3261881790343555 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99994882e-01 1.11847120e-04 -3.19736292e-03 -1.70709003e+02] [-1.19769870e-04 9.99996923e-01 -2.47781737e-03 -9.54637370e+01] [ 3.19707594e-03 2.47818763e-03 9.99991819e-01 2.96219637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43907232899994 meters Centerline goodness [0,1] 0.3276455526172186 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99994265e-01 2.87805273e-04 -3.37440985e-03 -1.70708611e+02] [-2.95589755e-04 9.99997296e-01 -2.30664491e-03 -9.54638174e+01] [ 3.37373686e-03 2.30762913e-03 9.99991646e-01 2.96219745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46907232899997 meters Centerline goodness [0,1] 0.35204295662387786 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99993783e-01 3.85729068e-04 -3.50511542e-03 -1.70708208e+02] [-3.94328456e-04 9.99996914e-01 -2.45302266e-03 -9.54626318e+01] [ 3.50415840e-03 2.45438958e-03 9.99990848e-01 2.96219754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49907232899994 meters Centerline goodness [0,1] 0.3269234801937635 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99991596e-01 9.63333417e-04 -3.98484223e-03 -1.70706738e+02] [-9.71597743e-04 9.99997380e-01 -2.07252493e-03 -9.54623305e+01] [ 3.98283525e-03 2.07637918e-03 9.99989913e-01 2.96219601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.529072329 meters Centerline goodness [0,1] 0.3355430153768697 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99994929e-01 1.67840873e-04 -3.18027987e-03 -1.70708487e+02] [-1.76855798e-04 9.99995967e-01 -2.83456341e-03 -9.54607620e+01] [ 3.17979129e-03 2.83511148e-03 9.99990925e-01 2.96219197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55907232899995 meters Centerline goodness [0,1] 0.3273489054153137 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99984614e-01 4.40088710e-03 -3.37700898e-03 -1.70707723e+02] [-4.39736101e-03 9.99989779e-01 1.05086348e-03 -9.54590569e+01] [ 3.38159920e-03 -1.03599738e-03 9.99993746e-01 2.96218978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.589072329 meters Centerline goodness [0,1] 0.3273489054153137 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99984614e-01 4.40088710e-03 -3.37700898e-03 -1.70707723e+02] [-4.39736101e-03 9.99989779e-01 1.05086348e-03 -9.54590569e+01] [ 3.38159920e-03 -1.03599738e-03 9.99993746e-01 2.96218978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61907232899995 meters Centerline goodness [0,1] 0.3273489054153137 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99984614e-01 4.40088710e-03 -3.37700898e-03 -1.70707723e+02] [-4.39736101e-03 9.99989779e-01 1.05086348e-03 -9.54590569e+01] [ 3.38159920e-03 -1.03599738e-03 9.99993746e-01 2.96218978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.649072329 meters Centerline goodness [0,1] 0.2801190925483289 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99977938e-01 5.24328176e-03 -4.07827860e-03 -1.70705792e+02] [-5.23609569e-03 9.99984724e-01 1.77072123e-03 -9.54600838e+01] [ 4.08750069e-03 -1.74932791e-03 9.99990116e-01 2.96218755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67907232899995 meters Centerline goodness [0,1] 0.3344863006519506 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99971580e-01 5.87588436e-03 -4.72364993e-03 -1.70704176e+02] [-5.86617032e-03 9.99980656e-01 2.06769987e-03 -9.54599167e+01] [ 4.73570812e-03 -2.03993137e-03 9.99986706e-01 2.96218823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.709072329 meters Centerline goodness [0,1] 0.34666359582085804 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99967583e-01 6.20289958e-03 -5.13398520e-03 -1.70704078e+02] [-6.19247116e-03 9.99978736e-01 2.04466216e-03 -9.54596292e+01] [ 5.14655887e-03 -2.01280382e-03 9.99984731e-01 2.96220106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73907232899995 meters Centerline goodness [0,1] 0.3395645157910179 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99969563e-01 5.93897792e-03 -5.05972428e-03 -1.70704947e+02] [-5.93123969e-03 9.99981220e-01 1.54301201e-03 -9.54583637e+01] [ 5.06879317e-03 -1.51295461e-03 9.99986009e-01 2.96221019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.769072329 meters Centerline goodness [0,1] 0.35184138349768646 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99969672e-01 5.82897235e-03 -5.16500159e-03 -1.70705320e+02] [-5.82258128e-03 9.99982265e-01 1.25155322e-03 -9.54575558e+01] [ 5.17220526e-03 -1.22144163e-03 9.99985878e-01 2.96221884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79907232899996 meters Centerline goodness [0,1] 0.33240440020953377 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99961594e-01 6.36269312e-03 -6.02713727e-03 -1.70703195e+02] [-6.35559638e-03 9.99979088e-01 1.19588584e-03 -9.54560270e+01] [ 6.03462029e-03 -1.15753386e-03 9.99981122e-01 2.96222065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.829072329 meters Centerline goodness [0,1] 0.3073767918802972 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.45, Z:296.22 [[ 9.99956059e-01 6.66766839e-03 -6.58948477e-03 -1.70701497e+02] [-6.66075934e-03 9.99977245e-01 1.06988798e-03 -9.54544154e+01] [ 6.59646848e-03 -1.02594999e-03 9.99977717e-01 2.96221856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85907232899996 meters Centerline goodness [0,1] 0.3428068410462777 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.45, Z:296.22 [[ 9.99945630e-01 7.45083355e-03 -7.29536442e-03 -1.70699590e+02] [-7.43907706e-03 9.99970989e-01 1.63731349e-03 -9.54548802e+01] [ 7.30735212e-03 -1.58295369e-03 9.99972048e-01 2.96221713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.889072329 meters Centerline goodness [0,1] 0.35222892575833753 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99936610e-01 8.04385854e-03 -7.87863496e-03 -1.70698599e+02] [-8.02777649e-03 9.99965633e-01 2.07072442e-03 -9.54555931e+01] [ 7.89502081e-03 -2.00734524e-03 9.99966819e-01 2.96222320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91907232899996 meters Centerline goodness [0,1] 0.34704574998951654 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99943306e-01 7.56237060e-03 -7.49636154e-03 -1.70700358e+02] [-7.55118630e-03 9.99970335e-01 1.51914632e-03 -9.54550218e+01] [ 7.50762751e-03 -1.46245378e-03 9.99970748e-01 2.96223205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.949072329 meters Centerline goodness [0,1] 0.3522865152085687 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99948399e-01 5.85704870e-03 -8.30023663e-03 -1.70697462e+02] [-5.86121794e-03 9.99982709e-01 -4.78067406e-04 -9.54566090e+01] [ 8.29729304e-03 5.26692233e-04 9.99965438e-01 2.96222373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97907232899996 meters Centerline goodness [0,1] 0.3181846753410019 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99947634e-01 5.93495787e-03 -8.33698875e-03 -1.70697484e+02] [-5.93865605e-03 9.99982278e-01 -4.18901398e-04 -9.54565647e+01] [ 8.33435484e-03 4.68389970e-04 9.99965159e-01 2.96222498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.009072329 meters Centerline goodness [0,1] 0.3704921465968586 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99945126e-01 6.08584236e-03 -8.52686754e-03 -1.70697263e+02] [-6.08856257e-03 9.99981422e-01 -2.93094146e-04 -9.54567597e+01] [ 8.52492539e-03 3.44994429e-04 9.99963603e-01 2.96222815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03907232899996 meters Centerline goodness [0,1] 0.3400854665046713 Centerline is valid? [False, False] Translation: X:-170.69, Y:-95.46, Z:296.22 [[ 9.99927437e-01 7.25286964e-03 -9.61858984e-03 -1.70694714e+02] [-7.25068453e-03 9.99973679e-01 2.62028516e-04 -9.54563913e+01] [ 9.62023713e-03 -1.92268142e-04 9.99953706e-01 2.96223276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.069072329 meters Centerline goodness [0,1] 0.3440711379556227 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.45, Z:296.22 [[ 9.99931576e-01 6.87432740e-03 -9.46505432e-03 -1.70695311e+02] [-6.87804893e-03 9.99976281e-01 -3.60690875e-04 -9.54544773e+01] [ 9.46235031e-03 4.25767302e-04 9.99955140e-01 2.96223609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09907232899997 meters Centerline goodness [0,1] 0.328589665780717 Centerline is valid? [False, False] Translation: X:-170.69, Y:-95.46, Z:296.22 [[ 9.99922880e-01 7.40402535e-03 -9.97069535e-03 -1.70694569e+02] [-7.40297350e-03 9.99972587e-01 1.42398118e-04 -9.54555685e+01] [ 9.97147635e-03 -6.85743426e-05 9.99950281e-01 2.96224302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.129072329 meters Centerline goodness [0,1] 0.330408009383378 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99934728e-01 6.87613760e-03 -9.12456926e-03 -1.70696677e+02] [-6.87657135e-03 9.99976356e-01 -1.61635219e-05 -9.54560142e+01] [ 9.12424238e-03 7.89082184e-05 9.99958370e-01 2.96224040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15907232899997 meters Centerline goodness [0,1] 0.3319929630560442 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99936947e-01 6.98408351e-03 -8.79338806e-03 -1.70697080e+02] [-6.98109081e-03 9.99975563e-01 3.70983919e-04 -9.54572715e+01] [ 8.79576416e-03 -3.09573087e-04 9.99961269e-01 2.96223342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18907232899994 meters Centerline goodness [0,1] 0.3444647087185292 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99960235e-01 3.14563242e-03 -8.34470719e-03 -1.70697234e+02] [-3.16838827e-03 9.99991295e-01 -2.71516295e-03 -9.54606382e+01] [ 8.33609364e-03 2.74149426e-03 9.99961496e-01 2.96221813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21907232899997 meters Centerline goodness [0,1] 0.34376374489475336 Centerline is valid? [False, False] Translation: X:-170.69, Y:-95.46, Z:296.22 [[ 9.99960496e-01 6.33860504e-04 -8.86588047e-03 -1.70694659e+02] [-6.77003306e-04 9.99987941e-01 -4.86400662e-03 -9.54639952e+01] [ 8.86269046e-03 4.86981671e-03 9.99948867e-01 2.96220267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24907232899994 meters Centerline goodness [0,1] 0.33361268830270907 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.47, Z:296.22 [[ 9.99968224e-01 5.69505815e-04 -7.95150982e-03 -1.70696157e+02] [-6.04038707e-04 9.99990394e-01 -4.34120925e-03 -9.54659027e+01] [ 7.94896110e-03 4.34587433e-03 9.99958963e-01 2.96219006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.279072329 meters Centerline goodness [0,1] 0.33978832652205804 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.47, Z:296.22 [[ 9.99974212e-01 1.69756703e-04 -7.17965679e-03 -1.70698164e+02] [-2.01899151e-04 9.99989961e-01 -4.47639020e-03 -9.54661170e+01] [ 7.17882481e-03 4.47772433e-03 9.99964207e-01 2.96218985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30907232899995 meters Centerline goodness [0,1] 0.3647236244056721 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.47, Z:296.22 [[ 9.99977255e-01 -1.18330113e-04 -6.74351746e-03 -1.70699736e+02] [ 8.66220925e-05 9.99988941e-01 -4.70209827e-03 -9.54658460e+01] [ 6.74399928e-03 4.70140718e-03 9.99966207e-01 2.96219562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.339072329 meters Centerline goodness [0,1] 0.34996440685063435 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99982591e-01 -1.22292209e-03 -5.77251898e-03 -1.70702371e+02] [ 1.19001696e-03 9.99983045e-01 -5.70030271e-03 -9.54640417e+01] [ 5.77939214e-03 5.69333408e-03 9.99967092e-01 2.96219813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36907232899995 meters Centerline goodness [0,1] 0.35972291980579274 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.47, Z:296.22 [[ 9.99983131e-01 -8.76399394e-04 -5.74198282e-03 -1.70702144e+02] [ 8.46695283e-04 9.99986259e-01 -5.17353535e-03 -9.54650500e+01] [ 5.74643800e-03 5.16858636e-03 9.99970132e-01 2.96219401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.399072329 meters Centerline goodness [0,1] 0.3635317501830736 Centerline is valid? [False, False] Translation: X:-170.70, Y:-95.46, Z:296.22 [[ 9.99986561e-01 -2.46775122e-03 -4.55949589e-03 -1.70704848e+02] [ 2.43779694e-03 9.99975488e-01 -6.56356611e-03 -9.54626136e+01] [ 4.57558138e-03 6.55236277e-03 9.99968065e-01 2.96219077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42907232899995 meters Centerline goodness [0,1] 0.33760397943401743 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.46, Z:296.22 [[ 9.99988850e-01 -2.91684486e-03 -3.71378803e-03 -1.70706531e+02] [ 2.89295916e-03 9.99975202e-01 -6.42083630e-03 -9.54638223e+01] [ 3.73242452e-03 6.41002087e-03 9.99972490e-01 2.96218305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.459072329 meters Centerline goodness [0,1] 0.32845875436724614 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99990682e-01 -3.12330481e-03 -2.98005030e-03 -1.70708238e+02] [ 3.10482617e-03 9.99976050e-01 -6.18538743e-03 -9.54650602e+01] [ 2.99929778e-03 6.17607726e-03 9.99976430e-01 2.96217997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.48907232899995 meters Centerline goodness [0,1] 0.3859916811236753 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99987940e-01 -4.61518641e-03 -1.67935244e-03 -1.70711734e+02] [ 4.60344564e-03 9.99965397e-01 -6.92920694e-03 -9.54656426e+01] [ 1.71127391e-03 6.92139257e-03 9.99974583e-01 2.96218012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.519072329 meters Centerline goodness [0,1] 0.34068391789640906 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99987725e-01 -4.75068952e-03 -1.40730479e-03 -1.70712490e+02] [ 4.74070378e-03 9.99964150e-01 -7.01598103e-03 -9.54655125e+01] [ 1.44058508e-03 7.00922329e-03 9.99974397e-01 2.96218060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.54907232899996 meters Centerline goodness [0,1] 0.3480087801818752 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99987837e-01 -4.75873644e-03 -1.29648472e-03 -1.70712963e+02] [ 4.74961025e-03 9.99964544e-01 -6.95360025e-03 -9.54656808e+01] [ 1.32952910e-03 6.94735788e-03 9.99974983e-01 2.96218263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.579072329 meters Centerline goodness [0,1] 0.33054034853107106 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99989143e-01 -4.35134580e-03 -1.66727475e-03 -1.70711852e+02] [ 4.34020144e-03 9.99968599e-01 -6.63049135e-03 -9.54657500e+01] [ 1.69607396e-03 6.62318305e-03 9.99976628e-01 2.96218115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.60907232899996 meters Centerline goodness [0,1] 0.31582800016731505 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99988378e-01 -4.70650320e-03 -1.04505538e-03 -1.70713342e+02] [ 4.69926523e-03 9.99965677e-01 -6.82360408e-03 -9.54654870e+01] [ 1.07713483e-03 6.81861378e-03 9.99976173e-01 2.96217943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.639072329 meters Centerline goodness [0,1] 0.3502038256506742 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99988907e-01 -4.62259263e-03 -9.03802395e-04 -1.70713819e+02] [ 4.61646887e-03 9.99967138e-01 -6.66413393e-03 -9.54660011e+01] [ 9.34578271e-04 6.65988763e-03 9.99977386e-01 2.96218080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66907232899996 meters Centerline goodness [0,1] 0.3580228836781224 Centerline is valid? [False, False] Translation: X:-170.71, Y:-95.47, Z:296.22 [[ 9.99989557e-01 -4.48783640e-03 -8.62813606e-04 -1.70714028e+02] [ 4.48220221e-03 9.99969316e-01 -6.42466987e-03 -9.54666160e+01] [ 8.91619999e-04 6.42073547e-03 9.99978989e-01 2.96218148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.699072329 meters Centerline goodness [0,1] 0.3267610345620674 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99988406e-01 -4.81191545e-03 -1.81157338e-04 -1.70715552e+02] [ 4.81062065e-03 9.99966820e-01 -6.57394498e-03 -9.54664353e+01] [ 2.12784594e-04 6.57299728e-03 9.99978375e-01 2.96217856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72907232899996 meters Centerline goodness [0,1] 0.3164157256378084 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99988492e-01 -4.78450972e-03 3.52542922e-04 -1.70716673e+02] [ 4.78660094e-03 9.99969379e-01 -6.19116219e-03 -9.54678358e+01] [-3.22910451e-04 6.19277842e-03 9.99980772e-01 2.96217397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.759072329 meters Centerline goodness [0,1] 0.35350598276294876 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99978162e-01 -6.34721494e-03 1.84092427e-03 -1.70720024e+02] [ 6.35944026e-03 9.99957247e-01 -6.71282749e-03 -9.54690264e+01] [-1.79823781e-03 6.72438815e-03 9.99975774e-01 2.96216568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78907232899996 meters Centerline goodness [0,1] 0.3279007489853132 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99975939e-01 -6.55091757e-03 2.28176229e-03 -1.70720726e+02] [ 6.56627922e-03 9.99955381e-01 -6.79122299e-03 -9.54686533e+01] [-2.23717174e-03 6.80604228e-03 9.99974336e-01 2.96215992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.819072329 meters Centerline goodness [0,1] 0.3439690344178261 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99970075e-01 -7.20387709e-03 2.82002019e-03 -1.70721887e+02] [ 7.22434422e-03 9.99947140e-01 -7.31616887e-03 -9.54675120e+01] [-2.76716634e-03 7.33632274e-03 9.99969260e-01 2.96215740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84907232899997 meters Centerline goodness [0,1] 0.3414930119675287 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99972348e-01 -6.98478685e-03 2.55268236e-03 -1.70721408e+02] [ 7.00275425e-03 9.99950283e-01 -7.09881756e-03 -9.54678014e+01] [-2.50297172e-03 7.11649707e-03 9.99971545e-01 2.96216014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.879072329 meters Centerline goodness [0,1] 0.3120932471174168 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99968990e-01 -7.28287332e-03 2.99630738e-03 -1.70722740e+02] [ 7.30474397e-03 9.99946277e-01 -7.35418357e-03 -9.54671542e+01] [-2.94258683e-03 7.37584278e-03 9.99968469e-01 2.96216317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90907232899997 meters Centerline goodness [0,1] 0.3433806516165343 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.22 [[ 9.99959910e-01 -8.14198240e-03 3.72642784e-03 -1.70725060e+02] [ 8.17229896e-03 9.99933034e-01 -8.19395279e-03 -9.54655315e+01] [-3.65946328e-03 8.22407777e-03 9.99959486e-01 2.96216946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93907232899994 meters Centerline goodness [0,1] 0.31633760487540175 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99954784e-01 -8.61456684e-03 4.02736924e-03 -1.70726061e+02] [ 8.64986100e-03 9.99923604e-01 -8.82987486e-03 -9.54637489e+01] [-3.95099601e-03 8.86431179e-03 9.99952906e-01 2.96217210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96907232899997 meters Centerline goodness [0,1] 0.3575867534200867 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.46, Z:296.22 [[ 9.99961080e-01 -8.07007028e-03 3.56546300e-03 -1.70724647e+02] [ 8.09925093e-03 9.99933192e-01 -8.24705514e-03 -9.54645805e+01] [-3.49867049e-03 8.27561175e-03 9.99959636e-01 2.96216873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99907232899994 meters Centerline goodness [0,1] 0.2964926931106472 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.47, Z:296.22 [[ 9.99959376e-01 -8.06742524e-03 4.02038681e-03 -1.70724941e+02] [ 8.09911188e-03 9.99935769e-01 -7.92853873e-03 -9.54654533e+01] [-3.95616569e-03 7.96077820e-03 9.99960487e-01 2.96215658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.029072329 meters Centerline goodness [0,1] 0.29989548494983276 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99971894e-01 -5.53544233e-03 5.05660092e-03 -1.70728359e+02] [ 5.56217885e-03 9.99970545e-01 -5.28877770e-03 -9.54634517e+01] [-5.02717625e-03 5.31675478e-03 9.99973229e-01 2.96216426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05907232899995 meters Centerline goodness [0,1] 0.3065116473589561 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.22 [[ 9.99972038e-01 -5.31396430e-03 5.26161615e-03 -1.70729088e+02] [ 5.33925132e-03 9.99974209e-01 -4.80361448e-03 -9.54650249e+01] [-5.23595421e-03 4.83157325e-03 9.99974620e-01 2.96216550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.089072329 meters Centerline goodness [0,1] 0.30952231760553084 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99973047e-01 -5.18476004e-03 5.19847182e-03 -1.70729113e+02] [ 5.20929260e-03 9.99975307e-01 -4.71680422e-03 -9.54649874e+01] [-5.17388795e-03 4.74375745e-03 9.99975364e-01 2.96216765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11907232899995 meters Centerline goodness [0,1] 0.3115168480645094 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.22 [[ 9.99973202e-01 -5.00095018e-03 5.34650937e-03 -1.70729153e+02] [ 5.02422432e-03 9.99977923e-01 -4.34861465e-03 -9.54657483e+01] [-5.32464413e-03 4.37536018e-03 9.99976252e-01 2.96216292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.149072329 meters Centerline goodness [0,1] 0.3291390590054971 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.22 [[ 9.99970583e-01 -5.06572212e-03 5.75943561e-03 -1.70729933e+02] [ 5.08950335e-03 9.99978553e-01 -4.12195848e-03 -9.54666506e+01] [-5.73843139e-03 4.15114989e-03 9.99974919e-01 2.96215832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17907232899995 meters Centerline goodness [0,1] 0.33352135038021224 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.21 [[ 9.99982940e-01 -2.66421535e-03 5.19831360e-03 -1.70726676e+02] [ 2.67198779e-03 9.99995322e-01 -1.48881420e-03 -9.54695022e+01] [-5.19432276e-03 1.50267863e-03 9.99985380e-01 2.96213630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.209072329 meters Centerline goodness [0,1] 0.3376647834274953 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.21 [[ 9.99984443e-01 -2.44825832e-03 5.01193661e-03 -1.70726124e+02] [ 2.45506332e-03 9.99996072e-01 -1.35205625e-03 -9.54691632e+01] [-5.00860674e-03 1.36433983e-03 9.99986526e-01 2.96213576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23907232899995 meters Centerline goodness [0,1] 0.3389582418501558 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.21 [[ 9.99977964e-01 -3.57588750e-03 5.59330915e-03 -1.70728523e+02] [ 3.59038141e-03 9.99990218e-01 -2.58340354e-03 -9.54669535e+01] [-5.58401647e-03 2.60342872e-03 9.99981020e-01 2.96214756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.269072329 meters Centerline goodness [0,1] 0.3517294742565561 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.22 [[ 9.99979472e-01 -3.38253720e-03 5.44182059e-03 -1.70728424e+02] [ 3.39572306e-03 9.99991317e-01 -2.41564959e-03 -9.54670923e+01] [-5.43360231e-03 2.43407892e-03 9.99982275e-01 2.96215108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29907232899996 meters Centerline goodness [0,1] 0.33892989315658517 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.22 [[ 9.99977842e-01 -3.55060730e-03 5.63113082e-03 -1.70729087e+02] [ 3.56598337e-03 9.99989935e-01 -2.72286057e-03 -9.54661373e+01] [-5.62140633e-03 2.74288075e-03 9.99980438e-01 2.96215384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.329072329 meters Centerline goodness [0,1] 0.3254977413418103 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.22 [[ 9.99982584e-01 -3.02038336e-03 5.07038838e-03 -1.70727570e+02] [ 3.03202411e-03 9.99992782e-01 -2.28971606e-03 -9.54663380e+01] [-5.06343596e-03 2.30504972e-03 9.99984524e-01 2.96215262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35907232899996 meters Centerline goodness [0,1] 0.35506078804745866 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.21 [[ 9.99977870e-01 -3.62750498e-03 5.57688700e-03 -1.70728368e+02] [ 3.64370178e-03 9.99989166e-01 -2.89686040e-03 -9.54646941e+01] [-5.56631820e-03 2.91711681e-03 9.99980253e-01 2.96214686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.389072329 meters Centerline goodness [0,1] 0.36727774987443496 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.21 [[ 9.99976542e-01 -3.49292515e-03 5.89191006e-03 -1.70728698e+02] [ 3.50707251e-03 9.99990988e-01 -2.39252975e-03 -9.54661012e+01] [-5.88350004e-03 2.41313698e-03 9.99979780e-01 2.96213999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41907232899996 meters Centerline goodness [0,1] 0.3243798189741871 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.21 [[ 9.99961404e-01 -5.16084577e-03 7.11027109e-03 -1.70732397e+02] [ 5.18372692e-03 9.99981433e-01 -3.20337969e-03 -9.54669856e+01] [-7.09360693e-03 3.24011376e-03 9.99969591e-01 2.96214454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.449072329 meters Centerline goodness [0,1] 0.37170866587067175 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99950378e-01 -5.81424868e-03 8.08927662e-03 -1.70735115e+02] [ 5.84122281e-03 9.99977445e-01 -3.31493269e-03 -9.54679387e+01] [-8.06982033e-03 3.36201946e-03 9.99961787e-01 2.96214622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47907232899996 meters Centerline goodness [0,1] 0.37170866587067175 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99950378e-01 -5.81424868e-03 8.08927662e-03 -1.70735115e+02] [ 5.84122281e-03 9.99977445e-01 -3.31493269e-03 -9.54679387e+01] [-8.06982033e-03 3.36201946e-03 9.99961787e-01 2.96214622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.509072329 meters Centerline goodness [0,1] 0.32437182249932006 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99931185e-01 -7.21363351e-03 9.25138807e-03 -1.70738317e+02] [ 7.25124103e-03 9.99965556e-01 -4.03798728e-03 -9.54683678e+01] [-9.22194086e-03 4.10479345e-03 9.99949052e-01 2.96214710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53907232899996 meters Centerline goodness [0,1] 0.32790249623052437 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99942643e-01 -6.26965763e-03 8.68343990e-03 -1.70736327e+02] [ 6.29629891e-03 9.99975545e-01 -3.04412421e-03 -9.54697479e+01] [-8.66414193e-03 3.09862314e-03 9.99957665e-01 2.96213972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.569072329 meters Centerline goodness [0,1] 0.3251146909106144 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99944825e-01 -6.22337205e-03 8.46269052e-03 -1.70735599e+02] [ 6.25013564e-03 9.99975538e-01 -3.13977854e-03 -9.54688345e+01] [-8.44294350e-03 3.19249827e-03 9.99959262e-01 2.96213770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59907232899997 meters Centerline goodness [0,1] 0.3351013648084865 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.47, Z:296.21 [[ 9.99948772e-01 -5.96771468e-03 8.17558371e-03 -1.70734392e+02] [ 5.99215080e-03 9.99977643e-01 -2.96768668e-03 -9.54684556e+01] [-8.15769062e-03 3.01652398e-03 9.99962176e-01 2.96213137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.629072329 meters Centerline goodness [0,1] 0.32928514594413505 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99941876e-01 -6.33787304e-03 8.72218991e-03 -1.70735440e+02] [ 6.36551823e-03 9.99974793e-01 -3.14542030e-03 -9.54681991e+01] [-8.70203477e-03 3.20075874e-03 9.99957014e-01 2.96212643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65907232899997 meters Centerline goodness [0,1] 0.32649046811894444 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99930056e-01 -6.87188205e-03 9.62599452e-03 -1.70737888e+02] [ 6.90397661e-03 9.99970706e-01 -3.30490224e-03 -9.54687042e+01] [-9.60300164e-03 3.37112872e-03 9.99948208e-01 2.96212753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68907232899994 meters Centerline goodness [0,1] 0.3023766684798527 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99930668e-01 -6.63459284e-03 9.72833433e-03 -1.70738375e+02] [ 6.66281144e-03 9.99973681e-01 -2.87112578e-03 -9.54700223e+01] [-9.70902954e-03 2.93574478e-03 9.99948557e-01 2.96212938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71907232899997 meters Centerline goodness [0,1] 0.34228918183720447 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99916818e-01 -7.38827622e-03 1.05721143e-02 -1.70741148e+02] [ 7.42315253e-03 9.99967123e-01 -3.26346720e-03 -9.54703049e+01] [-1.05476553e-02 3.34167416e-03 9.99938788e-01 2.96213704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74907232899994 meters Centerline goodness [0,1] 0.3197541960161361 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99905787e-01 -7.86097717e-03 1.12526332e-02 -1.70742659e+02] [ 7.90306008e-03 9.99961924e-01 -3.70025826e-03 -9.54693475e+01] [-1.12231171e-02 3.78883988e-03 9.99929841e-01 2.96213395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.779072329 meters Centerline goodness [0,1] 0.31961648528398057 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99872650e-01 -9.80501514e-03 1.25914587e-02 -1.70746202e+02] [ 9.86382587e-03 9.99940692e-01 -4.61710594e-03 -9.54703116e+01] [-1.25454411e-02 4.74071791e-03 9.99910065e-01 2.96213246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80907232899995 meters Centerline goodness [0,1] 0.32872247064231686 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99864286e-01 -9.97305892e-03 1.31129189e-02 -1.70747112e+02] [ 1.00329428e-02 9.99939503e-01 -4.50895811e-03 -9.54707628e+01] [-1.30671575e-02 4.63990734e-03 9.99903856e-01 2.96212627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.839072329 meters Centerline goodness [0,1] 0.33085199549605904 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99850503e-01 -1.04741678e-02 1.37573167e-02 -1.70748605e+02] [ 1.05411466e-02 9.99932895e-01 -4.80513636e-03 -9.54703771e+01] [-1.37060637e-02 4.94943590e-03 9.99893818e-01 2.96212382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86907232899995 meters Centerline goodness [0,1] 0.29543272241472884 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99845395e-01 -1.04606055e-02 1.41337044e-02 -1.70749329e+02] [ 1.05247765e-02 9.99934606e-01 -4.47355735e-03 -9.54713404e+01] [-1.40859841e-02 4.62161980e-03 9.99890107e-01 2.96211980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.899072329 meters Centerline goodness [0,1] 0.33219750815285554 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99842873e-01 -1.03375673e-02 1.44001437e-02 -1.70749566e+02] [ 1.03974642e-02 9.99937577e-01 -4.09082236e-03 -9.54723303e+01] [-1.43569556e-02 4.23990456e-03 9.99887944e-01 2.96211306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.92907232899995 meters Centerline goodness [0,1] 0.34839208475249184 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99838219e-01 -1.02792005e-02 1.47605608e-02 -1.70749893e+02] [ 1.03361069e-02 9.99939421e-01 -3.78419932e-03 -9.54732450e+01] [-1.47207680e-02 3.93615385e-03 9.99883896e-01 2.96210395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.959072329 meters Centerline goodness [0,1] 0.35711746376963127 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.48, Z:296.21 [[ 9.99836414e-01 -1.00716757e-02 1.50235207e-02 -1.70750445e+02] [ 1.01214958e-02 9.99943515e-01 -3.24379789e-03 -9.54750372e+01] [-1.49900016e-02 3.39532775e-03 9.99881879e-01 2.96210089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.98907232899995 meters Centerline goodness [0,1] 0.30455029548729295 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99852199e-01 -9.42687055e-03 1.43775458e-02 -1.70748845e+02] [ 9.46934528e-03 9.99950991e-01 -2.88902968e-03 -9.54747186e+01] [-1.43496066e-02 3.02474863e-03 9.99892464e-01 2.96210214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.019072329 meters Centerline goodness [0,1] 0.3274739992048047 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99855547e-01 -8.52995476e-03 1.47012204e-02 -1.70751724e+02] [ 8.57020237e-03 9.99959692e-01 -2.67688185e-03 -9.54698733e+01] [-1.46777941e-02 2.80248760e-03 9.99888348e-01 2.96212903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.04907232899996 meters Centerline goodness [0,1] 0.32757179283534676 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99874764e-01 -7.74236156e-03 1.38025786e-02 -1.70749543e+02] [ 7.77696289e-03 9.99966745e-01 -2.45496507e-03 -9.54688403e+01] [-1.37831124e-02 2.56199976e-03 9.99901726e-01 2.96213182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.079072329 meters Centerline goodness [0,1] 0.36162114684846713 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99889219e-01 -7.16151616e-03 1.30484840e-02 -1.70747941e+02] [ 7.18966795e-03 9.99971924e-01 -2.11184473e-03 -9.54687618e+01] [-1.30329937e-02 2.20542505e-03 9.99912635e-01 2.96213617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.10907232899996 meters Centerline goodness [0,1] 0.367898499226621 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99888840e-01 -7.67201652e-03 1.27846848e-02 -1.70746723e+02] [ 7.71457648e-03 9.99964853e-01 -3.28299507e-03 -9.54646650e+01] [-1.27590483e-02 3.38125856e-03 9.99912883e-01 2.96213090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.139072329 meters Centerline goodness [0,1] 0.29133743049458594 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.21 [[ 9.99906413e-01 -6.94305150e-03 1.17880834e-02 -1.70744598e+02] [ 6.97743315e-03 9.99971516e-01 -2.87802636e-03 -9.54646749e+01] [-1.17677654e-02 2.96000758e-03 9.99926376e-01 2.96213556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16907232899996 meters Centerline goodness [0,1] 0.3124660680726665 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.21 [[ 9.99934729e-01 -1.37176163e-04 1.14245083e-02 -1.70743125e+02] [ 1.06422456e-04 9.99996370e-01 2.69247079e-03 -9.54559796e+01] [-1.14248362e-02 -2.69107922e-03 9.99931113e-01 2.96213323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.199072329 meters Centerline goodness [0,1] 0.32072234196153926 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.45, Z:296.21 [[ 9.99943011e-01 2.40387021e-05 1.06758451e-02 -1.70741434e+02] [-4.91993372e-05 9.99997222e-01 2.35652521e-03 -9.54540813e+01] [-1.06757588e-02 -2.35691616e-03 9.99940235e-01 2.96213683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22907232899996 meters Centerline goodness [0,1] 0.30449855895743705 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.45, Z:296.21 [[ 9.99953000e-01 9.42440799e-04 9.64930986e-03 -1.70738513e+02] [-9.66189994e-04 9.99996515e-01 2.45686680e-03 -9.54517941e+01] [-9.64696078e-03 -2.46607439e-03 9.99950426e-01 2.96213531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.259072329 meters Centerline goodness [0,1] 0.3153303909469325 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.45, Z:296.22 [[ 9.99961096e-01 1.00174715e-03 8.76378470e-03 -1.70737292e+02] [-1.01456234e-03 9.99998422e-01 1.45796590e-03 -9.54479198e+01] [-8.76231036e-03 -1.46680059e-03 9.99960534e-01 2.96215210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28907232899996 meters Centerline goodness [0,1] 0.32133218970314426 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.45, Z:296.22 [[ 9.99957475e-01 8.48624207e-04 9.18306408e-03 -1.70738846e+02] [-8.62651865e-04 9.99998467e-01 1.52370426e-03 -9.54489293e+01] [-9.18175695e-03 -1.53156125e-03 9.99956674e-01 2.96215740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.319072329 meters Centerline goodness [0,1] 0.3300751407581054 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.45, Z:296.22 [[ 9.99953727e-01 6.92642546e-04 9.59498424e-03 -1.70740026e+02] [-7.06809835e-04 9.99998665e-01 1.47321841e-03 -9.54492378e+01] [-9.59395102e-03 -1.47993207e-03 9.99952882e-01 2.96215817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34907232899997 meters Centerline goodness [0,1] 0.3237742637215528 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.45, Z:296.22 [[ 9.99957960e-01 1.08322864e-03 9.10521426e-03 -1.70738449e+02] [-1.09939766e-03 9.99997827e-01 1.77098043e-03 -9.54494004e+01] [-9.10327610e-03 -1.78091623e-03 9.99956978e-01 2.96215343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.379072329 meters Centerline goodness [0,1] 0.3382759487308369 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.45, Z:296.21 [[ 9.99961985e-01 1.80699727e-03 8.53010153e-03 -1.70736462e+02] [-1.82814374e-03 9.99995274e-01 2.47189507e-03 -9.54504603e+01] [-8.52559450e-03 -2.48739535e-03 9.99960563e-01 2.96214571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40907232899997 meters Centerline goodness [0,1] 0.3390365830701333 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.21 [[ 9.99969762e-01 -1.34190224e-04 7.77546818e-03 -1.70734575e+02] [ 1.27041913e-04 9.99999569e-01 9.19828180e-04 -9.54560361e+01] [-7.77558826e-03 -9.18812555e-04 9.99969348e-01 2.96214353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43907232899994 meters Centerline goodness [0,1] 0.3584589614740369 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99976826e-01 1.94027441e-03 6.52556857e-03 -1.70732131e+02] [-1.95482379e-03 9.99995616e-01 2.22395620e-03 -9.54565582e+01] [-6.52122488e-03 -2.23666100e-03 9.99976235e-01 2.96215296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46907232899997 meters Centerline goodness [0,1] 0.30691413761391184 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99978738e-01 1.85837622e-03 6.25056217e-03 -1.70732589e+02] [-1.86891906e-03 9.99996840e-01 1.68128467e-03 -9.54549107e+01] [-6.24741796e-03 -1.69293072e-03 9.99979052e-01 2.96216870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49907232899994 meters Centerline goodness [0,1] 0.3532805217064148 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99980810e-01 2.00111959e-03 5.86308041e-03 -1.70732193e+02] [-2.01031783e-03 9.99996757e-01 1.56336708e-03 -9.54543565e+01] [-5.85993291e-03 -1.57512373e-03 9.99981590e-01 2.96217667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.529072329 meters Centerline goodness [0,1] 0.3593586688406706 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99980456e-01 2.71728688e-03 5.63063281e-03 -1.70731469e+02] [-2.73141817e-03 9.99993136e-01 2.50354873e-03 -9.54568590e+01] [-5.62379130e-03 -2.51887941e-03 9.99981014e-01 2.96217289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55907232899995 meters Centerline goodness [0,1] 0.30628972900635665 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99978686e-01 2.81670037e-03 5.89011728e-03 -1.70731685e+02] [-2.83406652e-03 9.99991656e-01 2.94208985e-03 -9.54584476e+01] [-5.88178115e-03 -2.95872012e-03 9.99978325e-01 2.96216558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.589072329 meters Centerline goodness [0,1] 0.3534666722457006 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99986045e-01 -8.34890180e-05 5.28235292e-03 -1.70729524e+02] [ 8.23123440e-05 9.99999972e-01 2.22972676e-04 -9.54612994e+01] [-5.28237138e-03 -2.22534762e-04 9.99986023e-01 2.96215728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61907232899995 meters Centerline goodness [0,1] 0.3709110683510416 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99989892e-01 3.81457757e-04 4.47996899e-03 -1.70728170e+02] [-3.83014371e-04 9.99999867e-01 3.46608196e-04 -9.54609169e+01] [-4.47983617e-03 -3.48320585e-04 9.99989905e-01 2.96216748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.649072329 meters Centerline goodness [0,1] 0.3496443514644352 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99991830e-01 4.65188917e-04 4.01529838e-03 -1.70727359e+02] [-4.65189667e-04 9.99999892e-01 -7.47127951e-07 -9.54592230e+01] [-4.01529829e-03 -1.12075347e-06 9.99991939e-01 2.96217330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67907232899995 meters Centerline goodness [0,1] 0.31721890277023357 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99991270e-01 2.55792336e-04 4.17067168e-03 -1.70728105e+02] [-2.54477860e-04 9.99999918e-01 -3.15699052e-04 -9.54584158e+01] [-4.17075209e-03 3.14634953e-04 9.99991253e-01 2.96217828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.709072329 meters Centerline goodness [0,1] 0.3164829199031154 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99986137e-01 -1.06232876e-03 5.15733813e-03 -1.70731094e+02] [ 1.07103969e-03 9.99998004e-01 -1.68656717e-03 -9.54559080e+01] [-5.15553614e-03 1.69206750e-03 9.99985279e-01 2.96218461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73907232899995 meters Centerline goodness [0,1] 0.3190529875986471 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99983443e-01 -1.39814188e-03 5.58199524e-03 -1.70732501e+02] [ 1.40830519e-03 9.99997357e-01 -1.81721387e-03 -9.54561193e+01] [-5.57943976e-03 1.82504493e-03 9.99982769e-01 2.96218831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.769072329 meters Centerline goodness [0,1] 0.33519739587680497 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99983598e-01 -1.14254732e-03 5.61242233e-03 -1.70732040e+02] [ 1.15000288e-03 9.99998460e-01 -1.32535505e-03 -9.54573210e+01] [-5.61089941e-03 1.33178761e-03 9.99983372e-01 2.96218052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79907232899996 meters Centerline goodness [0,1] 0.32610512241998835 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99987456e-01 -9.65787285e-05 5.00778881e-03 -1.70729964e+02] [ 9.65580212e-05 9.99999995e-01 4.37678996e-06 -9.54603092e+01] [-5.00778921e-03 -3.89319288e-06 9.99987461e-01 2.96217132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.829072329 meters Centerline goodness [0,1] 0.3386982149575687 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99989621e-01 8.47850928e-04 4.47644481e-03 -1.70727736e+02] [-8.51902395e-04 9.99999229e-01 9.03234355e-04 -9.54614862e+01] [-4.47567555e-03 -9.07038474e-04 9.99989573e-01 2.96216011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85907232899996 meters Centerline goodness [0,1] 0.3435983263598327 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99989172e-01 1.01183580e-03 4.54214935e-03 -1.70728011e+02] [-1.01727133e-03 9.99998769e-01 1.19453544e-03 -9.54625973e+01] [-4.54093509e-03 -1.19914311e-03 9.99988971e-01 2.96216019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.889072329 meters Centerline goodness [0,1] 0.35653284213170344 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99988480e-01 1.11775628e-03 4.66808415e-03 -1.70728468e+02] [-1.12442749e-03 9.99998350e-01 1.42673148e-03 -9.54636027e+01] [-4.66648171e-03 -1.43196397e-03 9.99988087e-01 2.96216100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91907232899996 meters Centerline goodness [0,1] 0.3588697017268446 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99988120e-01 1.08395181e-03 4.75244391e-03 -1.70728934e+02] [-1.09036651e-03 9.99998498e-01 1.34738506e-03 -9.54633724e+01] [-4.75097627e-03 -1.35255096e-03 9.99987799e-01 2.96216448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.949072329 meters Centerline goodness [0,1] 0.3629211132035991 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99986054e-01 7.50412378e-04 5.22775370e-03 -1.70730317e+02] [-7.55898024e-04 9.99999166e-01 1.04743453e-03 -9.54628199e+01] [-5.22696333e-03 -1.05137157e-03 9.99985787e-01 2.96216675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97907232899996 meters Centerline goodness [0,1] 0.33927599916300477 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99971077e-01 -4.11659692e-03 6.39519380e-03 -1.70732868e+02] [ 4.13623970e-03 9.99986760e-01 -3.06130695e-03 -9.54643969e+01] [-6.38250696e-03 3.08767046e-03 9.99974865e-01 2.96216071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.009072329 meters Centerline goodness [0,1] 0.37262651610204933 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.22 [[ 9.99962766e-01 -4.64667511e-03 7.27148033e-03 -1.70735155e+02] [ 4.67018821e-03 9.99983910e-01 -3.21997351e-03 -9.54648786e+01] [-7.25640117e-03 3.25381280e-03 9.99968378e-01 2.96216082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03907232899996 meters Centerline goodness [0,1] 0.35873407659966117 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.22 [[ 9.99952987e-01 -5.25869225e-03 8.14672180e-03 -1.70737504e+02] [ 5.28701383e-03 9.99980042e-01 -3.45881114e-03 -9.54651498e+01] [-8.12837038e-03 3.50172036e-03 9.99960833e-01 2.96216208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.069072329 meters Centerline goodness [0,1] 0.3247841809326728 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.22 [[ 9.99954047e-01 -5.11166416e-03 8.11021645e-03 -1.70737305e+02] [ 5.13795073e-03 9.99981605e-01 -3.22364971e-03 -9.54654910e+01] [-8.09358905e-03 3.26517147e-03 9.99961916e-01 2.96216101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09907232899997 meters Centerline goodness [0,1] 0.2983050138984681 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99932067e-01 -6.67469080e-03 9.55559404e-03 -1.70739987e+02] [ 6.70942899e-03 9.99970983e-01 -3.60794792e-03 -9.54667214e+01] [-9.53123482e-03 3.67181540e-03 9.99947835e-01 2.96214616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.129072329 meters Centerline goodness [0,1] 0.33014984012873294 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99913676e-01 -7.62287208e-03 1.07020163e-02 -1.70742655e+02] [ 7.66377309e-03 9.99963466e-01 -3.78601027e-03 -9.54677483e+01] [-1.06727650e-02 3.86770127e-03 9.99935564e-01 2.96214101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15907232899997 meters Centerline goodness [0,1] 0.3473990009822977 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.47, Z:296.21 [[ 9.99910863e-01 -7.52353039e-03 1.10301008e-02 -1.70743036e+02] [ 7.56196347e-03 9.99965467e-01 -3.44682545e-03 -9.54686431e+01] [-1.10037876e-02 3.52992743e-03 9.99933226e-01 2.96213438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18907232899994 meters Centerline goodness [0,1] 0.339515455304929 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99897718e-01 -8.20501023e-03 1.17146089e-02 -1.70745805e+02] [ 8.24942523e-03 9.99958948e-01 -3.74814588e-03 -9.54692206e+01] [-1.16833745e-02 3.84440130e-03 9.99924357e-01 2.96214804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21907232899997 meters Centerline goodness [0,1] 0.31646680315881837 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99883256e-01 -9.04979536e-03 1.23116383e-02 -1.70747269e+02] [ 9.11056230e-03 9.99946548e-01 -4.88863141e-03 -9.54660405e+01] [-1.22667391e-02 5.00022663e-03 9.99912259e-01 2.96214917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24907232899994 meters Centerline goodness [0,1] 0.3238686222890811 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.22 [[ 9.99851982e-01 -1.08796685e-02 1.33284402e-02 -1.70749964e+02] [ 1.09681813e-02 9.99918159e-01 -6.58589518e-03 -9.54632088e+01] [-1.32556971e-02 6.73110910e-03 9.99889483e-01 2.96215194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.279072329 meters Centerline goodness [0,1] 0.3330336232853798 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99838292e-01 -1.12413852e-02 1.40364425e-02 -1.70751138e+02] [ 1.13351260e-02 9.99913863e-01 -6.61678338e-03 -9.54633126e+01] [-1.39608516e-02 6.77481824e-03 9.99879591e-01 2.96214319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30907232899995 meters Centerline goodness [0,1] 0.29786211364443793 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99823253e-01 -1.17183621e-02 1.47018149e-02 -1.70752137e+02] [ 1.18207913e-02 9.99906327e-01 -6.89966013e-03 -9.54628376e+01] [-1.46195850e-02 7.07222772e-03 9.99868117e-01 2.96213377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.339072329 meters Centerline goodness [0,1] 0.3349060542797495 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99788560e-01 -1.30361174e-02 1.59026764e-02 -1.70754814e+02] [ 1.31509508e-02 9.99888045e-01 -7.13793361e-03 -9.54645144e+01] [-1.58078451e-02 7.34555968e-03 9.99848066e-01 2.96212623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36907232899995 meters Centerline goodness [0,1] 0.3394363256784969 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99812493e-01 -1.18728187e-02 1.52975284e-02 -1.70752983e+02] [ 1.19643275e-02 9.99910993e-01 -5.90436528e-03 -9.54667088e+01] [-1.52260654e-02 6.08628281e-03 9.99865553e-01 2.96212215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.399072329 meters Centerline goodness [0,1] 0.3394363256784969 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99812493e-01 -1.18728187e-02 1.52975284e-02 -1.70752983e+02] [ 1.19643275e-02 9.99910993e-01 -5.90436528e-03 -9.54667088e+01] [-1.52260654e-02 6.08628281e-03 9.99865553e-01 2.96212215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.42907232899995 meters Centerline goodness [0,1] 0.3297554659928582 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.46, Z:296.21 [[ 9.99839603e-01 -8.64641768e-03 1.56846389e-02 -1.70755357e+02] [ 8.69442254e-03 9.99957718e-01 -2.99502575e-03 -9.54640170e+01] [-1.56580794e-02 3.13091424e-03 9.99872503e-01 2.96213956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.459072329 meters Centerline goodness [0,1] 0.3637730490529789 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.46, Z:296.21 [[ 9.99843292e-01 -8.71737180e-03 1.54077801e-02 -1.70755247e+02] [ 8.77237428e-03 9.99955376e-01 -3.50581166e-03 -9.54620920e+01] [-1.53765311e-02 3.64042509e-03 9.99875147e-01 2.96214875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.48907232899995 meters Centerline goodness [0,1] 0.3668961201501877 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.46, Z:296.22 [[ 9.99835312e-01 -8.98517615e-03 1.57675633e-02 -1.70756445e+02] [ 9.04543742e-03 9.99952040e-01 -3.75470303e-03 -9.54617323e+01] [-1.57330704e-02 3.89670918e-03 9.99868634e-01 2.96215240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.519072329 meters Centerline goodness [0,1] 0.3385915492957746 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.46, Z:296.21 [[ 9.99838837e-01 -8.51656290e-03 1.58040510e-02 -1.70756025e+02] [ 8.56430463e-03 9.99958958e-01 -2.95563622e-03 -9.54638557e+01] [-1.57782305e-02 3.09051059e-03 9.99870740e-01 2.96214415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.54907232899996 meters Centerline goodness [0,1] 0.3484244158122246 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99857662e-01 -7.61532052e-03 1.50552923e-02 -1.70754014e+02] [ 7.64642644e-03 9.99968746e-01 -2.00962931e-03 -9.54655289e+01] [-1.50395178e-02 2.12446245e-03 9.99884643e-01 2.96214149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.579072329 meters Centerline goodness [0,1] 0.333409902478752 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99866488e-01 -7.29137519e-03 1.46233636e-02 -1.70752403e+02] [ 7.32084679e-03 9.99971276e-01 -1.96285973e-03 -9.54644141e+01] [-1.46086316e-02 2.06965306e-03 9.99891146e-01 2.96213515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.60907232899996 meters Centerline goodness [0,1] 0.35316598446245095 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99859509e-01 -7.37358843e-03 1.50529830e-02 -1.70753186e+02] [ 7.40148556e-03 9.99970991e-01 -1.79839378e-03 -9.54653294e+01] [-1.50392857e-02 1.90955555e-03 9.99885080e-01 2.96213015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.639072329 meters Centerline goodness [0,1] 0.3551823536784058 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.47, Z:296.21 [[ 9.99858222e-01 -7.26687233e-03 1.51897239e-02 -1.70753848e+02] [ 7.29172407e-03 9.99972165e-01 -1.58134633e-03 -9.54660140e+01] [-1.51778096e-02 1.69188141e-03 9.99883379e-01 2.96213418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.66907232899996 meters Centerline goodness [0,1] 0.3542389169765595 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99880649e-01 -6.19467795e-03 1.41531934e-02 -1.70751256e+02] [ 6.21280621e-03 9.99979935e-01 -1.23725102e-03 -9.54648681e+01] [-1.41452450e-02 1.32503440e-03 9.99899073e-01 2.96213623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.699072329 meters Centerline goodness [0,1] 0.32633492103284034 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99894320e-01 -5.69759333e-03 1.33748722e-02 -1.70748946e+02] [ 5.71539221e-03 9.99982831e-01 -1.29292464e-03 -9.54626444e+01] [-1.33672760e-02 1.36923065e-03 9.99909716e-01 2.96213401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.72907232899996 meters Centerline goodness [0,1] 0.3220409870347135 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99900172e-01 -5.46414711e-03 1.30303110e-02 -1.70748104e+02] [ 5.47963283e-03 9.99984322e-01 -1.15303186e-03 -9.54625234e+01] [-1.30238063e-02 1.22431808e-03 9.99914437e-01 2.96213445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.759072329 meters Centerline goodness [0,1] 0.3290171672027067 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99905683e-01 -5.05448118e-03 1.27701827e-02 -1.70747100e+02] [ 5.06418265e-03 9.99986912e-01 -7.27474788e-04 -9.54632085e+01] [-1.27663385e-02 7.92076712e-04 9.99918193e-01 2.96212925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.78907232899996 meters Centerline goodness [0,1] 0.3426862925482981 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99913609e-01 -4.87353941e-03 1.22074805e-02 -1.70745905e+02] [ 4.88529162e-03 9.99987632e-01 -9.33071189e-04 -9.54620451e+01] [-1.22027822e-02 9.92627683e-04 9.99925051e-01 2.96213274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.819072329 meters Centerline goodness [0,1] 0.3563917633531932 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.21 [[ 9.99931390e-01 -3.66046870e-03 1.11272617e-02 -1.70743159e+02] [ 3.66180665e-03 9.99993291e-01 -9.98693995e-05 -9.54626305e+01] [-1.11268215e-02 1.40608429e-04 9.99938085e-01 2.96213267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.84907232899997 meters Centerline goodness [0,1] 0.33293613462945537 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.21 [[ 9.99942569e-01 2.62816739e-04 1.07139827e-02 -1.70742773e+02] [-2.96056159e-04 9.99995148e-01 3.10096568e-03 -9.54592501e+01] [-1.07131157e-02 -3.10395953e-03 9.99937795e-01 2.96214229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.879072329 meters Centerline goodness [0,1] 0.3506496223612361 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.21 [[ 9.99951728e-01 9.36072723e-04 9.78090077e-03 -1.70740777e+02] [-9.67387373e-04 9.99994420e-01 3.19737161e-03 -9.54582834e+01] [-9.77785322e-03 -3.20667919e-03 9.99947054e-01 2.96214774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.90907232899997 meters Centerline goodness [0,1] 0.3592830670658933 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.22 [[ 9.99961239e-01 1.64473700e-03 8.64962591e-03 -1.70739011e+02] [-1.67182566e-03 9.99993718e-01 3.12547417e-03 -9.54569950e+01] [-8.64443099e-03 -3.13981369e-03 9.99957707e-01 2.96216309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93907232899994 meters Centerline goodness [0,1] 0.3628081345424844 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.22 [[ 9.99968333e-01 2.69751922e-03 7.48712247e-03 -1.70736356e+02] [-2.72389093e-03 9.99990115e-01 3.51431546e-03 -9.54563872e+01] [-7.47756853e-03 -3.53459828e-03 9.99965796e-01 2.96216788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.96907232899997 meters Centerline goodness [0,1] 0.33209158260432803 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.45, Z:296.22 [[ 9.99971982e-01 2.52452064e-03 7.04718203e-03 -1.70735622e+02] [-2.54516779e-03 9.99992491e-01 2.92241655e-03 -9.54544061e+01] [-7.03975141e-03 -2.94027093e-03 9.99970898e-01 2.96217313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99907232899994 meters Centerline goodness [0,1] 0.3392692726207416 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99958914e-01 6.62545813e-03 6.18654334e-03 -1.70734196e+02] [-6.66335271e-03 9.99959042e-01 6.12493599e-03 -9.54505535e+01] [-6.14570944e-03 -6.16590746e-03 9.99962105e-01 2.96218602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.029072329 meters Centerline goodness [0,1] 0.35279968206822987 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99960848e-01 6.63296927e-03 5.85721419e-03 -1.70733540e+02] [-6.66761852e-03 9.99960271e-01 5.91607534e-03 -9.54496940e+01] [-5.81774034e-03 -5.95489739e-03 9.99965346e-01 2.96218840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05907232899995 meters Centerline goodness [0,1] 0.37463355389898656 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99962020e-01 6.50889963e-03 5.79586495e-03 -1.70733284e+02] [-6.54173796e-03 9.99962556e-01 5.66500339e-03 -9.54490654e+01] [-5.75877499e-03 -5.70270327e-03 9.99967157e-01 2.96218670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.089072329 meters Centerline goodness [0,1] 0.3147249529387157 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99961582e-01 6.62979388e-03 5.73418705e-03 -1.70733235e+02] [-6.66343206e-03 9.99960587e-01 5.86717709e-03 -9.54496802e+01] [-5.69506288e-03 -5.90516105e-03 9.99966347e-01 2.96218772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11907232899995 meters Centerline goodness [0,1] 0.3195413863212392 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99964956e-01 6.30691473e-03 5.50549082e-03 -1.70733004e+02] [-6.33504773e-03 9.99966889e-01 5.10759479e-03 -9.54473063e+01] [-5.47309537e-03 -5.14229335e-03 9.99971801e-01 2.96219258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.149072329 meters Centerline goodness [0,1] 0.3685884026441302 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99983636e-01 3.67965271e-03 4.38040080e-03 -1.70730225e+02] [-3.68935227e-03 9.99990756e-01 2.20829100e-03 -9.54487550e+01] [-4.37223457e-03 -2.22441571e-03 9.99987968e-01 2.96219331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.17907232899995 meters Centerline goodness [0,1] 0.3572908166467893 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99983577e-01 3.37220413e-03 4.63395830e-03 -1.70731750e+02] [-3.38062047e-03 9.99992648e-01 1.80959972e-03 -9.54482085e+01] [-4.62782189e-03 -1.82523566e-03 9.99987626e-01 2.96220484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.209072329 meters Centerline goodness [0,1] 0.3217888084376177 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99981837e-01 2.83729631e-03 5.31742490e-03 -1.70733464e+02] [-2.84469459e-03 9.99994996e-01 1.38428052e-03 -9.54476359e+01] [-5.31347067e-03 -1.39938182e-03 9.99984904e-01 2.96220413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.23907232899995 meters Centerline goodness [0,1] 0.3804058723742906 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99981886e-01 2.95546181e-03 5.24341630e-03 -1.70733298e+02] [-2.96386345e-03 9.99994335e-01 1.59527453e-03 -9.54482860e+01] [-5.23867182e-03 -1.61078641e-03 9.99984981e-01 2.96220373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.269072329 meters Centerline goodness [0,1] 0.36782572266443236 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99983839e-01 3.39462923e-03 4.56044309e-03 -1.70731609e+02] [-3.40286092e-03 9.99992593e-01 1.79847303e-03 -9.54479371e+01] [-4.55430417e-03 -1.81396252e-03 9.99987984e-01 2.96220463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.29907232899996 meters Centerline goodness [0,1] 0.36587000691229765 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99991875e-01 6.33933904e-04 3.98108361e-03 -1.70729073e+02] [-6.30761404e-04 9.99999483e-01 -7.98098450e-04 -9.54501877e+01] [-3.98158750e-03 7.95580851e-04 9.99991757e-01 2.96219238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.329072329 meters Centerline goodness [0,1] 0.2524654006406901 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99988969e-01 -3.02928806e-03 3.58964388e-03 -1.70727803e+02] [ 3.04518484e-03 9.99985545e-01 -4.43135317e-03 -9.54511922e+01] [-3.57616815e-03 4.44223541e-03 9.99983739e-01 2.96218944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.35907232899996 meters Centerline goodness [0,1] 0.25511101801424385 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.45, Z:296.22 [[ 9.99985797e-01 -3.23417610e-03 4.23632103e-03 -1.70729577e+02] [ 3.25218941e-03 9.99985671e-01 -4.25214604e-03 -9.54524104e+01] [-4.22250814e-03 4.26586297e-03 9.99981986e-01 2.96219014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.389072329 meters Centerline goodness [0,1] 0.39118324607329846 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99960243e-01 -7.43475165e-03 4.92314151e-03 -1.70730862e+02] [ 7.47293183e-03 9.99941790e-01 -7.78280696e-03 -9.54550898e+01] [-4.86499169e-03 7.81928784e-03 9.99957594e-01 2.96218334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41907232899996 meters Centerline goodness [0,1] 0.2502565391300706 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99959043e-01 -7.43200244e-03 5.16512845e-03 -1.70731114e+02] [ 7.47137705e-03 9.99942856e-01 -7.64614121e-03 -9.54552392e+01] [-5.10800715e-03 7.68441867e-03 9.99957428e-01 2.96217847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.449072329 meters Centerline goodness [0,1] 0.2672722325707947 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.46, Z:296.22 [[ 9.99908664e-01 -1.21031103e-02 6.01483691e-03 -1.70733086e+02] [ 1.21743522e-02 9.99854453e-01 -1.19523509e-02 -9.54557431e+01] [-5.86930085e-03 1.20244860e-02 9.99910478e-01 2.96217736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47907232899996 meters Centerline goodness [0,1] 0.36111983583558427 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.22 [[ 9.99892901e-01 -1.28231174e-02 7.05362640e-03 -1.70735927e+02] [ 1.29089231e-02 9.99841553e-01 -1.22568133e-02 -9.54560588e+01] [-6.89533822e-03 1.23465553e-02 9.99900003e-01 2.96217951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.509072329 meters Centerline goodness [0,1] 0.293451645982881 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.22 [[ 9.99874606e-01 -1.36439608e-02 8.03828088e-03 -1.70738385e+02] [ 1.37469488e-02 9.99822298e-01 -1.28993738e-02 -9.54550257e+01] [-7.86085391e-03 1.30082582e-02 9.99884489e-01 2.96217930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53907232899996 meters Centerline goodness [0,1] 0.2858937319432232 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.46, Z:296.22 [[ 9.99833138e-01 -1.57381920e-02 9.27387176e-03 -1.70742224e+02] [ 1.58686057e-02 9.99773803e-01 -1.41608379e-02 -9.54551925e+01] [-9.04890806e-03 1.43056384e-02 9.99856723e-01 2.96218621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.569072329 meters Centerline goodness [0,1] 0.2813113384840259 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.45, Z:296.22 [[ 9.99792584e-01 -1.74145726e-02 1.05603965e-02 -1.70745441e+02] [ 1.75734568e-02 9.99730882e-01 -1.51439153e-02 -9.54546776e+01] [-1.02938297e-02 1.53263569e-02 9.99829555e-01 2.96218498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59907232899997 meters Centerline goodness [0,1] 0.2812480394822142 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.22 [[ 9.99760522e-01 -1.82503339e-02 1.20757659e-02 -1.70748031e+02] [ 1.84218757e-02 9.99728748e-01 -1.42500752e-02 -9.54582036e+01] [-1.18124217e-02 1.44691208e-02 9.99825540e-01 2.96216243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.629072329 meters Centerline goodness [0,1] 0.2928963121101762 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.22 [[ 9.99736172e-01 -1.88367082e-02 1.31439940e-02 -1.70750350e+02] [ 1.90265229e-02 9.99714283e-01 -1.44687322e-02 -9.54582576e+01] [-1.28676952e-02 1.47149994e-02 9.99808927e-01 2.96215634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65907232899997 meters Centerline goodness [0,1] 0.29087408709481655 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.22 [[ 9.99714574e-01 -1.92916079e-02 1.40926942e-02 -1.70752382e+02] [ 1.94964094e-02 9.99704158e-01 -1.45425718e-02 -9.54587014e+01] [-1.38079754e-02 1.48131779e-02 9.99794934e-01 2.96215045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68907232899994 meters Centerline goodness [0,1] 0.3246272558081178 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.46, Z:296.21 [[ 9.99609529e-01 -2.36712152e-02 1.48479988e-02 -1.70753965e+02] [ 2.39441557e-02 9.99542440e-01 -1.84820839e-02 -9.54603930e+01] [-1.44037116e-02 1.88303900e-02 9.99718935e-01 2.96214781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71907232899997 meters Centerline goodness [0,1] 0.31545918899197334 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.46, Z:296.22 [[ 9.99555495e-01 -2.51836335e-02 1.59561191e-02 -1.70757188e+02] [ 2.54951409e-02 9.99482201e-01 -1.96297612e-02 -9.54591828e+01] [-1.54535083e-02 2.00278392e-02 9.99679986e-01 2.96215263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74907232899994 meters Centerline goodness [0,1] 0.30556077203964527 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.45, Z:296.21 [[ 9.99418755e-01 -2.73468690e-02 2.03543781e-02 -1.70767978e+02] [ 2.77092350e-02 9.99458618e-01 -1.77389454e-02 -9.54524956e+01] [-1.98582540e-02 1.82926390e-02 9.99635448e-01 2.96212104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.779072329 meters Centerline goodness [0,1] 0.30476607821042523 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.45, Z:296.21 [[ 9.99439719e-01 -2.56248838e-02 2.15317013e-02 -1.70771584e+02] [ 2.59679878e-02 9.99537759e-01 -1.58092227e-02 -9.54488897e+01] [-2.11166390e-02 1.63595001e-02 9.99643163e-01 2.96212763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.80907232899995 meters Centerline goodness [0,1] 0.3311345371046863 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.45, Z:296.21 [[ 9.99430687e-01 -2.59987486e-02 2.15027211e-02 -1.70771569e+02] [ 2.63546028e-02 9.99517549e-01 -1.64348192e-02 -9.54468290e+01] [-2.10650624e-02 1.69921583e-02 9.99633698e-01 2.96212929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.839072329 meters Centerline goodness [0,1] 0.33085796533094136 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.45, Z:296.21 [[ 9.99395594e-01 -2.66047752e-02 2.23748231e-02 -1.70774083e+02] [ 2.69824095e-02 9.99495591e-01 -1.67485380e-02 -9.54467592e+01] [-2.19179459e-02 1.73421418e-02 9.99609351e-01 2.96213272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.86907232899995 meters Centerline goodness [0,1] 0.325999916586729 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.45, Z:296.21 [[ 9.99376812e-01 -2.69748440e-02 2.27671838e-02 -1.70774993e+02] [ 2.73697312e-02 9.99477136e-01 -1.72149070e-02 -9.54453567e+01] [-2.22909102e-02 1.78273105e-02 9.99592568e-01 2.96213178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.899072329 meters Centerline goodness [0,1] 0.30220479339187756 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.45, Z:296.21 [[ 9.99460442e-01 -2.32009313e-02 2.32495609e-02 -1.70776603e+02] [ 2.35121531e-02 9.99636359e-01 -1.32033617e-02 -9.54452876e+01] [-2.29347761e-02 1.37428849e-02 9.99642501e-01 2.96213226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.92907232899995 meters Centerline goodness [0,1] 0.3348086598885154 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.44, Z:296.21 [[ 9.99494502e-01 -2.07153258e-02 2.41167139e-02 -1.70779847e+02] [ 2.09718230e-02 9.99725643e-01 -1.04317437e-02 -9.54437466e+01] [-2.38940004e-02 1.09322420e-02 9.99654722e-01 2.96214131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.959072329 meters Centerline goodness [0,1] 0.35043768236765316 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.44, Z:296.21 [[ 9.99520003e-01 -2.01228160e-02 2.35549641e-02 -1.70778264e+02] [ 2.03615488e-02 9.99743274e-01 -9.93953249e-03 -9.54441927e+01] [-2.33489055e-02 1.04143771e-02 9.99673131e-01 2.96213915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.98907232899995 meters Centerline goodness [0,1] 0.3645585472761428 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.44, Z:296.21 [[ 9.99542628e-01 -1.78670992e-02 2.43987839e-02 -1.70781151e+02] [ 1.80576471e-02 9.99807972e-01 -7.61184637e-03 -9.54412033e+01] [-2.42580971e-02 8.04894956e-03 9.99673326e-01 2.96214676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.019072329 meters Centerline goodness [0,1] 0.34015366627693333 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.44, Z:296.21 [[ 9.99547780e-01 -1.77858045e-02 2.42466499e-02 -1.70780977e+02] [ 1.79747111e-02 9.99809591e-01 -7.59546833e-03 -9.54410424e+01] [-2.41069416e-02 8.02786004e-03 9.99677152e-01 2.96214905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.04907232899996 meters Centerline goodness [0,1] 0.3147831169373356 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.44, Z:296.21 [[ 9.99543888e-01 -1.77698367e-02 2.44182119e-02 -1.70781266e+02] [ 1.79583162e-02 9.99810446e-01 -7.52130594e-03 -9.54410721e+01] [-2.42799310e-02 7.95638535e-03 9.99673537e-01 2.96214666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.079072329 meters Centerline goodness [0,1] 0.35239128620315496 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.44, Z:296.21 [[ 9.99524085e-01 -1.78970659e-02 2.51256546e-02 -1.70782851e+02] [ 1.80831761e-02 9.99810564e-01 -7.19959284e-03 -9.54425971e+01] [-2.49920433e-02 7.65051808e-03 9.99658375e-01 2.96214297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.10907232899996 meters Centerline goodness [0,1] 0.34031358957763536 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.44, Z:296.21 [[ 9.99478206e-01 -1.89650410e-02 2.61465590e-02 -1.70786088e+02] [ 1.91782976e-02 9.99784633e-01 -7.92968176e-03 -9.54424447e+01] [-2.59905412e-02 8.42699059e-03 9.99626669e-01 2.96214988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.139072329 meters Centerline goodness [0,1] 0.3575439988308733 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.44, Z:296.21 [[ 9.99461108e-01 -1.90127020e-02 2.67583889e-02 -1.70787330e+02] [ 1.92202446e-02 9.99786990e-01 -7.52043865e-03 -9.54439297e+01] [-2.66097053e-02 8.03068873e-03 9.99613641e-01 2.96214476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.16907232899996 meters Centerline goodness [0,1] 0.3696958317686819 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.44, Z:296.21 [[ 9.99449810e-01 -1.92464298e-02 2.70120885e-02 -1.70788042e+02] [ 1.94641879e-02 9.99779958e-01 -7.82183353e-03 -9.54430909e+01] [-2.68556023e-02 8.34329840e-03 9.99604505e-01 2.96214541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.199072329 meters Centerline goodness [0,1] 0.35030052592036065 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.44, Z:296.22 [[ 9.99411522e-01 -2.00919471e-02 2.78014991e-02 -1.70790525e+02] [ 2.03391124e-02 9.99755838e-01 -8.63629327e-03 -9.54416056e+01] [-2.76211911e-02 9.19666882e-03 9.99576156e-01 2.96215188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.22907232899996 meters Centerline goodness [0,1] 0.3538557862882187 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.44, Z:296.22 [[ 9.99379588e-01 -2.08713642e-02 2.83694486e-02 -1.70792598e+02] [ 2.11475508e-02 9.99731510e-01 -9.47040447e-03 -9.54398336e+01] [-2.81641714e-02 1.00644733e-02 9.99552643e-01 2.96216109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.259072329 meters Centerline goodness [0,1] 0.34679558126422616 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.44, Z:296.22 [[ 9.99372123e-01 -2.10959893e-02 2.84661195e-02 -1.70792731e+02] [ 2.13816820e-02 9.99723653e-01 -9.76941803e-03 -9.54388378e+01] [-2.82521574e-02 1.03719375e-02 9.99547017e-01 2.96215914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.28907232899996 meters Centerline goodness [0,1] 0.34679558126422616 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.44, Z:296.22 [[ 9.99372123e-01 -2.10959893e-02 2.84661195e-02 -1.70792731e+02] [ 2.13816820e-02 9.99723653e-01 -9.76941803e-03 -9.54388378e+01] [-2.82521574e-02 1.03719375e-02 9.99547017e-01 2.96215914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.319072329 meters Centerline goodness [0,1] 0.3698933260964866 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.44, Z:296.21 [[ 9.99301782e-01 -2.25122328e-02 2.98185985e-02 -1.70795276e+02] [ 2.28301523e-02 9.99685631e-01 -1.03645455e-02 -9.54386629e+01] [-2.95758954e-02 1.10380719e-02 9.99501589e-01 2.96214662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.34907232899997 meters Centerline goodness [0,1] 0.33580499624028737 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.44, Z:296.21 [[ 9.99284481e-01 -2.26335098e-02 3.03026488e-02 -1.70796537e+02] [ 2.29501766e-02 9.99685151e-01 -1.01433925e-02 -9.54398946e+01] [-3.00635274e-02 1.08315858e-02 9.99489300e-01 2.96214542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.379072329 meters Centerline goodness [0,1] 0.12730877595742462 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.44, Z:296.22 [[ 9.99237207e-01 -2.35264969e-02 3.11690325e-02 -1.70799473e+02] [ 2.38750155e-02 9.99655996e-01 -1.08569314e-02 -9.54393550e+01] [-3.09028847e-02 1.15928109e-02 9.99455161e-01 2.96215364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.40907232899997 meters Centerline goodness [0,1] 0.13264858771215637 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.44, Z:296.22 [[ 9.99190013e-01 -2.42201264e-02 3.21356897e-02 -1.70802254e+02] [ 2.45931649e-02 9.99634081e-01 -1.12641442e-02 -9.54392880e+01] [-3.18511116e-02 1.20453387e-02 9.99420040e-01 2.96215699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43907232899994 meters Centerline goodness [0,1] 0.126044640810287 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.44, Z:296.22 [[ 9.99120611e-01 -2.55107934e-02 3.32746619e-02 -1.70805554e+02] [ 2.59164318e-02 9.99594269e-01 -1.18167484e-02 -9.54403000e+01] [-3.29597067e-02 1.26687174e-02 9.99376386e-01 2.96216090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.46907232899997 meters Centerline goodness [0,1] 0.12746569915342587 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.42, Z:296.22 [[ 9.99294535e-01 -2.90843287e-02 2.37599312e-02 -1.70817014e+02] [ 2.94263686e-02 9.99466436e-01 -1.41750813e-02 -9.54238164e+01] [-2.33349810e-02 1.48642498e-02 9.99617193e-01 2.96218729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49907232899994 meters Centerline goodness [0,1] 0.12696296913400262 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.42, Z:296.22 [[ 9.99389983e-01 -2.51010139e-02 2.42816856e-02 -1.70817852e+02] [ 2.53429119e-02 9.99631695e-01 -9.70621093e-03 -9.54247033e+01] [-2.40291068e-02 1.03156586e-02 9.99658036e-01 2.96217480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.529072329 meters Centerline goodness [0,1] 0.1281024485879948 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.42, Z:296.22 [[ 9.99435727e-01 -2.23047200e-02 2.51142672e-02 -1.70820275e+02] [ 2.24855452e-02 9.99723074e-01 -6.94083680e-03 -9.54215839e+01] [-2.49524990e-02 7.50162827e-03 9.99660492e-01 2.96217616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55907232899995 meters Centerline goodness [0,1] 0.32610144082618475 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.42, Z:296.22 [[ 9.99523031e-01 -1.81604301e-02 2.49781735e-02 -1.70821257e+02] [ 1.82378240e-02 9.99829546e-01 -2.87412879e-03 -9.54212151e+01] [-2.49217205e-02 3.32830545e-03 9.99683865e-01 2.96219064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.589072329 meters Centerline goodness [0,1] 0.35331236853614345 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.41, Z:296.22 [[ 9.99601079e-01 -1.41496046e-02 2.44432257e-02 -1.70834605e+02] [ 1.45170617e-02 9.99783277e-01 -1.49216194e-02 -9.54051989e+01] [-2.42267933e-02 1.52705107e-02 9.99589853e-01 2.96220416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61907232899995 meters Centerline goodness [0,1] 0.3608604122808846 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.40, Z:296.22 [[ 9.99662438e-01 -1.00045496e-02 2.39774611e-02 -1.70834301e+02] [ 1.02737443e-02 9.99885278e-01 -1.11302191e-02 -9.54033480e+01] [-2.38633575e-02 1.13728003e-02 9.99650539e-01 2.96221512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.649072329 meters Centerline goodness [0,1] 0.3551146439673698 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.40, Z:296.22 [[ 9.99682663e-01 -9.73762753e-03 2.32325746e-02 -1.70832676e+02] [ 1.00058557e-02 9.99884301e-01 -1.14571688e-02 -9.54013293e+01] [-2.31183209e-02 1.16859948e-02 9.99664434e-01 2.96221942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.67907232899995 meters Centerline goodness [0,1] 0.3212960260205996 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.40, Z:296.22 [[ 9.99701451e-01 -9.34955670e-03 2.25741944e-02 -1.70831081e+02] [ 9.60369418e-03 9.99891429e-01 -1.11758320e-02 -9.54015401e+01] [-2.24672544e-02 1.13892911e-02 9.99682703e-01 2.96221959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.709072329 meters Centerline goodness [0,1] 0.3320387538628581 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.40, Z:296.22 [[ 9.99766887e-01 -4.03287489e-03 2.12110443e-02 -1.70827452e+02] [ 4.17589517e-03 9.99968817e-01 -6.70276179e-03 -9.53996917e+01] [-2.11833515e-02 6.78977438e-03 9.99752552e-01 2.96221731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.73907232899995 meters Centerline goodness [0,1] 0.3292265285666556 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.40, Z:296.22 [[ 9.99783989e-01 1.11327656e-04 2.07837305e-02 -1.70827096e+02] [-5.20121360e-05 9.99995925e-01 -2.85445875e-03 -9.53982504e+01] [-2.07839635e-02 2.85276114e-03 9.99779920e-01 2.96222677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.769072329 meters Centerline goodness [0,1] 0.3217669573947418 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.40, Z:296.23 [[ 9.99837660e-01 8.89384014e-03 1.56701375e-02 -1.70815410e+02] [-8.87598252e-03 9.99959877e-01 -1.20877696e-03 -9.53950431e+01] [-1.56802594e-02 1.06949286e-03 9.99876485e-01 2.96228980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.79907232899996 meters Centerline goodness [0,1] 0.3445615355664283 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.39, Z:296.23 [[ 9.99847563e-01 9.70651616e-03 1.45132428e-02 -1.70812407e+02] [-9.69044928e-03 9.99952354e-01 -1.17696560e-03 -9.53930476e+01] [-1.45239756e-02 1.03614634e-03 9.99893985e-01 2.96229142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.829072329 meters Centerline goodness [0,1] 0.33393969807217827 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.39, Z:296.23 [[ 9.99810092e-01 1.33755116e-02 1.41730351e-02 -1.70812052e+02] [-1.34004589e-02 9.99908821e-01 1.66669007e-03 -9.53884900e+01] [-1.41494500e-02 -1.85629873e-03 9.99898168e-01 2.96230179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.85907232899996 meters Centerline goodness [0,1] 0.3221857145846849 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.38, Z:296.23 [[ 9.99811818e-01 1.44269369e-02 1.29688984e-02 -1.70809173e+02] [-1.44448256e-02 9.99894840e-01 1.28673612e-03 -9.53848315e+01] [-1.29489709e-02 -1.47382746e-03 9.99915072e-01 2.96230893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.889072329 meters Centerline goodness [0,1] 0.3523470987977 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.38, Z:296.23 [[ 9.99815459e-01 1.46959706e-02 1.23723692e-02 -1.70807621e+02] [-1.47136911e-02 9.99890847e-01 1.34245280e-03 -9.53842437e+01] [-1.23512901e-02 -1.52424829e-03 9.99922558e-01 2.96230881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91907232899996 meters Centerline goodness [0,1] 0.3284184548458611 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.38, Z:296.23 [[ 9.99753218e-01 1.87063009e-02 1.19824183e-02 -1.70806464e+02] [-1.87658825e-02 9.99811999e-01 4.87942889e-03 -9.53816325e+01] [-1.18888895e-02 -5.10308539e-03 9.99916303e-01 2.96230980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.949072329 meters Centerline goodness [0,1] 0.34126485853005195 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.38, Z:296.23 [[ 9.99754056e-01 1.88544403e-02 1.16763944e-02 -1.70805948e+02] [-1.89131377e-02 9.99808941e-01 4.93715681e-03 -9.53815485e+01] [-1.15810762e-02 -5.15677980e-03 9.99919640e-01 2.96231323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97907232899996 meters Centerline goodness [0,1] 0.35793242055018215 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.38, Z:296.23 [[ 9.99751476e-01 1.92530048e-02 1.12386649e-02 -1.70805395e+02] [-1.93125672e-02 9.99799892e-01 5.21550984e-03 -9.53821101e+01] [-1.11360017e-02 -5.43126114e-03 9.99923242e-01 2.96231994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.009072329 meters Centerline goodness [0,1] 0.3596208570472046 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.38, Z:296.23 [[ 9.99814266e-01 1.63356507e-02 1.02263909e-02 -1.70803452e+02] [-1.63577101e-02 9.99864046e-01 2.07719142e-03 -9.53838802e+01] [-1.01910683e-02 -2.24408595e-03 9.99945552e-01 2.96232444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03907232899996 meters Centerline goodness [0,1] 0.34279380084914146 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.38, Z:296.23 [[ 9.99866669e-01 1.32695649e-02 9.51641011e-03 -1.70801310e+02] [-1.32586604e-02 9.99911370e-01 -1.20803974e-03 -9.53845511e+01] [-9.53159684e-03 1.08170382e-03 9.99953988e-01 2.96232043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.069072329 meters Centerline goodness [0,1] 0.36371235710852434 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.39, Z:296.23 [[ 9.99907273e-01 1.00614556e-02 9.17671904e-03 -1.70801356e+02] [-1.00244696e-02 9.99941481e-01 -4.06755311e-03 -9.53880255e+01] [-9.21710753e-03 3.97518420e-03 9.99949620e-01 2.96232934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09907232899997 meters Centerline goodness [0,1] 0.34128179384203483 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.40, Z:296.24 [[ 9.99969129e-01 4.67475750e-03 6.31567554e-03 -1.70793697e+02] [-4.67942954e-03 9.99988788e-01 7.25179452e-04 -9.53963106e+01] [-6.31221469e-03 -7.54710824e-04 9.99979793e-01 2.96238522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12907232899994 meters Centerline goodness [0,1] 0.3383167799268165 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.40, Z:296.24 [[ 9.99978349e-01 3.03722920e-03 5.83759723e-03 -1.70791067e+02] [-3.03477992e-03 9.99995303e-01 -4.28382727e-04 -9.54011263e+01] [-5.83887091e-03 4.10657629e-04 9.99982869e-01 2.96236594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15907232899997 meters Centerline goodness [0,1] 0.3352586639879458 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.40, Z:296.24 [[ 9.99974315e-01 2.75184973e-03 6.61794739e-03 -1.70792963e+02] [-2.75079092e-03 9.99996202e-01 -1.69087281e-04 -9.54028608e+01] [-6.61838756e-03 1.50878348e-04 9.99978087e-01 2.96236274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18907232899994 meters Centerline goodness [0,1] 0.346748902362534 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.41, Z:296.23 [[ 9.99977868e-01 6.46444956e-04 6.62156088e-03 -1.70790330e+02] [-6.37147664e-04 9.99998808e-01 -1.40610695e-03 -9.54079888e+01] [-6.62246196e-03 1.40185692e-03 9.99977089e-01 2.96232880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21907232899997 meters Centerline goodness [0,1] 0.36489877865149745 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.41, Z:296.23 [[ 9.99971875e-01 2.15043021e-05 7.49993760e-03 -1.70792224e+02] [-8.65846113e-06 9.99998533e-01 -1.71282131e-03 -9.54079279e+01] [-7.49996343e-03 1.71270820e-03 9.99970408e-01 2.96232319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24907232899994 meters Centerline goodness [0,1] 0.3338356250392416 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.41, Z:296.23 [[ 9.99970779e-01 1.44967133e-04 7.64334629e-03 -1.70792697e+02] [-1.33727564e-04 9.99998909e-01 -1.47099433e-03 -9.54087605e+01] [-7.64355119e-03 1.46992922e-03 9.99969707e-01 2.96232436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.279072329 meters Centerline goodness [0,1] 0.35606044771439915 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.41, Z:296.23 [[ 9.99976082e-01 5.57573438e-04 6.89383106e-03 -1.70791153e+02] [-5.47336410e-04 9.99998745e-01 -1.48675238e-03 -9.54076497e+01] [-6.89465138e-03 1.48294357e-03 9.99975132e-01 2.96233022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.30907232899995 meters Centerline goodness [0,1] 0.3474388459126071 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.41, Z:296.23 [[ 9.99978932e-01 4.72598300e-04 6.47392034e-03 -1.70790415e+02] [-4.59820919e-04 9.99997944e-01 -1.97501607e-03 -9.54055898e+01] [-6.47484042e-03 1.97199762e-03 9.99977094e-01 2.96233593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.339072329 meters Centerline goodness [0,1] 0.31023882220084487 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.40, Z:296.23 [[ 9.99982457e-01 5.79655658e-04 5.89489067e-03 -1.70789247e+02] [-5.65878182e-04 9.99997105e-01 -2.33858890e-03 -9.54035815e+01] [-5.89622918e-03 2.33521208e-03 9.99979890e-01 2.96234248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.36907232899995 meters Centerline goodness [0,1] 0.3489101786386646 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.40, Z:296.23 [[ 9.99980145e-01 5.35775711e-04 6.27873984e-03 -1.70790131e+02] [-5.21920107e-04 9.99997426e-01 -2.20817991e-03 -9.54040704e+01] [-6.27990676e-03 2.20485906e-03 9.99977850e-01 2.96234105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.399072329 meters Centerline goodness [0,1] 0.375402635431918 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.41, Z:296.23 [[ 9.99978180e-01 6.17775798e-04 6.57702585e-03 -1.70790474e+02] [-6.05496054e-04 9.99998070e-01 -1.86889391e-03 -9.54050656e+01] [-6.57816772e-03 1.86487077e-03 9.99976625e-01 2.96233501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.42907232899995 meters Centerline goodness [0,1] 0.2939245693259742 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.41, Z:296.23 [[ 9.99976206e-01 6.56949973e-04 6.86704876e-03 -1.70790868e+02] [-6.45749094e-04 9.99998458e-01 -1.63319529e-03 -9.54057748e+01] [-6.86811110e-03 1.62872204e-03 9.99975088e-01 2.96233008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.459072329 meters Centerline goodness [0,1] 0.32077088689617694 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.41, Z:296.23 [[ 9.99974573e-01 7.75645282e-04 7.08887910e-03 -1.70791280e+02] [-7.66620475e-04 9.99998892e-01 -1.27572232e-03 -9.54069576e+01] [-7.08986076e-03 1.27025540e-03 9.99974060e-01 2.96232764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.48907232899995 meters Centerline goodness [0,1] 0.3498096473246036 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.41, Z:296.23 [[ 9.99966730e-01 -1.48696303e-04 8.15577320e-03 -1.70794064e+02] [ 1.58363615e-04 9.99999286e-01 -1.18470063e-03 -9.54100235e+01] [-8.15559121e-03 1.18595280e-03 9.99966039e-01 2.96232537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.519072329 meters Centerline goodness [0,1] 0.3444832125023505 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.41, Z:296.23 [[ 9.99960319e-01 -6.59534658e-04 8.88404275e-03 -1.70795871e+02] [ 6.73851863e-04 9.99998479e-01 -1.60866721e-03 -9.54094060e+01] [-8.88296827e-03 1.61458990e-03 9.99959242e-01 2.96232436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.54907232899996 meters Centerline goodness [0,1] 0.3665182956136501 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.41, Z:296.23 [[ 9.99958565e-01 -7.98378452e-04 9.06808429e-03 -1.70796597e+02] [ 8.13889323e-04 9.99998212e-01 -1.70692893e-03 -9.54092958e+01] [-9.06670530e-03 1.71423862e-03 9.99957427e-01 2.96232791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.579072329 meters Centerline goodness [0,1] 0.31466075832950124 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.41, Z:296.23 [[ 9.99959854e-01 -9.14689479e-04 8.91371846e-03 -1.70796374e+02] [ 9.32738021e-04 9.99997523e-01 -2.02085823e-03 -9.54080225e+01] [-8.91184792e-03 2.02909126e-03 9.99958230e-01 2.96233069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.60907232899996 meters Centerline goodness [0,1] 0.3192685475444096 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.41, Z:296.23 [[ 9.99962022e-01 -8.37712160e-04 8.67482865e-03 -1.70795664e+02] [ 8.55453545e-04 9.99997550e-01 -2.04164835e-03 -9.54074701e+01] [-8.67309708e-03 2.04899173e-03 9.99960289e-01 2.96233026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.639072329 meters Centerline goodness [0,1] 0.32119757980388064 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.41, Z:296.23 [[ 9.99957993e-01 -1.01128876e-03 9.10983850e-03 -1.70796523e+02] [ 1.03004653e-03 9.99997359e-01 -2.05460987e-03 -9.54075965e+01] [-9.10773663e-03 2.06390712e-03 9.99956394e-01 2.96232662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.66907232899996 meters Centerline goodness [0,1] 0.3280593583446546 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.41, Z:296.23 [[ 9.99951540e-01 -1.42150545e-03 9.74154093e-03 -1.70797709e+02] [ 1.44328559e-03 9.99996474e-01 -2.22913485e-03 -9.54077590e+01] [-9.73833785e-03 2.24308665e-03 9.99950065e-01 2.96231999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.699072329 meters Centerline goodness [0,1] 0.3343222463647 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.41, Z:296.23 [[ 9.99947874e-01 -1.34952505e-03 1.01207238e-02 -1.70798447e+02] [ 1.36784480e-03 9.99997438e-01 -1.80341873e-03 -9.54093273e+01] [-1.01182641e-02 1.81716830e-03 9.99947158e-01 2.96231579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.72907232899996 meters Centerline goodness [0,1] 0.32738294314381267 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.41, Z:296.23 [[ 9.99949714e-01 -9.94872468e-04 9.97900034e-03 -1.70797706e+02] [ 1.00886939e-03 9.99998514e-01 -1.39770176e-03 -9.54099483e+01] [-9.97759498e-03 1.40769898e-03 9.99949232e-01 2.96231059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.759072329 meters Centerline goodness [0,1] 0.31171736176439846 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.41, Z:296.23 [[ 9.99944153e-01 -1.70090812e-03 1.04305918e-02 -1.70798177e+02] [ 1.72604588e-03 9.99995627e-01 -2.40147456e-03 -9.54071611e+01] [-1.04264615e-02 2.41934413e-03 9.99942716e-01 2.96230303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.78907232899996 meters Centerline goodness [0,1] 0.33962421711899793 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.41, Z:296.23 [[ 9.99936888e-01 -2.43117201e-03 1.09685637e-02 -1.70800113e+02] [ 2.46554639e-03 9.99992089e-01 -3.12146637e-03 -9.54059358e+01] [-1.09608881e-02 3.14831288e-03 9.99934971e-01 2.96231023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.819072329 meters Centerline goodness [0,1] 0.3461369851575058 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.40, Z:296.23 [[ 9.99948368e-01 -1.42594367e-03 1.00612600e-02 -1.70797594e+02] [ 1.45373238e-03 9.99995148e-01 -2.75517788e-03 -9.54044725e+01] [-1.00572824e-02 2.76966200e-03 9.99945589e-01 2.96231042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.84907232899997 meters Centerline goodness [0,1] 0.327701432688693 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.40, Z:296.23 [[ 9.99959434e-01 -4.94133678e-04 8.99372777e-03 -1.70795558e+02] [ 5.19519565e-04 9.99995887e-01 -2.82050394e-03 -9.54013604e+01] [-8.99229708e-03 2.82506194e-03 9.99955578e-01 2.96232298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87907232899994 meters Centerline goodness [0,1] 0.31087855621005134 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.40, Z:296.23 [[ 9.99959844e-01 -6.98824328e-04 8.93432034e-03 -1.70795626e+02] [ 7.27220936e-04 9.99994694e-01 -3.17552009e-03 -9.54001673e+01] [-8.93205380e-03 3.18188980e-03 9.99955046e-01 2.96232678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.90907232899997 meters Centerline goodness [0,1] 0.30923292191383167 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.40, Z:296.23 [[ 9.99965311e-01 -1.92547134e-04 8.32709002e-03 -1.70793720e+02] [ 2.16227670e-04 9.99995935e-01 -2.84298816e-03 -9.54000678e+01] [-8.32650877e-03 2.84469008e-03 9.99961288e-01 2.96232264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93907232899994 meters Centerline goodness [0,1] 0.33415551839464885 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.40, Z:296.23 [[ 9.99968855e-01 2.75788191e-04 7.88750785e-03 -1.70792474e+02] [-2.57737341e-04 9.99997346e-01 -2.28946153e-03 -9.54011820e+01] [-7.88811833e-03 2.28735732e-03 9.99966272e-01 2.96232026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.96907232899997 meters Centerline goodness [0,1] 0.344742509461183 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.40, Z:296.23 [[ 9.99962614e-01 4.51791922e-03 7.37289964e-03 -1.70791092e+02] [-4.52878405e-03 9.99988683e-01 1.45758730e-03 -9.53988802e+01] [-7.36623094e-03 -1.49092307e-03 9.99971757e-01 2.96232014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99907232899994 meters Centerline goodness [0,1] 0.33513875237876156 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.40, Z:296.24 [[ 9.99956261e-01 8.84859102e-03 3.02972438e-03 -1.70781885e+02] [-8.85224923e-03 9.99960103e-01 1.19616548e-03 -9.53993773e+01] [-3.01901913e-03 -1.22293303e-03 9.99994695e-01 2.96236815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.029072329 meters Centerline goodness [0,1] 0.33472233855431777 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.40, Z:296.24 [[ 9.99915967e-01 1.26928160e-02 2.63637255e-03 -1.70781758e+02] [-1.27038379e-02 9.99910453e-01 4.20691727e-03 -9.53955489e+01] [-2.58273885e-03 -4.24005580e-03 9.99987676e-01 2.96238227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05907232899995 meters Centerline goodness [0,1] 0.3311148782989054 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.39, Z:296.25 [[ 9.99862330e-01 1.65134480e-02 -1.62099652e-03 -1.70772770e+02] [-1.65123582e-02 9.99863428e-01 6.83443666e-04 -9.53907448e+01] [ 1.63206114e-03 -6.56583101e-04 9.99998453e-01 2.96245830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.089072329 meters Centerline goodness [0,1] 0.3774726309840286 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.39, Z:296.25 [[ 9.99848197e-01 1.71914973e-02 -2.83468334e-03 -1.70770760e+02] [-1.71896154e-02 9.99852012e-01 6.86919646e-04 -9.53895424e+01] [ 2.84607302e-03 -6.38088253e-04 9.99995746e-01 2.96247276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11907232899995 meters Centerline goodness [0,1] 0.3398218616709877 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.39, Z:296.25 [[ 9.99834388e-01 1.78203778e-02 -3.69194946e-03 -1.70768573e+02] [-1.78175685e-02 9.99840940e-01 7.92439430e-04 -9.53884233e+01] [ 3.70548379e-03 -7.26526630e-04 9.99992871e-01 2.96247459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.149072329 meters Centerline goodness [0,1] 0.33806413798878 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.39, Z:296.25 [[ 9.99810786e-01 1.88689551e-02 -4.72806973e-03 -1.70765985e+02] [-1.88611822e-02 9.99820695e-01 1.68321798e-03 -9.53898689e+01] [ 4.75898253e-03 -1.59372251e-03 9.99987406e-01 2.96247392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.17907232899995 meters Centerline goodness [0,1] 0.3473682006616139 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99801449e-01 1.92019863e-02 -5.32414741e-03 -1.70764719e+02] [-1.91927530e-02 9.99814218e-01 1.77993438e-03 -9.53896029e+01] [ 5.35733655e-03 -1.67739592e-03 9.99984243e-01 2.96247677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.209072329 meters Centerline goodness [0,1] 0.3473682006616139 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99801449e-01 1.92019863e-02 -5.32414741e-03 -1.70764719e+02] [-1.91927530e-02 9.99814218e-01 1.77993438e-03 -9.53896029e+01] [ 5.35733655e-03 -1.67739592e-03 9.99984243e-01 2.96247677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.23907232899995 meters Centerline goodness [0,1] 0.3537581699346405 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99794812e-01 1.94648046e-02 -5.60842396e-03 -1.70764420e+02] [-1.94535731e-02 9.99808659e-01 2.05027427e-03 -9.53904542e+01] [ 5.64725902e-03 -1.94074969e-03 9.99982171e-01 2.96248121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.269072329 meters Centerline goodness [0,1] 0.36979101227122335 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99780119e-01 1.99701765e-02 -6.39568811e-03 -1.70762568e+02] [-1.99568984e-02 9.99798565e-01 2.13324016e-03 -9.53896637e+01] [ 6.43700098e-03 -2.00513300e-03 9.99977272e-01 2.96248371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.29907232899996 meters Centerline goodness [0,1] 0.34813651591289785 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99782206e-01 1.98707636e-02 -6.37911462e-03 -1.70762912e+02] [-1.98585547e-02 9.99800856e-01 1.97155891e-03 -9.53893286e+01] [ 6.41702063e-03 -1.84444952e-03 9.99977710e-01 2.96248715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.329072329 meters Centerline goodness [0,1] 0.3612047133677976 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99775162e-01 2.01379055e-02 -6.64009823e-03 -1.70762088e+02] [-2.01235798e-02 9.99795042e-01 2.21725453e-03 -9.53896362e+01] [ 6.68338814e-03 -2.08313346e-03 9.99975496e-01 2.96248460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.35907232899996 meters Centerline goodness [0,1] 0.3540728011903016 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99772538e-01 2.02765969e-02 -6.61293350e-03 -1.70762132e+02] [-2.02609654e-02 9.99791791e-01 2.42226777e-03 -9.53902462e+01] [ 6.66067198e-03 -2.28773238e-03 9.99975201e-01 2.96248327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.389072329 meters Centerline goodness [0,1] 0.36880914085183714 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99805387e-01 1.81187500e-02 -7.80376604e-03 -1.70759029e+02] [-1.81197355e-02 9.99835823e-01 -5.55992045e-05 -9.53920108e+01] [ 7.80147745e-03 1.96990561e-04 9.99969549e-01 2.96248157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41907232899996 meters Centerline goodness [0,1] 0.360818701211728 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99799911e-01 1.81411700e-02 -8.42829620e-03 -1.70758219e+02] [-1.81459245e-02 9.99835230e-01 -4.87984563e-04 -9.53903384e+01] [ 8.41805486e-03 6.40826149e-04 9.99964362e-01 2.96249230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.449072329 meters Centerline goodness [0,1] 0.35921740949989533 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99797036e-01 1.80583784e-02 -8.93201237e-03 -1.70757388e+02] [-1.80676997e-02 9.99836301e-01 -9.63987130e-04 -9.53884881e+01] [ 8.91314216e-03 1.12517239e-03 9.99959644e-01 2.96249944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47907232899996 meters Centerline goodness [0,1] 0.32712215320910976 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.25 [[ 9.99785590e-01 1.83095677e-02 -9.67127477e-03 -1.70755725e+02] [-1.83208534e-02 9.99831576e-01 -1.07962387e-03 -9.53872083e+01] [ 9.64987845e-03 1.25657840e-03 9.99952649e-01 2.96250391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.509072329 meters Centerline goodness [0,1] 0.3711394099073667 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.39, Z:296.25 [[ 9.99778275e-01 1.84924065e-02 -1.00713045e-02 -1.70754705e+02] [-1.85042373e-02 9.99828196e-01 -1.08278445e-03 -9.53868557e+01] [ 1.00495509e-02 1.26890617e-03 9.99948697e-01 2.96250366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53907232899996 meters Centerline goodness [0,1] 0.3399304682918656 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.39, Z:296.25 [[ 9.99761048e-01 1.91243136e-02 -1.05881143e-02 -1.70753935e+02] [-1.91318938e-02 9.99816779e-01 -6.15084260e-04 -9.53877734e+01] [ 1.05744113e-02 8.17507963e-04 9.99943755e-01 2.96250966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.569072329 meters Centerline goodness [0,1] 0.3512777545035609 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.39, Z:296.25 [[ 9.99748349e-01 1.95037398e-02 -1.10834176e-02 -1.70752852e+02] [-1.95091539e-02 9.99809606e-01 -3.80566699e-04 -9.53880836e+01] [ 1.10738849e-02 5.96699030e-04 9.99938505e-01 2.96251163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59907232899997 meters Centerline goodness [0,1] 0.34980646511141333 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.39, Z:296.25 [[ 9.99739502e-01 1.96800859e-02 -1.15595567e-02 -1.70751646e+02] [-1.96864549e-02 9.99806107e-01 -4.37438799e-04 -9.53873459e+01] [ 1.15487065e-02 6.64891538e-04 9.99933090e-01 2.96251206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62907232899994 meters Centerline goodness [0,1] 0.33124567981399633 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.39, Z:296.25 [[ 9.99693509e-01 2.12351712e-02 -1.27261822e-02 -1.70748397e+02] [-2.12349102e-02 9.99774502e-01 1.55650630e-04 -9.53853741e+01] [ 1.27266177e-02 1.14636412e-04 9.99919007e-01 2.96251282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65907232899997 meters Centerline goodness [0,1] 0.3444065098548479 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.38, Z:296.25 [[ 9.99673310e-01 2.17318835e-02 -1.34535424e-02 -1.70746598e+02] [-2.17292916e-02 9.99763834e-01 3.38813705e-04 -9.53848068e+01] [ 1.34577281e-02 -4.63670723e-05 9.99909440e-01 2.96251489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68907232899994 meters Centerline goodness [0,1] 0.3211064844845264 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.39, Z:296.26 [[ 9.99690991e-01 1.83654702e-02 -1.67521009e-02 -1.70737853e+02] [-1.82389211e-02 9.99804191e-01 7.67599646e-03 -9.53888476e+01] [ 1.68897940e-02 -7.36808425e-03 9.99830209e-01 2.96259704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71907232899997 meters Centerline goodness [0,1] 0.3240831884725742 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.39, Z:296.26 [[ 9.99684848e-01 1.83437798e-02 -1.71379961e-02 -1.70737390e+02] [-1.82213265e-02 9.99807516e-01 7.27418154e-03 -9.53873533e+01] [ 1.72681333e-02 -6.95961204e-03 9.99826673e-01 2.96260414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74907232899994 meters Centerline goodness [0,1] 0.32636561662198393 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.39, Z:296.26 [[ 9.99679713e-01 1.83276802e-02 -1.74518763e-02 -1.70737261e+02] [-1.82074915e-02 9.99809578e-01 7.02104277e-03 -9.53866065e+01] [ 1.75772325e-02 -6.70103913e-03 9.99823053e-01 2.96261248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.779072329 meters Centerline goodness [0,1] 0.3326215746613913 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.38, Z:296.26 [[ 9.99685564e-01 1.79591391e-02 -1.74997829e-02 -1.70737532e+02] [-1.78500577e-02 9.99820385e-01 6.36970353e-03 -9.53847724e+01] [ 1.76110341e-02 -6.05532853e-03 9.99826577e-01 2.96261768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.80907232899995 meters Centerline goodness [0,1] 0.33211251098740113 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.38, Z:296.26 [[ 9.99679955e-01 1.79577152e-02 -1.78187787e-02 -1.70736510e+02] [-1.78489259e-02 9.99821188e-01 6.24570154e-03 -9.53840882e+01] [ 1.79277510e-02 -5.92565657e-03 9.99821725e-01 2.96261521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.839072329 meters Centerline goodness [0,1] 0.342281598123796 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.26 [[ 9.99663490e-01 1.81945929e-02 -1.84895501e-02 -1.70734880e+02] [-1.80832909e-02 9.99817451e-01 6.16920265e-03 -9.53830929e+01] [ 1.85984210e-02 -5.83277473e-03 9.99810021e-01 2.96261691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.86907232899995 meters Centerline goodness [0,1] 0.34080914687774844 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.26 [[ 9.99648264e-01 1.83273959e-02 -1.91691340e-02 -1.70733927e+02] [-1.82191110e-02 9.99817147e-01 5.80840038e-03 -9.53814559e+01] [ 1.92720817e-02 -5.45711277e-03 9.99799383e-01 2.96262814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.899072329 meters Centerline goodness [0,1] 0.34624002680459864 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.26 [[ 9.99646063e-01 1.80650750e-02 -1.95295276e-02 -1.70733970e+02] [-1.79691259e-02 9.99825650e-01 5.07740591e-03 -9.53791933e+01] [ 1.96178464e-02 -4.72468029e-03 9.99796388e-01 2.96264148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.92907232899995 meters Centerline goodness [0,1] 0.3493627974135225 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.26 [[ 9.99636233e-01 1.80270239e-02 -2.00606307e-02 -1.70733139e+02] [-1.79392140e-02 9.99828733e-01 4.54861447e-03 -9.53770951e+01] [ 2.01391929e-02 -4.18708789e-03 9.99788418e-01 2.96264971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.959072329 meters Centerline goodness [0,1] 0.3518599928824133 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.26 [[ 9.99543096e-01 2.25085583e-02 -2.01733523e-02 -1.70731996e+02] [-2.23345530e-02 9.99711737e-01 8.80971982e-03 -9.53766272e+01] [ 2.03658311e-02 -8.35513182e-03 9.99757683e-01 2.96264113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.98907232899995 meters Centerline goodness [0,1] 0.3168785473432886 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.26 [[ 9.99519516e-01 2.29057955e-02 -2.08820727e-02 -1.70729976e+02] [-2.27231180e-02 9.99701790e-01 8.94378891e-03 -9.53762260e+01] [ 2.10807101e-02 -8.46498576e-03 9.99741941e-01 2.96263831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.019072329 meters Centerline goodness [0,1] 0.36265532342895457 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.26 [[ 9.99495818e-01 2.32208891e-02 -2.16541039e-02 -1.70728307e+02] [-2.30325622e-02 9.99695043e-01 8.90630923e-03 -9.53753592e+01] [ 2.18543127e-02 -8.40306933e-03 9.99725851e-01 2.96264285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.04907232899996 meters Centerline goodness [0,1] 0.36590214707236424 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.27 [[ 9.99486880e-01 2.30923803e-02 -2.21972516e-02 -1.70728095e+02] [-2.29165555e-02 9.99704217e-01 8.14305053e-03 -9.53728169e+01] [ 2.23787285e-02 -7.63018762e-03 9.99720447e-01 2.96265954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.079072329 meters Centerline goodness [0,1] 0.3729100839105234 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.27 [[ 9.99487472e-01 2.29030436e-02 -2.23661342e-02 -1.70728624e+02] [-2.27359383e-02 9.99711873e-01 7.69731223e-03 -9.53717203e+01] [ 2.25359818e-02 -7.18485210e-03 9.99720215e-01 2.96267155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.10907232899996 meters Centerline goodness [0,1] 0.3753633189051293 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.27 [[ 9.99484296e-01 2.27181798e-02 -2.26942069e-02 -1.70728568e+02] [-2.25617964e-02 9.99720072e-01 7.12336716e-03 -9.53699462e+01] [ 2.28496841e-02 -6.60767153e-03 9.99717075e-01 2.96268192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.139072329 meters Centerline goodness [0,1] 0.3656583815874741 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.27 [[ 9.99565383e-01 1.84923210e-02 -2.29581845e-02 -1.70728253e+02] [-1.84306054e-02 9.99825945e-01 2.89688021e-03 -9.53696106e+01] [ 2.30077586e-02 -2.47248794e-03 9.99732229e-01 2.96268443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.16907232899996 meters Centerline goodness [0,1] 0.357941600652133 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.27 [[ 9.99588445e-01 1.81092378e-02 -2.22485036e-02 -1.70730273e+02] [-1.80510390e-02 9.99833107e-01 2.81392253e-03 -9.53703279e+01] [ 2.22957485e-02 -2.41115584e-03 9.99748511e-01 2.96268512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.199072329 meters Centerline goodness [0,1] 0.3232993054974479 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.27 [[ 9.99621450e-01 1.74663075e-02 -2.12575653e-02 -1.70732698e+02] [-1.74167146e-02 9.99845152e-01 2.51587485e-03 -9.53704245e+01] [ 2.12982167e-02 -2.14468552e-03 9.99770867e-01 2.96268187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.22907232899996 meters Centerline goodness [0,1] 0.353669245243571 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99657708e-01 1.64682273e-02 -2.03289249e-02 -1.70735711e+02] [-1.64338194e-02 9.99863228e-01 1.85847242e-03 -9.53702649e+01] [ 2.03567502e-02 -1.52375440e-03 9.99791619e-01 2.96268765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.259072329 meters Centerline goodness [0,1] 0.32464137844506713 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99646825e-01 1.67193228e-02 -2.06564883e-02 -1.70735368e+02] [-1.66823910e-02 9.99858920e-01 1.95894256e-03 -9.53701407e+01] [ 2.06863262e-02 -1.61365110e-03 9.99784713e-01 2.96269410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.28907232899996 meters Centerline goodness [0,1] 0.3713354368221995 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.38, Z:296.26 [[ 9.99813243e-01 1.79076374e-02 -7.26605392e-03 -1.70736401e+02] [-1.78558006e-02 9.99815097e-01 7.13734490e-03 -9.53763080e+01] [ 7.39252339e-03 -7.00627074e-03 9.99948130e-01 2.96264533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.319072329 meters Centerline goodness [0,1] 0.32572861172046386 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.38, Z:296.26 [[ 9.99811393e-01 1.78874538e-02 -7.56417525e-03 -1.70735668e+02] [-1.78348126e-02 9.99816650e-01 6.97040035e-03 -9.53755377e+01] [ 7.68747107e-03 -6.83418004e-03 9.99947097e-01 2.96264613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.34907232899997 meters Centerline goodness [0,1] 0.3650292642140468 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.26 [[ 9.99724153e-01 2.21866040e-02 -7.70540080e-03 -1.70735008e+02] [-2.21012757e-02 9.99695354e-01 1.09878497e-02 -9.53745036e+01] [ 7.94683645e-03 -1.08145195e-02 9.99909943e-01 2.96264461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37907232899994 meters Centerline goodness [0,1] 0.3679718875502008 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.26 [[ 9.99711314e-01 2.25082919e-02 -8.40627967e-03 -1.70733620e+02] [-2.24149229e-02 9.99687787e-01 1.10408569e-02 -9.53740899e+01] [ 8.65216595e-03 -1.08492435e-02 9.99903712e-01 2.96264974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.40907232899997 meters Centerline goodness [0,1] 0.36463903743315507 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.27 [[ 9.99694791e-01 2.29346601e-02 -9.18297198e-03 -1.70731952e+02] [-2.28330485e-02 9.99678540e-01 1.10212621e-02 -9.53730793e+01] [ 9.43278892e-03 -1.08082231e-02 9.99897097e-01 2.96265432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43907232899994 meters Centerline goodness [0,1] 0.35428428051687366 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.27 [[ 9.99759536e-01 1.94952293e-02 -1.00402584e-02 -1.70730913e+02] [-1.94221115e-02 9.99784509e-01 7.32919925e-03 -9.53737385e+01] [ 1.01809792e-02 -7.13243383e-03 9.99922735e-01 2.96266627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.46907232899997 meters Centerline goodness [0,1] 0.3832055632357254 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.27 [[ 9.99802195e-01 1.65330118e-02 -1.10557580e-02 -1.70729089e+02] [-1.64904037e-02 9.99856285e-01 3.93404784e-03 -9.53742131e+01] [ 1.11192108e-02 -3.75095575e-03 9.99931144e-01 2.96267410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49907232899994 meters Centerline goodness [0,1] 0.3579355108877722 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.37, Z:296.27 [[ 9.99846100e-01 1.29357327e-02 -1.18508336e-02 -1.70727320e+02] [-1.29352330e-02 9.99916329e-01 1.18817608e-04 -9.53741270e+01] [ 1.18513791e-02 3.44939723e-05 9.99929769e-01 2.96267595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.529072329 meters Centerline goodness [0,1] 0.3667853403141361 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.27 [[ 9.99886697e-01 9.29697280e-03 -1.18389102e-02 -1.70726471e+02] [-9.33149534e-03 9.99952359e-01 -2.86412903e-03 -9.53773563e+01] [ 1.18117185e-02 2.97427925e-03 9.99925816e-01 2.96266218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55907232899995 meters Centerline goodness [0,1] 0.3460740988962657 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.27 [[ 9.99908677e-01 8.23653606e-03 -1.07143084e-02 -1.70729338e+02] [-8.27426275e-03 9.99959707e-01 -3.48160061e-03 -9.53771785e+01] [ 1.06852003e-02 3.56993567e-03 9.99936539e-01 2.96266079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.589072329 meters Centerline goodness [0,1] 0.36216001005825404 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.27 [[ 9.99920198e-01 7.90110632e-03 -9.85752395e-03 -1.70731682e+02] [-7.93494766e-03 9.99962742e-01 -3.39867216e-03 -9.53784389e+01] [ 9.83030341e-03 3.47661988e-03 9.99945638e-01 2.96266162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61907232899995 meters Centerline goodness [0,1] 0.352128907887017 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.27 [[ 9.99946388e-01 3.74665342e-03 -9.65312687e-03 -1.70733183e+02] [-3.81758768e-03 9.99965772e-01 -7.34040266e-03 -9.53797759e+01] [ 9.62529452e-03 7.37686079e-03 9.99926465e-01 2.96267304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.649072329 meters Centerline goodness [0,1] 0.3766375317026137 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.38, Z:296.27 [[ 9.99953477e-01 3.48340477e-03 -8.99496560e-03 -1.70734900e+02] [-3.55019793e-03 9.99966167e-01 -7.42035585e-03 -9.53800498e+01] [ 8.96881317e-03 7.45194454e-03 9.99932012e-01 2.96267278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.67907232899995 meters Centerline goodness [0,1] 0.3653431115767417 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.38, Z:296.27 [[ 9.99958240e-01 3.40491570e-03 -8.48084434e-03 -1.70735837e+02] [-3.46588902e-03 9.99968179e-01 -7.18524357e-03 -9.53809245e+01] [ 8.45610933e-03 7.21433717e-03 9.99938222e-01 2.96266717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.709072329 meters Centerline goodness [0,1] 0.363921995768836 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.38, Z:296.26 [[ 9.99988542e-01 -2.64343351e-03 -3.99102761e-03 -1.70745099e+02] [ 2.61672389e-03 9.99974246e-01 -6.68287127e-03 -9.53796454e+01] [ 4.00859055e-03 6.67235128e-03 9.99969705e-01 2.96259474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.73907232899995 meters Centerline goodness [0,1] 0.35746454680659423 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.38, Z:296.26 [[ 9.99990949e-01 -2.35257693e-03 -3.54494984e-03 -1.70745717e+02] [ 2.33179020e-03 9.99980132e-01 -5.85652522e-03 -9.53823429e+01] [ 3.55865733e-03 5.84820613e-03 9.99976567e-01 2.96258581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.769072329 meters Centerline goodness [0,1] 0.3602071626268557 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.38, Z:296.26 [[ 9.99989049e-01 -4.10298993e-03 -2.25107089e-03 -1.70749675e+02] [ 4.08801902e-03 9.99969762e-01 -6.61534585e-03 -9.53844452e+01] [ 2.27814552e-03 6.60607099e-03 9.99975585e-01 2.96258897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.79907232899996 meters Centerline goodness [0,1] 0.37280756833689144 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.38, Z:296.26 [[ 9.99982133e-01 -5.89894666e-03 -9.67601741e-04 -1.70753534e+02] [ 5.89082076e-03 9.99949059e-01 -8.19619717e-03 -9.53824256e+01] [ 1.01590138e-03 8.19035076e-03 9.99965942e-01 2.96259585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.829072329 meters Centerline goodness [0,1] 0.35871496352653476 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99971606e-01 -7.53561127e-03 -3.44187960e-05 -1.70757117e+02] [ 7.53498951e-03 9.99930510e-01 -9.06637991e-03 -9.53840206e+01] [ 1.02737119e-04 9.06586314e-03 9.99958899e-01 2.96260664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.85907232899996 meters Centerline goodness [0,1] 0.3592354823194831 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.26 [[ 9.99972797e-01 -7.36941751e-03 3.11175742e-04 -1.70757709e+02] [ 7.37180805e-03 9.99936307e-01 -8.54623733e-03 -9.53856466e+01] [-2.48175131e-04 8.54829878e-03 9.99963432e-01 2.96260180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.889072329 meters Centerline goodness [0,1] 0.37103759964848404 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.26 [[ 9.99970939e-01 -7.57707209e-03 8.42153902e-04 -1.70758789e+02] [ 7.58397320e-03 9.99934961e-01 -8.51805959e-03 -9.53860351e+01] [-7.77557177e-04 8.52419892e-03 9.99963366e-01 2.96259774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91907232899996 meters Centerline goodness [0,1] 0.3688183510026556 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.26 [[ 9.99970646e-01 -7.58096817e-03 1.11153190e-03 -1.70759219e+02] [ 7.58993254e-03 9.99936786e-01 -8.29557746e-03 -9.53867225e+01] [-1.04857312e-03 8.30377040e-03 9.99964973e-01 2.96259413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.949072329 meters Centerline goodness [0,1] 0.32000919867037403 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.26 [[ 9.99971782e-01 -7.42223583e-03 1.16004923e-03 -1.70759364e+02] [ 7.43130064e-03 9.99940261e-01 -8.01562412e-03 -9.53873817e+01] [-1.10048608e-03 8.02401860e-03 9.99967201e-01 2.96259428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97907232899996 meters Centerline goodness [0,1] 0.36760893200635614 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.26 [[ 9.99969108e-01 -7.72567598e-03 1.44784230e-03 -1.70759604e+02] [ 7.73736931e-03 9.99936011e-01 -8.25273929e-03 -9.53865331e+01] [-1.38399166e-03 8.26368684e-03 9.99964897e-01 2.96258860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.009072329 meters Centerline goodness [0,1] 0.36877757103133946 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.26 [[ 9.99969276e-01 -7.70176982e-03 1.45918025e-03 -1.70759546e+02] [ 7.71360331e-03 9.99935924e-01 -8.28547267e-03 -9.53859879e+01] [-1.39527395e-03 8.29647365e-03 9.99964610e-01 2.96258799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03907232899996 meters Centerline goodness [0,1] 0.36539345563960046 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.26 [[ 9.99968462e-01 -7.75578883e-03 1.70936154e-03 -1.70760213e+02] [ 7.76967750e-03 9.99935585e-01 -8.27398284e-03 -9.53859934e+01] [-1.64508017e-03 8.28700309e-03 9.99964309e-01 2.96258859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.069072329 meters Centerline goodness [0,1] 0.32964763315461165 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99967380e-01 -7.89427066e-03 1.70841993e-03 -1.70760686e+02] [ 7.90861234e-03 9.99932110e-01 -8.55740311e-03 -9.53849862e+01] [-1.64074949e-03 8.57063521e-03 9.99961925e-01 2.96259598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09907232899997 meters Centerline goodness [0,1] 0.32964763315461165 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99967380e-01 -7.89427066e-03 1.70841993e-03 -1.70760686e+02] [ 7.90861234e-03 9.99932110e-01 -8.55740311e-03 -9.53849862e+01] [-1.64074949e-03 8.57063521e-03 9.99961925e-01 2.96259598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12907232899994 meters Centerline goodness [0,1] 0.32106659979520613 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99962784e-01 -8.35758724e-03 2.14030248e-03 -1.70761838e+02] [ 8.37676408e-03 9.99923385e-01 -9.11338935e-03 -9.53833805e+01] [-2.06397256e-03 9.13097900e-03 9.99956182e-01 2.96259695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15907232899997 meters Centerline goodness [0,1] 0.36100939507438634 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99960930e-01 -8.40728492e-03 2.73071052e-03 -1.70762465e+02] [ 8.43066883e-03 9.99926894e-01 -8.66775897e-03 -9.53847420e+01] [-2.65763857e-03 8.69044203e-03 9.99958706e-01 2.96258434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18907232899994 meters Centerline goodness [0,1] 0.3288401253918495 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.39, Z:296.26 [[ 9.99959213e-01 -8.43431422e-03 3.23028385e-03 -1.70763094e+02] [ 8.46105590e-03 9.99929290e-01 -8.35622346e-03 -9.53856166e+01] [-3.15957642e-03 8.38321425e-03 9.99959869e-01 2.96257509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21907232899997 meters Centerline goodness [0,1] 0.31637473349776346 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99973409e-01 -5.81476594e-03 4.40101590e-03 -1.70765746e+02] [ 5.83888015e-03 9.99967903e-01 -5.48636727e-03 -9.53837388e+01] [-4.36897270e-03 5.51191839e-03 9.99975265e-01 2.96257076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24907232899994 meters Centerline goodness [0,1] 0.3403174204880497 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99977582e-01 -5.33400341e-03 4.04772668e-03 -1.70765222e+02] [ 5.35431025e-03 9.99973052e-01 -5.02270874e-03 -9.53847205e+01] [-4.02082645e-03 5.04426893e-03 9.99979194e-01 2.96257555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.279072329 meters Centerline goodness [0,1] 0.3254675536588427 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99974620e-01 -5.64684844e-03 4.34417593e-03 -1.70766502e+02] [ 5.67052236e-03 9.99969034e-01 -5.45669961e-03 -9.53837357e+01] [-4.31322825e-03 5.48119487e-03 9.99975676e-01 2.96258269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.30907232899995 meters Centerline goodness [0,1] 0.3271366136216307 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99977096e-01 -5.41326558e-03 4.06255656e-03 -1.70766025e+02] [ 5.43492213e-03 9.99970979e-01 -5.33879852e-03 -9.53836574e+01] [-4.03353833e-03 5.36075592e-03 9.99977496e-01 2.96258617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.339072329 meters Centerline goodness [0,1] 0.33688306797497747 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99982340e-01 -4.82610171e-03 3.46818060e-03 -1.70764464e+02] [ 4.84284118e-03 9.99976587e-01 -4.83450426e-03 -9.53840993e+01] [-3.44476759e-03 4.85121473e-03 9.99982299e-01 2.96258563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.36907232899995 meters Centerline goodness [0,1] 0.30281336347651344 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99983119e-01 -4.94109434e-03 3.05726696e-03 -1.70763184e+02] [ 4.95775895e-03 9.99972763e-01 -5.46746322e-03 -9.53810147e+01] [-3.03016844e-03 5.48252811e-03 9.99980380e-01 2.96258470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.399072329 meters Centerline goodness [0,1] 0.32075629549067175 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99983369e-01 -5.01436715e-03 2.84927182e-03 -1.70762643e+02] [ 5.03032400e-03 9.99971550e-01 -5.62103278e-03 -9.53800906e+01] [-2.82100483e-03 5.63527206e-03 9.99980143e-01 2.96258526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.42907232899995 meters Centerline goodness [0,1] 0.34266831196536507 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99987503e-01 -4.52029731e-03 2.13546674e-03 -1.70760942e+02] [ 4.53191749e-03 9.99974779e-01 -5.46838544e-03 -9.53791259e+01] [-2.11069415e-03 5.47799486e-03 9.99982768e-01 2.96258873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.459072329 meters Centerline goodness [0,1] 0.3182968400359705 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99988069e-01 -4.39140727e-03 2.13961704e-03 -1.70760824e+02] [ 4.40281963e-03 9.99975950e-01 -5.35864326e-03 -9.53789387e+01] [-2.11603360e-03 5.36799967e-03 9.99983353e-01 2.96258791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.48907232899995 meters Centerline goodness [0,1] 0.32004181913225305 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.26 [[ 9.99985133e-01 -4.69971032e-03 2.76520335e-03 -1.70762617e+02] [ 4.71507326e-03 9.99973339e-01 -5.57577147e-03 -9.53787547e+01] [-2.73892512e-03 5.58872672e-03 9.99980632e-01 2.96259071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.519072329 meters Centerline goodness [0,1] 0.3254434161321996 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99975550e-01 -5.87712772e-03 3.78927245e-03 -1.70765971e+02] [ 5.90213185e-03 9.99960659e-01 -6.62159594e-03 -9.53774473e+01] [-3.75020741e-03 6.64379883e-03 9.99970898e-01 2.96259964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.54907232899996 meters Centerline goodness [0,1] 0.3239840204137123 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99967772e-01 -6.47013788e-03 4.75306636e-03 -1.70768579e+02] [ 6.50286201e-03 9.99955037e-01 -6.90195943e-03 -9.53775447e+01] [-4.70819602e-03 6.93264553e-03 9.99964885e-01 2.96260137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.579072329 meters Centerline goodness [0,1] 0.33868539889613647 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99924933e-01 -1.08380008e-02 5.71544226e-03 -1.70770482e+02] [ 1.08970294e-02 9.99886542e-01 -1.03999366e-02 -9.53803395e+01] [-5.60207927e-03 1.04614372e-02 9.99929585e-01 2.96259359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.60907232899996 meters Centerline goodness [0,1] 0.3476225310899781 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99916910e-01 -1.10661977e-02 6.61159815e-03 -1.70772527e+02] [ 1.11313992e-02 9.99888959e-01 -9.90764255e-03 -9.53827371e+01] [-6.50122406e-03 9.98041566e-03 9.99929060e-01 2.96258823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.639072329 meters Centerline goodness [0,1] 0.32241545085907775 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.39, Z:296.26 [[ 9.99901348e-01 -1.16653404e-02 7.82391353e-03 -1.70775224e+02] [ 1.17387329e-02 9.99886904e-01 -9.40115244e-03 -9.53859914e+01] [-7.71336104e-03 9.49206784e-03 9.99925200e-01 2.96257942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.66907232899996 meters Centerline goodness [0,1] 0.35983945817132823 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.39, Z:296.26 [[ 9.99891013e-01 -1.20366314e-02 8.54879081e-03 -1.70776968e+02] [ 1.21174540e-02 9.99881772e-01 -9.46625545e-03 -9.53865062e+01] [-8.43383827e-03 9.56881333e-03 9.99918651e-01 2.96257756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.699072329 meters Centerline goodness [0,1] 0.306490359507844 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.39, Z:296.26 [[ 9.99923202e-01 -8.39517882e-03 9.11657572e-03 -1.70778298e+02] [ 8.44823930e-03 9.99947507e-01 -5.79739016e-03 -9.53852809e+01] [-9.06742704e-03 5.87396394e-03 9.99941637e-01 2.96257466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.72907232899996 meters Centerline goodness [0,1] 0.32836288453104445 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.39, Z:296.26 [[ 9.99926219e-01 -8.24359758e-03 8.92190636e-03 -1.70777935e+02] [ 8.29433197e-03 9.99949557e-01 -5.66451269e-03 -9.53854013e+01] [-8.87476035e-03 5.73809601e-03 9.99944155e-01 2.96257618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.759072329 meters Centerline goodness [0,1] 0.30684142421839133 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99932768e-01 -7.94153298e-03 8.44930038e-03 -1.70776811e+02] [ 7.98903065e-03 9.99952392e-01 -5.60266972e-03 -9.53847215e+01] [-8.40440434e-03 5.66979476e-03 9.99948608e-01 2.96257823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.78907232899996 meters Centerline goodness [0,1] 0.3563108012191558 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99931753e-01 -8.08902649e-03 8.42953793e-03 -1.70776979e+02] [ 8.13923822e-03 9.99949237e-01 -5.93945672e-03 -9.53834915e+01] [-8.38106559e-03 6.00766139e-03 9.99946831e-01 2.96258157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.819072329 meters Centerline goodness [0,1] 0.32091032466854574 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99923154e-01 -8.60088614e-03 8.92806358e-03 -1.70778464e+02] [ 8.65800748e-03 9.99942171e-01 -6.37914274e-03 -9.53828365e+01] [-8.87268100e-03 6.45595177e-03 9.99939796e-01 2.96258460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.84907232899997 meters Centerline goodness [0,1] 0.3384637874864256 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99935234e-01 -7.88615104e-03 8.20588930e-03 -1.70776779e+02] [ 7.93299674e-03 9.99952333e-01 -5.69198745e-03 -9.53837359e+01] [-8.16061028e-03 5.75671609e-03 9.99950131e-01 2.96258596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87907232899994 meters Centerline goodness [0,1] 0.32519645544223375 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99954360e-01 -4.45381696e-03 8.45235877e-03 -1.70777532e+02] [ 4.47655169e-03 9.99986408e-01 -2.67273910e-03 -9.53800403e+01] [-8.44034000e-03 2.71045454e-03 9.99960706e-01 2.96258892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.90907232899997 meters Centerline goodness [0,1] 0.332978190022562 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99953888e-01 -4.62078930e-03 8.41849377e-03 -1.70777420e+02] [ 4.64675648e-03 9.99984499e-01 -3.06759571e-03 -9.53784352e+01] [-8.40418856e-03 3.10657295e-03 9.99959859e-01 2.96258964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93907232899994 meters Centerline goodness [0,1] 0.3332150313152401 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99949231e-01 -4.75927385e-03 8.88169636e-03 -1.70778829e+02] [ 4.78601741e-03 9.99984070e-01 -2.99226558e-03 -9.53790813e+01] [-8.86731387e-03 3.03462162e-03 9.99956080e-01 2.96259238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.96907232899997 meters Centerline goodness [0,1] 0.33953517509240116 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99948896e-01 -4.55112168e-03 9.02730403e-03 -1.70779099e+02] [ 4.57510394e-03 9.99986055e-01 -2.63776639e-03 -9.53798919e+01] [-9.01517335e-03 2.67893245e-03 9.99955774e-01 2.96259085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99907232899994 meters Centerline goodness [0,1] 0.345804159264291 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99946944e-01 -4.62725084e-03 9.20317287e-03 -1.70779517e+02] [ 4.65216627e-03 9.99985567e-01 -2.68770243e-03 -9.53798118e+01] [-9.19060337e-03 2.73037452e-03 9.99954038e-01 2.96259024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.029072329 meters Centerline goodness [0,1] 0.3522527794031597 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99946148e-01 -4.72951898e-03 9.23762317e-03 -1.70779695e+02] [ 4.75656792e-03 9.99984458e-01 -2.90835472e-03 -9.53789579e+01] [-9.22372449e-03 2.95213748e-03 9.99953103e-01 2.96259148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05907232899995 meters Centerline goodness [0,1] 0.35880766738435166 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99951493e-01 -4.43169246e-03 8.79607505e-03 -1.70778715e+02] [ 4.45601891e-03 9.99986296e-01 -2.74793395e-03 -9.53788526e+01] [-8.78377651e-03 2.78699613e-03 9.99957538e-01 2.96259343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.089072329 meters Centerline goodness [0,1] 0.36727614669313546 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99964973e-01 -3.14559352e-03 7.75611070e-03 -1.70776233e+02] [ 3.15938674e-03 9.99993448e-01 -1.76675692e-03 -9.53798136e+01] [-7.75050238e-03 1.79119959e-03 9.99968360e-01 2.96259575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11907232899995 meters Centerline goodness [0,1] 0.3568920105355575 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99973948e-01 -2.16165047e-03 6.88694455e-03 -1.70773889e+02] [ 2.16880039e-03 9.99997117e-01 -1.03088593e-03 -9.53801729e+01] [-6.88469628e-03 1.04579548e-03 9.99975753e-01 2.96259439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.149072329 meters Centerline goodness [0,1] 0.3761295180722891 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99981529e-01 -1.09649509e-03 5.97831415e-03 -1.70770880e+02] [ 1.09934048e-03 9.99999284e-01 -4.72686477e-04 -9.53792714e+01] [-5.97779157e-03 4.79249949e-04 9.99982018e-01 2.96258770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.17907232899995 meters Centerline goodness [0,1] 0.37319151609053414 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99986589e-01 -2.78166695e-04 5.17146814e-03 -1.70768474e+02] [ 2.77185545e-04 9.99999943e-01 1.90439366e-04 -9.53797910e+01] [-5.17152082e-03 -1.89003356e-04 9.99986610e-01 2.96258276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.209072329 meters Centerline goodness [0,1] 0.3335216927230489 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99985450e-01 -3.70797660e-04 5.38163167e-03 -1.70768741e+02] [ 3.69798542e-04 9.99999914e-01 1.86647244e-04 -9.53798483e+01] [-5.38170041e-03 -1.84654409e-04 9.99985501e-01 2.96257860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.23907232899995 meters Centerline goodness [0,1] 0.3350587840811451 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99988320e-01 -3.95732399e-05 4.83311131e-03 -1.70766817e+02] [ 3.82893605e-05 9.99999964e-01 2.65734647e-04 -9.53791596e+01] [-4.83312165e-03 -2.65546486e-04 9.99988285e-01 2.96257187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.269072329 meters Centerline goodness [0,1] 0.3258205735112377 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99992063e-01 4.32828690e-04 3.96057935e-03 -1.70765062e+02] [-4.34327100e-04 9.99999834e-01 3.77478690e-04 -9.53786810e+01] [-3.96041531e-03 -3.79195881e-04 9.99992086e-01 2.96257842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.29907232899996 meters Centerline goodness [0,1] 0.3645407896114776 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99992219e-01 -3.41357010e-05 3.94479418e-03 -1.70765428e+02] [ 3.62521285e-05 9.99999855e-01 -5.36441248e-04 -9.53758522e+01] [-3.94477530e-03 5.36580081e-04 9.99992075e-01 2.96258507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.329072329 meters Centerline goodness [0,1] 0.3426410825757258 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99995845e-01 6.70785736e-04 2.80352164e-03 -1.70763325e+02] [-6.69372839e-04 9.99999649e-01 -5.04880108e-04 -9.53743662e+01] [-2.80385933e-03 5.03001409e-04 9.99995943e-01 2.96259743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.35907232899996 meters Centerline goodness [0,1] 0.35220705251696127 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99997408e-01 1.00986613e-03 2.04050496e-03 -1.70761362e+02] [-1.00845168e-03 9.99999251e-01 -6.94092819e-04 -9.53724626e+01] [-2.04120437e-03 6.92033269e-04 9.99997677e-01 2.96259897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.389072329 meters Centerline goodness [0,1] 0.3516904771879844 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99984514e-01 5.50222114e-03 8.35452201e-04 -1.70758919e+02] [-5.50448788e-03 9.99981108e-01 2.73557291e-03 -9.53685973e+01] [-8.20384690e-04 -2.74012928e-03 9.99995909e-01 2.96261022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41907232899996 meters Centerline goodness [0,1] 0.3396103896103896 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99978941e-01 6.47446423e-03 -4.44871751e-04 -1.70755958e+02] [-6.47309500e-03 9.99974509e-01 3.01321983e-03 -9.53676471e+01] [ 4.64369395e-04 -3.01027668e-03 9.99995361e-01 2.96261521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.449072329 meters Centerline goodness [0,1] 0.3515931038816851 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.26 [[ 9.99970091e-01 7.57409436e-03 -1.56515837e-03 -1.70753023e+02] [-7.56861538e-03 9.99965311e-01 3.47735549e-03 -9.53670093e+01] [ 1.59144190e-03 -3.46540540e-03 9.99992729e-01 2.96261534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47907232899996 meters Centerline goodness [0,1] 0.35122379082783395 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99910454e-01 1.20186941e-02 -5.88523082e-03 -1.70742873e+02] [-1.20038132e-02 9.99924681e-01 2.55733795e-03 -9.53678535e+01] [ 5.91552341e-03 -2.48646374e-03 9.99979412e-01 2.96266353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.509072329 meters Centerline goodness [0,1] 0.35719371727748694 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99900643e-01 1.23996956e-02 -6.70461178e-03 -1.70741341e+02] [-1.23833353e-02 9.99920258e-01 2.47617865e-03 -9.53668039e+01] [ 6.73478100e-03 -2.39290717e-03 9.99974458e-01 2.96267112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53907232899996 meters Centerline goodness [0,1] 0.3632837885998197 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99883749e-01 1.31283568e-02 -7.75468213e-03 -1.70739162e+02] [-1.31084376e-02 9.99910664e-01 2.61392693e-03 -9.53657545e+01] [ 7.78830592e-03 -2.51197129e-03 9.99966516e-01 2.96267856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.569072329 meters Centerline goodness [0,1] 0.36489912216379294 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.27 [[ 9.99868600e-01 1.36026132e-02 -8.81769953e-03 -1.70737552e+02] [-1.35825564e-02 9.99905037e-01 2.33051678e-03 -9.53641865e+01] [ 8.84856329e-03 -2.21044365e-03 9.99958408e-01 2.96269466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59907232899997 meters Centerline goodness [0,1] 0.36311504572947406 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.27 [[ 9.99859778e-01 1.38168747e-02 -9.46143502e-03 -1.70736456e+02] [-1.37975166e-02 9.99902587e-01 2.10823589e-03 -9.53629736e+01] [ 9.48964258e-03 -1.97739597e-03 9.99953017e-01 2.96270251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62907232899994 meters Centerline goodness [0,1] 0.3659313263360777 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.27 [[ 9.99848291e-01 1.40880119e-02 -1.02431580e-02 -1.70735002e+02] [-1.40692133e-02 9.99899209e-01 1.90498297e-03 -9.53617466e+01] [ 1.02689630e-02 -1.76058079e-03 9.99945723e-01 2.96270958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65907232899997 meters Centerline goodness [0,1] 0.3378975357494295 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.27 [[ 9.99841867e-01 1.42026973e-02 -1.07016242e-02 -1.70733983e+02] [-1.41841994e-02 9.99897775e-01 1.80243809e-03 -9.53610552e+01] [ 1.07261297e-02 -1.65035910e-03 9.99941111e-01 2.96271132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68907232899994 meters Centerline goodness [0,1] 0.3463808766274543 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.27 [[ 9.99881199e-01 1.04443508e-02 -1.13359744e-02 -1.70732230e+02] [-1.04676461e-02 9.99943217e-01 -1.99760550e-03 -9.53611066e+01] [ 1.13144670e-02 2.11602915e-03 9.99933750e-01 2.96270918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71907232899997 meters Centerline goodness [0,1] 0.3250685246793463 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.27 [[ 9.99910100e-01 6.84722431e-03 -1.15285858e-02 -1.70731237e+02] [-6.90636016e-03 9.99963158e-01 -5.09752333e-03 -9.53638727e+01] [ 1.14932571e-02 5.17668563e-03 9.99920550e-01 2.96270092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74907232899994 meters Centerline goodness [0,1] 0.3170981853192959 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.27 [[ 9.99920385e-01 6.44316620e-03 -1.08493503e-02 -1.70733014e+02] [-6.50207658e-03 9.99964263e-01 -5.40336379e-03 -9.53632787e+01] [ 1.08141478e-02 5.47347691e-03 9.99926545e-01 2.96270150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.779072329 meters Centerline goodness [0,1] 0.36499162479061975 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.27 [[ 9.99926872e-01 6.24379846e-03 -1.03569069e-02 -1.70734329e+02] [-6.29985120e-03 9.99965638e-01 -5.38834522e-03 -9.53637490e+01] [ 1.03229073e-02 5.45319816e-03 9.99931848e-01 2.96270184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.80907232899995 meters Centerline goodness [0,1] 0.36453594414977253 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.27 [[ 9.99945555e-01 4.99794440e-03 -9.16009036e-03 -1.70737205e+02] [-5.05389744e-03 9.99968652e-01 -6.09541577e-03 -9.53629049e+01] [ 9.12933866e-03 6.14137806e-03 9.99939467e-01 2.96269861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.839072329 meters Centerline goodness [0,1] 0.3253645658732819 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.27 [[ 9.99956679e-01 4.45397944e-03 -8.17326153e-03 -1.70739455e+02] [-4.50425572e-03 9.99970986e-01 -6.14324887e-03 -9.53635593e+01] [ 8.14566248e-03 6.17979719e-03 9.99947728e-01 2.96269367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.86907232899995 meters Centerline goodness [0,1] 0.35900228277031976 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.27 [[ 9.99968240e-01 3.78732919e-03 -7.01244774e-03 -1.70741989e+02] [-3.83142784e-03 9.99972903e-01 -6.28590684e-03 -9.53642780e+01] [ 6.98845093e-03 6.31257489e-03 9.99955655e-01 2.96268658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.899072329 meters Centerline goodness [0,1] 0.3518339970656047 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99982520e-01 2.15246775e-03 -5.50700587e-03 -1.70745572e+02] [-2.18706631e-03 9.99977862e-01 -6.28435579e-03 -9.53672450e+01] [ 5.49335708e-03 6.29629013e-03 9.99965089e-01 2.96267517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.92907232899995 meters Centerline goodness [0,1] 0.3546277665995976 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99986241e-01 1.87230698e-03 -4.90030832e-03 -1.70747081e+02] [-1.90307801e-03 9.99978455e-01 -6.28229646e-03 -9.53677630e+01] [ 4.88844036e-03 6.29153569e-03 9.99968259e-01 2.96267390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.959072329 meters Centerline goodness [0,1] 0.3405432595573441 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99981874e-01 2.46596004e-03 -5.49277463e-03 -1.70745421e+02] [-2.49902096e-03 9.99978755e-01 -6.02027341e-03 -9.53668938e+01] [ 5.47781219e-03 6.03389085e-03 9.99966792e-01 2.96267393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.98907232899995 meters Centerline goodness [0,1] 0.3665710036240233 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99978358e-01 2.84142037e-03 -5.93386771e-03 -1.70744276e+02] [-2.87585883e-03 9.99979026e-01 -5.80326719e-03 -9.53667131e+01] [ 5.91725373e-03 5.82020656e-03 9.99965555e-01 2.96267436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.019072329 meters Centerline goodness [0,1] 0.3665710036240233 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99978358e-01 2.84142037e-03 -5.93386771e-03 -1.70744276e+02] [-2.87585883e-03 9.99979026e-01 -5.80326719e-03 -9.53667131e+01] [ 5.91725373e-03 5.82020656e-03 9.99965555e-01 2.96267436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.04907232899996 meters Centerline goodness [0,1] 0.33681516905780684 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99974946e-01 3.25170246e-03 -6.28752166e-03 -1.70743324e+02] [-3.28571040e-03 9.99979989e-01 -5.40605581e-03 -9.53672780e+01] [ 6.26981696e-03 5.42657934e-03 9.99965620e-01 2.96267369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.079072329 meters Centerline goodness [0,1] 0.3666561811890532 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99973914e-01 3.34366638e-03 -6.40241493e-03 -1.70742884e+02] [-3.37810454e-03 9.99979845e-01 -5.37569482e-03 -9.53669956e+01] [ 6.38431136e-03 5.39718262e-03 9.99965055e-01 2.96267164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.10907232899996 meters Centerline goodness [0,1] 0.37626294386450343 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99976675e-01 3.08522731e-03 -6.09354732e-03 -1.70743668e+02] [-3.11965387e-03 9.99979182e-01 -5.64827363e-03 -9.53662938e+01] [ 6.07599426e-03 5.66715164e-03 9.99965482e-01 2.96267163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.139072329 meters Centerline goodness [0,1] 0.34729709886513815 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99974963e-01 3.19748799e-03 -6.31269478e-03 -1.70743062e+02] [-3.23328471e-03 9.99978706e-01 -5.66855529e-03 -9.53656423e+01] [ 6.29443523e-03 5.68882410e-03 9.99964008e-01 2.96267181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.16907232899996 meters Centerline goodness [0,1] 0.34125220162710723 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.27 [[ 9.99982184e-01 2.27596543e-03 -5.51837063e-03 -1.70745433e+02] [-2.31179343e-03 9.99976236e-01 -6.49483314e-03 -9.53642335e+01] [ 5.50345747e-03 6.50747476e-03 9.99963682e-01 2.96267632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.199072329 meters Centerline goodness [0,1] 0.33097308054886354 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.27 [[ 9.99984957e-01 2.03981439e-03 -5.09164100e-03 -1.70746140e+02] [-2.07268666e-03 9.99976991e-01 -6.45921817e-03 -9.53642469e+01] [ 5.07834824e-03 6.46967438e-03 9.99966176e-01 2.96267207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.22907232899996 meters Centerline goodness [0,1] 0.3430731850362364 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99987896e-01 2.03961732e-03 -4.47757400e-03 -1.70747310e+02] [-2.06650406e-03 9.99979814e-01 -6.00836553e-03 -9.53658926e+01] [ 4.46522885e-03 6.01754573e-03 9.99971925e-01 2.96266556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.259072329 meters Centerline goodness [0,1] 0.3322989831219205 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99987542e-01 2.50064574e-03 -4.32005579e-03 -1.70747357e+02] [-2.52238371e-03 9.99984149e-01 -5.03377237e-03 -9.53686931e+01] [ 4.30739963e-03 5.04460650e-03 9.99977999e-01 2.96265924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.28907232899996 meters Centerline goodness [0,1] 0.3250922663982553 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99986331e-01 2.64058269e-03 -4.51277561e-03 -1.70746951e+02] [-2.66348885e-03 9.99983563e-01 -5.07739802e-03 -9.53679196e+01] [ 4.49929415e-03 5.08934834e-03 9.99976927e-01 2.96266112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.319072329 meters Centerline goodness [0,1] 0.3430219146482122 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99987863e-01 2.47516746e-03 -4.26004450e-03 -1.70747984e+02] [-2.49738303e-03 9.99983270e-01 -5.21747397e-03 -9.53678507e+01] [ 4.24705911e-03 5.22804960e-03 9.99977315e-01 2.96266602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.34907232899997 meters Centerline goodness [0,1] 0.31106970122066124 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99984454e-01 2.82832019e-03 -4.80536781e-03 -1.70747217e+02] [-2.85325654e-03 9.99982459e-01 -5.19036337e-03 -9.53672582e+01] [ 4.79060351e-03 5.20399363e-03 9.99974984e-01 2.96267510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37907232899994 meters Centerline goodness [0,1] 0.3271663205588069 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99978534e-01 3.50704268e-03 -5.53458568e-03 -1.70745065e+02] [-3.53361102e-03 9.99982246e-01 -4.79796448e-03 -9.53669169e+01] [ 5.51766075e-03 4.81741856e-03 9.99973174e-01 2.96267253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.40907232899997 meters Centerline goodness [0,1] 0.354286792611075 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99971573e-01 4.15495265e-03 -6.29194809e-03 -1.70742973e+02] [-4.18231277e-03 9.99981829e-01 -4.34153786e-03 -9.53669147e+01] [ 6.27379488e-03 4.36772934e-03 9.99970781e-01 2.96267081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43907232899994 meters Centerline goodness [0,1] 0.317089522532526 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99972769e-01 3.94394794e-03 -6.23745560e-03 -1.70742433e+02] [-3.97274153e-03 9.99981480e-01 -4.61060665e-03 -9.53654494e+01] [ 6.21915609e-03 4.63526090e-03 9.99969918e-01 2.96266303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.46907232899997 meters Centerline goodness [0,1] 0.34479723357434766 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99976345e-01 3.85185157e-03 -5.69843763e-03 -1.70743585e+02] [-3.87690476e-03 9.99982840e-01 -4.39200819e-03 -9.53663223e+01] [ 5.68142248e-03 4.41399660e-03 9.99974119e-01 2.96265935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49907232899994 meters Centerline goodness [0,1] 0.3479855014770894 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99981581e-01 3.65776778e-03 -4.84339694e-03 -1.70745837e+02] [-3.67682714e-03 9.99985510e-01 -3.93208304e-03 -9.53685203e+01] [ 4.82894411e-03 3.94981895e-03 9.99980540e-01 2.96265851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.529072329 meters Centerline goodness [0,1] 0.33708123953098823 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99987596e-01 2.95062828e-03 -4.01265139e-03 -1.70747889e+02] [-2.96925983e-03 9.99984803e-01 -4.64519917e-03 -9.53669415e+01] [ 3.99888415e-03 4.65705616e-03 9.99981160e-01 2.96265812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55907232899995 meters Centerline goodness [0,1] 0.34449259887360506 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99991341e-01 2.65550535e-03 -3.20408370e-03 -1.70750101e+02] [-2.66952619e-03 9.99986846e-01 -4.37961506e-03 -9.53687887e+01] [ 3.19241146e-03 4.38813052e-03 9.99985276e-01 2.96265857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.589072329 meters Centerline goodness [0,1] 0.3507146749381733 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99995540e-01 -1.84650852e-03 -2.34727642e-03 -1.70751790e+02] [ 1.82694499e-03 9.99963806e-01 -8.30956348e-03 -9.53702348e+01] [ 2.36253514e-03 8.30523808e-03 9.99962720e-01 2.96265140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61907232899995 meters Centerline goodness [0,1] 0.29841934470846854 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99991674e-01 -3.92783676e-03 -1.10645183e-03 -1.70755535e+02] [ 3.91695322e-03 9.99945548e-01 -9.67260462e-03 -9.53699872e+01] [ 1.14438399e-03 9.66819017e-03 9.99952607e-01 2.96265566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.649072329 meters Centerline goodness [0,1] 0.3356281911777015 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99990753e-01 -4.29543797e-03 -2.06066383e-04 -1.70757189e+02] [ 4.29326638e-03 9.99944876e-01 -9.58189679e-03 -9.53706968e+01] [ 2.47213467e-04 9.58092349e-03 9.99954071e-01 2.96264618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.67907232899995 meters Centerline goodness [0,1] 0.3400079426457371 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99988051e-01 -4.79283308e-03 9.62905210e-04 -1.70759781e+02] [ 4.80145013e-03 9.99946561e-01 -9.15542006e-03 -9.53733050e+01] [-9.18973353e-04 9.15993400e-03 9.99957625e-01 2.96263834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.709072329 meters Centerline goodness [0,1] 0.30673129152216605 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99986230e-01 -4.99044751e-03 1.62327298e-03 -1.70761452e+02] [ 5.00482807e-03 9.99947163e-01 -8.97897135e-03 -9.53744777e+01] [-1.57837813e-03 8.98697192e-03 9.99958371e-01 2.96263676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.73907232899995 meters Centerline goodness [0,1] 0.3281158572264482 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99980000e-01 -5.73884101e-03 2.65804377e-03 -1.70763958e+02] [ 5.76363562e-03 9.99939055e-01 -9.41635538e-03 -9.53741206e+01] [-2.60384281e-03 9.43148705e-03 9.99952132e-01 2.96263492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.769072329 meters Centerline goodness [0,1] 0.32210724365004706 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99973557e-01 -6.29488652e-03 3.64132502e-03 -1.70766498e+02] [ 6.32863969e-03 9.99936416e-01 -9.33343926e-03 -9.53757040e+01] [-3.58234055e-03 9.35623709e-03 9.99949813e-01 2.96263366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.79907232899996 meters Centerline goodness [0,1] 0.31768492778462887 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99971759e-01 -6.30195895e-03 4.09471291e-03 -1.70767293e+02] [ 6.33903064e-03 9.99938460e-01 -9.10454289e-03 -9.53765599e+01] [-4.03708447e-03 9.13024228e-03 9.99950169e-01 2.96262813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.829072329 meters Centerline goodness [0,1] 0.32276735342053575 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99965285e-01 -6.76646372e-03 4.86255621e-03 -1.70769175e+02] [ 6.81126612e-03 9.99933955e-01 -9.25703159e-03 -9.53768712e+01] [-4.79959770e-03 9.28983039e-03 9.99945330e-01 2.96262614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.85907232899996 meters Centerline goodness [0,1] 0.32804111220205145 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99961032e-01 -7.04298158e-03 5.32261055e-03 -1.70769949e+02] [ 7.09216461e-03 9.99931801e-01 -9.27871621e-03 -9.53768148e+01] [-5.25689772e-03 9.31610347e-03 9.99942786e-01 2.96262090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.889072329 meters Centerline goodness [0,1] 0.3278726205152851 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99958888e-01 -7.25577810e-03 5.43843463e-03 -1.70770071e+02] [ 7.30788331e-03 9.99926993e-01 -9.62308007e-03 -9.53753822e+01] [-5.36821465e-03 9.66242789e-03 9.99938908e-01 2.96261943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91907232899996 meters Centerline goodness [0,1] 0.32300432231525755 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99951443e-01 -7.65495926e-03 6.20582474e-03 -1.70771810e+02] [ 7.71473686e-03 9.99923518e-01 -9.66647714e-03 -9.53757816e+01] [-6.13135362e-03 9.71388407e-03 9.99934021e-01 2.96261592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.949072329 meters Centerline goodness [0,1] 0.3405308330026938 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99941045e-01 -8.18942222e-03 7.13014871e-03 -1.70773918e+02] [ 8.25937532e-03 9.99917501e-01 -9.83735354e-03 -9.53759278e+01] [-7.04899824e-03 9.89566416e-03 9.99926191e-01 2.96261233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97907232899996 meters Centerline goodness [0,1] 0.3165766254354311 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99920143e-01 -9.55520144e-03 8.27077636e-03 -1.70777208e+02] [ 9.63874136e-03 9.99902331e-01 -1.01203852e-02 -9.53788159e+01] [-8.17326624e-03 1.01992969e-02 9.99914582e-01 2.96261316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.009072329 meters Centerline goodness [0,1] 0.3180244441663538 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99909137e-01 -1.00899856e-02 8.93927382e-03 -1.70779748e+02] [ 1.01833047e-02 9.99893481e-01 -1.04559502e-02 -9.53790750e+01] [-8.83282123e-03 1.05460315e-02 9.99905377e-01 2.96262392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03907232899996 meters Centerline goodness [0,1] 0.32047589229805884 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99901855e-01 -1.04393999e-02 9.34336024e-03 -1.70780849e+02] [ 1.05402131e-02 9.99886056e-01 -1.08064158e-02 -9.53782524e+01] [-9.22948312e-03 1.09038362e-02 9.99897956e-01 2.96262484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.069072329 meters Centerline goodness [0,1] 0.3127347858752817 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99917376e-01 -7.61676490e-03 1.03549592e-02 -1.70783352e+02] [ 7.69794115e-03 9.99939775e-01 -7.82223546e-03 -9.53761568e+01] [-1.02947555e-02 7.90130103e-03 9.99915790e-01 2.96262299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09907232899997 meters Centerline goodness [0,1] 0.32097424435485555 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99952027e-01 -2.09238297e-03 9.56894716e-03 -1.70779745e+02] [ 2.11425418e-03 9.99995175e-01 -2.27610053e-03 -9.53772529e+01] [-9.56413851e-03 2.29622253e-03 9.99951626e-01 2.96260165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12907232899994 meters Centerline goodness [0,1] 0.32046380445001565 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.26 [[ 9.99961415e-01 -1.33152609e-03 8.68304084e-03 -1.70777109e+02] [ 1.34620046e-03 9.99997675e-01 -1.68437713e-03 -9.53776278e+01] [-8.68077786e-03 1.69600125e-03 9.99960883e-01 2.96259673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15907232899997 meters Centerline goodness [0,1] 0.3159961565776831 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99969874e-01 -5.07007419e-04 7.74554528e-03 -1.70774298e+02] [ 5.18894720e-04 9.99998691e-01 -1.53279498e-03 -9.53758099e+01] [-7.74475800e-03 1.53676793e-03 9.99968828e-01 2.96259361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18907232899994 meters Centerline goodness [0,1] 0.31935126549208936 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.26 [[ 9.99975884e-01 -5.45937844e-06 6.94484355e-03 -1.70772995e+02] [ 1.54542786e-05 9.99998964e-01 -1.43913007e-03 -9.53752187e+01] [-6.94482850e-03 1.43920269e-03 9.99974849e-01 2.96260386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21907232899997 meters Centerline goodness [0,1] 0.29592986850344394 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99976881e-01 -6.15065761e-04 6.77190445e-03 -1.70774027e+02] [ 6.34475957e-04 9.99995696e-01 -2.86450817e-03 -9.53712995e+01] [-6.77011344e-03 2.86873855e-03 9.99972968e-01 2.96262555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24907232899994 meters Centerline goodness [0,1] 0.3161091053279629 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99976775e-01 -7.84135429e-04 6.77008691e-03 -1.70774163e+02] [ 8.06124267e-04 9.99994407e-01 -3.24582262e-03 -9.53698303e+01] [-6.76750389e-03 3.25120477e-03 9.99971815e-01 2.96262810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.279072329 meters Centerline goodness [0,1] 0.31448601055728265 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99981324e-01 1.83726639e-05 6.11160582e-03 -1.70772002e+02] [-2.95189354e-06 9.99996817e-01 -2.52319398e-03 -9.53703643e+01] [-6.11163272e-03 2.52312881e-03 9.99978141e-01 2.96262274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.30907232899995 meters Centerline goodness [0,1] 0.32168956445483776 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99981579e-01 9.85010311e-06 6.06964807e-03 -1.70772065e+02] [ 5.71614304e-06 9.99996711e-01 -2.56458171e-03 -9.53700739e+01] [-6.06965338e-03 2.56456917e-03 9.99978291e-01 2.96262520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.339072329 meters Centerline goodness [0,1] 0.3267027072157632 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99978581e-01 -3.92437289e-04 6.53325718e-03 -1.70773233e+02] [ 4.12038078e-04 9.99995418e-01 -2.99908015e-03 -9.53690014e+01] [-6.53205030e-03 3.00170786e-03 9.99974161e-01 2.96262533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.36907232899995 meters Centerline goodness [0,1] 0.31777083333333334 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99974142e-01 -6.28449707e-04 7.16378901e-03 -1.70774746e+02] [ 6.48473218e-04 9.99995889e-01 -2.79312059e-03 -9.53705286e+01] [-7.16200423e-03 2.79769389e-03 9.99970439e-01 2.96262227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.399072329 meters Centerline goodness [0,1] 0.32465118222073686 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99977509e-01 -1.81883700e-04 6.70432135e-03 -1.70773625e+02] [ 1.97840264e-04 9.99997150e-01 -2.37945526e-03 -9.53711367e+01] [-6.70386946e-03 2.38072813e-03 9.99974695e-01 2.96262221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.42907232899995 meters Centerline goodness [0,1] 0.32911894181218837 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99978758e-01 -2.21135951e-04 6.51413288e-03 -1.70772408e+02] [ 2.38459297e-04 9.99996437e-01 -2.65869140e-03 -9.53693459e+01] [-6.51352174e-03 2.66018828e-03 9.99975248e-01 2.96261332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.459072329 meters Centerline goodness [0,1] 0.3501847252082072 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99984322e-01 9.63265801e-04 5.51614882e-03 -1.70769129e+02] [-9.54000661e-04 9.99998130e-01 -1.68202418e-03 -9.53698371e+01] [-5.51775874e-03 1.67673540e-03 9.99983371e-01 2.96260573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.48907232899995 meters Centerline goodness [0,1] 0.35323569908624364 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99987577e-01 1.54834467e-03 4.73803162e-03 -1.70767220e+02] [-1.54187161e-03 9.99997873e-01 -1.36953963e-03 -9.53695620e+01] [-4.74014207e-03 1.36221718e-03 9.99987838e-01 2.96260749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.519072329 meters Centerline goodness [0,1] 0.3409388987196835 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99986873e-01 1.05786994e-03 5.01349695e-03 -1.70768356e+02] [-1.04739963e-03 9.99997266e-01 -2.09058937e-03 -9.53676848e+01] [-5.01569482e-03 2.08531080e-03 9.99985247e-01 2.96261370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.54907232899996 meters Centerline goodness [0,1] 0.349768875192604 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99988484e-01 1.34282874e-03 4.60748989e-03 -1.70767653e+02] [-1.33304381e-03 9.99996851e-01 -2.12611356e-03 -9.53668883e+01] [-4.61033039e-03 2.11994709e-03 9.99987125e-01 2.96261892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.579072329 meters Centerline goodness [0,1] 0.3504100498737506 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99989938e-01 1.32191871e-03 4.28674121e-03 -1.70767089e+02] [-1.31134932e-03 9.99996096e-01 -2.46747554e-03 -9.53654402e+01] [-4.28998628e-03 2.46182930e-03 9.99987768e-01 2.96262303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.60907232899996 meters Centerline goodness [0,1] 0.36381465022636705 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99990863e-01 1.42867233e-03 4.02906728e-03 -1.70766587e+02] [-1.41874668e-03 9.99995955e-01 -2.46529565e-03 -9.53650312e+01] [-4.03257308e-03 2.45955690e-03 9.99988844e-01 2.96262552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.639072329 meters Centerline goodness [0,1] 0.3337297116869028 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99990913e-01 2.99813384e-03 3.03073327e-03 -1.70763263e+02] [-2.99473973e-03 9.99994884e-01 -1.12381385e-03 -9.53662789e+01] [-3.03408711e-03 1.11472738e-03 9.99994776e-01 2.96261661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.66907232899996 meters Centerline goodness [0,1] 0.3774862109309711 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99990552e-01 2.92359836e-03 3.21677092e-03 -1.70763490e+02] [-2.91989971e-03 9.99995071e-01 -1.15389721e-03 -9.53661760e+01] [-3.22012860e-03 1.14449366e-03 9.99994160e-01 2.96261299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.699072329 meters Centerline goodness [0,1] 0.3725445122460921 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99995125e-01 -6.66662543e-04 3.05056546e-03 -1.70762884e+02] [ 6.80198405e-04 9.99989919e-01 -4.43828088e-03 -9.53686284e+01] [-3.04757587e-03 4.44033423e-03 9.99985498e-01 2.96260965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.72907232899996 meters Centerline goodness [0,1] 0.37742508092304483 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.26 [[ 9.99992137e-01 -1.01790973e-03 3.83275620e-03 -1.70764981e+02] [ 1.03465779e-03 9.99989915e-01 -4.37027319e-03 -9.53699122e+01] [-3.82826901e-03 4.37420442e-03 9.99983105e-01 2.96260961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.759072329 meters Centerline goodness [0,1] 0.3623554460819104 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99989258e-01 -1.23312045e-03 4.46803283e-03 -1.70766665e+02] [ 1.25257282e-03 9.99989739e-01 -4.35349778e-03 -9.53704583e+01] [-4.46261860e-03 4.35904755e-03 9.99980542e-01 2.96260991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.78907232899996 meters Centerline goodness [0,1] 0.3105148779672351 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99983453e-01 -1.84331659e-03 5.44942997e-03 -1.70768904e+02] [ 1.86851917e-03 9.99987567e-01 -4.62334194e-03 -9.53704868e+01] [-5.44083993e-03 4.63344780e-03 9.99974464e-01 2.96260552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.819072329 meters Centerline goodness [0,1] 0.3252095395355642 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99982448e-01 -1.63333785e-03 5.69518061e-03 -1.70769098e+02] [ 1.65656850e-03 9.99990318e-01 -4.07667264e-03 -9.53721060e+01] [-5.68846689e-03 4.08603555e-03 9.99975473e-01 2.96259883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.84907232899997 meters Centerline goodness [0,1] 0.32319534796159555 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99980401e-01 -1.62517142e-03 6.04618868e-03 -1.70768778e+02] [ 1.64741360e-03 9.99991888e-01 -3.67555073e-03 -9.53730445e+01] [-6.04016623e-03 3.68543926e-03 9.99974967e-01 2.96258165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87907232899994 meters Centerline goodness [0,1] 0.334086723589486 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99983421e-01 -1.24553048e-03 5.62190869e-03 -1.70767192e+02] [ 1.26445834e-03 9.99993541e-01 -3.36450573e-03 -9.53729505e+01] [-5.61768178e-03 3.37155862e-03 9.99978537e-01 2.96257540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.90907232899997 meters Centerline goodness [0,1] 0.334086723589486 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99983421e-01 -1.24553048e-03 5.62190869e-03 -1.70767192e+02] [ 1.26445834e-03 9.99993541e-01 -3.36450573e-03 -9.53729505e+01] [-5.61768178e-03 3.37155862e-03 9.99978537e-01 2.96257540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93907232899994 meters Centerline goodness [0,1] 0.3387079886922836 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99985367e-01 -1.13333415e-03 5.28975098e-03 -1.70766348e+02] [ 1.15151051e-03 9.99993440e-01 -3.43436749e-03 -9.53720477e+01] [-5.28582399e-03 3.44040844e-03 9.99980112e-01 2.96257629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.96907232899997 meters Centerline goodness [0,1] 0.3348534610798486 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99981434e-01 -1.82650163e-03 5.81343838e-03 -1.70767761e+02] [ 1.85142685e-03 9.99989105e-01 -4.28502932e-03 -9.53698260e+01] [-5.80554843e-03 4.29571292e-03 9.99973921e-01 2.96257790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99907232899994 meters Centerline goodness [0,1] 0.34580944809406255 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99980563e-01 -1.72202669e-03 5.99235412e-03 -1.70768106e+02] [ 1.74600529e-03 9.99990481e-01 -3.99860431e-03 -9.53705688e+01] [-5.98541138e-03 4.00898927e-03 9.99974051e-01 2.96257644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.029072329 meters Centerline goodness [0,1] 0.34270333675457154 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99981000e-01 -1.52807758e-03 5.97206089e-03 -1.70767939e+02] [ 1.55061537e-03 9.99991687e-01 -3.77106499e-03 -9.53708326e+01] [-5.96624876e-03 3.78025371e-03 9.99975056e-01 2.96257497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05907232899995 meters Centerline goodness [0,1] 0.332579469782636 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99978226e-01 -1.68176151e-03 6.38112478e-03 -1.70768996e+02] [ 1.70615206e-03 9.99991253e-01 -3.81877995e-03 -9.53708924e+01] [-6.37464669e-03 3.82958397e-03 9.99972349e-01 2.96257484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.089072329 meters Centerline goodness [0,1] 0.34409277400988025 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99973624e-01 -2.03421303e-03 6.97231795e-03 -1.70770859e+02] [ 2.06225197e-03 9.99989807e-01 -4.01663752e-03 -9.53708974e+01] [-6.96407618e-03 4.03091026e-03 9.99967626e-01 2.96257993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11907232899995 meters Centerline goodness [0,1] 0.3477078802074619 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99967963e-01 -2.30732515e-03 7.66485052e-03 -1.70772675e+02] [ 2.33813948e-03 9.99989212e-01 -4.01368782e-03 -9.53714778e+01] [-7.65550695e-03 4.03148073e-03 9.99962569e-01 2.96258008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.149072329 meters Centerline goodness [0,1] 0.3355565777368905 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99963781e-01 -2.45413119e-03 8.14945704e-03 -1.70773902e+02] [ 2.48653871e-03 9.99989032e-01 -3.96890036e-03 -9.53719952e+01] [-8.13962746e-03 3.98902055e-03 9.99958916e-01 2.96257946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.17907232899995 meters Centerline goodness [0,1] 0.3684309544713408 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99966404e-01 -2.14575253e-03 7.91117269e-03 -1.70773290e+02] [ 2.17440439e-03 9.99991102e-01 -3.61487558e-03 -9.53725462e+01] [-7.90334567e-03 3.63195622e-03 9.99962172e-01 2.96257909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.209072329 meters Centerline goodness [0,1] 0.37036727181460716 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99959265e-01 -2.83935799e-03 8.56777437e-03 -1.70774864e+02] [ 2.87643161e-03 9.99986541e-01 -4.31788404e-03 -9.53710965e+01] [-8.55539903e-03 4.34235276e-03 9.99953974e-01 2.96257830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.23907232899995 meters Centerline goodness [0,1] 0.3681756403554626 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99951183e-01 -3.35311495e-03 9.29453989e-03 -1.70776495e+02] [ 3.39417741e-03 9.99984535e-01 -4.40566371e-03 -9.53716263e+01] [-9.27962345e-03 4.43699595e-03 9.99947099e-01 2.96257469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.269072329 meters Centerline goodness [0,1] 0.3621706398996236 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99946306e-01 -3.45197238e-03 9.77082471e-03 -1.70776773e+02] [ 3.49264931e-03 9.99985293e-01 -4.14910379e-03 -9.53723295e+01] [-9.75635842e-03 4.18300707e-03 9.99943656e-01 2.96256150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.29907232899996 meters Centerline goodness [0,1] 0.36574393739668987 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99946827e-01 -3.35280821e-03 9.75197997e-03 -1.70776258e+02] [ 3.39189626e-03 9.99986270e-01 -3.99444358e-03 -9.53723904e+01] [-9.73845347e-03 4.02730889e-03 9.99944470e-01 2.96255481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.329072329 meters Centerline goodness [0,1] 0.29224136126750244 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99950226e-01 -2.94984025e-03 9.53125761e-03 -1.70775391e+02] [ 2.98258931e-03 9.99989692e-01 -3.42357972e-03 -9.53735572e+01] [-9.52106035e-03 3.45183714e-03 9.99948716e-01 2.96255013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.35907232899996 meters Centerline goodness [0,1] 0.2961591565206477 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.25 [[ 9.99951347e-01 -2.81231581e-03 9.45488917e-03 -1.70774970e+02] [ 2.84406567e-03 9.99990357e-01 -3.34626925e-03 -9.53731852e+01] [-9.44538723e-03 3.37299677e-03 9.99949703e-01 2.96254773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.389072329 meters Centerline goodness [0,1] 0.3376726497691038 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.25 [[ 9.99945051e-01 -3.35500087e-03 9.93174341e-03 -1.70776260e+02] [ 3.39543870e-03 9.99986004e-01 -4.05751582e-03 -9.53712872e+01] [-9.91799143e-03 4.09101549e-03 9.99942447e-01 2.96254956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41907232899996 meters Centerline goodness [0,1] 0.3053529251928182 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99938765e-01 -3.65916998e-03 1.04439997e-02 -1.70777851e+02] [ 3.70292387e-03 9.99984437e-01 -4.17312229e-03 -9.53714606e+01] [-1.04285670e-02 4.21154009e-03 9.99936752e-01 2.96255339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.449072329 meters Centerline goodness [0,1] 0.3091836948110347 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99929511e-01 -4.16814966e-03 1.11175069e-02 -1.70779667e+02] [ 4.22091989e-03 9.99979918e-01 -4.72735558e-03 -9.53702896e+01] [-1.10975793e-02 4.77394846e-03 9.99927024e-01 2.96255484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47907232899996 meters Centerline goodness [0,1] 0.31191088260497 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99913568e-01 -5.38546899e-03 1.19939245e-02 -1.70783052e+02] [ 5.45290390e-03 9.99969470e-01 -5.59683515e-03 -9.53702412e+01] [-1.19634168e-02 5.66175312e-03 9.99912407e-01 2.96256850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.509072329 meters Centerline goodness [0,1] 0.308806319485079 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99906404e-01 -5.57491477e-03 1.24941425e-02 -1.70784223e+02] [ 5.64544091e-03 9.99968291e-01 -5.61659369e-03 -9.53704319e+01] [-1.24624343e-02 5.68660294e-03 9.99906171e-01 2.96256693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53907232899996 meters Centerline goodness [0,1] 0.3228119316875353 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.37, Z:296.26 [[ 9.99878362e-01 -7.08115696e-03 1.38967159e-02 -1.70786842e+02] [ 7.16420044e-03 9.99956723e-01 -5.93510634e-03 -9.53717855e+01] [-1.38540871e-02 6.03394326e-03 9.99885821e-01 2.96255243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.569072329 meters Centerline goodness [0,1] 0.33089897045283334 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.37, Z:296.25 [[ 9.99866806e-01 -7.31610423e-03 1.45892307e-02 -1.70788170e+02] [ 7.40025037e-03 9.99956246e-01 -5.72206869e-03 -9.53728807e+01] [-1.45467291e-02 5.82927050e-03 9.99877199e-01 2.96254552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59907232899997 meters Centerline goodness [0,1] 0.33152810304449654 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.37, Z:296.25 [[ 9.99842347e-01 -8.34676439e-03 1.56720356e-02 -1.70790669e+02] [ 8.44425637e-03 9.99945343e-01 -6.16492558e-03 -9.53731937e+01] [-1.56197219e-02 6.29629234e-03 9.99858180e-01 2.96254125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62907232899994 meters Centerline goodness [0,1] 0.33487293094800197 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.37, Z:296.25 [[ 9.99832404e-01 -8.49286438e-03 1.62183809e-02 -1.70792160e+02] [ 8.59218525e-03 9.99944699e-01 -6.06413881e-03 -9.53740023e+01] [-1.61659821e-02 6.20247381e-03 9.99850084e-01 2.96254185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65907232899997 meters Centerline goodness [0,1] 0.3275923332566938 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.37, Z:296.25 [[ 9.99820676e-01 -8.70348128e-03 1.68186247e-02 -1.70793251e+02] [ 8.80738633e-03 9.99942524e-01 -6.11381226e-03 -9.53739473e+01] [-1.67644466e-02 6.26084403e-03 9.99839865e-01 2.96253570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68907232899994 meters Centerline goodness [0,1] 0.29802626076775107 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.37, Z:296.25 [[ 9.99791611e-01 -9.75123431e-03 1.79345706e-02 -1.70795772e+02] [ 9.87305191e-03 9.99928704e-01 -6.71637937e-03 -9.53735602e+01] [-1.78677990e-02 6.89204870e-03 9.99816604e-01 2.96253098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71907232899997 meters Centerline goodness [0,1] 0.34917580118818514 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.37, Z:296.25 [[ 9.99793548e-01 -9.45635815e-03 1.79843931e-02 -1.70795645e+02] [ 9.56907994e-03 9.99935043e-01 -6.19206272e-03 -9.53748316e+01] [-1.79246705e-02 6.36287845e-03 9.99819094e-01 2.96252672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74907232899994 meters Centerline goodness [0,1] 0.3292927604079585 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.37, Z:296.25 [[ 9.99777461e-01 -9.84214373e-03 1.86590580e-02 -1.70797150e+02] [ 9.96261790e-03 9.99930052e-01 -6.37468058e-03 -9.53746468e+01] [-1.85950123e-02 6.55915503e-03 9.99805583e-01 2.96252415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.779072329 meters Centerline goodness [0,1] 0.3275292642140468 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.38, Z:296.25 [[ 9.99725806e-01 -1.37574586e-02 1.89485058e-02 -1.70797697e+02] [ 1.39476316e-02 9.99853309e-01 -9.94098092e-03 -9.53767098e+01] [-1.88089636e-02 1.02025419e-02 9.99771039e-01 2.96252235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.80907232899995 meters Centerline goodness [0,1] 0.3270183802772725 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.38, Z:296.25 [[ 9.99719423e-01 -1.38002963e-02 1.92516965e-02 -1.70798315e+02] [ 1.39925341e-02 9.99853219e-01 -9.88678972e-03 -9.53768207e+01] [-1.91124301e-02 1.01533957e-02 9.99765784e-01 2.96252015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.839072329 meters Centerline goodness [0,1] 0.3138385674585762 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.38, Z:296.25 [[ 9.99710546e-01 -1.39547277e-02 1.95981853e-02 -1.70799155e+02] [ 1.41516454e-02 9.99850400e-01 -9.94526066e-03 -9.53768135e+01] [-1.94564700e-02 1.02197285e-02 9.99758472e-01 2.96251921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.86907232899995 meters Centerline goodness [0,1] 0.33491393716577544 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.38, Z:296.25 [[ 9.99691068e-01 -1.43728890e-02 2.02777958e-02 -1.70800741e+02] [ 1.45822383e-02 9.99841501e-01 -1.02142471e-02 -9.53763506e+01] [-2.01277736e-02 1.05067872e-02 9.99742207e-01 2.96251739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.899072329 meters Centerline goodness [0,1] 0.31039461020211745 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.38, Z:296.25 [[ 9.99690025e-01 -1.43424499e-02 2.03506060e-02 -1.70800459e+02] [ 1.45500440e-02 9.99843234e-01 -1.00897392e-02 -9.53763844e+01] [-2.02027042e-02 1.03827138e-02 9.99741992e-01 2.96251079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.92907232899995 meters Centerline goodness [0,1] 0.32962235775754034 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.38, Z:296.25 [[ 9.99692510e-01 -1.41614773e-02 2.03553186e-02 -1.70800408e+02] [ 1.43624395e-02 9.99849214e-01 -9.76065511e-03 -9.53771654e+01] [-2.02140240e-02 1.00500058e-02 9.99745163e-01 2.96250946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.959072329 meters Centerline goodness [0,1] 0.32939259754365446 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.37, Z:296.25 [[ 9.99701369e-01 -1.26239371e-02 2.09238900e-02 -1.70804054e+02] [ 1.28082984e-02 9.99880117e-01 -8.70056688e-03 -9.53727948e+01] [-2.08115462e-02 8.96596805e-03 9.99743213e-01 2.96253769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.98907232899995 meters Centerline goodness [0,1] 0.33126670006680026 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.37, Z:296.25 [[ 9.99701218e-01 -1.27122542e-02 2.08775622e-02 -1.70804289e+02] [ 1.29013244e-02 9.99876750e-01 -8.94655486e-03 -9.53719343e+01] [-2.07612582e-02 9.21323000e-03 9.99742010e-01 2.96254294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.019072329 meters Centerline goodness [0,1] 0.33354234595769583 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.37, Z:296.25 [[ 9.99720755e-01 -9.51801618e-03 2.16291422e-02 -1.70806733e+02] [ 9.64082533e-03 9.99937953e-01 -5.58078368e-03 -9.53709310e+01] [-2.15746821e-02 5.78774806e-03 9.99750486e-01 2.96254755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.04907232899996 meters Centerline goodness [0,1] 0.32876998205267327 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.37, Z:296.25 [[ 9.99748794e-01 -8.46141554e-03 2.07545870e-02 -1.70804379e+02] [ 8.55804611e-03 9.99952930e-01 -4.57147278e-03 -9.53724050e+01] [-2.07149290e-02 4.74794311e-03 9.99774149e-01 2.96254484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.079072329 meters Centerline goodness [0,1] 0.3369848721961398 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.37, Z:296.26 [[ 9.99866754e-01 -2.39373175e-04 1.63222689e-02 -1.70793774e+02] [ 2.58522170e-04 9.99999281e-01 -1.17108227e-03 -9.53717179e+01] [-1.63219769e-02 1.17514590e-03 9.99866097e-01 2.96257983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.10907232899996 meters Centerline goodness [0,1] 0.3236603876147268 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.37, Z:296.26 [[ 9.99866271e-01 3.29886239e-03 1.60173955e-02 -1.70793641e+02] [-3.32605497e-03 9.99993072e-01 1.67134830e-03 -9.53674321e+01] [-1.60117710e-02 -1.72439953e-03 9.99870316e-01 2.96258885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.139072329 meters Centerline goodness [0,1] 0.3580889111723907 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.36, Z:296.26 [[ 9.99852370e-01 6.90976868e-03 1.57318982e-02 -1.70793277e+02] [-6.98280697e-03 9.99965074e-01 4.59250039e-03 -9.53632225e+01] [-1.56996156e-02 -4.70167521e-03 9.99865699e-01 2.96259518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.16907232899996 meters Centerline goodness [0,1] 0.3434871751956149 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.36, Z:296.27 [[ 9.99826577e-01 1.51071081e-02 1.08899736e-02 -1.70782213e+02] [-1.51771646e-02 9.99864469e-01 6.37943819e-03 -9.53607401e+01] [-1.07921228e-02 -6.54361077e-03 9.99920352e-01 2.96265427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.199072329 meters Centerline goodness [0,1] 0.35623053285114037 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.36, Z:296.27 [[ 9.99763403e-01 1.90934364e-02 1.04201082e-02 -1.70781274e+02] [-1.91944896e-02 9.99768853e-01 9.68561906e-03 -9.53573505e+01] [-1.02327679e-02 -9.88333613e-03 9.99898800e-01 2.96266110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.22907232899996 meters Centerline goodness [0,1] 0.3600996149338691 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.35, Z:296.27 [[ 9.99632354e-01 2.63896488e-02 6.22436937e-03 -1.70772241e+02] [-2.64500947e-02 9.99601729e-01 9.83744137e-03 -9.53525447e+01] [-5.96228377e-03 -9.99845983e-03 9.99932239e-01 2.96273652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.259072329 meters Centerline goodness [0,1] 0.3076262668565206 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.35, Z:296.28 [[ 9.99614742e-01 2.72939808e-02 5.04037414e-03 -1.70770135e+02] [-2.73407735e-02 9.99581403e-01 9.46053515e-03 -9.53494574e+01] [-4.78004859e-03 -9.59469813e-03 9.99942545e-01 2.96275172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.28907232899996 meters Centerline goodness [0,1] 0.3114898065865134 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.35, Z:296.28 [[ 9.99627283e-01 2.69504274e-02 4.35537190e-03 -1.70769352e+02] [-2.69861243e-02 9.99600880e-01 8.35638084e-03 -9.53457191e+01] [-4.12842555e-03 -8.47080089e-03 9.99955600e-01 2.96276588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.319072329 meters Centerline goodness [0,1] 0.3077148294539599 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.34, Z:296.28 [[ 9.99585085e-01 2.86301615e-02 3.15783751e-03 -1.70766328e+02] [-2.86581213e-02 9.99546970e-01 9.19597805e-03 -9.53448232e+01] [-2.89312458e-03 -9.28266019e-03 9.99952730e-01 2.96276868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.34907232899997 meters Centerline goodness [0,1] 0.31417504187604695 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.34, Z:296.28 [[ 9.99465471e-01 3.25704304e-02 2.81776736e-03 -1.70765254e+02] [-3.26034275e-02 9.99389108e-01 1.25867892e-02 -9.53416238e+01] [-2.40608887e-03 -1.26719300e-02 9.99916813e-01 2.96277157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37907232899994 meters Centerline goodness [0,1] 0.31649225617413146 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.34, Z:296.28 [[ 9.99458077e-01 3.28445879e-02 2.18742419e-03 -1.70763806e+02] [-3.28696101e-02 9.99380192e-01 1.26023696e-02 -9.53409613e+01] [-1.77214877e-03 -1.26674398e-02 9.99918194e-01 2.96277391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.40907232899997 meters Centerline goodness [0,1] 0.3200477277009064 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.34, Z:296.28 [[ 9.99434745e-01 3.35990560e-02 1.13714913e-03 -1.70761752e+02] [-3.36108027e-02 9.99354285e-01 1.27014477e-02 -9.53398602e+01] [-7.09658204e-04 -1.27324887e-02 9.99918687e-01 2.96278290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43907232899994 meters Centerline goodness [0,1] 0.3267198258722086 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.34, Z:296.28 [[ 9.99437015e-01 3.35409178e-02 8.12659450e-04 -1.70761375e+02] [-3.35484058e-02 9.99360655e-01 1.23606334e-02 -9.53387668e+01] [-3.97552893e-04 -1.23809379e-02 9.99923274e-01 2.96278906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.46907232899997 meters Centerline goodness [0,1] 0.33115227025671046 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.34, Z:296.28 [[ 9.99543343e-01 3.02142925e-02 -4.48335884e-04 -1.70759161e+02] [-3.02092789e-02 9.99506045e-01 8.66399147e-03 -9.53389074e+01] [ 7.09890799e-04 -8.64649110e-03 9.99962366e-01 2.96279737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49907232899994 meters Centerline goodness [0,1] 0.33662537663207226 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.34, Z:296.28 [[ 9.99484918e-01 3.20616992e-02 -1.39534793e-03 -1.70755842e+02] [-3.20463666e-02 9.99437434e-01 9.89167021e-03 -9.53388044e+01] [ 1.71170671e-03 -9.84185935e-03 9.99950103e-01 2.96278936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.529072329 meters Centerline goodness [0,1] 0.34863767630686815 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.34, Z:296.28 [[ 9.99489686e-01 3.19171754e-02 -1.28914222e-03 -1.70755855e+02] [-3.19032600e-02 9.99444243e-01 9.66366370e-03 -9.53379956e+01] [ 1.59686262e-03 -9.61760436e-03 9.99952475e-01 2.96278612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55907232899995 meters Centerline goodness [0,1] 0.3278451882845188 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.34, Z:296.28 [[ 9.99573570e-01 2.91193007e-02 -2.17823545e-03 -1.70753342e+02] [-2.91038172e-02 9.99553053e-01 6.83097181e-03 -9.53398575e+01] [ 2.37617501e-03 -6.76466391e-03 9.99974296e-01 2.96277919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.589072329 meters Centerline goodness [0,1] 0.3446435299535312 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.34, Z:296.28 [[ 9.99640684e-01 2.66123055e-02 -3.20745031e-03 -1.70750192e+02] [-2.65988100e-02 9.99637453e-01 4.17920873e-03 -9.53415412e+01] [ 3.31750584e-03 -4.09239271e-03 9.99986123e-01 2.96277042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61907232899995 meters Centerline goodness [0,1] 0.35111706694026257 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.34, Z:296.28 [[ 9.99692091e-01 2.44976365e-02 -3.94827565e-03 -1.70747353e+02] [-2.44901388e-02 9.99698196e-01 1.93626829e-03 -9.53430907e+01] [ 3.99451804e-03 -1.83897828e-03 9.99990331e-01 2.96275816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.649072329 meters Centerline goodness [0,1] 0.34042286478355344 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99790508e-01 1.91791721e-02 -7.14836987e-03 -1.70737455e+02] [-1.91212299e-02 9.99784460e-01 8.08772632e-03 -9.53498423e+01] [ 7.30194501e-03 -7.94934638e-03 9.99941743e-01 2.96282190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.67907232899995 meters Centerline goodness [0,1] 0.3344989321160853 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99806032e-01 1.85139848e-02 -6.71797100e-03 -1.70739502e+02] [-1.84651200e-02 9.99803115e-01 7.26430802e-03 -9.53482804e+01] [ 6.85113962e-03 -7.13885084e-03 9.99951048e-01 2.96283312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.709072329 meters Centerline goodness [0,1] 0.3506607744989214 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99839228e-01 1.61494141e-02 -7.79196138e-03 -1.70737542e+02] [-1.61156311e-02 9.99860545e-01 4.37910694e-03 -9.53483612e+01] [ 7.86159476e-03 -4.25283053e-03 9.99960054e-01 2.96284222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.73907232899995 meters Centerline goodness [0,1] 0.3766513828695852 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.29 [[ 9.99823933e-01 1.66903464e-02 -8.57523203e-03 -1.70736700e+02] [-1.66513461e-02 9.99850778e-01 4.59946446e-03 -9.53479368e+01] [ 8.65071907e-03 -4.45586549e-03 9.99952654e-01 2.96285834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.769072329 meters Centerline goodness [0,1] 0.30741058535462407 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.29 [[ 9.99848817e-01 1.45487441e-02 -9.52250757e-03 -1.70733738e+02] [-1.45278474e-02 9.99891911e-01 2.25996261e-03 -9.53496310e+01] [ 9.55435791e-03 -2.12127940e-03 9.99952106e-01 2.96285152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.79907232899996 meters Centerline goodness [0,1] 0.35078062868862747 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.29 [[ 9.99888585e-01 1.10362901e-02 -1.00508140e-02 -1.70732626e+02] [-1.10474263e-02 9.99938421e-01 -1.05314241e-03 -9.53516770e+01] [ 1.00385723e-02 1.16406071e-03 9.99948935e-01 2.96285223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.829072329 meters Centerline goodness [0,1] 0.35078062868862747 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.29 [[ 9.99888585e-01 1.10362901e-02 -1.00508140e-02 -1.70732626e+02] [-1.10474263e-02 9.99938421e-01 -1.05314241e-03 -9.53516770e+01] [ 1.00385723e-02 1.16406071e-03 9.99948935e-01 2.96285223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.85907232899996 meters Centerline goodness [0,1] 0.3189476548274347 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99932830e-01 7.05636696e-03 -9.19474498e-03 -1.70734481e+02] [-7.09306551e-03 9.99966984e-01 -3.96477365e-03 -9.53564991e+01] [ 9.16646450e-03 4.02972627e-03 9.99949867e-01 2.96284378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.889072329 meters Centerline goodness [0,1] 0.3213568259814179 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99946162e-01 3.74973995e-03 -9.67540678e-03 -1.70732946e+02] [-3.81720562e-03 9.99968466e-01 -6.96388308e-03 -9.53590835e+01] [ 9.64898892e-03 7.00044117e-03 9.99928943e-01 2.96283898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91907232899996 meters Centerline goodness [0,1] 0.3248070608411938 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99954729e-01 3.49501993e-03 -8.85012254e-03 -1.70734697e+02] [-3.55556905e-03 9.99970319e-01 -6.83514675e-03 -9.53600381e+01] [ 8.82597088e-03 6.86630454e-03 9.99937476e-01 2.96283361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.949072329 meters Centerline goodness [0,1] 0.34341130685860155 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.28 [[ 9.99987033e-01 6.45413188e-04 -5.05141647e-03 -1.70742306e+02] [-6.71961468e-04 9.99985963e-01 -5.25567959e-03 -9.53623940e+01] [ 5.04795348e-03 5.25900580e-03 9.99973430e-01 2.96278217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97907232899996 meters Centerline goodness [0,1] 0.3548387096774194 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.28 [[ 9.99990868e-01 2.95309136e-04 -4.26341690e-03 -1.70744090e+02] [-3.17251742e-04 9.99986704e-01 -5.14695973e-03 -9.53635842e+01] [ 4.26184027e-03 5.14826530e-03 9.99977666e-01 2.96277762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.009072329 meters Centerline goodness [0,1] 0.34528502596833743 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99988841e-01 -1.41956000e-03 -4.50582570e-03 -1.70740933e+02] [ 1.39193960e-03 9.99980260e-01 -6.12715888e-03 -9.53667037e+01] [ 4.51443462e-03 6.12081867e-03 9.99971077e-01 2.96274854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03907232899996 meters Centerline goodness [0,1] 0.3649465559436903 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99991583e-01 -1.95659807e-03 -3.60645314e-03 -1.70742890e+02] [ 1.93336689e-03 9.99977434e-01 -6.43382649e-03 -9.53663134e+01] [ 3.61896017e-03 6.42679974e-03 9.99972799e-01 2.96274439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.069072329 meters Centerline goodness [0,1] 0.33670758998598704 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.37, Z:296.27 [[ 9.99993244e-01 -2.31386204e-03 -2.85605487e-03 -1.70744870e+02] [ 2.29537841e-03 9.99976512e-01 -6.45813291e-03 -9.53670083e+01] [ 2.87093101e-03 6.45153356e-03 9.99975067e-01 2.96274464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09907232899997 meters Centerline goodness [0,1] 0.36294793213815035 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.27 [[ 9.99974809e-01 -6.75548428e-03 -2.17821584e-03 -1.70746861e+02] [ 6.73242546e-03 9.99922993e-01 -1.04251328e-02 -9.53687375e+01] [ 2.24847492e-03 1.04102055e-02 9.99943284e-01 2.96274819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12907232899994 meters Centerline goodness [0,1] 0.3099625593507499 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.28 [[ 9.99974166e-01 -6.98858504e-03 -1.68148906e-03 -1.70748252e+02] [ 6.97046111e-03 9.99920018e-01 -1.05531746e-02 -9.53686042e+01] [ 1.75510633e-03 1.05411812e-02 9.99942900e-01 2.96275015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15907232899997 meters Centerline goodness [0,1] 0.37563748850430567 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.28 [[ 9.99965571e-01 -8.27461209e-03 -6.22241948e-04 -1.70751509e+02] [ 8.26697063e-03 9.99900652e-01 -1.14168134e-02 -9.53679217e+01] [ 7.16649832e-04 1.14112762e-02 9.99934632e-01 2.96275635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18907232899994 meters Centerline goodness [0,1] 0.3161404975956512 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.37, Z:296.28 [[ 9.99961966e-01 -8.71096375e-03 4.31062777e-04 -1.70754047e+02] [ 8.71517719e-03 9.99901579e-01 -1.09944869e-02 -9.53702702e+01] [-3.35247775e-04 1.09978255e-02 9.99939466e-01 2.96275281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21907232899997 meters Centerline goodness [0,1] 0.31337696827753503 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99960684e-01 -8.79397931e-03 1.13887820e-03 -1.70755664e+02] [ 8.80566715e-03 9.99903980e-01 -1.07000237e-02 -9.53716165e+01] [-1.04467306e-03 1.07096316e-02 9.99942105e-01 2.96274943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24907232899994 meters Centerline goodness [0,1] 0.31607105538140023 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99951630e-01 -9.57526595e-03 2.24758982e-03 -1.70758395e+02] [ 9.59900450e-03 9.99895605e-01 -1.07999500e-02 -9.53726947e+01] [-2.14394279e-03 1.08210022e-02 9.99939153e-01 2.96274650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.279072329 meters Centerline goodness [0,1] 0.3741671366209245 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.27 [[ 9.99953089e-01 -9.25645011e-03 2.85265503e-03 -1.70758972e+02] [ 9.28379175e-03 9.99909611e-01 -9.72525870e-03 -9.53761071e+01] [-2.76237581e-03 9.75128594e-03 9.99948640e-01 2.96273167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.30907232899995 meters Centerline goodness [0,1] 0.32678877597959266 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99975505e-01 -5.86194522e-03 3.82464453e-03 -1.70761228e+02] [ 5.88550403e-03 9.99963597e-01 -6.17783789e-03 -9.53749640e+01] [-3.78829116e-03 6.20019652e-03 9.99973603e-01 2.96272767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.339072329 meters Centerline goodness [0,1] 0.32300487152146184 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99986676e-01 -2.53972569e-03 4.49423570e-03 -1.70763029e+02] [ 2.55242710e-03 9.99992759e-01 -2.82267979e-03 -9.53734952e+01] [-4.48703432e-03 2.83411339e-03 9.99985917e-01 2.96272823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.36907232899995 meters Centerline goodness [0,1] 0.3527260568825361 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99991920e-01 -1.29381872e-03 3.80617300e-03 -1.70760403e+02] [ 1.30041987e-03 9.99997654e-01 -1.73236423e-03 -9.53744112e+01] [-3.80392271e-03 1.73729986e-03 9.99991256e-01 2.96271851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.399072329 meters Centerline goodness [0,1] 0.3462318386118951 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99991610e-01 -1.37742753e-03 3.85791855e-03 -1.70760765e+02] [ 1.38470119e-03 9.99997268e-01 -1.88334743e-03 -9.53738583e+01] [-3.85531384e-03 1.88867369e-03 9.99990785e-01 2.96272191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.42907232899995 meters Centerline goodness [0,1] 0.3222826086956522 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99994412e-01 -9.47909070e-04 3.20586272e-03 -1.70759155e+02] [ 9.53583180e-04 9.99997981e-01 -1.76885153e-03 -9.53730275e+01] [-3.20417954e-03 1.77189871e-03 9.99993297e-01 2.96272350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.459072329 meters Centerline goodness [0,1] 0.36553382829655967 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99997488e-01 -2.17871055e-04 2.23086093e-03 -1.70756903e+02] [ 2.21476777e-04 9.99998669e-01 -1.61617211e-03 -9.53713693e+01] [-2.23050584e-03 1.61666214e-03 9.99996206e-01 2.96272924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.48907232899995 meters Centerline goodness [0,1] 0.3242757409807282 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99997278e-01 -4.75149155e-04 2.28440903e-03 -1.70757140e+02] [ 4.79899147e-04 9.99997723e-01 -2.07921048e-03 -9.53696586e+01] [-2.28341589e-03 2.08030111e-03 9.99995229e-01 2.96273167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.519072329 meters Centerline goodness [0,1] 0.3133101948649327 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99998036e-01 -1.70671747e-04 1.97431629e-03 -1.70756801e+02] [ 1.74368184e-04 9.99998232e-01 -1.87224138e-03 -9.53696994e+01] [-1.97399326e-03 1.87258197e-03 9.99996298e-01 2.96273822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.54907232899996 meters Centerline goodness [0,1] 0.33575848804147845 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99998196e-01 -1.16906894e-04 1.89561718e-03 -1.70756886e+02] [ 1.20358836e-04 9.99998335e-01 -1.82100041e-03 -9.53697204e+01] [-1.89540114e-03 1.82122528e-03 9.99996545e-01 2.96274213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.579072329 meters Centerline goodness [0,1] 0.3340026773761714 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99997690e-01 -2.50786581e-04 2.13472638e-03 -1.70757657e+02] [ 2.54854694e-04 9.99998152e-01 -1.90562463e-03 -9.53694543e+01] [-2.13424453e-03 1.90616428e-03 9.99995906e-01 2.96274476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.60907232899996 meters Centerline goodness [0,1] 0.3535017869458901 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99995303e-01 -9.22432956e-04 2.92278881e-03 -1.70759704e+02] [ 9.29986452e-04 9.99996229e-01 -2.58404124e-03 -9.53680504e+01] [-2.92039419e-03 2.58674725e-03 9.99992390e-01 2.96274572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.639072329 meters Centerline goodness [0,1] 0.3436317648780284 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99995160e-01 -7.00781015e-04 3.03135316e-03 -1.70759984e+02] [ 7.07258957e-04 9.99997468e-01 -2.13643645e-03 -9.53693151e+01] [-3.02984831e-03 2.13857006e-03 9.99993123e-01 2.96274516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.66907232899996 meters Centerline goodness [0,1] 0.2921155576009874 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99993213e-01 -9.01147644e-04 3.57236618e-03 -1.70761059e+02] [ 9.08656368e-04 9.99997380e-01 -2.10082553e-03 -9.53696293e+01] [-3.57046367e-03 2.10405732e-03 9.99991412e-01 2.96274032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.699072329 meters Centerline goodness [0,1] 0.32936872909699 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99989467e-01 -1.11550150e-03 4.45219089e-03 -1.70762272e+02] [ 1.12224681e-03 9.99998226e-01 -1.51284251e-03 -9.53720798e+01] [-4.45049541e-03 1.51782303e-03 9.99988945e-01 2.96272437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.72907232899996 meters Centerline goodness [0,1] 0.36022247313176936 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99988134e-01 -1.06748157e-03 4.75314331e-03 -1.70762778e+02] [ 1.07347751e-03 9.99998631e-01 -1.25909595e-03 -9.53727937e+01] [-4.75179274e-03 1.26418340e-03 9.99987911e-01 2.96272049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.759072329 meters Centerline goodness [0,1] 0.3279861125635287 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.27 [[ 9.99986097e-01 -1.11936671e-03 5.15302334e-03 -1.70763764e+02] [ 1.12490294e-03 9.99998793e-01 -1.07159386e-03 -9.53736421e+01] [-5.15181762e-03 1.07737562e-03 9.99986149e-01 2.96271956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.78907232899996 meters Centerline goodness [0,1] 0.30777425014621107 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.27 [[ 9.99980333e-01 -1.50182244e-03 6.08920865e-03 -1.70765719e+02] [ 1.50781309e-03 9.99998384e-01 -9.79342528e-04 -9.53748416e+01] [-6.08772801e-03 9.88504656e-04 9.99980981e-01 2.96271276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.819072329 meters Centerline goodness [0,1] 0.3161503407333083 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.27 [[ 9.99979467e-01 -1.20363356e-03 6.29414908e-03 -1.70766092e+02] [ 1.20589205e-03 9.99999210e-01 -3.55041469e-04 -9.53767889e+01] [-6.29371676e-03 3.62624243e-04 9.99980129e-01 2.96270952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.84907232899997 meters Centerline goodness [0,1] 0.3253193402044614 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.27 [[ 9.99977713e-01 -1.17957438e-03 6.57132401e-03 -1.70766478e+02] [ 1.18122754e-03 9.99999272e-01 -2.47696900e-04 -9.53768432e+01] [-6.57102705e-03 2.55453609e-04 9.99978378e-01 2.96270541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87907232899994 meters Centerline goodness [0,1] 0.3096305875972549 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.27 [[ 9.99970299e-01 -4.77746127e-03 6.04794654e-03 -1.70764878e+02] [ 4.79997171e-03 9.99981587e-01 -3.71296912e-03 -9.53782572e+01] [-6.03009661e-03 3.74188881e-03 9.99974818e-01 2.96270258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.90907232899997 meters Centerline goodness [0,1] 0.31937599198061983 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.27 [[ 9.99976829e-01 -4.11945907e-03 5.41956596e-03 -1.70763217e+02] [ 4.13658200e-03 9.99986477e-01 -3.15205934e-03 -9.53787357e+01] [-5.40650789e-03 3.17440478e-03 9.99980346e-01 2.96270211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93907232899994 meters Centerline goodness [0,1] 0.32036747050840375 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.38, Z:296.27 [[ 9.99971336e-01 -4.64341235e-03 5.98039707e-03 -1.70764939e+02] [ 4.66550685e-03 9.99982324e-01 -3.68585030e-03 -9.53775664e+01] [-5.96317644e-03 3.71364623e-03 9.99975324e-01 2.96270644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.96907232899997 meters Centerline goodness [0,1] 0.32359503701386716 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.27 [[ 9.99958032e-01 -6.03865972e-03 6.88969047e-03 -1.70768361e+02] [ 6.07216638e-03 9.99969789e-01 -4.85279593e-03 -9.53762169e+01] [-6.86017794e-03 4.89442761e-03 9.99964491e-01 2.96272035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99907232899994 meters Centerline goodness [0,1] 0.3273045872707929 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.27 [[ 9.99948437e-01 -6.66556100e-03 7.66113648e-03 -1.70770375e+02] [ 6.70708501e-03 9.99962888e-01 -5.40723280e-03 -9.53749667e+01] [-7.62480992e-03 5.45833788e-03 9.99956033e-01 2.96272142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.029072329 meters Centerline goodness [0,1] 0.33972060050041697 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.27 [[ 9.99941135e-01 -6.87381048e-03 8.39508773e-03 -1.70772201e+02] [ 6.91804861e-03 9.99962278e-01 -5.25190258e-03 -9.53759195e+01] [-8.35867047e-03 5.30967105e-03 9.99950969e-01 2.96272034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05907232899995 meters Centerline goodness [0,1] 0.34582438882057476 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.38, Z:296.27 [[ 9.99905085e-01 -1.05632354e-02 8.84531690e-03 -1.70772424e+02] [ 1.06360682e-02 9.99909584e-01 -8.22790052e-03 -9.53794111e+01] [-8.75760389e-03 8.32119896e-03 9.99927028e-01 2.96270757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.089072329 meters Centerline goodness [0,1] 0.3404636810941539 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.27 [[ 9.99876028e-01 -1.20904257e-02 1.00871679e-02 -1.70775716e+02] [ 1.21775227e-02 9.99888711e-01 -8.61816507e-03 -9.53811548e+01] [-9.98184800e-03 8.73993337e-03 9.99911984e-01 2.96270574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.11907232899995 meters Centerline goodness [0,1] 0.3577625761241344 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.27 [[ 9.99837475e-01 -1.38687335e-02 1.15187311e-02 -1.70779079e+02] [ 1.39765955e-02 9.99858728e-01 -9.33693917e-03 -9.53826783e+01] [-1.13876123e-02 9.49641433e-03 9.99890064e-01 2.96270003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.149072329 meters Centerline goodness [0,1] 0.3636003750390666 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.27 [[ 9.99831383e-01 -1.38366522e-02 1.20728001e-02 -1.70780228e+02] [ 1.39450762e-02 9.99862766e-01 -8.94336783e-03 -9.53841287e+01] [-1.19473970e-02 9.11021594e-03 9.99887125e-01 2.96269565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.17907232899995 meters Centerline goodness [0,1] 0.30133594140169806 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.39, Z:296.27 [[ 9.99832539e-01 -1.36525029e-02 1.21861561e-02 -1.70780362e+02] [ 1.37571667e-02 9.99868839e-01 -8.54664292e-03 -9.53851541e+01] [-1.20678747e-02 8.71285867e-03 9.99889220e-01 2.96269294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.209072329 meters Centerline goodness [0,1] 0.3274412004090407 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.27 [[ 9.99859108e-01 -1.04426164e-02 1.31421651e-02 -1.70782561e+02] [ 1.05101439e-02 9.99931864e-01 -5.07969633e-03 -9.53838783e+01] [-1.30882243e-02 5.21710669e-03 9.99900735e-01 2.96268848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.23907232899995 meters Centerline goodness [0,1] 0.33171311748998666 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.27 [[ 9.99832913e-01 -1.14938155e-02 1.42140255e-02 -1.70784994e+02] [ 1.15770044e-02 9.99916254e-01 -5.78422670e-03 -9.53830070e+01] [-1.41463523e-02 5.94781606e-03 9.99882245e-01 2.96268472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.269072329 meters Centerline goodness [0,1] 0.3477979274611399 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.27 [[ 9.99831446e-01 -1.13685149e-02 1.44165220e-02 -1.70784998e+02] [ 1.14486976e-02 9.99919382e-01 -5.49157634e-03 -9.53835233e+01] [-1.43529287e-02 5.65570112e-03 9.99880996e-01 2.96267718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.29907232899996 meters Centerline goodness [0,1] 0.34098456525825516 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99802529e-01 -1.22768949e-02 1.56263098e-02 -1.70787468e+02] [ 1.23673964e-02 9.99907228e-01 -5.70820513e-03 -9.53842586e+01] [-1.55547810e-02 5.90033469e-03 9.99861608e-01 2.96266786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.329072329 meters Centerline goodness [0,1] 0.37391649435010543 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99808211e-01 -1.20380532e-02 1.54475090e-02 -1.70787109e+02] [ 1.21227736e-02 9.99911922e-01 -5.40253015e-03 -9.53847820e+01] [-1.53811124e-02 5.58876066e-03 9.99866085e-01 2.96266875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.35907232899996 meters Centerline goodness [0,1] 0.3237273259215916 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99812450e-01 -1.19938225e-02 1.52056668e-02 -1.70786832e+02] [ 1.20795026e-02 9.99911607e-01 -5.55547908e-03 -9.53837416e+01] [-1.51376913e-02 5.73811404e-03 9.99868954e-01 2.96267355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.389072329 meters Centerline goodness [0,1] 0.3423389540107399 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99792732e-01 -1.26174659e-02 1.59779053e-02 -1.70788946e+02] [ 1.27176415e-02 9.99900007e-01 -6.18362041e-03 -9.53823307e+01] [-1.58982860e-02 6.38554002e-03 9.99853224e-01 2.96267585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41907232899996 meters Centerline goodness [0,1] 0.3369642335461792 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99794244e-01 -1.24591171e-02 1.60074711e-02 -1.70789692e+02] [ 1.25551809e-02 9.99903687e-01 -5.91476542e-03 -9.53832152e+01] [-1.59322366e-02 6.11452512e-03 9.99854378e-01 2.96268429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.449072329 meters Centerline goodness [0,1] 0.368629577112353 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99735589e-01 -1.54313098e-02 1.70477779e-02 -1.70793667e+02] [ 1.55862570e-02 9.99838077e-01 -8.99381979e-03 -9.53796281e+01] [-1.69062311e-02 9.25715278e-03 9.99814225e-01 2.96270231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47907232899996 meters Centerline goodness [0,1] 0.37641538942758834 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99727525e-01 -1.54872537e-02 1.74648175e-02 -1.70794669e+02] [ 1.56443685e-02 9.99838048e-01 -8.89561737e-03 -9.53800513e+01] [-1.73242203e-02 9.16641958e-03 9.99807906e-01 2.96270077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.509072329 meters Centerline goodness [0,1] 0.34848769099285015 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.38, Z:296.27 [[ 9.99716224e-01 -1.55643930e-02 1.80339033e-02 -1.70795699e+02] [ 1.57219667e-02 9.99839167e-01 -8.62904991e-03 -9.53809778e+01] [-1.78966969e-02 8.91012961e-03 9.99800139e-01 2.96269389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53907232899996 meters Centerline goodness [0,1] 0.348862473102555 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.38, Z:296.27 [[ 9.99760383e-01 -1.15095824e-02 1.86200588e-02 -1.70796371e+02] [ 1.15873951e-02 9.99924554e-01 -4.07649275e-03 -9.53822177e+01] [-1.85717353e-02 4.29127393e-03 9.99818321e-01 2.96267865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.569072329 meters Centerline goodness [0,1] 0.35772255951263277 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.39, Z:296.27 [[ 9.99787169e-01 -1.02330073e-02 1.79137245e-02 -1.70793733e+02] [ 1.02796764e-02 9.99944000e-01 -2.51507497e-03 -9.53850713e+01] [-1.78869846e-02 2.69868698e-03 9.99836373e-01 2.96266631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59907232899997 meters Centerline goodness [0,1] 0.3673959333639514 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99809792e-01 -9.25195402e-03 1.71691651e-02 -1.70791015e+02] [ 9.28497040e-03 9.99955193e-01 -1.84428633e-03 -9.53846651e+01] [-1.71513325e-02 2.00335072e-03 9.99850898e-01 2.96265650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62907232899994 meters Centerline goodness [0,1] 0.3257597926508089 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99839198e-01 -5.69441996e-03 1.70044403e-02 -1.70792050e+02] [ 5.67593636e-03 9.99983248e-01 1.13505073e-03 -9.53814332e+01] [-1.70106189e-02 -1.03835209e-03 9.99854770e-01 2.96267501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65907232899997 meters Centerline goodness [0,1] 0.33944417764600254 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99847711e-01 -5.75715853e-03 1.64745213e-02 -1.70791421e+02] [ 5.74766383e-03 9.99983288e-01 6.23616740e-04 -9.53795434e+01] [-1.64778362e-02 -5.28831761e-04 9.99864091e-01 2.96268483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68907232899994 meters Centerline goodness [0,1] 0.32878142487263007 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99852325e-01 -5.97684245e-03 1.61122907e-02 -1.70791221e+02] [ 5.97915213e-03 9.99982120e-01 -9.51802033e-05 -9.53771756e+01] [-1.61114338e-02 1.91503985e-04 9.99870184e-01 2.96269480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71907232899997 meters Centerline goodness [0,1] 0.32878142487263007 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.38, Z:296.27 [[ 9.99852325e-01 -5.97684245e-03 1.61122907e-02 -1.70791221e+02] [ 5.97915213e-03 9.99982120e-01 -9.51802033e-05 -9.53771756e+01] [-1.61114338e-02 1.91503985e-04 9.99870184e-01 2.96269480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74907232899994 meters Centerline goodness [0,1] 0.3296561216190853 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.27 [[ 9.99924759e-01 -2.52374216e-03 1.20044832e-02 -1.70782870e+02] [ 2.53845804e-03 9.99996045e-01 -1.21078622e-03 -9.53768286e+01] [-1.20013800e-02 1.24116800e-03 9.99927211e-01 2.96274610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.779072329 meters Centerline goodness [0,1] 0.32483810319615625 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.27 [[ 9.99939046e-01 -1.06963561e-03 1.09890800e-02 -1.70780209e+02] [ 1.07545317e-03 9.99999285e-01 -5.23498676e-04 -9.53755526e+01] [-1.09885122e-02 5.35285007e-04 9.99939481e-01 2.96274618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.80907232899995 meters Centerline goodness [0,1] 0.34029937994530157 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.38, Z:296.28 [[ 9.99952453e-01 -3.39673767e-05 9.75149006e-03 -1.70777306e+02] [ 3.46248181e-05 9.99999997e-01 -6.72507724e-05 -9.53750385e+01] [-9.75148775e-03 6.75852184e-05 9.99952451e-01 2.96275011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.839072329 meters Centerline goodness [0,1] 0.33526132258670727 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.28 [[ 9.99949082e-01 3.82035664e-03 9.34011420e-03 -1.70776663e+02] [-3.84992232e-03 9.99987629e-01 3.14952341e-03 -9.53715316e+01] [-9.32796635e-03 -3.18532176e-03 9.99951420e-01 2.96275632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.86907232899995 meters Centerline goodness [0,1] 0.27894451171141077 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.28 [[ 9.99951715e-01 3.58824140e-03 9.14831066e-03 -1.70776323e+02] [-3.61227651e-03 9.99990064e-01 2.61210517e-03 -9.53697843e+01] [-9.13884690e-03 -2.64502527e-03 9.99954742e-01 2.96275848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.899072329 meters Centerline goodness [0,1] 0.2822885551354626 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.28 [[ 9.99954814e-01 3.69987280e-03 8.75680779e-03 -1.70775674e+02] [-3.72237538e-03 9.99989808e-01 2.55482169e-03 -9.53693879e+01] [-8.74726603e-03 -2.58730237e-03 9.99958395e-01 2.96276254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.92907232899995 meters Centerline goodness [0,1] 0.3223838181210298 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.28 [[ 9.99955502e-01 3.94747700e-03 8.56801619e-03 -1.70775723e+02] [-3.97122308e-03 9.99988316e-01 2.75623812e-03 -9.53700307e+01] [-8.55703589e-03 -2.79014098e-03 9.99959495e-01 2.96276829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.959072329 meters Centerline goodness [0,1] 0.29903180611028624 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.28 [[ 9.99959979e-01 4.22081671e-03 7.88827219e-03 -1.70774297e+02] [-4.24199179e-03 9.99987439e-01 2.66957429e-03 -9.53691985e+01] [-7.87690533e-03 -2.70292944e-03 9.99965324e-01 2.96277184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.98907232899995 meters Centerline goodness [0,1] 0.3204969983475223 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.28 [[ 9.99937110e-01 8.85248222e-03 6.88540349e-03 -1.70771786e+02] [-8.89784370e-03 9.99938727e-01 6.58557023e-03 -9.53668312e+01] [-6.82668296e-03 -6.64642131e-03 9.99954610e-01 2.96277393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.019072329 meters Centerline goodness [0,1] 0.2984655962822633 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.28 [[ 9.99927806e-01 1.05332978e-02 5.78199311e-03 -1.70768267e+02] [-1.05789276e-02 9.99912687e-01 7.91867749e-03 -9.53675023e+01] [-5.69807848e-03 -7.97927310e-03 9.99951930e-01 2.96276587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.04907232899996 meters Centerline goodness [0,1] 0.34091337790539267 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.28 [[ 9.99928883e-01 1.07387444e-02 5.18733640e-03 -1.70766360e+02] [-1.07786322e-02 9.99912079e-01 7.72368906e-03 -9.53659146e+01] [-5.10393760e-03 -7.77905216e-03 9.99956717e-01 2.96276076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.079072329 meters Centerline goodness [0,1] 0.32098558498156216 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.28 [[ 9.99924993e-01 1.13916668e-02 4.49871533e-03 -1.70764368e+02] [-1.14290516e-02 9.99899624e-01 8.37372989e-03 -9.53670153e+01] [-4.40287302e-03 -8.42451785e-03 9.99954820e-01 2.96275689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.10907232899996 meters Centerline goodness [0,1] 0.33375251509054327 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.28 [[ 9.99918901e-01 1.22706048e-02 3.40949573e-03 -1.70761734e+02] [-1.22996038e-02 9.99887212e-01 8.61871986e-03 -9.53660025e+01] [-3.30335427e-03 -8.65995633e-03 9.99957046e-01 2.96275974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.139072329 meters Centerline goodness [0,1] 0.34226583632131846 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.37, Z:296.28 [[ 9.99912024e-01 1.30098015e-02 2.58652096e-03 -1.70759456e+02] [-1.30321363e-02 9.99876227e-01 8.81437975e-03 -9.53650957e+01] [-2.47152749e-03 -8.84731218e-03 9.99957807e-01 2.96275769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.16907232899996 meters Centerline goodness [0,1] 0.331978717164523 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.36, Z:296.28 [[ 9.99911548e-01 1.31223486e-02 2.16809711e-03 -1.70758737e+02] [-1.31408220e-02 9.99875474e-01 8.73814847e-03 -9.53645840e+01] [-2.05316209e-03 -8.76586614e-03 9.99959471e-01 2.96276234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.199072329 meters Centerline goodness [0,1] 0.3582455845953769 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.36, Z:296.28 [[ 9.99905646e-01 1.36982946e-02 1.02770360e-03 -1.70756447e+02] [-1.37065434e-02 9.99869916e-01 8.50192329e-03 -9.53622882e+01] [-9.11108060e-04 -8.51520737e-03 9.99963330e-01 2.96277246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.22907232899996 meters Centerline goodness [0,1] 0.33992293516501926 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.28 [[ 9.99890976e-01 1.47656991e-02 -9.73671742e-05 -1.70753578e+02] [-1.47642885e-02 9.99852965e-01 8.72151903e-03 -9.53603904e+01] [ 2.26132183e-04 -8.71913062e-03 9.99961962e-01 2.96277537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.259072329 meters Centerline goodness [0,1] 0.32809487888693323 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.28 [[ 9.99888443e-01 1.48942057e-02 -1.12413870e-03 -1.70751888e+02] [-1.48849198e-02 9.99858317e-01 7.86039038e-03 -9.53566703e+01] [ 1.24105370e-03 -7.84278078e-03 9.99968475e-01 2.96279072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.28907232899996 meters Centerline goodness [0,1] 0.3224313741912519 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.35, Z:296.28 [[ 9.99893982e-01 1.45083764e-02 -1.23743433e-03 -1.70752453e+02] [-1.44992762e-02 9.99869879e-01 7.07077017e-03 -9.53544787e+01] [ 1.33985871e-03 -7.05207864e-03 9.99974236e-01 2.96280232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.319072329 meters Centerline goodness [0,1] 0.36222501571338783 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.35, Z:296.28 [[ 9.99895487e-01 1.43647661e-02 -1.63349034e-03 -1.70752110e+02] [-1.43537962e-02 9.99875591e-01 6.53996103e-03 -9.53528202e+01] [ 1.72723213e-03 -6.51583073e-03 9.99977280e-01 2.96281134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.34907232899997 meters Centerline goodness [0,1] 0.3488698493830781 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.35, Z:296.28 [[ 9.99873378e-01 1.56499893e-02 -2.88184957e-03 -1.70749028e+02] [-1.56300271e-02 9.99854558e-01 6.82379156e-03 -9.53507715e+01] [ 2.98822270e-03 -6.77788414e-03 9.99972565e-01 2.96281540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37907232899994 meters Centerline goodness [0,1] 0.3418670912595324 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.35, Z:296.28 [[ 9.99854361e-01 1.65945133e-02 -3.98483281e-03 -1.70746085e+02] [-1.65661207e-02 9.99837879e-01 7.05549405e-03 -9.53492557e+01] [ 4.10126927e-03 -6.98845328e-03 9.99967170e-01 2.96281529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.40907232899997 meters Centerline goodness [0,1] 0.3563599019135246 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99834685e-01 1.74670038e-02 -5.05042375e-03 -1.70743262e+02] [-1.74291624e-02 9.99820404e-01 7.44209058e-03 -9.53485279e+01] [ 5.17950774e-03 -7.35283563e-03 9.99959553e-01 2.96281478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43907232899994 meters Centerline goodness [0,1] 0.3137456683818125 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99750601e-01 2.16556744e-02 -5.45591073e-03 -1.70742066e+02] [-2.15945200e-02 9.99705977e-01 1.10289103e-02 -9.53457891e+01] [ 5.69314506e-03 -1.09083420e-02 9.99924295e-01 2.96281659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.46907232899997 meters Centerline goodness [0,1] 0.3431099184469276 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99749228e-01 2.17092063e-02 -5.49463050e-03 -1.70742073e+02] [-2.16478160e-02 9.99705187e-01 1.09959777e-02 -9.53455543e+01] [ 5.73172456e-03 -1.08742735e-02 9.99924446e-01 2.96281789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49907232899994 meters Centerline goodness [0,1] 0.3138624871488219 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99745844e-01 2.18558297e-02 -5.52897815e-03 -1.70742160e+02] [-2.17931160e-02 9.99700218e-01 1.11594942e-02 -9.53460476e+01] [ 5.77122067e-03 -1.10361643e-02 9.99922445e-01 2.96281972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.529072329 meters Centerline goodness [0,1] 0.311986588432523 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99815759e-01 1.81416353e-02 -6.27131298e-03 -1.70741289e+02] [-1.80965909e-02 9.99810561e-01 7.16624945e-03 -9.53462014e+01] [ 6.40013243e-03 -7.05143974e-03 9.99954657e-01 2.96283055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55907232899995 meters Centerline goodness [0,1] 0.32385733709862985 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99857851e-01 1.51782766e-02 -7.34151586e-03 -1.70739292e+02] [-1.51500567e-02 9.99877686e-01 3.88434610e-03 -9.53470354e+01] [ 7.39957558e-03 -3.77256956e-03 9.99965506e-01 2.96283774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.589072329 meters Centerline goodness [0,1] 0.3333821928134685 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99895317e-01 1.19073895e-02 -8.22007852e-03 -1.70737422e+02] [-1.19050200e-02 9.99929076e-01 3.37124094e-04 -9.53472172e+01] [ 8.22350979e-03 -2.39228603e-04 9.99966158e-01 2.96284165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.61907232899995 meters Centerline goodness [0,1] 0.3346119180867342 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99892172e-01 1.21224725e-02 -8.28789073e-03 -1.70737299e+02] [-1.21169463e-02 9.99926330e-01 7.16678189e-04 -9.53483451e+01] [ 8.29596808e-03 -6.16176985e-04 9.99965398e-01 2.96284171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.649072329 meters Centerline goodness [0,1] 0.33145526139410186 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99892212e-01 1.21776843e-02 -8.20175043e-03 -1.70737426e+02] [-1.21709759e-02 9.99925555e-01 8.67337788e-04 -9.53486887e+01] [ 8.21170202e-03 -7.67420992e-04 9.99965989e-01 2.96284027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.67907232899995 meters Centerline goodness [0,1] 0.3294415500177851 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99918129e-01 9.19776214e-03 -8.89591667e-03 -1.70735092e+02] [-9.21736311e-03 9.99955176e-01 -2.16488255e-03 -9.53497618e+01] [ 8.87560584e-03 2.24670220e-03 9.99958087e-01 2.96283373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.709072329 meters Centerline goodness [0,1] 0.3346029885731029 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99953636e-01 5.02562133e-03 -8.21394225e-03 -1.70736202e+02] [-5.07065460e-03 9.99972178e-01 -5.47094100e-03 -9.53529234e+01] [ 8.18621885e-03 5.51233741e-03 9.99951299e-01 2.96282255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.73907232899995 meters Centerline goodness [0,1] 0.34335393317272445 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99961568e-01 4.78537114e-03 -7.34596739e-03 -1.70737884e+02] [-4.82362161e-03 9.99974856e-01 -5.19814618e-03 -9.53542084e+01] [ 7.32090762e-03 5.23338057e-03 9.99959507e-01 2.96281396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.769072329 meters Centerline goodness [0,1] 0.3457566044455618 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.35, Z:296.28 [[ 9.99973956e-01 3.72076574e-03 -6.18408992e-03 -1.70740105e+02] [-3.75638374e-03 9.99976367e-01 -5.75801811e-03 -9.53537066e+01] [ 6.16251953e-03 5.78109797e-03 9.99964300e-01 2.96280376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.79907232899996 meters Centerline goodness [0,1] 0.3208317627842694 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.28 [[ 9.99983979e-01 2.90011398e-03 -4.86125131e-03 -1.70743127e+02] [-2.92654586e-03 9.99980926e-01 -5.43899406e-03 -9.53559231e+01] [ 4.84538489e-03 5.45313360e-03 9.99973392e-01 2.96279617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.829072329 meters Centerline goodness [0,1] 0.3594931406429993 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.28 [[ 9.99988633e-01 2.60830406e-03 -3.99139404e-03 -1.70745239e+02] [-2.62975430e-03 9.99982079e-01 -5.37834354e-03 -9.53567920e+01] [ 3.97729415e-03 5.38877879e-03 9.99977571e-01 2.96279396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.85907232899996 meters Centerline goodness [0,1] 0.3432695324756825 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.28 [[ 9.99995613e-01 9.54458069e-04 -2.80414747e-03 -1.70748743e+02] [-9.72569232e-04 9.99978632e-01 -6.46445682e-03 -9.53566976e+01] [ 2.79791750e-03 6.46715569e-03 9.99975173e-01 2.96279785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.889072329 meters Centerline goodness [0,1] 0.3602487072665229 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.28 [[ 9.99995609e-01 1.08376004e-03 -2.75825013e-03 -1.70748774e+02] [-1.10097276e-03 9.99979884e-01 -6.24660135e-03 -9.53571527e+01] [ 2.75142483e-03 6.24961068e-03 9.99976686e-01 2.96279633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91907232899996 meters Centerline goodness [0,1] 0.342755518359661 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.28 [[ 9.99997903e-01 4.99080406e-04 -1.98637022e-03 -1.70750762e+02] [-5.12116975e-04 9.99978300e-01 -6.56792211e-03 -9.53571036e+01] [ 1.98304920e-03 6.56892559e-03 9.99976458e-01 2.96279586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.949072329 meters Centerline goodness [0,1] 0.3450282604144861 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.28 [[ 9.99996124e-01 1.19431392e-03 -2.51487746e-03 -1.70749295e+02] [-1.20895424e-03 9.99982286e-01 -5.82803134e-03 -9.53583625e+01] [ 2.50787241e-03 5.83104912e-03 9.99979855e-01 2.96279388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97907232899996 meters Centerline goodness [0,1] 0.34239983261847473 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.28 [[ 9.99992763e-01 1.69743617e-03 -3.40477802e-03 -1.70747357e+02] [-1.71781276e-03 9.99980580e-01 -5.99073432e-03 -9.53564486e+01] [ 3.39454301e-03 5.99653974e-03 9.99976259e-01 2.96280144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.009072329 meters Centerline goodness [0,1] 0.3588178740124567 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.28 [[ 9.99985554e-01 3.13398232e-03 -4.36701282e-03 -1.70744546e+02] [-3.15447751e-03 9.99984007e-01 -4.69422574e-03 -9.53577206e+01] [ 4.35223135e-03 4.70793357e-03 9.99979447e-01 2.96279860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03907232899996 meters Centerline goodness [0,1] 0.31930822476421505 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.28 [[ 9.99981787e-01 3.40762815e-03 -4.98125497e-03 -1.70742945e+02] [-3.43195333e-03 9.99982189e-01 -4.88298001e-03 -9.53559216e+01] [ 4.96452687e-03 4.89998651e-03 9.99975672e-01 2.96279998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.069072329 meters Centerline goodness [0,1] 0.29132572983153704 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.28 [[ 9.99967958e-01 5.36694095e-03 -5.93960487e-03 -1.70739262e+02] [-5.38428870e-03 9.99981275e-01 -2.90856496e-03 -9.53584675e+01] [ 5.92388356e-03 2.94045231e-03 9.99978130e-01 2.96278503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09907232899997 meters Centerline goodness [0,1] 0.30223382045929015 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.28 [[ 9.99962109e-01 5.86399263e-03 -6.43389628e-03 -1.70737523e+02] [-5.88113390e-03 9.99979199e-01 -2.64853497e-03 -9.53580759e+01] [ 6.41823146e-03 2.68627322e-03 9.99975795e-01 2.96277974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12907232899994 meters Centerline goodness [0,1] 0.306968181913269 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.28 [[ 9.99952352e-01 6.60622556e-03 -7.18693465e-03 -1.70735715e+02] [-6.62134685e-03 9.99975911e-01 -2.08224156e-03 -9.53586870e+01] [ 7.17300576e-03 2.12972954e-03 9.99972006e-01 2.96278080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15907232899997 meters Centerline goodness [0,1] 0.30952679804192296 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99937829e-01 7.65873689e-03 -8.10449739e-03 -1.70732628e+02] [-7.67309657e-03 9.99969044e-01 -1.74220729e-03 -9.53567723e+01] [ 8.09090339e-03 1.80428556e-03 9.99965640e-01 2.96277582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18907232899994 meters Centerline goodness [0,1] 0.31330516981763423 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99919455e-01 8.83442085e-03 -9.11243655e-03 -1.70729645e+02] [-8.84373619e-03 9.99960411e-01 -9.82478218e-04 -9.53567486e+01] [ 9.10339617e-03 1.06298707e-03 9.99957998e-01 2.96277246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21907232899997 meters Centerline goodness [0,1] 0.3100768699076304 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99895691e-01 1.02866051e-02 -1.01387149e-02 -1.70726775e+02] [-1.02897357e-02 9.99947026e-01 -2.56655636e-04 -9.53558613e+01] [ 1.01355377e-02 3.60953562e-04 9.99948569e-01 2.96277225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24907232899994 meters Centerline goodness [0,1] 0.31681490007324475 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.28 [[ 9.99884872e-01 1.06033160e-02 -1.08541043e-02 -1.70725011e+02] [-1.06096702e-02 9.99943576e-01 -5.28006454e-04 -9.53537802e+01] [ 1.08478933e-02 6.43104134e-04 9.99940953e-01 2.96277524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.279072329 meters Centerline goodness [0,1] 0.32891568787555225 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.35, Z:296.28 [[ 9.99879423e-01 1.07870710e-02 -1.11704277e-02 -1.70724162e+02] [-1.07939953e-02 9.99941586e-01 -5.59775628e-04 -9.53531552e+01] [ 1.11637368e-02 6.80281676e-04 9.99937452e-01 2.96277501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.30907232899995 meters Centerline goodness [0,1] 0.31848706094014767 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.35, Z:296.28 [[ 9.99867229e-01 1.12935053e-02 -1.17465375e-02 -1.70722811e+02] [-1.12985951e-02 9.99936101e-01 -3.67035875e-04 -9.53529355e+01] [ 1.17416418e-02 4.99706515e-04 9.99930940e-01 2.96277686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.339072329 meters Centerline goodness [0,1] 0.3285612625057558 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.35, Z:296.28 [[ 9.99857886e-01 1.15219972e-02 -1.23065956e-02 -1.70721443e+02] [-1.15295709e-02 9.99933384e-01 -5.44640826e-04 -9.53514453e+01] [ 1.22995005e-02 6.86453191e-04 9.99924123e-01 2.96277904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.36907232899995 meters Centerline goodness [0,1] 0.3195822345012349 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.35, Z:296.28 [[ 9.99864153e-01 1.11151912e-02 -1.21707988e-02 -1.70722032e+02] [-1.11293276e-02 9.99937468e-01 -1.09438524e-03 -9.53499938e+01] [ 1.21578735e-02 1.22968937e-03 9.99925334e-01 2.96278239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.399072329 meters Centerline goodness [0,1] 0.321692214391769 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.35, Z:296.28 [[ 9.99850517e-01 1.16412157e-02 -1.27838019e-02 -1.70720481e+02] [-1.16523092e-02 9.99931795e-01 -7.93633729e-04 -9.53499030e+01] [ 1.27736911e-02 9.42475906e-04 9.99917969e-01 2.96278344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.42907232899995 meters Centerline goodness [0,1] 0.33827812349403896 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.35, Z:296.28 [[ 9.99862288e-01 1.11740056e-02 -1.22697252e-02 -1.70722312e+02] [-1.11892822e-02 9.99936705e-01 -1.17711757e-03 -9.53494678e+01] [ 1.22557955e-02 1.31424488e-03 9.99924031e-01 2.96278954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.459072329 meters Centerline goodness [0,1] 0.3533142175432722 Centerline is valid? [False, False] Translation: X:-170.72, Y:-95.35, Z:296.28 [[ 9.99877967e-01 1.05632177e-02 -1.15095630e-02 -1.70724516e+02] [-1.05826727e-02 9.99942672e-01 -1.63074642e-03 -9.53490996e+01] [ 1.14916772e-02 1.75234935e-03 9.99932433e-01 2.96279190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.48907232899995 meters Centerline goodness [0,1] 0.31443579440817004 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.28 [[ 9.99885171e-01 1.03604244e-02 -1.10591930e-02 -1.70725773e+02] [-1.03791720e-02 9.99944791e-01 -1.63915459e-03 -9.53494940e+01] [ 1.10416001e-02 1.75375164e-03 9.99937502e-01 2.96279257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.519072329 meters Centerline goodness [0,1] 0.34746967795901296 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.28 [[ 9.99914736e-01 6.68579348e-03 -1.12169469e-02 -1.70725112e+02] [-6.74178741e-03 9.99964965e-01 -4.96154092e-03 -9.53513870e+01] [ 1.11833821e-02 5.03674015e-03 9.99924779e-01 2.96278864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.54907232899996 meters Centerline goodness [0,1] 0.35134569503160185 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.28 [[ 9.99922116e-01 6.60254113e-03 -1.05909373e-02 -1.70726591e+02] [-6.65176976e-03 9.99967206e-01 -4.61971339e-03 -9.53528810e+01] [ 1.05600881e-02 4.68980207e-03 9.99933243e-01 2.96278565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.579072329 meters Centerline goodness [0,1] 0.31194061062317024 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.28 [[ 9.99927626e-01 6.48070910e-03 -1.01362524e-02 -1.70727521e+02] [-6.52703065e-03 9.99968377e-01 -4.54350416e-03 -9.53532364e+01] [ 1.01064867e-02 4.60933495e-03 9.99938305e-01 2.96278195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.60907232899996 meters Centerline goodness [0,1] 0.36329580176635556 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.28 [[ 9.99920227e-01 7.10244743e-03 -1.04448344e-02 -1.70726319e+02] [-7.14172317e-03 9.99967549e-01 -3.72782453e-03 -9.53548237e+01] [ 1.04180188e-02 3.80212127e-03 9.99938502e-01 2.96277642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.639072329 meters Centerline goodness [0,1] 0.36329580176635556 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.28 [[ 9.99920227e-01 7.10244743e-03 -1.04448344e-02 -1.70726319e+02] [-7.14172317e-03 9.99967549e-01 -3.72782453e-03 -9.53548237e+01] [ 1.04180188e-02 3.80212127e-03 9.99938502e-01 2.96277642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.66907232899996 meters Centerline goodness [0,1] 0.36891923020543216 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.28 [[ 9.99920609e-01 7.09408807e-03 -1.04138696e-02 -1.70726205e+02] [-7.13322907e-03 9.99967616e-01 -3.72622597e-03 -9.53544660e+01] [ 1.03870982e-02 3.80021466e-03 9.99938831e-01 2.96277394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.699072329 meters Centerline goodness [0,1] 0.3740600322573888 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.28 [[ 9.99922925e-01 7.02875693e-03 -1.02342519e-02 -1.70726541e+02] [-7.06816963e-03 9.99967724e-01 -3.81999387e-03 -9.53539175e+01] [ 1.02070717e-02 3.89203687e-03 9.99940332e-01 2.96277293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.72907232899996 meters Centerline goodness [0,1] 0.3278101302945243 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99923304e-01 7.21719105e-03 -1.00647333e-02 -1.70726903e+02] [-7.25189311e-03 9.99967871e-01 -3.41566472e-03 -9.53551016e+01] [ 1.00397584e-02 3.48839112e-03 9.99943516e-01 2.96277112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.759072329 meters Centerline goodness [0,1] 0.3458492226459372 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.35, Z:296.28 [[ 9.99931528e-01 6.90981260e-03 -9.44420359e-03 -1.70728296e+02] [-6.94390053e-03 9.99969477e-01 -3.58138981e-03 -9.53549003e+01] [ 9.41916859e-03 3.64672420e-03 9.99948989e-01 2.96276834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.78907232899996 meters Centerline goodness [0,1] 0.3518960821286403 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99934944e-01 6.82997066e-03 -9.13561652e-03 -1.70728926e+02] [-6.86204409e-03 9.99970386e-01 -3.48408585e-03 -9.53553034e+01] [ 9.11154977e-03 3.54654819e-03 9.99952200e-01 2.96276591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.819072329 meters Centerline goodness [0,1] 0.3448680351906158 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99950474e-01 3.21525724e-03 -9.41867048e-03 -1.70727605e+02] [-3.27915006e-03 9.99971666e-01 -6.77606388e-03 -9.53567423e+01] [ 9.39661682e-03 6.80661353e-03 9.99932685e-01 2.96275865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.84907232899997 meters Centerline goodness [0,1] 0.3630217272993679 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99950665e-01 3.29589641e-03 -9.37040088e-03 -1.70727745e+02] [-3.35825939e-03 9.99972267e-01 -6.64738956e-03 -9.53567804e+01] [ 9.34823190e-03 6.67852985e-03 9.99934002e-01 2.96275916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87907232899994 meters Centerline goodness [0,1] 0.3558042250575193 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99964299e-01 1.52571714e-03 -8.31096868e-03 -1.70731795e+02] [-1.59145386e-03 9.99967459e-01 -7.90877211e-03 -9.53564697e+01] [ 8.29863168e-03 7.92171629e-03 9.99934187e-01 2.96277284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.90907232899997 meters Centerline goodness [0,1] 0.3288848913339051 Centerline is valid? [False, False] Translation: X:-170.73, Y:-95.36, Z:296.28 [[ 9.99950203e-01 -6.44508731e-03 -7.61921820e-03 -1.70733905e+02] [ 6.33102073e-03 9.99868925e-01 -1.49014046e-02 -9.53614722e+01] [ 7.71426036e-03 1.48524251e-02 9.99859938e-01 2.96277512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93907232899994 meters Centerline goodness [0,1] 0.3655405970398863 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.28 [[ 9.99918775e-01 -1.06203579e-02 -7.04638180e-03 -1.70735268e+02] [ 1.04875610e-02 9.99771577e-01 -1.86227213e-02 -9.53635474e+01] [ 7.24255220e-03 1.85473094e-02 9.99801752e-01 2.96277345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.96907232899997 meters Centerline goodness [0,1] 0.3669653861419231 Centerline is valid? [False, False] Translation: X:-170.74, Y:-95.36, Z:296.28 [[ 9.99905276e-01 -1.24964368e-02 -5.76876984e-03 -1.70739334e+02] [ 1.23815093e-02 9.99732295e-01 -1.95457469e-02 -9.53648187e+01] [ 6.01147770e-03 1.94724693e-02 9.99792321e-01 2.96277858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99907232899994 meters Centerline goodness [0,1] 0.3498077405333111 Centerline is valid? [False, False] Translation: X:-170.75, Y:-95.36, Z:296.27 [[ 9.99827611e-01 -1.85556840e-02 -6.59596811e-04 -1.70752388e+02] [ 1.85408929e-02 9.99667543e-01 -1.79175603e-02 -9.53646446e+01] [ 9.91850111e-04 1.79022420e-02 9.99839250e-01 2.96271698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.029072329 meters Centerline goodness [0,1] 0.3636933492133141 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.36, Z:296.27 [[ 9.99751556e-01 -2.20233654e-02 3.43482634e-03 -1.70761400e+02] [ 2.20763912e-02 9.99624208e-01 -1.62503866e-02 -9.53649862e+01] [-3.07564736e-03 1.63221778e-02 9.99862054e-01 2.96266542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05907232899995 meters Centerline goodness [0,1] 0.3297176416494242 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.37, Z:296.26 [[ 9.99564540e-01 -2.82558972e-02 8.50496566e-03 -1.70774368e+02] [ 2.83704842e-02 9.99504026e-01 -1.36681285e-02 -9.53664383e+01] [-8.11454218e-03 1.39034665e-02 9.99870416e-01 2.96259153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.089072329 meters Centerline goodness [0,1] 0.337254738073845 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99560589e-01 -2.81731864e-02 9.21413240e-03 -1.70775365e+02] [ 2.82914698e-02 9.99515580e-01 -1.29691486e-02 -9.53686036e+01] [-8.84428664e-03 1.32241311e-02 9.99873442e-01 2.96257837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.11907232899995 meters Centerline goodness [0,1] 0.3172596786661931 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99527248e-01 -2.89191119e-02 1.04386928e-02 -1.70777867e+02] [ 2.90537860e-02 9.99493454e-01 -1.29889495e-02 -9.53695441e+01] [-1.00577762e-02 1.32860924e-02 9.99861151e-01 2.96256848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.149072329 meters Centerline goodness [0,1] 0.34063499362498173 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99510306e-01 -2.91623664e-02 1.13448388e-02 -1.70779907e+02] [ 2.93064822e-02 9.99489135e-01 -1.27514011e-02 -9.53707977e+01] [-1.09671821e-02 1.30776341e-02 9.99854338e-01 2.96256357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.17907232899995 meters Centerline goodness [0,1] 0.3534137384191637 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99498022e-01 -2.93484332e-02 1.19319974e-02 -1.70781797e+02] [ 2.94997502e-02 9.99483980e-01 -1.27097896e-02 -9.53716035e+01] [-1.15528278e-02 1.30554005e-02 9.99848033e-01 2.96256811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.209072329 meters Centerline goodness [0,1] 0.328058543907931 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.37, Z:296.26 [[ 9.99473116e-01 -2.98604734e-02 1.27217569e-02 -1.70784092e+02] [ 3.00273547e-02 9.99462769e-01 -1.31351569e-02 -9.53709927e+01] [-1.23227003e-02 1.35102369e-02 9.99832798e-01 2.96257151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.23907232899995 meters Centerline goodness [0,1] 0.3677587646076794 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.37, Z:296.26 [[ 9.99442030e-01 -3.05050970e-02 1.36039891e-02 -1.70786938e+02] [ 3.06885099e-02 9.99438045e-01 -1.34837014e-02 -9.53712665e+01] [-1.31850226e-02 1.38936641e-02 9.99816544e-01 2.96257880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.269072329 meters Centerline goodness [0,1] 0.3655905002399983 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.37, Z:296.26 [[ 9.99384919e-01 -3.18690366e-02 1.46338298e-02 -1.70790636e+02] [ 3.20817913e-02 9.99379459e-01 -1.45414995e-02 -9.53705974e+01] [-1.41613253e-02 1.50020348e-02 9.99787175e-01 2.96259194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.29907232899996 meters Centerline goodness [0,1] 0.36278885459247523 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.37, Z:296.26 [[ 9.99340904e-01 -3.27184939e-02 1.57244273e-02 -1.70793710e+02] [ 3.29541413e-02 9.99344775e-01 -1.49681382e-02 -9.53707031e+01] [-1.52243893e-02 1.54764578e-02 9.99764321e-01 2.96259507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.329072329 meters Centerline goodness [0,1] 0.3320397262560507 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.37, Z:296.26 [[ 9.99289790e-01 -3.37009318e-02 1.68571521e-02 -1.70796886e+02] [ 3.39614652e-02 9.99304249e-01 -1.54154798e-02 -9.53710780e+01] [-1.63259076e-02 1.59770252e-02 9.99739066e-01 2.96259784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.35907232899996 meters Centerline goodness [0,1] 0.3743977976600138 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.37, Z:296.26 [[ 9.99051166e-01 -3.80676829e-02 2.11570052e-02 -1.70807218e+02] [ 3.83928415e-02 9.99147398e-01 -1.51811089e-02 -9.53702373e+01] [-2.05610570e-02 1.59789821e-02 9.99660900e-01 2.96256487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.389072329 meters Centerline goodness [0,1] 0.3780951187941042 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.37, Z:296.26 [[ 9.99048245e-01 -3.79761446e-02 2.14573418e-02 -1.70808116e+02] [ 3.82987204e-02 9.99156317e-01 -1.48277774e-02 -9.53715892e+01] [-2.08761368e-02 1.56354537e-02 9.99659802e-01 2.96256546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41907232899996 meters Centerline goodness [0,1] 0.3489652870493992 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.37, Z:296.26 [[ 9.98975336e-01 -3.91795514e-02 2.26548342e-02 -1.70810917e+02] [ 3.95436850e-02 9.99092049e-01 -1.58547949e-02 -9.53698077e+01] [-2.20130809e-02 1.67344047e-02 9.99617619e-01 2.96256247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.449072329 meters Centerline goodness [0,1] 0.33824173532172286 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.37, Z:296.26 [[ 9.99081064e-01 -3.57739011e-02 2.36062586e-02 -1.70813400e+02] [ 3.60544368e-02 9.99282882e-01 -1.15671949e-02 -9.53712874e+01] [-2.31755264e-02 1.24076757e-02 9.99654413e-01 2.96255560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47907232899996 meters Centerline goodness [0,1] 0.34265062254533296 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.37, Z:296.26 [[ 9.99128623e-01 -3.36970241e-02 2.46273161e-02 -1.70817050e+02] [ 3.39321471e-02 9.99381863e-01 -9.19242318e-03 -9.53690848e+01] [-2.43023358e-02 1.00200708e-02 9.99654438e-01 2.96256411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.509072329 meters Centerline goodness [0,1] 0.34755652046844665 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.36, Z:296.25 [[ 9.99374690e-01 -2.36335032e-02 2.62999287e-02 -1.70825455e+02] [ 2.39450307e-02 9.99646045e-01 -1.15939334e-02 -9.53601418e+01] [-2.60166145e-02 1.22164362e-02 9.99586862e-01 2.96249124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53907232899996 meters Centerline goodness [0,1] 0.30541861631016043 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.36, Z:296.25 [[ 9.99450383e-01 -1.98500337e-02 2.65500982e-02 -1.70826244e+02] [ 2.00620544e-02 9.99768751e-01 -7.74327013e-03 -9.53591293e+01] [-2.63902543e-02 8.27166381e-03 9.99617494e-01 2.96248967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.569072329 meters Centerline goodness [0,1] 0.3498850094083211 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.36, Z:296.25 [[ 9.99532509e-01 -1.58056901e-02 2.61714357e-02 -1.70825602e+02] [ 1.59170744e-02 9.99865100e-01 -4.05309796e-03 -9.53568014e+01] [-2.61038432e-02 4.46777586e-03 9.99649253e-01 2.96249148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59907232899997 meters Centerline goodness [0,1] 0.34898095556298026 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.34, Z:296.25 [[ 9.99804524e-01 -1.37503626e-02 1.42070779e-02 -1.70828099e+02] [ 1.38694593e-02 9.99869210e-01 -8.31866711e-03 -9.53443911e+01] [-1.40908351e-02 8.51408550e-03 9.99864470e-01 2.96253544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62907232899994 meters Centerline goodness [0,1] 0.3508265930988359 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.34, Z:296.26 [[ 9.99875189e-01 -8.97174460e-03 1.30044299e-02 -1.70825918e+02] [ 9.04271262e-03 9.99944486e-01 -5.40872892e-03 -9.53392733e+01] [-1.29551823e-02 5.52564917e-03 9.99900810e-01 2.96255097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65907232899997 meters Centerline goodness [0,1] 0.28674734048111694 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.34, Z:296.26 [[ 9.99894265e-01 -5.66549419e-03 1.33926075e-02 -1.70827867e+02] [ 5.69772500e-03 9.99980960e-01 -2.36968228e-03 -9.53367482e+01] [-1.33789271e-02 2.44573912e-03 9.99907507e-01 2.96256270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68907232899994 meters Centerline goodness [0,1] 0.3635128923064065 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.34, Z:296.26 [[ 9.99913503e-01 -4.59730135e-03 1.23227711e-02 -1.70824987e+02] [ 4.62301758e-03 9.99987194e-01 -2.05921413e-03 -9.53351692e+01] [-1.23131465e-02 2.11600440e-03 9.99921951e-01 2.96256286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71907232899997 meters Centerline goodness [0,1] 0.3115268053088097 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.26 [[ 9.99929006e-01 -6.58326229e-04 1.18974851e-02 -1.70824504e+02] [ 6.42656862e-04 9.99998921e-01 1.32080700e-03 -9.53323452e+01] [-1.18983418e-02 -1.31306723e-03 9.99928350e-01 2.96257051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74907232899994 meters Centerline goodness [0,1] 0.28717798594847777 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.26 [[ 9.99939258e-01 -1.62790571e-04 1.10205685e-02 -1.70822499e+02] [ 1.49163160e-04 9.99999223e-01 1.23735404e-03 -9.53308674e+01] [-1.10207613e-02 -1.23563502e-03 9.99938506e-01 2.96257407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.779072329 meters Centerline goodness [0,1] 0.32234945045760377 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.26 [[ 9.99948941e-01 3.51665691e-04 1.00990847e-02 -1.70820587e+02] [-3.62480527e-04 9.99999363e-01 1.06906251e-03 -9.53293305e+01] [-1.00987023e-02 -1.07266865e-03 9.99948431e-01 2.96258104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.80907232899995 meters Centerline goodness [0,1] 0.29890362326407016 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.26 [[ 9.99954178e-01 5.29863766e-04 9.55832089e-03 -1.70819589e+02] [-5.39728253e-04 9.99999324e-01 1.02948137e-03 -9.53288687e+01] [-9.55776895e-03 -1.03459309e-03 9.99953788e-01 2.96258572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.839072329 meters Centerline goodness [0,1] 0.30028624558617667 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.26 [[ 9.99962108e-01 1.47678757e-03 8.57911098e-03 -1.70816960e+02] [-1.48951903e-03 9.99997799e-01 1.47780714e-03 -9.53284616e+01] [-8.57690969e-03 -1.49052989e-03 9.99962107e-01 2.96258403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.86907232899995 meters Centerline goodness [0,1] 0.35489199757438894 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.26 [[ 9.99966915e-01 1.87910519e-03 7.91438791e-03 -1.70815205e+02] [-1.89170322e-03 9.99996955e-01 1.58460350e-03 -9.53279321e+01] [-7.91138617e-03 -1.59952275e-03 9.99967425e-01 2.96258258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.899072329 meters Centerline goodness [0,1] 0.30532881242412824 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.26 [[ 9.99969272e-01 3.90309598e-03 6.79860880e-03 -1.70811569e+02] [-3.92326503e-03 9.99987935e-01 2.95583702e-03 -9.53281173e+01] [-6.78698986e-03 -2.98241893e-03 9.99972521e-01 2.96257464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.92907232899995 meters Centerline goodness [0,1] 0.3030404486388081 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.26 [[ 9.99973853e-01 4.17832029e-03 5.90204383e-03 -1.70809915e+02] [-4.19391894e-03 9.99987739e-01 2.63302321e-03 -9.53263707e+01] [-5.89096985e-03 -2.65770706e-03 9.99979116e-01 2.96258338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.959072329 meters Centerline goodness [0,1] 0.3536710396920051 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.26 [[ 9.99972615e-01 5.63100163e-03 4.80221374e-03 -1.70807084e+02] [-5.64590741e-03 9.99979269e-01 3.09605078e-03 -9.53244105e+01] [-4.78468032e-03 -3.12307885e-03 9.99983676e-01 2.96258579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.98907232899995 meters Centerline goodness [0,1] 0.37143395752167907 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.26 [[ 9.99944772e-01 9.70567551e-03 4.03141586e-03 -1.70805814e+02] [-9.73049916e-03 9.99933534e-01 6.18426710e-03 -9.53201052e+01] [-3.97112542e-03 -6.22315324e-03 9.99972751e-01 2.96259820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.019072329 meters Centerline goodness [0,1] 0.32093441902329767 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.32, Z:296.26 [[ 9.99945863e-01 9.82061146e-03 3.43894639e-03 -1.70804472e+02] [-9.84063580e-03 9.99934438e-01 5.85512341e-03 -9.53184095e+01] [-3.38122003e-03 -5.88864785e-03 9.99976945e-01 2.96260090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.04907232899996 meters Centerline goodness [0,1] 0.34369375026162674 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.32, Z:296.26 [[ 9.99947615e-01 9.79946020e-03 2.95592158e-03 -1.70803730e+02] [-9.81552886e-03 9.99936857e-01 5.47147293e-03 -9.53170531e+01] [-2.90211746e-03 -5.50020024e-03 9.99980663e-01 2.96260750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.079072329 meters Centerline goodness [0,1] 0.3131066441229883 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.32, Z:296.27 [[ 9.99906364e-01 1.36400285e-02 -1.10137229e-03 -1.70794446e+02] [-1.36356612e-02 9.99899502e-01 3.87997519e-03 -9.53163161e+01] [ 1.15418458e-03 -3.86459395e-03 9.99991866e-01 2.96265805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.10907232899996 meters Centerline goodness [0,1] 0.3222967747329696 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.31, Z:296.27 [[ 9.99887600e-01 1.48277347e-02 -2.21944559e-03 -1.70791662e+02] [-1.48186587e-02 9.99881990e-01 4.05139017e-03 -9.53143507e+01] [ 2.27925661e-03 -4.01804558e-03 9.99989330e-01 2.96266157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.139072329 meters Centerline goodness [0,1] 0.31062271062271063 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.31, Z:296.27 [[ 9.99861124e-01 1.62939138e-02 -3.49873130e-03 -1.70788864e+02] [-1.62780335e-02 9.99857286e-01 4.52037400e-03 -9.53130294e+01] [ 3.57188656e-03 -4.46279376e-03 9.99983662e-01 2.96266918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.16907232899996 meters Centerline goodness [0,1] 0.3394113213867024 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.31, Z:296.27 [[ 9.99789234e-01 2.01359195e-02 -4.00411182e-03 -1.70788546e+02] [-2.01066930e-02 9.99771842e-01 7.21011533e-03 -9.53082427e+01] [ 4.14838055e-03 -7.12808624e-03 9.99965990e-01 2.96268644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.199072329 meters Centerline goodness [0,1] 0.33781069545568665 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.31, Z:296.27 [[ 9.99787626e-01 2.00815937e-02 -4.62960900e-03 -1.70787572e+02] [-2.00511380e-02 9.99777607e-01 6.53361456e-03 -9.53056767e+01] [ 4.75978480e-03 -6.43939806e-03 9.99967939e-01 2.96269579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.22907232899996 meters Centerline goodness [0,1] 0.3402305584032471 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.30, Z:296.27 [[ 9.99784266e-01 2.01128637e-02 -5.18592564e-03 -1.70786831e+02] [-2.00805270e-02 9.99779055e-01 6.21392297e-03 -9.53045117e+01] [ 5.30975963e-03 -6.10844630e-03 9.99967246e-01 2.96270506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.259072329 meters Centerline goodness [0,1] 0.3294873942541251 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.30, Z:296.27 [[ 9.99779752e-01 2.01421818e-02 -5.89403159e-03 -1.70785642e+02] [-2.01090860e-02 9.99781988e-01 5.62153096e-03 -9.53018938e+01] [ 6.00597652e-03 -5.50176924e-03 9.99966829e-01 2.96271468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.28907232899996 meters Centerline goodness [0,1] 0.3518154026550525 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.27 [[ 9.99760227e-01 2.08250141e-02 -6.76808704e-03 -1.70783497e+02] [-2.07862297e-02 9.99767401e-01 5.75117608e-03 -9.53007900e+01] [ 6.88628112e-03 -5.60911409e-03 9.99960558e-01 2.96271672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.319072329 meters Centerline goodness [0,1] 0.34681608713866774 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.27 [[ 9.99793133e-01 1.88788821e-02 -7.56835520e-03 -1.70780402e+02] [-1.88522581e-02 9.99815893e-01 3.57386414e-03 -9.53018100e+01] [ 7.63443238e-03 -3.43044423e-03 9.99964973e-01 2.96270420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.34907232899997 meters Centerline goodness [0,1] 0.3532984293193717 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.27 [[ 9.99836668e-01 1.59409123e-02 -8.51616373e-03 -1.70777892e+02] [-1.59390407e-02 9.99872924e-01 2.87591669e-04 -9.53021267e+01] [ 8.51966600e-03 -1.51805215e-04 9.99963695e-01 2.96270238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37907232899994 meters Centerline goodness [0,1] 0.3537633056742938 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.27 [[ 9.99847995e-01 1.54420981e-02 -8.09500265e-03 -1.70779662e+02] [-1.54444225e-02 9.99880703e-01 -2.24690979e-04 -9.53015782e+01] [ 8.09056724e-03 3.49679466e-04 9.99967210e-01 2.96271030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.40907232899997 meters Centerline goodness [0,1] 0.3596867737275182 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.27 [[ 9.99878332e-01 1.28756418e-02 -8.80562321e-03 -1.70777072e+02] [-1.29011198e-02 9.99912736e-01 -2.84271643e-03 -9.53030549e+01] [ 8.76825300e-03 2.95597296e-03 9.99957189e-01 2.96270107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43907232899994 meters Centerline goodness [0,1] 0.31096220291069 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.27 [[ 9.99885445e-01 1.26063721e-02 -8.37711806e-03 -1.70778523e+02] [-1.26316401e-02 9.99915806e-01 -2.97028389e-03 -9.53034331e+01] [ 8.33896825e-03 3.07576037e-03 9.99960500e-01 2.96270492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.46907232899997 meters Centerline goodness [0,1] 0.370292054851879 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.27 [[ 9.99889428e-01 1.25254196e-02 -8.01534562e-03 -1.70779662e+02] [-1.25485476e-02 9.99917226e-01 -2.84170363e-03 -9.53042962e+01] [ 7.97908863e-03 2.94197037e-03 9.99963839e-01 2.96270671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49907232899994 meters Centerline goodness [0,1] 0.32109054359661615 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.27 [[ 9.99892535e-01 1.25004945e-02 -7.65874583e-03 -1.70780442e+02] [-1.25215407e-02 9.99917940e-01 -2.70624039e-03 -9.53049735e+01] [ 7.62428801e-03 2.80184887e-03 9.99967009e-01 2.96270396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.529072329 meters Centerline goodness [0,1] 0.32109054359661615 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.27 [[ 9.99892535e-01 1.25004945e-02 -7.65874583e-03 -1.70780442e+02] [-1.25215407e-02 9.99917940e-01 -2.70624039e-03 -9.53049735e+01] [ 7.62428801e-03 2.80184887e-03 9.99967009e-01 2.96270396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55907232899995 meters Centerline goodness [0,1] 0.3287780172864826 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.31, Z:296.27 [[ 9.99897106e-01 1.24792791e-02 -7.07429389e-03 -1.70781524e+02] [-1.24952975e-02 9.99919456e-01 -2.22465454e-03 -9.53069031e+01] [ 7.04596201e-03 2.31282105e-03 9.99972502e-01 2.96269630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.589072329 meters Centerline goodness [0,1] 0.3155988274706868 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.31, Z:296.27 [[ 9.99897361e-01 1.24914478e-02 -7.01645441e-03 -1.70781644e+02] [-1.25069452e-02 9.99919432e-01 -2.16921544e-03 -9.53070488e+01] [ 6.98879247e-03 2.25674721e-03 9.99973032e-01 2.96269593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.61907232899995 meters Centerline goodness [0,1] 0.3277053919309565 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.31, Z:296.27 [[ 9.99905492e-01 1.21519438e-02 -6.42936828e-03 -1.70783227e+02] [-1.21674076e-02 9.99923162e-01 -2.37155111e-03 -9.53069533e+01] [ 6.40005531e-03 2.44955572e-03 9.99976519e-01 2.96269690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.649072329 meters Centerline goodness [0,1] 0.3423977893613013 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.31, Z:296.27 [[ 9.99947782e-01 8.17485062e-03 -6.13236562e-03 -1.70783715e+02] [-8.21127501e-03 9.99948655e-01 -5.93822171e-03 -9.53087742e+01] [ 6.08350667e-03 5.98826617e-03 9.99963565e-01 2.96269158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.67907232899995 meters Centerline goodness [0,1] 0.3406940723375753 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.31, Z:296.27 [[ 9.99954802e-01 7.84187924e-03 -5.37576398e-03 -1.70785714e+02] [-7.87320209e-03 9.99952008e-01 -5.83049214e-03 -9.53099310e+01] [ 5.32978397e-03 5.87255309e-03 9.99968553e-01 2.96269117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.709072329 meters Centerline goodness [0,1] 0.34542104601984847 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.32, Z:296.28 [[ 9.99958283e-01 2.47408221e-03 -8.79270940e-03 -1.70777134e+02] [-2.47985198e-03 9.99996717e-01 -6.45357376e-04 -9.53153079e+01] [ 8.79108386e-03 6.67135071e-04 9.99961135e-01 2.96275553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.73907232899995 meters Centerline goodness [0,1] 0.35567280112220756 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.31, Z:296.28 [[ 9.99966689e-01 1.82125701e-03 -7.95634721e-03 -1.70779050e+02] [-1.82917812e-03 9.99997839e-01 -9.88407446e-04 -9.53149161e+01] [ 7.95452987e-03 1.00292810e-03 9.99967859e-01 2.96275293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.769072329 meters Centerline goodness [0,1] 0.3486797988264878 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.32, Z:296.27 [[ 9.99974915e-01 1.14251715e-03 -6.99023584e-03 -1.70781135e+02] [-1.15052873e-03 9.99998686e-01 -1.14219642e-03 -9.53154304e+01] [ 6.98892168e-03 1.15021023e-03 9.99974916e-01 2.96274657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.79907232899996 meters Centerline goodness [0,1] 0.3434233403858642 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.32, Z:296.27 [[ 9.99973120e-01 1.63125453e-03 -7.14830182e-03 -1.70779999e+02] [-1.63458194e-03 9.99998558e-01 -4.59664985e-04 -9.53165829e+01] [ 7.14754168e-03 4.71337115e-04 9.99974345e-01 2.96273723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.829072329 meters Centerline goodness [0,1] 0.35384131642385497 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.32, Z:296.27 [[ 9.99973282e-01 1.92541006e-03 -7.05186727e-03 -1.70779801e+02] [-1.92519955e-03 9.99998146e-01 3.66404653e-05 -9.53176801e+01] [ 7.05192474e-03 -2.30632347e-05 9.99975135e-01 2.96273056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.85907232899996 meters Centerline goodness [0,1] 0.3618137923795528 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.32, Z:296.27 [[ 9.99981235e-01 1.03202172e-03 -6.03863382e-03 -1.70782538e+02] [-1.03599654e-03 9.99999249e-01 -6.55141612e-04 -9.53169264e+01] [ 6.03795317e-03 6.61385321e-04 9.99981553e-01 2.96273203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.889072329 meters Centerline goodness [0,1] 0.32735548284252036 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.32, Z:296.27 [[ 9.99975298e-01 2.00235015e-03 -6.73752448e-03 -1.70780883e+02] [-2.00104555e-03 9.99997978e-01 2.00367913e-04 -9.53183152e+01] [ 6.73791206e-03 -1.86880870e-04 9.99977283e-01 2.96273307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91907232899996 meters Centerline goodness [0,1] 0.34763202011735117 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.32, Z:296.27 [[ 9.99976951e-01 1.56032050e-03 -6.60781207e-03 -1.70781619e+02] [-1.56443846e-03 9.99998585e-01 -6.18073360e-04 -9.53162259e+01] [ 6.60683833e-03 6.28396629e-04 9.99977977e-01 2.96273903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.949072329 meters Centerline goodness [0,1] 0.3450401526429455 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.32, Z:296.27 [[ 9.99975943e-01 1.62402202e-03 -6.74356408e-03 -1.70781255e+02] [-1.62898446e-03 9.99998406e-01 -7.30450789e-04 -9.53154257e+01] [ 6.74236707e-03 7.41418377e-04 9.99976995e-01 2.96273906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97907232899996 meters Centerline goodness [0,1] 0.3480950284120694 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.32, Z:296.27 [[ 9.99973071e-01 1.87525479e-03 -7.09514549e-03 -1.70780493e+02] [-1.87944663e-03 9.99998063e-01 -5.84183131e-04 -9.53151792e+01] [ 7.09403626e-03 5.97502347e-04 9.99974658e-01 2.96274132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.009072329 meters Centerline goodness [0,1] 0.35060036461934996 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.31, Z:296.27 [[ 9.99974025e-01 1.46113750e-03 -7.05791557e-03 -1.70780674e+02] [-1.47045717e-03 9.99998054e-01 -1.31544655e-03 -9.53126620e+01] [ 7.05597978e-03 1.32579074e-03 9.99974227e-01 2.96274437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03907232899996 meters Centerline goodness [0,1] 0.3506904427634474 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.31, Z:296.27 [[ 9.99982969e-01 -3.60091360e-05 -5.83616689e-03 -1.70783965e+02] [ 2.09013001e-05 9.99996649e-01 -2.58869760e-03 -9.53107997e+01] [ 5.83624055e-03 2.58853153e-03 9.99979619e-01 2.96274653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.069072329 meters Centerline goodness [0,1] 0.3568899411259402 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.31, Z:296.27 [[ 9.99986933e-01 -3.01438529e-04 -5.10327950e-03 -1.70785793e+02] [ 2.89764912e-04 9.99997340e-01 -2.28805845e-03 -9.53125627e+01] [ 5.10395563e-03 2.28654980e-03 9.99984361e-01 2.96274449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09907232899997 meters Centerline goodness [0,1] 0.34756544886709007 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.31, Z:296.27 [[ 9.99987334e-01 -2.20644345e-04 -5.02833111e-03 -1.70785734e+02] [ 2.09919049e-04 9.99997702e-01 -2.13340123e-03 -9.53127163e+01] [ 5.02879028e-03 2.13231866e-03 9.99985082e-01 2.96274103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12907232899994 meters Centerline goodness [0,1] 0.36006868822248284 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.31, Z:296.27 [[ 9.99990296e-01 -3.73145085e-04 -4.38963516e-03 -1.70787101e+02] [ 3.64860033e-04 9.99998151e-01 -1.88806186e-03 -9.53139115e+01] [ 4.39033156e-03 1.88644194e-03 9.99988583e-01 2.96273693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15907232899997 meters Centerline goodness [0,1] 0.33994180082483727 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.31, Z:296.27 [[ 9.99993399e-01 -6.56326747e-04 -3.57371258e-03 -1.70788986e+02] [ 6.49874527e-04 9.99998157e-01 -1.80632906e-03 -9.53147905e+01] [ 3.57489154e-03 1.80399467e-03 9.99991983e-01 2.96273371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18907232899994 meters Centerline goodness [0,1] 0.3448283086463724 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.32, Z:296.27 [[ 9.99995856e-01 -9.91365852e-04 -2.70296560e-03 -1.70791609e+02] [ 9.87206953e-04 9.99998328e-01 -1.53954324e-03 -9.53169433e+01] [ 2.70448733e-03 1.53686848e-03 9.99995162e-01 2.96273741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21907232899997 meters Centerline goodness [0,1] 0.3637163691224541 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.32, Z:296.27 [[ 9.99996080e-01 -1.03276653e-03 -2.60265033e-03 -1.70792127e+02] [ 1.02867246e-03 9.99998232e-01 -1.57388483e-03 -9.53168736e+01] [ 2.60427119e-03 1.57120139e-03 9.99995375e-01 2.96274095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24907232899994 meters Centerline goodness [0,1] 0.3718608739326972 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.32, Z:296.27 [[ 9.99996564e-01 -1.22291999e-03 -2.31852078e-03 -1.70792520e+02] [ 1.21891192e-03 9.99997762e-01 -1.72934512e-03 -9.53162814e+01] [ 2.32063044e-03 1.72651311e-03 9.99995817e-01 2.96273658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.279072329 meters Centerline goodness [0,1] 0.3220788995045262 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.32, Z:296.27 [[ 9.99987468e-01 -4.50873835e-03 -2.17592771e-03 -1.70790935e+02] [ 4.49938134e-03 9.99980692e-01 -4.28614219e-03 -9.53198709e+01] [ 2.19521079e-03 4.27629815e-03 9.99988447e-01 2.96271120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.30907232899995 meters Centerline goodness [0,1] 0.31253662620343237 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.32, Z:296.27 [[ 9.99988255e-01 -4.56829580e-03 -1.61909934e-03 -1.70791933e+02] [ 4.56168538e-03 9.99981340e-01 -4.06321929e-03 -9.53207257e+01] [ 1.63763111e-03 4.05578574e-03 9.99990434e-01 2.96270472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.339072329 meters Centerline goodness [0,1] 0.3499989527260541 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.32, Z:296.27 [[ 9.99987454e-01 -4.98299471e-03 -5.11728477e-04 -1.70794105e+02] [ 4.98102674e-03 9.99980459e-01 -3.77758203e-03 -9.53223956e+01] [ 5.30542149e-04 3.77498570e-03 9.99992734e-01 2.96269456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.36907232899995 meters Centerline goodness [0,1] 0.31967247445133185 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.32, Z:296.27 [[ 9.99986665e-01 -5.16387907e-03 5.87955273e-05 -1.70795654e+02] [ 5.16406048e-03 9.99979894e-01 -3.68014943e-03 -9.53232445e+01] [-3.97904985e-05 3.68040398e-03 9.99993226e-01 2.96269540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.399072329 meters Centerline goodness [0,1] 0.3479881086965624 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.32, Z:296.27 [[ 9.99984098e-01 -5.59053645e-03 7.41606807e-04 -1.70797302e+02] [ 5.59346449e-03 9.99976329e-01 -4.00673156e-03 -9.53225078e+01] [-7.19189474e-04 4.01081599e-03 9.99991698e-01 2.96269474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.42907232899995 meters Centerline goodness [0,1] 0.3465537077711537 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.32, Z:296.27 [[ 9.99982515e-01 -5.77803067e-03 1.25878500e-03 -1.70798706e+02] [ 5.78304312e-03 9.99975216e-01 -4.01540828e-03 -9.53228730e+01] [-1.23555265e-03 4.02261768e-03 9.99991146e-01 2.96269557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.459072329 meters Centerline goodness [0,1] 0.3523831414422133 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.32, Z:296.27 [[ 9.99974172e-01 -6.81644183e-03 2.27837300e-03 -1.70801876e+02] [ 6.82699928e-03 9.99965844e-01 -4.65856159e-03 -9.53226575e+01] [-2.24654036e-03 4.67399572e-03 9.99986553e-01 2.96270259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.48907232899995 meters Centerline goodness [0,1] 0.3347267217055073 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.32, Z:296.27 [[ 9.99971370e-01 -6.98523361e-03 2.90964500e-03 -1.70803539e+02] [ 6.99840948e-03 9.99965191e-01 -4.54304583e-03 -9.53234058e+01] [-2.87780948e-03 4.56327864e-03 9.99985447e-01 2.96270286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.519072329 meters Centerline goodness [0,1] 0.32794317350882696 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.27 [[ 9.99962527e-01 -7.69392200e-03 3.96845497e-03 -1.70806286e+02] [ 7.71202130e-03 9.99959838e-01 -4.56583411e-03 -9.53247571e+01] [-3.93316642e-03 4.59626782e-03 9.99981702e-01 2.96270263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.54907232899996 meters Centerline goodness [0,1] 0.3389327650328027 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.27 [[ 9.99958603e-01 -7.90994630e-03 4.49731187e-03 -1.70807405e+02] [ 7.93054485e-03 9.99958060e-01 -4.58095574e-03 -9.53249558e+01] [-4.46088814e-03 4.61643223e-03 9.99979394e-01 2.96269928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.579072329 meters Centerline goodness [0,1] 0.34698608964451316 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99947681e-01 -8.63195360e-03 5.48859538e-03 -1.70809635e+02] [ 8.65856360e-03 9.99950786e-01 -4.84309805e-03 -9.53251983e+01] [-5.44651986e-03 4.89036802e-03 9.99973210e-01 2.96269463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.60907232899996 meters Centerline goodness [0,1] 0.3553712100633136 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99946783e-01 -8.44048184e-03 5.93212716e-03 -1.70810272e+02] [ 8.46491125e-03 9.99955745e-01 -4.10518074e-03 -9.53275562e+01] [-5.89721493e-03 4.15517720e-03 9.99973978e-01 2.96268681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.639072329 meters Centerline goodness [0,1] 0.3506976355585262 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99948852e-01 -8.10345793e-03 6.05201280e-03 -1.70810261e+02] [ 8.12477271e-03 9.99960848e-01 -3.50568980e-03 -9.53292405e+01] [-6.02336764e-03 3.55468172e-03 9.99975541e-01 2.96268168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.66907232899996 meters Centerline goodness [0,1] 0.3589000542050619 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99949535e-01 -7.90275586e-03 6.20266915e-03 -1.70810623e+02] [ 7.92196899e-03 9.99963880e-01 -3.07912645e-03 -9.53304789e+01] [-6.17811152e-03 3.12810841e-03 9.99976023e-01 2.96268057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.699072329 meters Centerline goodness [0,1] 0.33523558677202225 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99941497e-01 -8.39892714e-03 6.81618168e-03 -1.70812091e+02] [ 8.42311161e-03 9.99958304e-01 -3.52717884e-03 -9.53294800e+01] [-6.78627296e-03 3.58438595e-03 9.99970549e-01 2.96267961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.72907232899996 meters Centerline goodness [0,1] 0.3192909280500521 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99937802e-01 -8.48998304e-03 7.23276422e-03 -1.70813032e+02] [ 8.51521919e-03 9.99957740e-01 -3.46552179e-03 -9.53298603e+01] [-7.20303635e-03 3.52689481e-03 9.99967838e-01 2.96267766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.759072329 meters Centerline goodness [0,1] 0.3164572811886973 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99934575e-01 -8.50262393e-03 7.65192446e-03 -1.70813631e+02] [ 8.52738767e-03 9.99958491e-01 -3.20948934e-03 -9.53307168e+01] [-7.62431775e-03 3.27453028e-03 9.99965573e-01 2.96267067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.78907232899996 meters Centerline goodness [0,1] 0.32076852316440874 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99930902e-01 -8.58438471e-03 8.03116487e-03 -1.70814160e+02] [ 8.60959194e-03 9.99958102e-01 -3.10938514e-03 -9.53308843e+01] [-8.00413623e-03 3.17831534e-03 9.99962915e-01 2.96266448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.819072329 meters Centerline goodness [0,1] 0.25998494416795614 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.27 [[ 9.99925932e-01 -8.66426112e-03 8.54763217e-03 -1.70815166e+02] [ 8.68923115e-03 9.99958076e-01 -2.88848099e-03 -9.53316092e+01] [-8.52224727e-03 2.96253940e-03 9.99959297e-01 2.96266041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.84907232899997 meters Centerline goodness [0,1] 0.33477588225455757 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.27 [[ 9.99927077e-01 -8.57142964e-03 8.50713753e-03 -1.70815245e+02] [ 8.59617292e-03 9.99958916e-01 -2.87624141e-03 -9.53314058e+01] [-8.48213452e-03 2.94916049e-03 9.99959677e-01 2.96266301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87907232899994 meters Centerline goodness [0,1] 0.3187166893092277 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.27 [[ 9.99917391e-01 -9.10795581e-03 9.06949394e-03 -1.70817053e+02] [ 9.14017043e-03 9.99952043e-01 -3.51688282e-03 -9.53299017e+01] [-9.03702739e-03 3.59948901e-03 9.99952687e-01 2.96266905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.90907232899997 meters Centerline goodness [0,1] 0.32467044101364195 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.27 [[ 9.99920323e-01 -9.00331782e-03 8.84807293e-03 -1.70816684e+02] [ 9.03485986e-03 9.99952949e-01 -3.53136559e-03 -9.53294004e+01] [-8.81586262e-03 3.61102532e-03 9.99954620e-01 2.96267220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93907232899994 meters Centerline goodness [0,1] 0.3439413251979857 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.27 [[ 9.99937987e-01 -5.78301868e-03 9.51729643e-03 -1.70818515e+02] [ 5.78621146e-03 9.99983212e-01 -3.07970347e-04 -9.53273372e+01] [-9.51535566e-03 3.63020339e-04 9.99954662e-01 2.96267381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.96907232899997 meters Centerline goodness [0,1] 0.3244661940314114 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.27 [[ 9.99944881e-01 -5.31810156e-03 9.05279587e-03 -1.70817745e+02] [ 5.31709094e-03 9.99985855e-01 1.35701177e-04 -9.53281852e+01] [-9.05338949e-03 -8.75591583e-05 9.99959013e-01 2.96267863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99907232899994 meters Centerline goodness [0,1] 0.33306195724782894 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.27 [[ 9.99941964e-01 -5.71519281e-03 9.13259571e-03 -1.70818311e+02] [ 5.72143719e-03 9.99983416e-01 -6.57766855e-04 -9.53257465e+01] [-9.12868499e-03 7.09980253e-04 9.99958081e-01 2.96268474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.029072329 meters Centerline goodness [0,1] 0.3596454553056275 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.27 [[ 9.99947308e-01 -5.48466330e-03 8.67751443e-03 -1.70817802e+02] [ 5.49025328e-03 9.99984736e-01 -6.20501294e-04 -9.53254896e+01] [-8.67397874e-03 6.68110350e-04 9.99962157e-01 2.96269335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05907232899995 meters Centerline goodness [0,1] 0.3584960896658441 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.32, Z:296.27 [[ 9.99945415e-01 -5.75498819e-03 8.72049277e-03 -1.70818187e+02] [ 5.76518465e-03 9.99982726e-01 -1.14456621e-03 -9.53238702e+01] [-8.71375517e-03 1.19477899e-03 9.99961321e-01 2.96269789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.089072329 meters Centerline goodness [0,1] 0.30629669156883677 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.32, Z:296.27 [[ 9.99956589e-01 -4.74265045e-03 8.02047879e-03 -1.70815550e+02] [ 4.74401234e-03 9.99988736e-01 -1.50784303e-04 -9.53249393e+01] [-8.01967332e-03 1.88827007e-04 9.99967824e-01 2.96268706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.11907232899995 meters Centerline goodness [0,1] 0.33576107657855636 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99963825e-01 -4.07935266e-03 7.46376873e-03 -1.70813521e+02] [ 4.07551808e-03 9.99991555e-01 5.28897027e-04 -9.53257687e+01] [-7.46586326e-03 -4.98459170e-04 9.99972006e-01 2.96267901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.149072329 meters Centerline goodness [0,1] 0.30620276748518915 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99966037e-01 -3.97314028e-03 7.22066700e-03 -1.70812626e+02] [ 3.96987454e-03 9.99992011e-01 4.66553973e-04 -9.53250605e+01] [-7.22246300e-03 -4.37872986e-04 9.99973822e-01 2.96267550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.17907232899995 meters Centerline goodness [0,1] 0.3407407407407408 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99965434e-01 -4.02485789e-03 7.27538738e-03 -1.70813119e+02] [ 4.02198155e-03 9.99991828e-01 4.09940041e-04 -9.53250065e+01] [-7.27697787e-03 -3.80664397e-04 9.99973450e-01 2.96268043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.209072329 meters Centerline goodness [0,1] 0.34161997156477375 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.27 [[ 9.99965764e-01 -4.04219917e-03 7.22017243e-03 -1.70813497e+02] [ 4.04033668e-03 9.99991801e-01 2.72524015e-04 -9.53246342e+01] [-7.22121483e-03 -2.43342757e-04 9.99973897e-01 2.96268746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.23907232899995 meters Centerline goodness [0,1] 0.3553841652035783 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.27 [[ 9.99970225e-01 -3.68990759e-03 6.77746408e-03 -1.70812632e+02] [ 3.68636327e-03 9.99993062e-01 5.35375593e-04 -9.53249341e+01] [-6.77939255e-03 -5.10375457e-04 9.99976889e-01 2.96269031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.269072329 meters Centerline goodness [0,1] 0.35800171472783926 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.27 [[ 9.99975247e-01 -3.36615938e-03 6.17858330e-03 -1.70810821e+02] [ 3.36392688e-03 9.99994273e-01 3.71685568e-04 -9.53232307e+01] [-6.17979907e-03 -3.50892065e-04 9.99980843e-01 2.96268738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.29907232899996 meters Centerline goodness [0,1] 0.3631058213232372 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.27 [[ 9.99982475e-01 3.96766099e-04 5.90704942e-03 -1.70810737e+02] [-4.17332849e-04 9.99993855e-01 3.48090432e-03 -9.53196526e+01] [-5.90563201e-03 -3.48330852e-03 9.99976495e-01 2.96269627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.329072329 meters Centerline goodness [0,1] 0.33849788817797855 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.27 [[ 9.99986648e-01 7.13138636e-04 5.11807258e-03 -1.70809291e+02] [-7.30713104e-04 9.99993841e-01 3.43275779e-03 -9.53188398e+01] [-5.11559303e-03 -3.43645180e-03 9.99981011e-01 2.96270359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.35907232899996 meters Centerline goodness [0,1] 0.34555334935729964 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.27 [[ 9.99990161e-01 1.12287531e-03 4.29159421e-03 -1.70807822e+02] [-1.13756845e-03 9.99993495e-01 3.42279777e-03 -9.53181186e+01] [-4.28772292e-03 -3.42764608e-03 9.99984933e-01 2.96271223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.389072329 meters Centerline goodness [0,1] 0.3747594343569576 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.32, Z:296.27 [[ 9.99977798e-01 5.84004415e-03 3.20889106e-03 -1.70805535e+02] [-5.86303162e-03 9.99956880e-01 7.20159419e-03 -9.53155337e+01] [-3.16669506e-03 -7.22024813e-03 9.99968920e-01 2.96272026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41907232899996 meters Centerline goodness [0,1] 0.35370831676121495 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.31, Z:296.27 [[ 9.99978091e-01 6.26626067e-03 2.13364021e-03 -1.70803217e+02] [-6.28066505e-03 9.99957069e-01 6.81266807e-03 -9.53129048e+01] [-2.09085866e-03 -6.82591949e-03 9.99974517e-01 2.96272703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.449072329 meters Centerline goodness [0,1] 0.35370831676121495 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.31, Z:296.27 [[ 9.99978091e-01 6.26626067e-03 2.13364021e-03 -1.70803217e+02] [-6.28066505e-03 9.99957069e-01 6.81266807e-03 -9.53129048e+01] [-2.09085866e-03 -6.82591949e-03 9.99974517e-01 2.96272703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47907232899996 meters Centerline goodness [0,1] 0.3537682554295518 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.31, Z:296.27 [[ 9.99944345e-01 1.04592533e-02 1.38202351e-03 -1.70801103e+02] [-1.04727355e-02 9.99893770e-01 1.01375577e-02 -9.53087901e+01] [-1.27584542e-03 -1.01514671e-02 9.99947659e-01 2.96272700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.509072329 meters Centerline goodness [0,1] 0.31839785599129 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.31, Z:296.27 [[ 9.99942420e-01 1.07118566e-02 6.41989652e-04 -1.70799392e+02] [-1.07178060e-02 9.99891369e-01 1.01182877e-02 -9.53080532e+01] [-5.33534265e-04 -1.01245858e-02 9.99948603e-01 2.96272920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53907232899996 meters Centerline goodness [0,1] 0.32386256569167315 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.31, Z:296.27 [[ 9.99924054e-01 1.23196716e-02 -3.33736959e-04 -1.70796053e+02] [-1.23152319e-02 9.99863092e-01 1.10513873e-02 -9.53072375e+01] [ 4.69840730e-04 -1.10464380e-02 9.99938876e-01 2.96272174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.569072329 meters Centerline goodness [0,1] 0.32862353779715736 Centerline is valid? [False, False] Translation: X:-170.79, Y:-95.31, Z:296.28 [[ 9.99848413e-01 1.67785991e-02 -4.65066585e-03 -1.70785865e+02] [-1.67317040e-02 9.99810552e-01 9.94538879e-03 -9.53061202e+01] [ 4.81665448e-03 -9.86606763e-03 9.99939728e-01 2.96276936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59907232899997 meters Centerline goodness [0,1] 0.3405806208369989 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.28 [[ 9.99842349e-01 1.69049472e-02 -5.43137672e-03 -1.70784426e+02] [-1.68530030e-02 9.99813119e-01 9.47123012e-03 -9.53040107e+01] [ 5.59047234e-03 -9.37820197e-03 9.99940396e-01 2.96277736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62907232899994 meters Centerline goodness [0,1] 0.340046102263202 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.28 [[ 9.99834624e-01 1.71042026e-02 -6.17827274e-03 -1.70783125e+02] [-1.70468632e-02 9.99812206e-01 9.21720851e-03 -9.53026254e+01] [ 6.33476550e-03 -9.11036404e-03 9.99938434e-01 2.96278567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65907232899997 meters Centerline goodness [0,1] 0.339800942902043 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.30, Z:296.28 [[ 9.99836814e-01 1.68381328e-02 -6.54384370e-03 -1.70782568e+02] [-1.67824260e-02 9.99823234e-01 8.47652079e-03 -9.53000505e+01] [ 6.68541575e-03 -8.36531597e-03 9.99942662e-01 2.96279139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68907232899994 meters Centerline goodness [0,1] 0.3423020681011072 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.30, Z:296.28 [[ 9.99740218e-01 2.02854440e-02 -1.03921607e-02 -1.70773869e+02] [-2.02189163e-02 9.99774659e-01 6.46728265e-03 -9.52975663e+01] [ 1.05210107e-02 -6.25548433e-03 9.99925086e-01 2.96284654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71907232899997 meters Centerline goodness [0,1] 0.35144699920425515 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.30, Z:296.29 [[ 9.99744908e-01 2.00933859e-02 -1.03137700e-02 -1.70774509e+02] [-2.00299308e-02 9.99780037e-01 6.21933847e-03 -9.52973197e+01] [ 1.04364689e-02 -6.01116787e-03 9.99927470e-01 2.96285109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74907232899994 meters Centerline goodness [0,1] 0.35741476678519135 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.30, Z:296.28 [[ 9.99713225e-01 2.11660283e-02 -1.12012395e-02 -1.70772158e+02] [-2.10889378e-02 9.99753403e-01 6.95627235e-03 -9.52982191e+01] [ 1.13457140e-02 -6.71805522e-03 9.99913067e-01 2.96284935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.779072329 meters Centerline goodness [0,1] 0.3350639562878137 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.30, Z:296.29 [[ 9.99699970e-01 2.14587546e-02 -1.18106318e-02 -1.70770823e+02] [-2.13784714e-02 9.99747765e-01 6.88232851e-03 -9.52973687e+01] [ 1.19553390e-02 -6.62777035e-03 9.99906567e-01 2.96285242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.80907232899995 meters Centerline goodness [0,1] 0.3346384154767388 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.30, Z:296.29 [[ 9.99683009e-01 2.17676030e-02 -1.26512065e-02 -1.70769139e+02] [-2.16843376e-02 9.99742537e-01 6.68196032e-03 -9.52960913e+01] [ 1.27933995e-02 -6.40550916e-03 9.99897644e-01 2.96285884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.839072329 meters Centerline goodness [0,1] 0.3448622603959359 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.29, Z:296.29 [[ 9.99648081e-01 2.27304649e-02 -1.36762723e-02 -1.70766504e+02] [-2.26383862e-02 9.99720249e-01 6.85031186e-03 -9.52941238e+01] [ 1.38281571e-02 -6.53829237e-03 9.99883010e-01 2.96286163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.86907232899995 meters Centerline goodness [0,1] 0.3444605100479873 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.29, Z:296.29 [[ 9.99651267e-01 2.25486836e-02 -1.37441156e-02 -1.70766607e+02] [-2.24613471e-02 9.99726737e-01 6.47606991e-03 -9.52930275e+01] [ 1.38863867e-02 -6.16510014e-03 9.99884573e-01 2.96286519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.899072329 meters Centerline goodness [0,1] 0.3456836640710039 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.29, Z:296.29 [[ 9.99651133e-01 2.25520445e-02 -1.37483546e-02 -1.70766786e+02] [-2.24643837e-02 9.99726529e-01 6.49755102e-03 -9.52930976e+01] [ 1.38911279e-02 -6.18643593e-03 9.99884376e-01 2.96286734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.92907232899995 meters Centerline goodness [0,1] 0.3573699845194762 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.29, Z:296.29 [[ 9.99712983e-01 1.90147636e-02 -1.45736375e-02 -1.70764935e+02] [-1.89782671e-02 9.99816415e-01 2.63851748e-03 -9.52925063e+01] [ 1.46211328e-02 -2.36117780e-03 9.99890318e-01 2.96286939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.959072329 meters Centerline goodness [0,1] 0.35735804845391017 Centerline is valid? [False, False] Translation: X:-170.76, Y:-95.29, Z:296.29 [[ 9.99774610e-01 1.51232114e-02 -1.49002557e-02 -1.70764471e+02] [-1.51419238e-02 9.99884700e-01 -1.14382467e-03 -9.52934131e+01] [ 1.48812394e-02 1.36918540e-03 9.99888331e-01 2.96287169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.98907232899995 meters Centerline goodness [0,1] 0.359483968250644 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.29, Z:296.29 [[ 9.99795293e-01 1.45769487e-02 -1.40315840e-02 -1.70766657e+02] [-1.45969504e-02 9.99892582e-01 -1.32411328e-03 -9.52938951e+01] [ 1.40107752e-02 1.52866056e-03 9.99900676e-01 2.96286946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.019072329 meters Centerline goodness [0,1] 0.3629493164737162 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.30, Z:296.29 [[ 9.99845338e-01 1.09825314e-02 -1.37362372e-02 -1.70766810e+02] [-1.10395974e-02 9.99930716e-01 -4.08550966e-03 -9.52978785e+01] [ 1.36904163e-02 4.23652032e-03 9.99897307e-01 2.96285818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.04907232899996 meters Centerline goodness [0,1] 0.3622010971983751 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.31, Z:296.28 [[ 9.99966354e-01 8.09330529e-03 -1.33774387e-03 -1.70767893e+02] [-8.09403227e-03 9.99967098e-01 -5.38919296e-04 -9.53069988e+01] [ 1.33333822e-03 5.49728906e-04 9.99998960e-01 2.96281996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.079072329 meters Centerline goodness [0,1] 0.37143335636081976 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.31, Z:296.28 [[ 9.99987358e-01 4.70774849e-03 -1.76638779e-03 -1.70766617e+02] [-4.71426563e-03 9.99982029e-01 -3.70368619e-03 -9.53090434e+01] [ 1.74892002e-03 3.71196659e-03 9.99991581e-01 2.96281662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.10907232899996 meters Centerline goodness [0,1] 0.3340930952281377 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.31, Z:296.28 [[ 9.99999717e-01 2.49360394e-04 -7.09623478e-04 -1.70768896e+02] [-2.54367958e-04 9.99975008e-01 -7.06532919e-03 -9.53127190e+01] [ 7.07843930e-04 7.06550770e-03 9.99974788e-01 2.96280763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.139072329 meters Centerline goodness [0,1] 0.3376139881201372 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.32, Z:296.28 [[ 9.99999739e-01 -5.23751764e-04 4.97076063e-04 -1.70771578e+02] [ 5.27017933e-04 9.99978124e-01 -6.59353672e-03 -9.53159011e+01] [-4.93611812e-04 6.59379697e-03 9.99978139e-01 2.96279751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.16907232899996 meters Centerline goodness [0,1] 0.3496411308041599 Centerline is valid? [False, False] Translation: X:-170.77, Y:-95.32, Z:296.28 [[ 9.99995758e-01 -2.32056086e-03 1.76066296e-03 -1.70774359e+02] [ 2.33297312e-03 9.99972210e-01 -7.08076663e-03 -9.53181754e+01] [-1.74418268e-03 7.08484417e-03 9.99973381e-01 2.96278806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.199072329 meters Centerline goodness [0,1] 0.35285005547298576 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.32, Z:296.28 [[ 9.99970497e-01 -6.91867813e-03 3.33719025e-03 -1.70776914e+02] [ 6.94927735e-03 9.99933103e-01 -9.24641106e-03 -9.53246533e+01] [-3.27299406e-03 9.26932932e-03 9.99951682e-01 2.96275886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.22907232899996 meters Centerline goodness [0,1] 0.35017377831749086 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.33, Z:296.28 [[ 9.99952055e-01 -8.64287595e-03 4.60306624e-03 -1.70780680e+02] [ 8.68866978e-03 9.99912017e-01 -1.00232504e-02 -9.53258892e+01] [-4.51603154e-03 1.00627643e-02 9.99939171e-01 2.96276146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.259072329 meters Centerline goodness [0,1] 0.35411695759554607 Centerline is valid? [False, False] Translation: X:-170.78, Y:-95.33, Z:296.28 [[ 9.99928361e-01 -1.04075466e-02 5.91228763e-03 -1.70784734e+02] [ 1.04718594e-02 9.99885179e-01 -1.09530583e-02 -9.53267655e+01] [-5.79761431e-03 1.10141862e-02 9.99922535e-01 2.96276668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.28907232899996 meters Centerline goodness [0,1] 0.3127195183140994 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.33, Z:296.27 [[ 9.99764351e-01 -1.88896109e-02 1.06969285e-02 -1.70796053e+02] [ 1.90228192e-02 9.99741017e-01 -1.24912174e-02 -9.53302278e+01] [-1.04582040e-02 1.26917596e-02 9.99864763e-01 2.96270835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.319072329 meters Centerline goodness [0,1] 0.3570501820616917 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.33, Z:296.27 [[ 9.99739732e-01 -1.94966048e-02 1.18469565e-02 -1.70798906e+02] [ 1.96423961e-02 9.99731197e-01 -1.23170697e-02 -9.53319813e+01] [-1.16036310e-02 1.25465666e-02 9.99853959e-01 2.96270525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.34907232899997 meters Centerline goodness [0,1] 0.3223444755888383 Centerline is valid? [False, False] Translation: X:-170.80, Y:-95.33, Z:296.27 [[ 9.99702091e-01 -2.05595223e-02 1.31542684e-02 -1.70801852e+02] [ 2.07290918e-02 9.99702070e-01 -1.28870268e-02 -9.53315844e+01] [-1.28853982e-02 1.31558637e-02 9.99830431e-01 2.96270020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37907232899994 meters Centerline goodness [0,1] 0.3556656838759593 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99645487e-01 -2.21312742e-02 1.48022359e-02 -1.70805777e+02] [ 2.23237556e-02 9.99666695e-01 -1.29672175e-02 -9.53331721e+01] [-1.45103212e-02 1.32930620e-02 9.99806354e-01 2.96269291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.40907232899997 meters Centerline goodness [0,1] 0.32484742078421536 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99599699e-01 -2.32676901e-02 1.60952348e-02 -1.70808917e+02] [ 2.34847424e-02 9.99633977e-01 -1.34305483e-02 -9.53333370e+01] [-1.57768458e-02 1.38031645e-02 9.99780258e-01 2.96269021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43907232899994 meters Centerline goodness [0,1] 0.34296639919759275 Centerline is valid? [False, False] Translation: X:-170.81, Y:-95.33, Z:296.27 [[ 9.99557596e-01 -2.41004361e-02 1.74293082e-02 -1.70811768e+02] [ 2.43396637e-02 9.99610605e-01 -1.36462225e-02 -9.53337316e+01] [-1.70936414e-02 1.40644089e-02 9.99754970e-01 2.96268230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.46907232899997 meters Centerline goodness [0,1] 0.33359802733313826 Centerline is valid? [False, False] Translation: X:-170.82, Y:-95.33, Z:296.26 [[ 9.99185312e-01 -3.35043021e-02 2.24983188e-02 -1.70824306e+02] [ 3.38717526e-02 9.99295616e-01 -1.61547809e-02 -9.53327840e+01] [-2.19412167e-02 1.69036773e-02 9.99616351e-01 2.96262766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49907232899994 meters Centerline goodness [0,1] 0.3547369300848343 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.33, Z:296.26 [[ 9.99108517e-01 -3.48120028e-02 2.38808751e-02 -1.70828032e+02] [ 3.52087862e-02 9.99245393e-01 -1.64007682e-02 -9.53343488e+01] [-2.32919108e-02 1.72269638e-02 9.99580271e-01 2.96262775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.529072329 meters Centerline goodness [0,1] 0.33111960403483487 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.34, Z:296.26 [[ 9.98932723e-01 -3.90428280e-02 2.46793994e-02 -1.70829604e+02] [ 3.95458623e-02 9.99012863e-01 -2.02342261e-02 -9.53359573e+01] [-2.38650360e-02 2.11885987e-02 9.99490622e-01 2.96262583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55907232899995 meters Centerline goodness [0,1] 0.33166374488688544 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.33, Z:296.26 [[ 9.98696309e-01 -4.16966351e-02 2.94460881e-02 -1.70842960e+02] [ 4.22067429e-02 9.98965626e-01 -1.69195005e-02 -9.53329255e+01] [-2.87101436e-02 1.81402662e-02 9.99423163e-01 2.96259486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.589072329 meters Centerline goodness [0,1] 0.3193708540197755 Centerline is valid? [False, False] Translation: X:-170.86, Y:-95.33, Z:296.25 [[ 9.98259694e-01 -4.77249358e-02 3.46397868e-02 -1.70857306e+02] [ 4.82668636e-02 9.98722134e-01 -1.49803122e-02 -9.53328981e+01] [-3.38805873e-02 1.66261958e-02 9.99287584e-01 2.96254593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.61907232899995 meters Centerline goodness [0,1] 0.34339960818640325 Centerline is valid? [False, False] Translation: X:-170.87, Y:-95.32, Z:296.26 [[ 9.98182596e-01 -5.39780704e-02 2.67931360e-02 -1.70871714e+02] [ 5.44512158e-02 9.98367333e-01 -1.72549321e-02 -9.53184361e+01] [-2.58180038e-02 1.86824917e-02 9.99492069e-01 2.96255459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.649072329 meters Centerline goodness [0,1] 0.3523924540873693 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.32, Z:296.25 [[ 9.97821812e-01 -5.78847435e-02 3.16383861e-02 -1.70888051e+02] [ 5.82922275e-02 9.98226088e-01 -1.21117145e-02 -9.53172268e+01] [-3.08811789e-02 1.39296049e-02 9.99425995e-01 2.96251524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.67907232899995 meters Centerline goodness [0,1] 0.34886481982920226 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.31, Z:296.25 [[ 9.97959789e-01 -5.32843855e-02 3.51714832e-02 -1.70900173e+02] [ 5.39621500e-02 9.98369544e-01 -1.86101937e-02 -9.53107799e+01] [-3.41225050e-02 2.04701538e-02 9.99208000e-01 2.96245595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.709072329 meters Centerline goodness [0,1] 0.3044311576842149 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.30, Z:296.24 [[ 9.97441860e-01 -5.87653023e-02 4.06985882e-02 -1.70917897e+02] [ 5.94955590e-02 9.98084323e-01 -1.69694842e-02 -9.53018906e+01] [-3.96234059e-02 1.93474591e-02 9.99027358e-01 2.96243436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.73907232899995 meters Centerline goodness [0,1] 0.3780757360914171 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.28, Z:296.25 [[ 9.97414832e-01 -6.21918676e-02 3.59975530e-02 -1.70940838e+02] [ 6.28978241e-02 9.97842476e-01 -1.88217109e-02 -9.52789423e+01] [-3.47493301e-02 2.10372214e-02 9.99174619e-01 2.96246256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.769072329 meters Centerline goodness [0,1] 0.34393484962092813 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.27, Z:296.25 [[ 9.97147940e-01 -6.36858036e-02 4.04982056e-02 -1.70957786e+02] [ 6.42754896e-02 9.97841846e-01 -1.34280590e-02 -9.52704085e+01] [-3.95556275e-02 1.59928033e-02 9.99089377e-01 2.96245398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.79907232899996 meters Centerline goodness [0,1] 0.346343801446225 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.26, Z:296.24 [[ 9.97415971e-01 -5.74328368e-02 4.31607506e-02 -1.70968655e+02] [ 5.82964867e-02 9.98118030e-01 -1.90241587e-02 -9.52624111e+01] [-4.19869120e-02 2.14911199e-02 9.98886996e-01 2.96239542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.829072329 meters Centerline goodness [0,1] 0.3579879191835035 Centerline is valid? [False, False] Translation: X:-170.99, Y:-95.24, Z:296.24 [[ 9.97422609e-01 -6.01360331e-02 3.91381779e-02 -1.70992887e+02] [ 6.09929070e-02 9.97915584e-01 -2.10796686e-02 -9.52371713e+01] [-3.77889500e-02 2.34124893e-02 9.99011437e-01 2.96244258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.85907232899996 meters Centerline goodness [0,1] 0.3015478971962616 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.23, Z:296.24 [[ 9.97812576e-01 -5.11979293e-02 4.18190741e-02 -1.71004957e+02] [ 5.22347256e-02 9.98344299e-01 -2.40872219e-02 -9.52268360e+01] [-4.05166183e-02 2.62189408e-02 9.98834807e-01 2.96239400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.889072329 meters Centerline goodness [0,1] 0.35643667612214247 Centerline is valid? [False, False] Translation: X:-171.01, Y:-95.22, Z:296.24 [[ 9.97855274e-01 -4.96826492e-02 4.26202484e-02 -1.71008655e+02] [ 5.06977196e-02 9.98447432e-01 -2.30752619e-02 -9.52202253e+01] [-4.14076374e-02 2.51865212e-02 9.98824833e-01 2.96241251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.91907232899996 meters Centerline goodness [0,1] 0.253597571119614 Centerline is valid? [False, False] Translation: X:-171.01, Y:-95.22, Z:296.24 [[ 9.97954221e-01 -4.73309730e-02 4.29784928e-02 -1.71011449e+02] [ 4.82693585e-02 9.98612214e-01 -2.10645442e-02 -9.52158868e+01] [-4.19218425e-02 2.30959950e-02 9.98853910e-01 2.96243104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.949072329 meters Centerline goodness [0,1] 0.3562483069036654 Centerline is valid? [False, False] Translation: X:-171.02, Y:-95.20, Z:296.25 [[ 9.98516307e-01 -4.39410396e-02 3.21616060e-02 -1.71019900e+02] [ 4.46792165e-02 9.98745609e-01 -2.26047760e-02 -9.51986875e+01] [-3.11279854e-02 2.40081928e-02 9.99227029e-01 2.96249152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.97907232899996 meters Centerline goodness [0,1] 0.3574379303150428 Centerline is valid? [False, False] Translation: X:-171.02, Y:-95.19, Z:296.25 [[ 9.98665861e-01 -4.05970874e-02 3.19119775e-02 -1.71020657e+02] [ 4.12468961e-02 9.98949299e-01 -1.99747903e-02 -9.51938240e+01] [-3.10675292e-02 2.12644112e-02 9.99291065e-01 2.96250492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.009072329 meters Centerline goodness [0,1] 0.3280213591422969 Centerline is valid? [False, False] Translation: X:-171.02, Y:-95.19, Z:296.25 [[ 9.98967555e-01 -3.30321365e-02 3.11881787e-02 -1.71020729e+02] [ 3.34604364e-02 9.99351384e-01 -1.33120611e-02 -9.51881491e+01] [-3.07282237e-02 1.43418872e-02 9.99424878e-01 2.96252178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.03907232899996 meters Centerline goodness [0,1] 0.3624574519180571 Centerline is valid? [False, False] Translation: X:-171.03, Y:-95.17, Z:296.26 [[ 9.99422031e-01 -2.74855184e-02 2.00037498e-02 -1.71026186e+02] [ 2.77889861e-02 9.99500450e-01 -1.50540249e-02 -9.51735371e+01] [-1.95799892e-02 1.56012080e-02 9.99686564e-01 2.96256703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.069072329 meters Centerline goodness [0,1] 0.315202639216587 Centerline is valid? [False, False] Translation: X:-171.03, Y:-95.17, Z:296.26 [[ 9.99565064e-01 -2.13004042e-02 2.03955015e-02 -1.71029345e+02] [ 2.14954091e-02 9.99724849e-01 -9.39013595e-03 -9.51681000e+01] [-2.01898759e-02 9.82446149e-03 9.99747893e-01 2.96258945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.09907232899997 meters Centerline goodness [0,1] 0.3106958117804105 Centerline is valid? [False, False] Translation: X:-171.03, Y:-95.16, Z:296.26 [[ 9.99676927e-01 -1.68269387e-02 1.90498391e-02 -1.71027510e+02] [ 1.69588518e-02 9.99833171e-01 -6.78438553e-03 -9.51624593e+01] [-1.89325006e-02 7.10525707e-03 9.99795517e-01 2.96261274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12907232899994 meters Centerline goodness [0,1] 0.31914049448713666 Centerline is valid? [False, False] Translation: X:-171.03, Y:-95.16, Z:296.26 [[ 9.99763758e-01 -1.21825850e-02 1.80003541e-02 -1.71025742e+02] [ 1.22409957e-02 9.99920151e-01 -3.13836172e-03 -9.51596126e+01] [-1.79606835e-02 3.35796257e-03 9.99833055e-01 2.96262391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.15907232899997 meters Centerline goodness [0,1] 0.3598546548051622 Centerline is valid? [False, False] Translation: X:-171.02, Y:-95.16, Z:296.27 [[ 9.99902510e-01 -4.27452516e-03 1.32928453e-02 -1.71015412e+02] [ 4.29885804e-03 9.99989135e-01 -1.80249003e-03 -9.51558665e+01] [-1.32849961e-02 1.85945836e-03 9.99910022e-01 2.96268461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.18907232899994 meters Centerline goodness [0,1] 0.3642863115645121 Centerline is valid? [False, False] Translation: X:-171.01, Y:-95.15, Z:296.27 [[ 9.99922397e-01 -2.33248343e-03 1.22375939e-02 -1.71012363e+02] [ 2.34227256e-03 9.99996948e-01 -7.85651728e-04 -9.51543113e+01] [-1.22357240e-02 8.14254540e-04 9.99924809e-01 2.96268224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.21907232899997 meters Centerline goodness [0,1] 0.35058552906733587 Centerline is valid? [False, False] Translation: X:-171.01, Y:-95.15, Z:296.27 [[ 9.99931189e-01 1.70667134e-03 1.16062368e-02 -1.71011172e+02] [-1.73588674e-03 9.99995349e-01 2.50760821e-03 -9.51509674e+01] [-1.16019032e-02 -2.52758278e-03 9.99929501e-01 2.96268818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.24907232899994 meters Centerline goodness [0,1] 0.35870452120425966 Centerline is valid? [False, False] Translation: X:-171.01, Y:-95.15, Z:296.27 [[ 9.99922526e-01 5.74776487e-03 1.10410324e-02 -1.71010186e+02] [-5.81328618e-03 9.99965630e-01 5.91144765e-03 -9.51479029e+01] [-1.10066753e-02 -5.97517435e-03 9.99921572e-01 2.96269501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.279072329 meters Centerline goodness [0,1] 0.3435983263598327 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.15, Z:296.28 [[ 9.99850600e-01 1.61846529e-02 6.06918537e-03 -1.70996335e+02] [-1.62326570e-02 9.99836672e-01 7.94544600e-03 -9.51456960e+01] [-5.93959982e-03 -8.04277795e-03 9.99950016e-01 2.96275222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.30907232899995 meters Centerline goodness [0,1] 0.3085384470607917 Centerline is valid? [False, False] Translation: X:-170.99, Y:-95.14, Z:296.28 [[ 9.99813115e-01 1.91959092e-02 2.29162182e-03 -1.70988186e+02] [-1.92084737e-02 9.99799857e-01 5.59285638e-03 -9.51409786e+01] [-2.18380320e-03 -5.63582972e-03 9.99981734e-01 2.96280234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.339072329 meters Centerline goodness [0,1] 0.3085384470607917 Centerline is valid? [False, False] Translation: X:-170.99, Y:-95.14, Z:296.28 [[ 9.99813115e-01 1.91959092e-02 2.29162182e-03 -1.70988186e+02] [-1.92084737e-02 9.99799857e-01 5.59285638e-03 -9.51409786e+01] [-2.18380320e-03 -5.63582972e-03 9.99981734e-01 2.96280234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.36907232899995 meters Centerline goodness [0,1] 0.31313237111674386 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.14, Z:296.29 [[ 9.99579126e-01 2.89162952e-02 -2.32776224e-03 -1.70976222e+02] [-2.88986977e-02 9.99555920e-01 7.26834215e-03 -9.51361095e+01] [ 2.53690206e-03 -7.19801380e-03 9.99970876e-01 2.96286463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.399072329 meters Centerline goodness [0,1] 0.3427978275001573 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.13, Z:296.29 [[ 9.99433051e-01 3.35246969e-02 -3.10991788e-03 -1.70973974e+02] [-3.34891664e-02 9.99380199e-01 1.08486953e-02 -9.51328337e+01] [ 3.47168957e-03 -1.07383961e-02 9.99936315e-01 2.96286796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.42907232899995 meters Centerline goodness [0,1] 0.3267511646451504 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.13, Z:296.29 [[ 9.99243050e-01 3.82261284e-02 -7.21733741e-03 -1.70964061e+02] [-3.81505152e-02 9.99218519e-01 1.03387474e-02 -9.51317809e+01] [ 7.60690748e-03 -1.00555763e-02 9.99920507e-01 2.96291109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.459072329 meters Centerline goodness [0,1] 0.3602180979343609 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.13, Z:296.30 [[ 9.98535685e-01 5.28220531e-02 -1.16754417e-02 -1.70950053e+02] [-5.26416482e-02 9.98496959e-01 1.52538285e-02 -9.51267771e+01] [ 1.24636316e-02 -1.46168776e-02 9.99815485e-01 2.96297733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.48907232899995 meters Centerline goodness [0,1] 0.3478461377214128 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.12, Z:296.30 [[ 9.98141193e-01 5.90943386e-02 -1.49002489e-02 -1.70943057e+02] [-5.88497230e-02 9.98132894e-01 1.63534529e-02 -9.51206090e+01] [ 1.58388250e-02 -1.54461794e-02 9.99755244e-01 2.96303186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.519072329 meters Centerline goodness [0,1] 0.32684245828791814 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.12, Z:296.30 [[ 9.97784628e-01 6.45269564e-02 -1.61897406e-02 -1.70939635e+02] [-6.42076132e-02 9.97745527e-01 1.95254952e-02 -9.51154008e+01] [ 1.74131620e-02 -1.84427343e-02 9.99678272e-01 2.96304895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.54907232899996 meters Centerline goodness [0,1] 0.3365808591945576 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.11, Z:296.31 [[ 9.96681306e-01 7.92022446e-02 -1.87983580e-02 -1.70931889e+02] [-7.86679161e-02 9.96517624e-01 2.76402468e-02 -9.51051174e+01] [ 2.09220647e-02 -2.60696896e-02 9.99441163e-01 2.96310396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.579072329 meters Centerline goodness [0,1] 0.34603027948680265 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.10, Z:296.32 [[ 9.96243824e-01 8.35726561e-02 -2.26683756e-02 -1.70922436e+02] [-8.29771216e-02 9.96210880e-01 2.60514669e-02 -9.51013159e+01] [ 2.47596727e-02 -2.40726564e-02 9.99403555e-01 2.96315745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.60907232899996 meters Centerline goodness [0,1] 0.34880839895013127 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.09, Z:296.32 [[ 9.94935922e-01 9.69495756e-02 -2.65196377e-02 -1.70909669e+02] [-9.61491532e-02 9.94916044e-01 2.99567398e-02 -9.50938684e+01] [ 2.92891063e-02 -2.72551958e-02 9.99199331e-01 2.96323033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.639072329 meters Centerline goodness [0,1] 0.34031182275338234 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.09, Z:296.32 [[ 9.94487117e-01 1.01280584e-01 -2.71590993e-02 -1.70907834e+02] [-1.00384663e-01 9.94416374e-01 3.25422079e-02 -9.50882411e+01] [ 3.03033468e-02 -2.96364495e-02 9.99101290e-01 2.96324780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.66907232899996 meters Centerline goodness [0,1] 0.347652305621003 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.08, Z:296.33 [[ 9.93960680e-01 1.05276274e-01 -3.09689130e-02 -1.70898771e+02] [-1.04343218e-01 9.94078257e-01 3.03465365e-02 -9.50839674e+01] [ 3.39802934e-02 -2.69318680e-02 9.99059565e-01 2.96330939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.699072329 meters Centerline goodness [0,1] 0.35412059560666376 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.07, Z:296.34 [[ 9.92344166e-01 1.19181547e-01 -3.23854130e-02 -1.70892675e+02] [-1.17931878e-01 9.92290697e-01 3.80952107e-02 -9.50721076e+01] [ 3.66759902e-02 -3.39842876e-02 9.98749188e-01 2.96336164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.72907232899996 meters Centerline goodness [0,1] 0.357312835632305 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.07, Z:296.34 [[ 9.91768510e-01 1.23726663e-01 -3.29687069e-02 -1.70889827e+02] [-1.22345689e-01 9.91638120e-01 4.10532632e-02 -9.50666627e+01] [ 3.77724098e-02 -3.66817545e-02 9.98612885e-01 2.96336883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.759072329 meters Centerline goodness [0,1] 0.3136436461759001 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.06, Z:296.34 [[ 9.91102751e-01 1.28803251e-01 -3.35419179e-02 -1.70886487e+02] [-1.27268722e-01 9.90871560e-01 4.44547475e-02 -9.50618922e+01] [ 3.89616485e-02 -3.97903855e-02 9.98448153e-01 2.96337262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.78907232899996 meters Centerline goodness [0,1] 0.3297556038209307 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.05, Z:296.34 [[ 9.88810130e-01 1.43549596e-01 -4.05960641e-02 -1.70885643e+02] [-1.41919967e-01 9.89047883e-01 4.05340461e-02 -9.50452155e+01] [ 4.59700971e-02 -3.43190833e-02 9.98353119e-01 2.96339530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.819072329 meters Centerline goodness [0,1] 0.3313926507193182 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.04, Z:296.34 [[ 9.88263114e-01 1.47277287e-01 -4.05637612e-02 -1.70884630e+02] [-1.45527369e-01 9.88411779e-01 4.31733652e-02 -9.50401948e+01] [ 4.64521555e-02 -3.67635069e-02 9.98243779e-01 2.96340394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.84907232899997 meters Centerline goodness [0,1] 0.33937490779573853 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.04, Z:296.35 [[ 9.87578494e-01 1.50798288e-01 -4.41428896e-02 -1.70875852e+02] [-1.49034682e-01 9.87987670e-01 4.08537449e-02 -9.50360530e+01] [ 4.97733054e-02 -3.37674583e-02 9.98189550e-01 2.96346375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87907232899994 meters Centerline goodness [0,1] 0.38027070332265134 Centerline is valid? [False, False] Translation: X:-170.87, Y:-95.03, Z:296.35 [[ 9.86950686e-01 1.53919723e-01 -4.72975836e-02 -1.70868240e+02] [-1.52175713e-01 9.87602766e-01 3.85140102e-02 -9.50311698e+01] [ 5.26392902e-02 -3.08138853e-02 9.98138071e-01 2.96352022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.90907232899997 meters Centerline goodness [0,1] 0.3614224319541586 Centerline is valid? [False, False] Translation: X:-170.86, Y:-95.02, Z:296.36 [[ 9.85331025e-01 1.63651145e-01 -4.83846409e-02 -1.70862796e+02] [-1.61623114e-01 9.85904775e-01 4.32405261e-02 -9.50223790e+01] [ 5.47790101e-02 -3.47861556e-02 9.97892371e-01 2.96356470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93907232899994 meters Centerline goodness [0,1] 0.36239391833554446 Centerline is valid? [False, False] Translation: X:-170.86, Y:-95.02, Z:296.36 [[ 9.84671704e-01 1.67609267e-01 -4.82573233e-02 -1.70861645e+02] [-1.65416600e-01 9.85134167e-01 4.63467575e-02 -9.50185206e+01] [ 5.53080841e-02 -3.76537783e-02 9.97759094e-01 2.96357146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.96907232899997 meters Centerline goodness [0,1] 0.37829473684210524 Centerline is valid? [False, False] Translation: X:-170.85, Y:-95.01, Z:296.36 [[ 9.83895367e-01 1.71258617e-01 -5.11897786e-02 -1.70853884e+02] [-1.69130117e-01 9.84637933e-01 4.33952219e-02 -9.50117374e+01] [ 5.78352035e-02 -3.40386246e-02 9.97745690e-01 2.96363831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99907232899994 meters Centerline goodness [0,1] 0.3798585084431718 Centerline is valid? [False, False] Translation: X:-170.85, Y:-95.01, Z:296.36 [[ 9.83701509e-01 1.72151470e-01 -5.19154264e-02 -1.70851524e+02] [-1.70028573e-01 9.84505307e-01 4.28903802e-02 -9.50074672e+01] [ 5.84946548e-02 -3.33642259e-02 9.97730026e-01 2.96364638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.029072329 meters Centerline goodness [0,1] 0.38190393969383674 Centerline is valid? [False, False] Translation: X:-170.85, Y:-95.00, Z:296.37 [[ 9.83539324e-01 1.72807800e-01 -5.28002171e-02 -1.70849055e+02] [-1.70671933e-01 9.84405662e-01 4.26214047e-02 -9.50048682e+01] [ 5.93421438e-02 -3.29083124e-02 9.97695120e-01 2.96365285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.05907232899995 meters Centerline goodness [0,1] 0.38511422254974204 Centerline is valid? [False, False] Translation: X:-170.85, Y:-95.00, Z:296.37 [[ 9.83447770e-01 1.73122732e-01 -5.34696549e-02 -1.70847009e+02] [-1.70995429e-01 9.84371244e-01 4.21166970e-02 -9.50020917e+01] [ 5.99253484e-02 -3.22765052e-02 9.97680901e-01 2.96365547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.089072329 meters Centerline goodness [0,1] 0.3893145840350286 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.00, Z:296.36 [[ 9.83804891e-01 1.70734613e-01 -5.45676519e-02 -1.70844320e+02] [-1.68747430e-01 9.84879891e-01 3.91906197e-02 -9.50014777e+01] [ 6.04337784e-02 -2.93477723e-02 9.97740681e-01 2.96364993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.11907232899995 meters Centerline goodness [0,1] 0.3722207030017459 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.00, Z:296.37 [[ 9.83792728e-01 1.70744205e-01 -5.47566013e-02 -1.70844180e+02] [-1.68761339e-01 9.84883959e-01 3.90281703e-02 -9.50007661e+01] [ 6.05927322e-02 -2.91548328e-02 9.97736697e-01 2.96365482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.149072329 meters Centerline goodness [0,1] 0.370014102591088 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.00, Z:296.37 [[ 9.84344801e-01 1.67086498e-01 -5.61018289e-02 -1.70842380e+02] [-1.65297539e-01 9.85616266e-01 3.51752624e-02 -9.49998672e+01] [ 6.11721865e-02 -2.53510923e-02 9.97805234e-01 2.96365941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.17907232899995 meters Centerline goodness [0,1] 0.41156913494518443 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.00, Z:296.37 [[ 9.84872287e-01 1.63492656e-01 -5.74171628e-02 -1.70840485e+02] [-1.61893864e-01 9.86305163e-01 3.15040052e-02 -9.49995145e+01] [ 6.17815176e-02 -2.17319353e-02 9.97853079e-01 2.96366213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.209072329 meters Centerline goodness [0,1] 0.37188447288649373 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.00, Z:296.37 [[ 9.85513211e-01 1.59222206e-01 -5.84123252e-02 -1.70840195e+02] [-1.57847055e-01 9.87081260e-01 2.74753370e-02 -9.49997747e+01] [ 6.20323953e-02 -1.78570941e-02 9.97914378e-01 2.96366872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.23907232899995 meters Centerline goodness [0,1] 0.37488955274119573 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.00, Z:296.37 [[ 9.86226560e-01 1.54747891e-01 -5.83974491e-02 -1.70842232e+02] [-1.53583148e-01 9.87845206e-01 2.39596520e-02 -9.50026257e+01] [ 6.13953458e-02 -1.46607811e-02 9.98005848e-01 2.96366669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.269072329 meters Centerline goodness [0,1] 0.3803514242373167 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.00, Z:296.37 [[ 9.86820514e-01 1.50711193e-01 -5.89186736e-02 -1.70842526e+02] [-1.49746022e-01 9.88512107e-01 2.04925274e-02 -9.50046796e+01] [ 6.13302754e-02 -1.13996095e-02 9.98052427e-01 2.96366488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.29907232899996 meters Centerline goodness [0,1] 0.37722974538255793 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.01, Z:296.37 [[ 9.87455329e-01 1.46596837e-01 -5.86629490e-02 -1.70844863e+02] [-1.45787410e-01 9.89154516e-01 1.78710495e-02 -9.50106326e+01] [ 6.06465603e-02 -9.09454368e-03 9.98117871e-01 2.96365507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.329072329 meters Centerline goodness [0,1] 0.32842641731951816 Centerline is valid? [False, False] Translation: X:-170.85, Y:-95.01, Z:296.37 [[ 9.88072444e-01 1.42371198e-01 -5.86795328e-02 -1.70846487e+02] [-1.41761186e-01 9.89795387e-01 1.44519483e-02 -9.50136176e+01] [ 6.01382720e-02 -5.96109168e-03 9.98172256e-01 2.96365196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.35907232899996 meters Centerline goodness [0,1] 0.3762736842105263 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.02, Z:296.37 [[ 9.88803245e-01 1.35378174e-01 -6.27765324e-02 -1.70840168e+02] [-1.34509759e-01 9.90750964e-01 1.78788145e-02 -9.50211061e+01] [ 6.46163112e-02 -9.23457350e-03 9.97867454e-01 2.96371781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.389072329 meters Centerline goodness [0,1] 0.3255960376091337 Centerline is valid? [False, False] Translation: X:-170.83, Y:-95.03, Z:296.38 [[ 9.89692070e-01 1.26444107e-01 -6.72420530e-02 -1.70832403e+02] [-1.25344604e-01 9.91904669e-01 2.03435130e-02 -9.50297308e+01] [ 6.92700237e-02 -1.17053850e-02 9.97529272e-01 2.96378231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.41907232899996 meters Centerline goodness [0,1] 0.32782636181645775 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.04, Z:296.38 [[ 9.91038740e-01 1.14315295e-01 -6.90957947e-02 -1.70837538e+02] [-1.12637981e-01 9.93249491e-01 2.77152260e-02 -9.50359133e+01] [ 7.17976372e-02 -1.96840518e-02 9.97224968e-01 2.96381910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.449072329 meters Centerline goodness [0,1] 0.33945437679203916 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.04, Z:296.38 [[ 9.91556565e-01 1.09825544e-01 -6.89487296e-02 -1.70839587e+02] [-1.08399397e-01 9.93815084e-01 2.41070262e-02 -9.50388985e+01] [ 7.11698548e-02 -1.64294794e-02 9.97328895e-01 2.96381983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.47907232899996 meters Centerline goodness [0,1] 0.3391901571651287 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.05, Z:296.38 [[ 9.92715192e-01 9.73685833e-02 -7.09641152e-02 -1.70835721e+02] [-9.55502649e-02 9.95013935e-01 2.85904730e-02 -9.50531127e+01] [ 7.33940974e-02 -2.16015569e-02 9.97069044e-01 2.96383645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.509072329 meters Centerline goodness [0,1] 0.325287501579679 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.06, Z:296.38 [[ 9.93244382e-01 9.20857479e-02 -7.06102845e-02 -1.70839088e+02] [-9.05838840e-02 9.95594962e-01 2.41915575e-02 -9.50550731e+01] [ 7.25269412e-02 -1.76319748e-02 9.97210588e-01 2.96384550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.53907232899996 meters Centerline goodness [0,1] 0.3400168669618385 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.06, Z:296.38 [[ 9.93609340e-01 8.80480997e-02 -7.06258547e-02 -1.70839847e+02] [-8.67687290e-02 9.96007363e-01 2.09885746e-02 -9.50585322e+01] [ 7.21918754e-02 -1.47263281e-02 9.97282041e-01 2.96384092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.569072329 meters Centerline goodness [0,1] 0.34595938316339425 Centerline is valid? [False, False] Translation: X:-170.84, Y:-95.07, Z:296.38 [[ 9.94371434e-01 7.94324123e-02 -7.01137928e-02 -1.70842320e+02] [-7.85725859e-02 9.96796418e-01 1.49415560e-02 -9.50661956e+01] [ 7.10760213e-02 -9.34843448e-03 9.97427093e-01 2.96382153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.59907232899997 meters Centerline goodness [0,1] 0.3299542666863369 Centerline is valid? [False, False] Translation: X:-170.85, Y:-95.07, Z:296.38 [[ 9.94792922e-01 7.45244418e-02 -6.95208551e-02 -1.70845196e+02] [-7.39433053e-02 9.97202887e-01 1.08990578e-02 -9.50682403e+01] [ 7.01386436e-02 -5.70170376e-03 9.97520958e-01 2.96382291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62907232899994 meters Centerline goodness [0,1] 0.32095647048918075 Centerline is valid? [False, False] Translation: X:-170.85, Y:-95.07, Z:296.38 [[ 9.94932041e-01 7.36556201e-02 -6.84476756e-02 -1.70848878e+02] [-7.30813838e-02 9.97266858e-01 1.08593688e-02 -9.50707036e+01] [ 6.90604519e-02 -5.80208306e-03 9.97595604e-01 2.96382474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.65907232899997 meters Centerline goodness [0,1] 0.3238766705250974 Centerline is valid? [False, False] Translation: X:-170.85, Y:-95.07, Z:296.38 [[ 9.95410817e-01 6.79989148e-02 -6.73309230e-02 -1.70853301e+02] [-6.76787584e-02 9.97682416e-01 7.02728115e-03 -9.50743555e+01] [ 6.76527254e-02 -2.43815839e-03 9.97705951e-01 2.96382260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.68907232899994 meters Centerline goodness [0,1] 0.3284548742535116 Centerline is valid? [False, False] Translation: X:-170.85, Y:-95.09, Z:296.38 [[ 9.96400527e-01 5.99862570e-02 -5.98968959e-02 -1.70850990e+02] [-5.93173311e-02 9.98156004e-01 1.28858546e-02 -9.50854584e+01] [ 6.05594205e-02 -9.28654830e-03 9.98121394e-01 2.96383062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.71907232899997 meters Centerline goodness [0,1] 0.3266865370891231 Centerline is valid? [False, False] Translation: X:-170.85, Y:-95.09, Z:296.38 [[ 9.96706123e-01 5.54104192e-02 -5.92164723e-02 -1.70853723e+02] [-5.49516453e-02 9.98445246e-01 9.34922715e-03 -9.50890042e+01] [ 5.96424498e-02 -6.06438936e-03 9.98201383e-01 2.96382986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.74907232899994 meters Centerline goodness [0,1] 0.33783414879989926 Centerline is valid? [False, False] Translation: X:-170.87, Y:-95.09, Z:296.38 [[ 9.97416629e-01 4.58972663e-02 -5.52585726e-02 -1.70866414e+02] [-4.55799601e-02 9.98936241e-01 6.98954930e-03 -9.50923490e+01] [ 5.55205920e-02 -4.45280917e-03 9.98447613e-01 2.96378470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.779072329 meters Centerline goodness [0,1] 0.3570753428973513 Centerline is valid? [False, False] Translation: X:-170.87, Y:-95.09, Z:296.38 [[ 9.97545001e-01 4.45432183e-02 -5.40358432e-02 -1.70870495e+02] [-4.42565896e-02 9.98999116e-01 6.49006226e-03 -9.50937317e+01] [ 5.42708478e-02 -4.08268703e-03 9.98517905e-01 2.96378812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.80907232899995 meters Centerline goodness [0,1] 0.3428817439149884 Centerline is valid? [False, False] Translation: X:-170.87, Y:-95.10, Z:296.38 [[ 9.97688542e-01 4.25844652e-02 -5.29541058e-02 -1.70874568e+02] [-4.23416416e-02 9.99086934e-01 5.69950430e-03 -9.50956399e+01] [ 5.31484656e-02 -3.44416636e-03 9.98580682e-01 2.96379265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.839072329 meters Centerline goodness [0,1] 0.3505453020134228 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.37 [[ 9.98476833e-01 3.80701325e-02 -3.99334405e-02 -1.70883892e+02] [-3.78184801e-02 9.99259836e-01 7.03866370e-03 -9.51033203e+01] [ 4.01718461e-02 -5.51772061e-03 9.99177551e-01 2.96371348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.86907232899995 meters Centerline goodness [0,1] 0.31582374191380325 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.37 [[ 9.98600011e-01 3.61086002e-02 -3.86547114e-02 -1.70888231e+02] [-3.59163478e-02 9.99338790e-01 5.65673616e-03 -9.51025605e+01] [ 3.88334094e-02 -4.26048074e-03 9.99236616e-01 2.96372017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.899072329 meters Centerline goodness [0,1] 0.3571593412357076 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.37 [[ 9.98682356e-01 3.49074156e-02 -3.76168024e-02 -1.70891921e+02] [-3.47310464e-02 9.99382471e-01 5.33208599e-03 -9.51045799e+01] [ 3.77797023e-02 -4.01858929e-03 9.99278012e-01 2.96372551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.92907232899995 meters Centerline goodness [0,1] 0.35418328365727714 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.37 [[ 9.99251523e-01 3.00122009e-02 -2.44061939e-02 -1.70903594e+02] [-2.99070701e-02 9.99541815e-01 4.66129207e-03 -9.51087874e+01] [ 2.45349070e-02 -3.92788544e-03 9.99691257e-01 2.96368097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.959072329 meters Centerline goodness [0,1] 0.36048316067608943 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.37 [[ 9.99400438e-01 2.12251512e-02 -2.73542854e-02 -1.70895339e+02] [-2.10082124e-02 9.99745725e-01 8.19387362e-03 -9.51164469e+01] [ 2.75212461e-02 -7.61429625e-03 9.99592219e-01 2.96374708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.98907232899995 meters Centerline goodness [0,1] 0.3618793805346875 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.37 [[ 9.99470636e-01 1.74500516e-02 -2.74580393e-02 -1.70895320e+02] [-1.73206360e-02 9.99837763e-01 4.94403375e-03 -9.51192400e+01] [ 2.75398582e-02 -4.46582585e-03 9.99610731e-01 2.96374662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.019072329 meters Centerline goodness [0,1] 0.36006868822248284 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.13, Z:296.37 [[ 9.99829738e-01 1.19572468e-02 -1.40541815e-02 -1.70904376e+02] [-1.18963094e-02 9.99919505e-01 4.41152433e-03 -9.51280584e+01] [ 1.41057999e-02 -4.24358032e-03 9.99891503e-01 2.96369133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.04907232899996 meters Centerline goodness [0,1] 0.3627021245359787 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.13, Z:296.37 [[ 9.99875558e-01 7.82245067e-03 -1.36995556e-02 -1.70904828e+02] [-7.81383809e-03 9.99969239e-01 6.82089717e-04 -9.51294200e+01] [ 1.37044698e-02 -5.74958727e-04 9.99905924e-01 2.96368326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.079072329 meters Centerline goodness [0,1] 0.28568133688381947 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.13, Z:296.37 [[ 9.99907726e-01 3.83438201e-03 -1.30321194e-02 -1.70906046e+02] [-3.86073746e-03 9.99990552e-01 -1.99778931e-03 -9.51347983e+01] [ 1.30243360e-02 2.04791856e-03 9.99913083e-01 2.96367188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.10907232899996 meters Centerline goodness [0,1] 0.35534070174702714 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.14, Z:296.37 [[ 9.99918053e-01 3.63766645e-03 -1.22741514e-02 -1.70907676e+02] [-3.65887039e-03 9.99991852e-01 -1.70551441e-03 -9.51361525e+01] [ 1.22678473e-02 1.75028418e-03 9.99923215e-01 2.96366677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.139072329 meters Centerline goodness [0,1] 0.3707082782776484 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.14, Z:296.37 [[ 9.99933619e-01 3.03277638e-03 -1.11157486e-02 -1.70910363e+02] [-3.05164159e-03 9.99993932e-01 -1.68059243e-03 -9.51372243e+01] [ 1.11105842e-02 1.71440215e-03 9.99936806e-01 2.96366168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.16907232899996 meters Centerline goodness [0,1] 0.3530841434797184 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.14, Z:296.37 [[ 9.99946124e-01 -1.55588028e-03 -1.02629389e-02 -1.70912092e+02] [ 1.50080880e-03 9.99984447e-01 -5.37157399e-03 -9.51396256e+01] [ 1.02711368e-02 5.35588188e-03 9.99932907e-01 2.96365426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.199072329 meters Centerline goodness [0,1] 0.35676106231789884 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.14, Z:296.37 [[ 9.99955331e-01 -2.38375874e-03 -9.14619892e-03 -1.70914966e+02] [ 2.33242993e-03 9.99981495e-01 -5.61860588e-03 -9.51403950e+01] [ 9.15942308e-03 5.59702204e-03 9.99942387e-01 2.96365278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.22907232899996 meters Centerline goodness [0,1] 0.3037155011630588 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.14, Z:296.36 [[ 9.99962383e-01 -2.71682726e-03 -8.23718933e-03 -1.70916959e+02] [ 2.67267261e-03 9.99982028e-01 -5.36667983e-03 -9.51419479e+01] [ 8.25162163e-03 5.34446264e-03 9.99951673e-01 2.96364686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.259072329 meters Centerline goodness [0,1] 0.3037155011630588 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.14, Z:296.36 [[ 9.99962383e-01 -2.71682726e-03 -8.23718933e-03 -1.70916959e+02] [ 2.67267261e-03 9.99982028e-01 -5.36667983e-03 -9.51419479e+01] [ 8.25162163e-03 5.34446264e-03 9.99951673e-01 2.96364686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.28907232899996 meters Centerline goodness [0,1] 0.36813417190775677 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.14, Z:296.36 [[ 9.99969137e-01 -3.24594234e-03 -7.15468127e-03 -1.70919504e+02] [ 3.20984536e-03 9.99982092e-01 -5.05094716e-03 -9.51441391e+01] [ 7.17094823e-03 5.02782585e-03 9.99961648e-01 2.96364163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.319072329 meters Centerline goodness [0,1] 0.3661451998490123 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.14, Z:296.36 [[ 9.99971678e-01 -3.27779166e-03 -6.77485163e-03 -1.70920301e+02] [ 3.24485835e-03 9.99982894e-01 -4.86639957e-03 -9.51449153e+01] [ 6.79068679e-03 4.84427831e-03 9.99965209e-01 2.96363870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.34907232899997 meters Centerline goodness [0,1] 0.3178680096527122 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.14, Z:296.36 [[ 9.99973223e-01 -3.49963264e-03 -6.42701727e-03 -1.70921266e+02] [ 3.46766608e-03 9.99981596e-01 -4.97820480e-03 -9.51448634e+01] [ 6.44432087e-03 4.95578475e-03 9.99966955e-01 2.96363944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37907232899994 meters Centerline goodness [0,1] 0.30969445492267067 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.14, Z:296.36 [[ 9.99972328e-01 -3.33455337e-03 -6.65005002e-03 -1.70920725e+02] [ 3.30104311e-03 9.99981832e-01 -5.04372507e-03 -9.51437229e+01] [ 6.66674777e-03 5.02163340e-03 9.99965168e-01 2.96364142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.40907232899997 meters Centerline goodness [0,1] 0.313388041219804 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.14, Z:296.36 [[ 9.99974203e-01 -3.40207138e-03 -6.32605563e-03 -1.70921609e+02] [ 3.37064653e-03 9.99981961e-01 -4.97157021e-03 -9.51442062e+01] [ 6.34285515e-03 4.95011906e-03 9.99967632e-01 2.96364145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43907232899994 meters Centerline goodness [0,1] 0.32174077102069054 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.15, Z:296.36 [[ 9.99976507e-01 -4.25959721e-03 -5.37037719e-03 -1.70923739e+02] [ 4.23360080e-03 9.99979312e-01 -4.84281467e-03 -9.51467643e+01] [ 5.39089453e-03 4.81996487e-03 9.99973853e-01 2.96363304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.46907232899997 meters Centerline goodness [0,1] 0.3331376577634282 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.15, Z:296.36 [[ 9.99976989e-01 -4.17665732e-03 -5.34576764e-03 -1.70923831e+02] [ 4.15121373e-03 9.99980046e-01 -4.76185459e-03 -9.51467831e+01] [ 5.36554960e-03 4.73955359e-03 9.99974373e-01 2.96363334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49907232899994 meters Centerline goodness [0,1] 0.32110861674674274 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.15, Z:296.36 [[ 9.99977938e-01 -3.99593527e-03 -5.30617338e-03 -1.70923719e+02] [ 3.97213080e-03 9.99982035e-01 -4.48916898e-03 -9.51473960e+01] [ 5.32401648e-03 4.46799312e-03 9.99975846e-01 2.96362995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.529072329 meters Centerline goodness [0,1] 0.3290566037735849 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.15, Z:296.36 [[ 9.99979059e-01 -3.96118824e-03 -5.11767885e-03 -1.70924073e+02] [ 3.93913794e-03 9.99982947e-01 -4.31157194e-03 -9.51478475e+01] [ 5.13467052e-03 4.29132241e-03 9.99977610e-01 2.96362798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.55907232899995 meters Centerline goodness [0,1] 0.3297925938365942 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.15, Z:296.36 [[ 9.99980559e-01 -3.70184620e-03 -5.01785222e-03 -1.70923494e+02] [ 3.68229408e-03 9.99985615e-01 -3.90016644e-03 -9.51481786e+01] [ 5.03221785e-03 3.88161341e-03 9.99979805e-01 2.96361723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.589072329 meters Centerline goodness [0,1] 0.3399366916126868 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99981775e-01 -4.40097693e-03 -4.13302618e-03 -1.70925744e+02] [ 4.38405183e-03 9.99982004e-01 -4.09525549e-03 -9.51488512e+01] [ 4.15097493e-03 4.07706145e-03 9.99983073e-01 2.96361511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.61907232899995 meters Centerline goodness [0,1] 0.3476166541006953 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99983501e-01 -4.72980104e-03 -3.25976918e-03 -1.70927632e+02] [ 4.71674491e-03 9.99980871e-01 -4.00135049e-03 -9.51498197e+01] [ 3.27863241e-03 3.98590897e-03 9.99986681e-01 2.96360967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.649072329 meters Centerline goodness [0,1] 0.3547407655582545 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99984496e-01 -4.66325215e-03 -3.04327740e-03 -1.70928517e+02] [ 4.65170907e-03 9.99982002e-01 -3.78909492e-03 -9.51506246e+01] [ 3.06089214e-03 3.77487973e-03 9.99988191e-01 2.96361331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.67907232899995 meters Centerline goodness [0,1] 0.35295348058902276 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99983277e-01 -5.17935748e-03 -2.57297584e-03 -1.70930225e+02] [ 5.16791224e-03 9.99976811e-01 -4.43515874e-03 -9.51491401e+01] [ 2.59588745e-03 4.42178766e-03 9.99986854e-01 2.96362076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.709072329 meters Centerline goodness [0,1] 0.35039411235861084 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99983648e-01 -5.14622207e-03 -2.49395599e-03 -1.70930919e+02] [ 5.13533755e-03 9.99977347e-01 -4.35128494e-03 -9.51494544e+01] [ 2.51629217e-03 4.33840648e-03 9.99987423e-01 2.96362738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.73907232899995 meters Centerline goodness [0,1] 0.3196913296248275 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99983641e-01 -5.27208214e-03 -2.21877139e-03 -1.70931465e+02] [ 5.26216270e-03 9.99976240e-01 -4.45303294e-03 -9.51490728e+01] [ 2.24219543e-03 4.44128456e-03 9.99987624e-01 2.96362533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.769072329 meters Centerline goodness [0,1] 0.35786722425509676 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99984173e-01 -5.22969242e-03 -2.07467466e-03 -1.70931561e+02] [ 5.22070105e-03 9.99977059e-01 -4.31586890e-03 -9.51493154e+01] [ 2.09719773e-03 4.30496933e-03 9.99988534e-01 2.96362153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.79907232899996 meters Centerline goodness [0,1] 0.3240215305015438 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99985932e-01 -4.80821699e-03 -2.23962892e-03 -1.70930790e+02] [ 4.79982239e-03 9.99981492e-01 -3.73862627e-03 -9.51504217e+01] [ 2.25756359e-03 3.72782385e-03 9.99990503e-01 2.96361659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.829072329 meters Centerline goodness [0,1] 0.3625418060200669 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99985611e-01 -4.96923111e-03 -2.02107262e-03 -1.70931328e+02] [ 4.96132079e-03 9.99980086e-01 -3.90028199e-03 -9.51498843e+01] [ 2.04041378e-03 3.89019868e-03 9.99990351e-01 2.96361667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.85907232899996 meters Centerline goodness [0,1] 0.3122046091430005 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99986125e-01 -4.98943674e-03 -1.68999506e-03 -1.70932033e+02] [ 4.98315021e-03 9.99980725e-01 -3.70385520e-03 -9.51506083e+01] [ 1.70844264e-03 3.69538231e-03 9.99991713e-01 2.96361401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.889072329 meters Centerline goodness [0,1] 0.33137382063136755 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99988080e-01 -4.55860171e-03 -1.74923127e-03 -1.70931679e+02] [ 4.55314922e-03 9.99984803e-01 -3.10850019e-03 -9.51518738e+01] [ 1.76337510e-03 3.10049862e-03 9.99993639e-01 2.96361131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.91907232899996 meters Centerline goodness [0,1] 0.32169002300773897 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99989820e-01 -3.87427774e-03 -2.31291763e-03 -1.70929903e+02] [ 3.86829454e-03 9.99989175e-01 -2.58575575e-03 -9.51519699e+01] [ 2.32291053e-03 2.57678238e-03 9.99993982e-01 2.96360773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.949072329 meters Centerline goodness [0,1] 0.2877878401271621 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99988772e-01 -3.85541513e-03 -2.75544913e-03 -1.70928422e+02] [ 3.84717463e-03 9.99988130e-01 -2.98968622e-03 -9.51496578e+01] [ 2.76694291e-03 2.97905196e-03 9.99991735e-01 2.96360544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.97907232899996 meters Centerline goodness [0,1] 0.2930677324182377 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99988759e-01 -3.49616758e-03 -3.20285075e-03 -1.70927323e+02] [ 3.48699070e-03 9.99989812e-01 -2.86633977e-03 -9.51490568e+01] [ 3.21283932e-03 2.85513924e-03 9.99990763e-01 2.96360679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.009072329 meters Centerline goodness [0,1] 0.2926768046520384 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.15, Z:296.36 [[ 9.99989629e-01 -2.19191686e-03 -3.99227947e-03 -1.70925004e+02] [ 2.18533840e-03 9.99996249e-01 -1.65141384e-03 -9.51507044e+01] [ 3.99588425e-03 1.64267223e-03 9.99990667e-01 2.96360318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.03907232899996 meters Centerline goodness [0,1] 0.3024948242330454 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.15, Z:296.36 [[ 9.99988653e-01 -1.78823118e-03 -4.41535708e-03 -1.70924086e+02] [ 1.78190267e-03 9.99997380e-01 -1.43681258e-03 -9.51505186e+01] [ 4.41791487e-03 1.42892854e-03 9.99989220e-01 2.96360543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.069072329 meters Centerline goodness [0,1] 0.34405272518045815 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.15, Z:296.36 [[ 9.99951693e-01 5.61495818e-03 -8.06743161e-03 -1.70916182e+02] [-5.60266523e-03 9.99983111e-01 1.54556760e-03 -9.51492133e+01] [ 8.07597365e-03 -1.50029383e-03 9.99966263e-01 2.96364992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.09907232899997 meters Centerline goodness [0,1] 0.30322040987034715 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.15, Z:296.37 [[ 9.99918418e-01 9.76861824e-03 -8.22985234e-03 -1.70916015e+02] [-9.72528302e-03 9.99938719e-01 5.28927971e-03 -9.51474525e+01] [ 8.28101696e-03 -5.20881056e-03 9.99952145e-01 2.96365439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12907232899994 meters Centerline goodness [0,1] 0.31256933542647825 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.14, Z:296.37 [[ 9.99866751e-01 1.38505029e-02 -8.63972146e-03 -1.70915311e+02] [-1.37764801e-02 9.99868380e-01 8.56920541e-03 -9.51441602e+01] [ 8.75727210e-03 -8.44903862e-03 9.99925959e-01 2.96366180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.15907232899997 meters Centerline goodness [0,1] 0.31780007120866227 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.14, Z:296.37 [[ 9.99871566e-01 1.35133918e-02 -8.61628253e-03 -1.70915632e+02] [-1.34450425e-02 9.99878072e-01 7.94175464e-03 -9.51423130e+01] [ 8.72255201e-03 -7.82488836e-03 9.99931342e-01 2.96366578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.18907232899994 meters Centerline goodness [0,1] 0.31330893883951905 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.14, Z:296.37 [[ 9.99863855e-01 1.37683659e-02 -9.09419238e-03 -1.70914671e+02] [-1.36961394e-02 9.99874542e-01 7.95714552e-03 -9.51420107e+01] [ 9.20260833e-03 -7.83150687e-03 9.99926987e-01 2.96366898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.21907232899997 meters Centerline goodness [0,1] 0.3223360355265087 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.14, Z:296.37 [[ 9.99843825e-01 1.45035558e-02 -1.00980954e-02 -1.70912464e+02] [-1.44242186e-02 9.99864870e-01 7.88565102e-03 -9.51402266e+01] [ 1.02111008e-02 -7.73876234e-03 9.99917919e-01 2.96367548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.24907232899994 meters Centerline goodness [0,1] 0.32837758606248435 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.14, Z:296.37 [[ 9.99834205e-01 1.46559295e-02 -1.08058761e-02 -1.70910991e+02] [-1.45762848e-02 9.99866282e-01 7.41278151e-03 -9.51378754e+01] [ 1.09130724e-02 -7.25404297e-03 9.99914138e-01 2.96368108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.279072329 meters Centerline goodness [0,1] 0.3344089175711352 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.14, Z:296.37 [[ 9.99817827e-01 1.51029971e-02 -1.16709815e-02 -1.70909140e+02] [-1.50211067e-02 9.99862162e-01 7.07267920e-03 -9.51355951e+01] [ 1.17761915e-02 -6.89607969e-03 9.99906878e-01 2.96368802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.30907232899995 meters Centerline goodness [0,1] 0.3376239491834553 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.13, Z:296.37 [[ 9.99818658e-01 1.49298931e-02 -1.18215233e-02 -1.70909406e+02] [-1.48520381e-02 9.99867612e-01 6.64649305e-03 -9.51345648e+01] [ 1.19191897e-02 -6.46971405e-03 9.99908034e-01 2.96369609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.339072329 meters Centerline goodness [0,1] 0.34322866580256717 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.13, Z:296.37 [[ 9.99816042e-01 1.48734977e-02 -1.21103846e-02 -1.70909352e+02] [-1.47978328e-02 9.99870572e-01 6.31376040e-03 -9.51335431e+01] [ 1.22027249e-02 -6.13339148e-03 9.99906733e-01 2.96370530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.36907232899995 meters Centerline goodness [0,1] 0.34470196595691227 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.13, Z:296.37 [[ 9.99804217e-01 1.49516545e-02 -1.29605350e-02 -1.70907869e+02] [-1.48811357e-02 9.99874030e-01 5.52051320e-03 -9.51302739e+01] [ 1.30414432e-02 -5.32656490e-03 9.99900769e-01 2.96371672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.399072329 meters Centerline goodness [0,1] 0.3444511952399908 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.13, Z:296.37 [[ 9.99789421e-01 1.53355726e-02 -1.36357588e-02 -1.70906421e+02] [-1.52608392e-02 9.99868044e-01 5.56795770e-03 -9.51297013e+01] [ 1.37193473e-02 -5.35869209e-03 9.99891526e-01 2.96372024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.42907232899995 meters Centerline goodness [0,1] 0.3490360435875943 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.13, Z:296.37 [[ 9.99748608e-01 1.70133585e-02 -1.46036786e-02 -1.70902760e+02] [-1.69182449e-02 9.99835014e-01 6.61201539e-03 -9.51292541e+01] [ 1.47137618e-02 -6.36328457e-03 9.99871499e-01 2.96370866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.459072329 meters Centerline goodness [0,1] 0.35156888637364014 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.13, Z:296.37 [[ 9.99725137e-01 1.76715853e-02 -1.54066923e-02 -1.70900684e+02] [-1.75690786e-02 9.99822775e-01 6.76355013e-03 -9.51284389e+01] [ 1.55234845e-02 -6.49100969e-03 9.99858434e-01 2.96370888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.48907232899995 meters Centerline goodness [0,1] 0.35914681417227146 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.13, Z:296.37 [[ 9.99715598e-01 1.77799904e-02 -1.58932175e-02 -1.70899773e+02] [-1.76783321e-02 9.99822506e-01 6.51411207e-03 -9.51273278e+01] [ 1.60062174e-02 -6.23129386e-03 9.99852475e-01 2.96371305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.519072329 meters Centerline goodness [0,1] 0.3638000711937517 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.13, Z:296.37 [[ 9.99703385e-01 1.78438786e-02 -1.65752296e-02 -1.70898663e+02] [-1.77466363e-02 9.99824541e-01 5.99541202e-03 -9.51252362e+01] [ 1.66793027e-02 -5.69947912e-03 9.99844646e-01 2.96372213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.54907232899996 meters Centerline goodness [0,1] 0.3589276745354093 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.37 [[ 9.99617443e-01 2.19686874e-02 -1.68031181e-02 -1.70898292e+02] [-2.18121297e-02 9.99717477e-01 9.44440540e-03 -9.51226043e+01] [ 1.70058520e-02 -9.07428058e-03 9.99814212e-01 2.96372855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.579072329 meters Centerline goodness [0,1] 0.3716554570788023 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.37 [[ 9.99600510e-01 2.22364334e-02 -1.74459423e-02 -1.70897011e+02] [-2.20766850e-02 9.99713056e-01 9.29655627e-03 -9.51215534e+01] [ 1.76476586e-02 -8.90769381e-03 9.99804587e-01 2.96373340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.60907232899996 meters Centerline goodness [0,1] 0.3730009210416143 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.37 [[ 9.99598174e-01 2.20564745e-02 -1.78045428e-02 -1.70896642e+02] [-2.19044062e-02 9.99722291e-01 8.69130916e-03 -9.51193431e+01] [ 1.79912979e-02 -8.29781883e-03 9.99803710e-01 2.96374124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.639072329 meters Centerline goodness [0,1] 0.31163910404019257 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99599681e-01 2.17626360e-02 -1.80794161e-02 -1.70896661e+02] [-2.16220399e-02 9.99734718e-01 7.93601631e-03 -9.51169190e+01] [ 1.82473286e-02 -7.54192551e-03 9.99805058e-01 2.96375172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.66907232899996 meters Centerline goodness [0,1] 0.3811746483590087 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99607596e-01 2.15383268e-02 -1.79096475e-02 -1.70897577e+02] [-2.14034583e-02 9.99741357e-01 7.68839987e-03 -9.51167560e+01] [ 1.80706106e-02 -7.30205452e-03 9.99810048e-01 2.96375682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.699072329 meters Centerline goodness [0,1] 0.34313294386163284 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99615847e-01 2.14039376e-02 -1.76076477e-02 -1.70898485e+02] [-2.12711971e-02 9.99744153e-01 7.69187068e-03 -9.51171394e+01] [ 1.77677791e-02 -7.31438009e-03 9.99815386e-01 2.96375710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.72907232899996 meters Centerline goodness [0,1] 0.3502304147465438 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99666158e-01 1.80295361e-02 -1.85070087e-02 -1.70896411e+02] [-1.79572819e-02 9.99830500e-01 4.06294862e-03 -9.51174068e+01] [ 1.85771248e-02 -3.72925666e-03 9.99820475e-01 2.96375804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.759072329 meters Centerline goodness [0,1] 0.35466359253825197 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99665073e-01 1.80296489e-02 -1.85653978e-02 -1.70896343e+02] [-1.79588923e-02 9.99830841e-01 3.97091559e-03 -9.51170464e+01] [ 1.86338515e-02 -3.63617164e-03 9.99819763e-01 2.96375860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.78907232899996 meters Centerline goodness [0,1] 0.35978780508261343 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99659280e-01 1.82073011e-02 -1.87034113e-02 -1.70896171e+02] [-1.81329061e-02 9.99827016e-01 4.13955101e-03 -9.51174900e+01] [ 1.87755459e-02 -3.79899338e-03 9.99816506e-01 2.96376007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.819072329 meters Centerline goodness [0,1] 0.36703107983580463 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99681857e-01 1.75514411e-02 -1.81143946e-02 -1.70897844e+02] [-1.74891330e-02 9.99840600e-01 3.59241385e-03 -9.51166747e+01] [ 1.81745592e-02 -3.27446590e-03 9.99829467e-01 2.96376113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.84907232899997 meters Centerline goodness [0,1] 0.3667414505273311 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99688623e-01 1.73948467e-02 -1.78906946e-02 -1.70898836e+02] [-1.73348856e-02 9.99843610e-01 3.50117167e-03 -9.51169605e+01] [ 1.79487991e-02 -3.18994834e-03 9.99833819e-01 2.96376534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87907232899994 meters Centerline goodness [0,1] 0.3636992185044732 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99691221e-01 1.73948586e-02 -1.77448966e-02 -1.70899882e+02] [-1.73342221e-02 9.99843395e-01 3.56523854e-03 -9.51179617e+01] [ 1.78041345e-02 -3.25654369e-03 9.99836190e-01 2.96377200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.90907232899997 meters Centerline goodness [0,1] 0.35388902858100746 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99682229e-01 1.75227451e-02 -1.81216325e-02 -1.70899206e+02] [-1.74623487e-02 9.99841445e-01 3.48572780e-03 -9.51172665e+01] [ 1.81798387e-02 -3.16817387e-03 9.99829714e-01 2.96377590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93907232899994 meters Centerline goodness [0,1] 0.33489873789257407 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99719822e-01 1.61036001e-02 -1.73479296e-02 -1.70902224e+02] [-1.60683512e-02 9.99868542e-01 2.16936567e-03 -9.51156179e+01] [ 1.73805837e-02 -1.89000523e-03 9.99847160e-01 2.96378643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.96907232899997 meters Centerline goodness [0,1] 0.33309562262726267 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99684989e-01 1.71866401e-02 -1.82905081e-02 -1.70900036e+02] [-1.71367356e-02 9.99849003e-01 2.88169144e-03 -9.51163176e+01] [ 1.83372729e-02 -2.56734408e-03 9.99828562e-01 2.96378885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99907232899994 meters Centerline goodness [0,1] 0.3617315799408545 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99679276e-01 1.70891261e-02 -1.86897773e-02 -1.70899208e+02] [-1.70490331e-02 9.99852004e-01 2.30242969e-03 -9.51138344e+01] [ 1.87263578e-02 -1.98304861e-03 9.99822680e-01 2.96379236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.029072329 meters Centerline goodness [0,1] 0.3464144136585775 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99664174e-01 1.72860716e-02 -1.93062416e-02 -1.70898028e+02] [-1.72481870e-02 9.99848976e-01 2.12710551e-03 -9.51126625e+01] [ 1.93400952e-02 -1.79339351e-03 9.99811354e-01 2.96379829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.05907232899995 meters Centerline goodness [0,1] 0.3452553365657075 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99642141e-01 1.76488543e-02 -2.01024114e-02 -1.70896221e+02] [-1.76197595e-02 9.99843442e-01 1.62354119e-03 -9.51096216e+01] [ 2.01279179e-02 -1.26876053e-03 9.99796608e-01 2.96380462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.089072329 meters Centerline goodness [0,1] 0.3498993035159855 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99643964e-01 1.74294901e-02 -2.02029248e-02 -1.70896221e+02] [-1.74116995e-02 9.99847847e-01 1.05618029e-03 -9.51076434e+01] [ 2.02182595e-02 -7.04036996e-04 9.99795342e-01 2.96380886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.11907232899995 meters Centerline goodness [0,1] 0.35092099190198467 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99645490e-01 1.73162326e-02 -2.02247864e-02 -1.70896512e+02] [-1.73019937e-02 9.99849923e-01 8.78818174e-04 -9.51071067e+01] [ 2.02369690e-02 -5.28577498e-04 9.99795072e-01 2.96381340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.149072329 meters Centerline goodness [0,1] 0.35092099190198467 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99645490e-01 1.73162326e-02 -2.02247864e-02 -1.70896512e+02] [-1.73019937e-02 9.99849923e-01 8.78818174e-04 -9.51071067e+01] [ 2.02369690e-02 -5.28577498e-04 9.99795072e-01 2.96381340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.17907232899995 meters Centerline goodness [0,1] 0.35807007225676357 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99617125e-01 1.80026079e-02 -2.10121240e-02 -1.70894625e+02] [-1.79856801e-02 9.99837750e-01 9.94336841e-04 -9.51059169e+01] [ 2.10266155e-02 -6.16038793e-04 9.99778726e-01 2.96381683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.209072329 meters Centerline goodness [0,1] 0.3552018144399177 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.38 [[ 9.99613609e-01 1.79724845e-02 -2.12042858e-02 -1.70894405e+02] [-1.79599749e-02 9.99838402e-01 7.80259741e-04 -9.51049891e+01] [ 2.12148824e-02 -3.99129816e-04 9.99774859e-01 2.96382057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.23907232899995 meters Centerline goodness [0,1] 0.3594927673154038 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.38 [[ 9.99598299e-01 1.82546055e-02 -2.16796956e-02 -1.70893166e+02] [-1.82443617e-02 9.99833333e-01 6.70216803e-04 -9.51036174e+01] [ 2.16883168e-02 -2.74415368e-04 9.99764743e-01 2.96382151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.269072329 meters Centerline goodness [0,1] 0.3620866793869121 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99738528e-01 2.13573802e-02 -8.16926913e-03 -1.70894093e+02] [-2.13199582e-02 9.99761933e-01 4.64081751e-03 -9.51093622e+01] [ 8.26644000e-03 -4.46543559e-03 9.99955862e-01 2.96376686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.29907232899996 meters Centerline goodness [0,1] 0.36857436241329444 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99740482e-01 2.12109535e-02 -8.31043190e-03 -1.70894414e+02] [-2.11757048e-02 9.99766493e-01 4.30677996e-03 -9.51085489e+01] [ 8.39984227e-03 -4.12968303e-03 9.99956193e-01 2.96377573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.329072329 meters Centerline goodness [0,1] 0.35236517654952615 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99705065e-01 2.24273692e-02 -9.31649694e-03 -1.70892207e+02] [-2.23875954e-02 9.99739895e-01 4.35177015e-03 -9.51062617e+01] [ 9.41167243e-03 -4.14191270e-03 9.99947131e-01 2.96378499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.35907232899996 meters Centerline goodness [0,1] 0.3632036901142678 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.38 [[ 9.99761153e-01 1.93580753e-02 -1.01440298e-02 -1.70889783e+02] [-1.93519620e-02 9.99812488e-01 7.00469708e-04 -9.51049237e+01] [ 1.01556874e-02 -5.03995524e-04 9.99948303e-01 2.96378203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.389072329 meters Centerline goodness [0,1] 0.3515112108563878 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99754424e-01 1.96264822e-02 -1.02904221e-02 -1.70889429e+02] [-1.96171094e-02 9.99807055e-01 1.01098369e-03 -9.51057968e+01] [ 1.03082786e-02 -8.08867081e-04 9.99946541e-01 2.96378131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.41907232899996 meters Centerline goodness [0,1] 0.3642275740538726 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99749722e-01 1.97029048e-02 -1.05966562e-02 -1.70888993e+02] [-1.96938303e-02 9.99805597e-01 9.60027336e-04 -9.51057065e+01] [ 1.06135115e-02 -7.51098312e-04 9.99943393e-01 2.96378498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.449072329 meters Centerline goodness [0,1] 0.3634188823368938 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.38 [[ 9.99732225e-01 2.01699394e-02 -1.13424629e-02 -1.70887001e+02] [-2.01632695e-02 9.99796454e-01 7.02109333e-04 -9.51037551e+01] [ 1.13543157e-02 -4.73220190e-04 9.99935426e-01 2.96378535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.47907232899996 meters Centerline goodness [0,1] 0.34413745358424064 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.38 [[ 9.99743470e-01 1.97857190e-02 -1.10236214e-02 -1.70887952e+02] [-1.97830204e-02 9.99804234e-01 3.53801450e-04 -9.51032017e+01] [ 1.10284636e-02 -1.35630161e-04 9.99939175e-01 2.96378690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.509072329 meters Centerline goodness [0,1] 0.3538416373091763 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.38 [[ 9.99712711e-01 2.07179771e-02 -1.20524103e-02 -1.70885417e+02] [-2.07165253e-02 9.99785360e-01 2.45303262e-04 -9.51003052e+01] [ 1.20549055e-02 4.45127300e-06 9.99927337e-01 2.96379268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.53907232899996 meters Centerline goodness [0,1] 0.3553048256191934 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.39 [[ 9.99733906e-01 1.62248184e-02 -1.63973466e-02 -1.70875959e+02] [-1.61311677e-02 9.99852902e-01 5.82755513e-03 -9.51042872e+01] [ 1.64894856e-02 -5.56149610e-03 9.99848572e-01 2.96386245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.569072329 meters Centerline goodness [0,1] 0.3501509813789633 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.39 [[ 9.99730008e-01 1.61617943e-02 -1.66945290e-02 -1.70875796e+02] [-1.60719946e-02 9.99855714e-01 5.49923571e-03 -9.51032565e+01] [ 1.67809977e-02 -5.22943658e-03 9.99845514e-01 2.96387005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.59907232899997 meters Centerline goodness [0,1] 0.35295720904878713 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.39 [[ 9.99736229e-01 1.58335095e-02 -1.66365007e-02 -1.70876707e+02] [-1.57532768e-02 9.99863693e-01 4.94272753e-03 -9.51019834e+01] [ 1.67124937e-02 -4.67934438e-03 9.99849387e-01 2.96387984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62907232899994 meters Centerline goodness [0,1] 0.34982287714591154 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.39 [[ 9.99781374e-01 1.19836597e-02 -1.71346566e-02 -1.70875544e+02] [-1.19669208e-02 9.99927812e-01 1.07910585e-03 -9.51021361e+01] [ 1.71463513e-02 -8.73820849e-04 9.99852609e-01 2.96387997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.65907232899997 meters Centerline goodness [0,1] 0.34941931155926376 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.39 [[ 9.99775840e-01 1.21310242e-02 -1.73524610e-02 -1.70875126e+02] [-1.21126355e-02 9.99925961e-01 1.16442468e-03 -9.51021375e+01] [ 1.73653019e-02 -9.53979627e-04 9.99848757e-01 2.96388168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.68907232899994 meters Centerline goodness [0,1] 0.3229540164810971 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.39 [[ 9.99788336e-01 1.18474431e-02 -1.68202740e-02 -1.70876343e+02] [-1.18324393e-02 9.99929503e-01 9.91249916e-04 -9.51017786e+01] [ 1.68308320e-02 -7.92015233e-04 9.99858038e-01 2.96387943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.71907232899997 meters Centerline goodness [0,1] 0.32607509964338155 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.39 [[ 9.99809160e-01 1.11302378e-02 -1.60549304e-02 -1.70879192e+02] [-1.11199883e-02 9.99937906e-01 7.27534651e-04 -9.51031582e+01] [ 1.60620311e-02 -5.48865169e-04 9.99870847e-01 2.96388723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.74907232899994 meters Centerline goodness [0,1] 0.3571323791361931 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.11, Z:296.38 [[ 9.99933371e-01 1.13108024e-02 -2.30645488e-03 -1.70883545e+02] [-1.13019455e-02 9.99928844e-01 3.81757353e-03 -9.51086765e+01] [ 2.34947058e-03 -3.79125174e-03 9.99990053e-01 2.96383146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.779072329 meters Centerline goodness [0,1] 0.36331606652266 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.11, Z:296.38 [[ 9.99970583e-01 7.24233524e-03 -2.52622972e-03 -1.70883295e+02] [-7.24270040e-03 9.99973762e-01 -1.35431424e-04 -9.51095249e+01] [ 2.52518260e-03 1.53724165e-04 9.99996800e-01 2.96383373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.80907232899995 meters Centerline goodness [0,1] 0.33595387840670865 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.11, Z:296.38 [[ 9.99968985e-01 7.48580074e-03 -2.44762345e-03 -1.70883394e+02] [-7.48499217e-03 9.99971929e-01 3.39341041e-04 -9.51108722e+01] [ 2.45009498e-03 -3.21010074e-04 9.99996947e-01 2.96383144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.839072329 meters Centerline goodness [0,1] 0.3370294290265784 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99996595e-01 2.23335796e-03 -1.35003711e-03 -1.70886139e+02] [-2.23835957e-03 9.99990595e-01 -3.71470663e-03 -9.51130092e+01] [ 1.34172814e-03 3.71771585e-03 9.99992189e-01 2.96382612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.86907232899995 meters Centerline goodness [0,1] 0.3437886311731305 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99997661e-01 2.07557164e-03 -6.07519255e-04 -1.70887706e+02] [-2.07764699e-03 9.99991940e-01 -3.43565459e-03 -9.51143281e+01] [ 6.00383411e-04 3.43690876e-03 9.99993914e-01 2.96382062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.899072329 meters Centerline goodness [0,1] 0.34392609506253013 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.12, Z:296.38 [[ 9.99998751e-01 -1.50505487e-03 -4.83101558e-04 -1.70887410e+02] [ 1.50190399e-03 9.99978022e-01 -6.45760360e-03 -9.51175095e+01] [ 4.92809988e-04 6.45686996e-03 9.99979033e-01 2.96381107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.92907232899995 meters Centerline goodness [0,1] 0.35275996479315985 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.12, Z:296.38 [[ 9.99996485e-01 -2.58770558e-03 5.78174117e-04 -1.70890435e+02] [ 2.59172497e-03 9.99971700e-01 -7.06277414e-03 -9.51173752e+01] [-5.59881374e-04 7.06424778e-03 9.99974891e-01 2.96381347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.959072329 meters Centerline goodness [0,1] 0.36016353915504773 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.12, Z:296.38 [[ 9.99995533e-01 -2.74761437e-03 1.17676275e-03 -1.70891794e+02] [ 2.75560478e-03 9.99972788e-01 -6.84324447e-03 -9.51183618e+01] [-1.15792814e-03 6.84645659e-03 9.99975892e-01 2.96381089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.98907232899995 meters Centerline goodness [0,1] 0.35160965794768617 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.12, Z:296.38 [[ 9.99988830e-01 -4.07251118e-03 2.39893184e-03 -1.70894619e+02] [ 4.08939067e-03 9.99966618e-01 -7.07388434e-03 -9.51193900e+01] [-2.37004328e-03 7.08361549e-03 9.99972102e-01 2.96380363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.019072329 meters Centerline goodness [0,1] 0.35817705605028816 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99987764e-01 -4.01707844e-03 2.88711021e-03 -1.70895573e+02] [ 4.03607514e-03 9.99970046e-01 -6.60440185e-03 -9.51211269e+01] [-2.86049332e-03 6.61597363e-03 9.99974023e-01 2.96379823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.04907232899996 meters Centerline goodness [0,1] 0.35903987935656834 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99986104e-01 -4.10910366e-03 3.30268907e-03 -1.70896453e+02] [ 4.13054458e-03 9.99970269e-01 -6.51156938e-03 -9.51215565e+01] [-3.27583416e-03 6.52512080e-03 9.99973345e-01 2.96379544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.079072329 meters Centerline goodness [0,1] 0.3327466633142666 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99982318e-01 -4.47810974e-03 3.91278386e-03 -1.70898586e+02] [ 4.50374525e-03 9.99968290e-01 -6.56766909e-03 -9.51224927e+01] [-3.88324904e-03 6.58517514e-03 9.99970777e-01 2.96380255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.10907232899996 meters Centerline goodness [0,1] 0.37449172081324666 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99982589e-01 -4.39427967e-03 3.93844310e-03 -1.70898611e+02] [ 4.42011486e-03 9.99968614e-01 -6.57522518e-03 -9.51219556e+01] [-3.90942611e-03 6.59251908e-03 9.99970627e-01 2.96380251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.139072329 meters Centerline goodness [0,1] 0.3436427555034737 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99970068e-01 -5.96311838e-03 4.92988615e-03 -1.70902164e+02] [ 6.00171016e-03 9.99951171e-01 -7.85075134e-03 -9.51209906e+01] [-4.88283047e-03 7.88010410e-03 9.99957030e-01 2.96381421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.16907232899996 meters Centerline goodness [0,1] 0.38100322405057996 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99969566e-01 -5.97099454e-03 5.02140618e-03 -1.70902379e+02] [ 6.01030517e-03 9.99951123e-01 -7.85030368e-03 -9.51208646e+01] [-4.97428663e-03 7.88024495e-03 9.99956578e-01 2.96381397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.199072329 meters Centerline goodness [0,1] 0.35072299997907386 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99966118e-01 -6.17471845e-03 5.44387214e-03 -1.70903815e+02] [ 6.21627485e-03 9.99951416e-01 -7.65002711e-03 -9.51221727e+01] [-5.39637089e-03 7.68360852e-03 9.99955920e-01 2.96381746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.22907232899996 meters Centerline goodness [0,1] 0.3535336613967124 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99964288e-01 -6.26602741e-03 5.67095235e-03 -1.70904302e+02] [ 6.30964312e-03 9.99950401e-01 -7.70614278e-03 -9.51219427e+01] [-5.62238417e-03 7.74164927e-03 9.99954227e-01 2.96381623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.259072329 meters Centerline goodness [0,1] 0.36171060634660956 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99961713e-01 -6.36905018e-03 6.00067298e-03 -1.70905068e+02] [ 6.41422118e-03 9.99951011e-01 -7.53872643e-03 -9.51227882e+01] [-5.95236449e-03 7.57692744e-03 9.99953579e-01 2.96381460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.28907232899996 meters Centerline goodness [0,1] 0.3571188998826095 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99965534e-01 -6.01332144e-03 5.72456072e-03 -1.70904307e+02] [ 6.05458717e-03 9.99955615e-01 -7.21871183e-03 -9.51231320e+01] [-5.68089820e-03 7.25312288e-03 9.99957559e-01 2.96381383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.319072329 meters Centerline goodness [0,1] 0.28222105814562604 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99973358e-01 -5.17840803e-03 5.14461183e-03 -1.70902486e+02] [ 5.21168998e-03 9.99965442e-01 -6.47707900e-03 -9.51239130e+01] [-5.11089308e-03 6.50371856e-03 9.99965790e-01 2.96380955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.34907232899997 meters Centerline goodness [0,1] 0.3699509248773122 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99971149e-01 -5.37098665e-03 5.37161803e-03 -1.70902870e+02] [ 5.40695673e-03 9.99962907e-01 -6.70436909e-03 -9.51230982e+01] [-5.33540971e-03 6.73321977e-03 9.99963098e-01 2.96380716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37907232899994 meters Centerline goodness [0,1] 0.35312624535939763 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99970015e-01 -5.52365419e-03 5.42756443e-03 -1.70902833e+02] [ 5.56115436e-03 9.99960603e-01 -6.91857953e-03 -9.51222064e+01] [-5.38913476e-03 6.94855560e-03 9.99961337e-01 2.96380515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.40907232899997 meters Centerline goodness [0,1] 0.3606904652040773 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99968561e-01 -5.60559354e-03 5.60839234e-03 -1.70903241e+02] [ 5.64459318e-03 9.99959832e-01 -6.96230716e-03 -9.51221363e+01] [-5.56913920e-03 6.99374536e-03 9.99960035e-01 2.96380421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43907232899994 meters Centerline goodness [0,1] 0.2919743245510992 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99970550e-01 -5.48598066e-03 5.36680650e-03 -1.70902919e+02] [ 5.52370940e-03 9.99959958e-01 -7.04063700e-03 -9.51214251e+01] [-5.32796680e-03 7.07007434e-03 9.99960813e-01 2.96380876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.46907232899997 meters Centerline goodness [0,1] 0.38050479407506876 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99970690e-01 -5.54491386e-03 5.27950150e-03 -1.70902734e+02] [ 5.58320698e-03 9.99958014e-01 -7.26627196e-03 -9.51202905e+01] [-5.23898898e-03 7.29553553e-03 9.99959663e-01 2.96381018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49907232899994 meters Centerline goodness [0,1] 0.30365986737177875 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99978447e-01 -2.58460996e-03 6.03540406e-03 -1.70905588e+02] [ 2.60985388e-03 9.99987864e-01 -4.17851701e-03 -9.51188298e+01] [-6.02453097e-03 4.19417848e-03 9.99973057e-01 2.96382091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.529072329 meters Centerline goodness [0,1] 0.3850433541181163 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99983433e-01 -1.66399017e-03 5.51048641e-03 -1.70903674e+02] [ 1.68159346e-03 9.99993494e-01 -3.19141679e-03 -9.51201059e+01] [-5.50514007e-03 3.20063032e-03 9.99979724e-01 2.96381365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.55907232899995 meters Centerline goodness [0,1] 0.3081960331619268 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99980804e-01 -1.90206636e-03 5.89699396e-03 -1.70904339e+02] [ 1.92185036e-03 9.99992538e-01 -3.35108058e-03 -9.51195832e+01] [-5.89057598e-03 3.36234939e-03 9.99976998e-01 2.96380956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.589072329 meters Centerline goodness [0,1] 0.31226242728437326 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99978825e-01 -1.92997522e-03 6.21495013e-03 -1.70904569e+02] [ 1.94983112e-03 9.99993010e-01 -3.19038681e-03 -9.51198221e+01] [-6.20874932e-03 3.20243736e-03 9.99975598e-01 2.96380181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.61907232899995 meters Centerline goodness [0,1] 0.31396544847708807 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99972143e-01 -2.43015712e-03 7.05747011e-03 -1.70906692e+02] [ 2.45332027e-03 9.99991627e-01 -3.27527422e-03 -9.51205869e+01] [-7.04945158e-03 3.29249722e-03 9.99969732e-01 2.96380079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.649072329 meters Centerline goodness [0,1] 0.3126022913256956 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99965865e-01 -2.76389890e-03 7.78647599e-03 -1.70908515e+02] [ 2.78976942e-03 9.99990619e-01 -3.31359421e-03 -9.51213251e+01] [-7.77724451e-03 3.33520357e-03 9.99964195e-01 2.96379968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.67907232899995 meters Centerline goodness [0,1] 0.3116689423379897 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99968748e-01 -2.33959840e-03 7.55183361e-03 -1.70907788e+02] [ 2.36054337e-03 9.99993389e-01 -2.76577414e-03 -9.51224410e+01] [-7.54531289e-03 2.78351413e-03 9.99967660e-01 2.96379711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.709072329 meters Centerline goodness [0,1] 0.316650908708898 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99973029e-01 1.97414519e-03 7.07412273e-03 -1.70906314e+02] [-1.98140299e-03 9.99997518e-01 1.01910334e-03 -9.51200408e+01] [-7.07209331e-03 -1.03309254e-03 9.99974459e-01 2.96379512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.73907232899995 meters Centerline goodness [0,1] 0.3314849821466078 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99973455e-01 1.40580843e-03 7.14934234e-03 -1.70906558e+02] [-1.40662854e-03 9.99999005e-01 1.09685026e-04 -9.51173717e+01] [-7.14918103e-03 -1.19738584e-04 9.99974437e-01 2.96379721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.769072329 meters Centerline goodness [0,1] 0.32249049150013653 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99962682e-01 6.52587631e-03 5.66098886e-03 -1.70903678e+02] [-6.54598050e-03 9.99972308e-01 3.54012751e-03 -9.51133047e+01] [-5.63772967e-03 -3.57705212e-03 9.99977710e-01 2.96381589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.79907232899996 meters Centerline goodness [0,1] 0.3216257636512502 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99967332e-01 6.44420006e-03 4.87922053e-03 -1.70902399e+02] [-6.45658377e-03 9.99975964e-01 2.52656667e-03 -9.51095731e+01] [-4.86282155e-03 -2.55798723e-03 9.99984905e-01 2.96382767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.829072329 meters Centerline goodness [0,1] 0.34041213749108157 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99970352e-01 6.32071821e-03 4.39810914e-03 -1.70901767e+02] [-6.32938160e-03 9.99978051e-01 1.95867577e-03 -9.51076314e+01] [-4.38563237e-03 -1.98645501e-03 9.99988410e-01 2.96383619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.85907232899996 meters Centerline goodness [0,1] 0.3464472605762562 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.10, Z:296.38 [[ 9.99937728e-01 1.05323691e-02 3.68909487e-03 -1.70900288e+02] [-1.05513826e-02 9.99930952e-01 5.17299847e-03 -9.51035847e+01] [-3.63435622e-03 -5.21160139e-03 9.99979815e-01 2.96384424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.889072329 meters Centerline goodness [0,1] 0.3319502944196475 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.10, Z:296.38 [[ 9.99940516e-01 1.03849188e-02 3.33446757e-03 -1.70899581e+02] [-1.04004291e-02 9.99935017e-01 4.66835241e-03 -9.51017993e+01] [-3.28577042e-03 -4.70275461e-03 9.99983544e-01 2.96384775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.91907232899996 meters Centerline goodness [0,1] 0.3436817341623256 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.10, Z:296.39 [[ 9.99932657e-01 1.14011254e-02 2.16705028e-03 -1.70896870e+02] [-1.14102584e-02 9.99925869e-01 4.24991056e-03 -9.50981064e+01] [-2.11843587e-03 -4.27435096e-03 9.99988621e-01 2.96385666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.949072329 meters Centerline goodness [0,1] 0.35088456528133793 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.39 [[ 9.99923524e-01 1.23102097e-02 1.18526892e-03 -1.70894452e+02] [-1.23153940e-02 9.99914168e-01 4.47083664e-03 -9.50969414e+01] [-1.13013024e-03 -4.48509179e-03 9.99989303e-01 2.96385939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.97907232899996 meters Centerline goodness [0,1] 0.34839833746169024 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.39 [[ 9.99947530e-01 1.02398936e-02 2.84555663e-04 -1.70891272e+02] [-1.02404325e-02 9.99945641e-01 1.96177655e-03 -9.50971350e+01] [-2.64451812e-04 -1.96458759e-03 9.99998035e-01 2.96385009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.009072329 meters Centerline goodness [0,1] 0.35215409498603145 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.38 [[ 9.99933762e-01 1.14958814e-02 -5.62132647e-04 -1.70888250e+02] [-1.14942362e-02 9.99929886e-01 2.84718371e-03 -9.50973967e+01] [ 5.94824120e-04 -2.84053383e-03 9.99995789e-01 2.96383999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.03907232899996 meters Centerline goodness [0,1] 0.34955026899798247 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.38 [[ 9.99925582e-01 1.21156333e-02 -1.42879689e-03 -1.70886195e+02] [-1.21114186e-02 9.99922383e-01 2.92252448e-03 -9.50962022e+01] [ 1.46409423e-03 -2.90500223e-03 9.99994709e-01 2.96384304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.069072329 meters Centerline goodness [0,1] 0.34955026899798247 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.38 [[ 9.99925582e-01 1.21156333e-02 -1.42879689e-03 -1.70886195e+02] [-1.21114186e-02 9.99922383e-01 2.92252448e-03 -9.50962022e+01] [ 1.46409423e-03 -2.90500223e-03 9.99994709e-01 2.96384304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.09907232899997 meters Centerline goodness [0,1] 0.3629997266093248 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.10, Z:296.38 [[ 9.99925833e-01 1.20684416e-02 -1.63747872e-03 -1.70886076e+02] [-1.20642269e-02 9.99923948e-01 2.55981519e-03 -9.50950748e+01] [ 1.66824717e-03 -2.53987042e-03 9.99995383e-01 2.96384886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12907232899994 meters Centerline goodness [0,1] 0.35772050328733174 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99951555e-01 9.52728566e-03 -2.47371332e-03 -1.70883295e+02] [-9.52835055e-03 9.99954516e-01 -4.19053324e-04 -9.50953579e+01] [ 2.46960837e-03 4.42603430e-04 9.99996853e-01 2.96384202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.15907232899997 meters Centerline goodness [0,1] 0.3676760888739552 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99971204e-01 6.88167553e-03 -3.19898602e-03 -1.70880742e+02] [-6.89152746e-03 9.99971513e-01 -3.07895138e-03 -9.50973092e+01] [ 3.17770654e-03 3.10090862e-03 9.99990143e-01 2.96383321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.18907232899994 meters Centerline goodness [0,1] 0.3617329581250788 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99971743e-01 6.89365394e-03 -2.99833703e-03 -1.70881399e+02] [-6.90248127e-03 9.99971845e-01 -2.94375888e-03 -9.50977993e+01] [ 2.97795936e-03 2.96437167e-03 9.99991172e-01 2.96383501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.21907232899997 meters Centerline goodness [0,1] 0.35332549052560813 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99972063e-01 6.92826352e-03 -2.80563470e-03 -1.70881913e+02] [-6.93599221e-03 9.99972152e-01 -2.75440674e-03 -9.50984729e+01] [ 2.78647332e-03 2.77378965e-03 9.99992271e-01 2.96383451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.24907232899994 meters Centerline goodness [0,1] 0.3575400239199312 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99984340e-01 4.37989192e-03 -3.48375459e-03 -1.70879219e+02] [-4.39802680e-03 9.99976730e-01 -5.21504057e-03 -9.51003605e+01] [ 3.46083221e-03 5.23028055e-03 9.99980333e-01 2.96382368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.279072329 meters Centerline goodness [0,1] 0.36232492703105645 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99983354e-01 4.53742037e-03 -3.56416910e-03 -1.70878882e+02] [-4.55562730e-03 9.99976531e-01 -5.11692445e-03 -9.51001889e+01] [ 3.54086782e-03 5.13307630e-03 9.99980557e-01 2.96382225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.30907232899995 meters Centerline goodness [0,1] 0.35288685541587084 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99985532e-01 4.34330266e-03 -3.17367574e-03 -1.70879865e+02] [-4.35998729e-03 9.99976612e-01 -5.26932487e-03 -9.50998619e+01] [ 3.15071524e-03 5.28308582e-03 9.99981081e-01 2.96382218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.339072329 meters Centerline goodness [0,1] 0.35978525291502395 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99984243e-01 4.55008124e-03 -3.28797353e-03 -1.70879701e+02] [-4.56650420e-03 9.99977050e-01 -5.00473264e-03 -9.51004342e+01] [ 3.26512613e-03 5.01966832e-03 9.99982071e-01 2.96382373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.36907232899995 meters Centerline goodness [0,1] 0.3704737714897458 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99985036e-01 4.48801229e-03 -3.12815652e-03 -1.70879716e+02] [-4.50395896e-03 9.99976803e-01 -5.10951998e-03 -9.50996312e+01] [ 3.10515237e-03 5.12353261e-03 9.99982054e-01 2.96381919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.399072329 meters Centerline goodness [0,1] 0.36251887900654467 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99994751e-01 4.96003743e-04 -3.20188106e-03 -1.70879090e+02] [-5.24232230e-04 9.99960953e-01 -8.82140906e-03 -9.51006513e+01] [ 3.19738059e-03 8.82304129e-03 9.99955964e-01 2.96381307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.42907232899995 meters Centerline goodness [0,1] 0.3768195089163814 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99994577e-01 8.13205148e-04 -3.19124987e-03 -1.70878502e+02] [-8.39779732e-04 9.99964912e-01 -8.33484223e-03 -9.51013366e+01] [ 3.18435996e-03 8.33747698e-03 9.99960172e-01 2.96380476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.459072329 meters Centerline goodness [0,1] 0.3652146530912145 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99997656e-01 1.09675364e-05 -2.16518833e-03 -1.70880870e+02] [-2.83892210e-05 9.99967627e-01 -8.04640082e-03 -9.51038296e+01] [ 2.16502998e-03 8.04644343e-03 9.99965283e-01 2.96379659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.48907232899995 meters Centerline goodness [0,1] 0.3295580863692611 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99998358e-01 -4.23977500e-05 -1.81155162e-03 -1.70881611e+02] [ 2.80129555e-05 9.99968478e-01 -7.93988087e-03 -9.51042898e+01] [ 1.81183115e-03 7.93981709e-03 9.99966838e-01 2.96379405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.519072329 meters Centerline goodness [0,1] 0.388380488623961 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.10, Z:296.38 [[ 9.99999207e-01 -8.85362633e-04 -8.95562946e-04 -1.70884325e+02] [ 8.77830324e-04 9.99964532e-01 -8.37641127e-03 -9.51044034e+01] [ 9.02947344e-04 8.37561848e-03 9.99964516e-01 2.96379787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.54907232899996 meters Centerline goodness [0,1] 0.342021868244874 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.11, Z:296.38 [[ 9.99999405e-01 -7.03628968e-04 -8.33241747e-04 -1.70884442e+02] [ 6.96931218e-04 9.99967666e-01 -8.01137623e-03 -9.51054002e+01] [ 8.38851841e-04 8.01079075e-03 9.99967561e-01 2.96379669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.579072329 meters Centerline goodness [0,1] 0.34513460165469745 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99999493e-01 -8.02406837e-04 -6.07730155e-04 -1.70885157e+02] [ 7.97489798e-04 9.99967294e-01 -8.04830742e-03 -9.51054592e+01] [ 6.14168295e-04 8.04781869e-03 9.99967427e-01 2.96379844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.60907232899996 meters Centerline goodness [0,1] 0.31956380139936547 Centerline is valid? [False, False] Translation: X:-170.88, Y:-95.11, Z:296.38 [[ 9.99999585e-01 -5.06842337e-04 -7.57462021e-04 -1.70884598e+02] [ 5.00968928e-04 9.99969965e-01 -7.73424113e-03 -9.51056647e+01] [ 7.61359312e-04 7.73385845e-03 9.99969803e-01 2.96379596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.639072329 meters Centerline goodness [0,1] 0.32476606101296634 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99999730e-01 -7.34546463e-04 -1.02685467e-05 -1.70886264e+02] [ 7.34450069e-04 9.99972211e-01 -7.41874923e-03 -9.51072708e+01] [ 1.57176773e-05 7.41873968e-03 9.99972481e-01 2.96379139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.66907232899996 meters Centerline goodness [0,1] 0.3247110160068811 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99998401e-01 -1.50766918e-03 9.62153581e-04 -1.70888901e+02] [ 1.51502200e-03 9.99969302e-01 -7.68762817e-03 -9.51080041e+01] [-9.50533645e-04 7.68907356e-03 9.99969987e-01 2.96379146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.699072329 meters Centerline goodness [0,1] 0.32968576399807137 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99997634e-01 -1.47355511e-03 1.60007493e-03 -1.70890391e+02] [ 1.48490569e-03 9.99973579e-01 -7.11591504e-03 -9.51103382e+01] [-1.58954697e-03 7.11827416e-03 9.99973401e-01 2.96378750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.72907232899996 meters Centerline goodness [0,1] 0.3314413772881498 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99995696e-01 -1.68642292e-03 2.40096592e-03 -1.70892035e+02] [ 1.70277134e-03 9.99975270e-01 -6.82341836e-03 -9.51118113e+01] [-2.38939937e-03 6.82747728e-03 9.99973838e-01 2.96378053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.759072329 meters Centerline goodness [0,1] 0.33143923509183926 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99995126e-01 -1.52865961e-03 2.72232693e-03 -1.70892317e+02] [ 1.54589225e-03 9.99978712e-01 -6.33930022e-03 -9.51131049e+01] [-2.71257834e-03 6.34347774e-03 9.99976201e-01 2.96377227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.78907232899996 meters Centerline goodness [0,1] 0.370316036549585 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99991456e-01 -2.05024360e-03 3.58954314e-03 -1.70894181e+02] [ 2.07233418e-03 9.99978872e-01 -6.16128056e-03 -9.51144761e+01] [-3.57683518e-03 6.16866665e-03 9.99974577e-01 2.96376591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.819072329 meters Centerline goodness [0,1] 0.34468807647157473 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99993239e-01 -1.64238525e-03 3.28998068e-03 -1.70893362e+02] [ 1.66154254e-03 9.99981633e-01 -5.82867475e-03 -9.51146490e+01] [-3.28034732e-03 5.83410178e-03 9.99977601e-01 2.96376527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.84907232899997 meters Centerline goodness [0,1] 0.35145504864139554 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99992722e-01 -1.95546273e-03 3.27610605e-03 -1.70894017e+02] [ 1.97652228e-03 9.99977327e-01 -6.43736705e-03 -9.51126070e+01] [-3.26344374e-03 6.44379550e-03 9.99973913e-01 2.96377665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87907232899994 meters Centerline goodness [0,1] 0.33785199463627225 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.38 [[ 9.99991044e-01 -2.15243112e-03 3.64409199e-03 -1.70894978e+02] [ 2.17631325e-03 9.99976099e-01 -6.56242527e-03 -9.51122164e+01] [-3.62987972e-03 6.57029719e-03 9.99971827e-01 2.96377740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.90907232899997 meters Centerline goodness [0,1] 0.3525508174757688 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99989887e-01 -2.02440348e-03 4.01581588e-03 -1.70895701e+02] [ 2.04890033e-03 9.99979263e-01 -6.10538496e-03 -9.51136363e+01] [-4.00337284e-03 6.11355122e-03 9.99973298e-01 2.96377349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93907232899994 meters Centerline goodness [0,1] 0.3562344686449349 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99963970e-01 -6.76778068e-03 5.12395793e-03 -1.70898196e+02] [ 6.81692091e-03 9.99930352e-01 -9.63434521e-03 -9.51171213e+01] [-5.05839793e-03 9.66892771e-03 9.99940460e-01 2.96376573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.96907232899997 meters Centerline goodness [0,1] 0.3680872441076737 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99956710e-01 -7.07012142e-03 6.04912033e-03 -1.70900476e+02] [ 7.12720414e-03 9.99929781e-01 -9.46759669e-03 -9.51183713e+01] [-5.98175851e-03 9.51030015e-03 9.99936884e-01 2.96376326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99907232899994 meters Centerline goodness [0,1] 0.364296172348881 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99934221e-01 -8.88204119e-03 7.25698113e-03 -1.70904099e+02] [ 8.95598463e-03 9.99907655e-01 -1.02211285e-02 -9.51198019e+01] [-7.16552650e-03 1.02854495e-02 9.99921429e-01 2.96376540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.029072329 meters Centerline goodness [0,1] 0.3644697461227736 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99928472e-01 -8.93369727e-03 7.95233989e-03 -1.70905559e+02] [ 9.01056857e-03 9.99912514e-01 -9.68373653e-03 -9.51218798e+01] [-7.86513260e-03 9.75469897e-03 9.99921490e-01 2.96375961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.05907232899995 meters Centerline goodness [0,1] 0.36471401344587095 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99914310e-01 -9.56809319e-03 8.93439818e-03 -1.70907901e+02] [ 9.65635987e-03 9.99904476e-01 -9.88910632e-03 -9.51221344e+01] [-8.83892483e-03 9.97453269e-03 9.99911187e-01 2.96375703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.089072329 meters Centerline goodness [0,1] 0.34956132085348746 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99901441e-01 -1.00271014e-02 9.82677372e-03 -1.70909957e+02] [ 1.01238627e-02 9.99900268e-01 -9.84692368e-03 -9.51229724e+01] [-9.72705757e-03 9.94543809e-03 9.99903232e-01 2.96375313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.11907232899995 meters Centerline goodness [0,1] 0.37970711297071125 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.13, Z:296.38 [[ 9.99889292e-01 -1.04097326e-02 1.06320853e-02 -1.70912002e+02] [ 1.05108796e-02 9.99899610e-01 -9.50221951e-03 -9.51250251e+01] [-1.05321023e-02 9.61292011e-03 9.99898328e-01 2.96375101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.149072329 meters Centerline goodness [0,1] 0.3702719665271966 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.38 [[ 9.99900108e-01 -7.97189729e-03 1.16714771e-02 -1.70915479e+02] [ 8.05065366e-03 9.99945037e-01 -6.71640188e-03 -9.51235602e+01] [-1.16172932e-02 6.80969398e-03 9.99909329e-01 2.96375939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.17907232899995 meters Centerline goodness [0,1] 0.3765749926744527 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99906206e-01 -7.59205029e-03 1.13991037e-02 -1.70914594e+02] [ 7.66468241e-03 9.99950517e-01 -6.34163008e-03 -9.51239134e+01] [-1.13503936e-02 6.42840578e-03 9.99914918e-01 2.96375644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.209072329 meters Centerline goodness [0,1] 0.3775858102030998 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.38 [[ 9.99896733e-01 -7.88059824e-03 1.20174288e-02 -1.70915779e+02] [ 7.95829402e-03 9.99947651e-01 -6.43120037e-03 -9.51239315e+01] [-1.19661180e-02 6.52617448e-03 9.99907106e-01 2.96375081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.23907232899995 meters Centerline goodness [0,1] 0.3863260737672336 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.13, Z:296.37 [[ 9.99893426e-01 -7.74195335e-03 1.23773194e-02 -1.70916378e+02] [ 7.81549829e-03 9.99952026e-01 -5.90462491e-03 -9.51256243e+01] [-1.23310123e-02 6.00073055e-03 9.99905964e-01 2.96374513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.269072329 meters Centerline goodness [0,1] 0.3153396593979765 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.13, Z:296.37 [[ 9.99875950e-01 -8.17441017e-03 1.34633826e-02 -1.70918879e+02] [ 8.24790209e-03 9.99951339e-01 -5.41220212e-03 -9.51282883e+01] [-1.34184859e-02 5.52257540e-03 9.99894717e-01 2.96373843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.29907232899996 meters Centerline goodness [0,1] 0.3269130225651965 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.13, Z:296.37 [[ 9.99863802e-01 -8.42791115e-03 1.41897192e-02 -1.70920826e+02] [ 8.50238085e-03 9.99950354e-01 -5.19602232e-03 -9.51298203e+01] [-1.41452231e-02 5.31596103e-03 9.99885820e-01 2.96373837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.329072329 meters Centerline goodness [0,1] 0.3261410962057636 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.13, Z:296.37 [[ 9.99867315e-01 -8.16602953e-03 1.40949792e-02 -1.70920710e+02] [ 8.23591341e-03 9.99954044e-01 -4.90716472e-03 -9.51303367e+01] [-1.40542594e-02 5.02259864e-03 9.99888619e-01 2.96373989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.35907232899996 meters Centerline goodness [0,1] 0.3744557025623848 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.13, Z:296.37 [[ 9.99857490e-01 -8.62692957e-03 1.45112234e-02 -1.70922250e+02] [ 8.70552081e-03 9.99947733e-01 -5.36147240e-03 -9.51297103e+01] [-1.44642119e-02 5.48703609e-03 9.99880332e-01 2.96374645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.389072329 meters Centerline goodness [0,1] 0.3381808290263857 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.13, Z:296.38 [[ 9.99862087e-01 -8.61720748e-03 1.41968665e-02 -1.70921721e+02] [ 8.69913751e-03 9.99945805e-01 -5.71938253e-03 -9.51279843e+01] [-1.41468120e-02 5.84209424e-03 9.99882862e-01 2.96375125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.41907232899996 meters Centerline goodness [0,1] 0.34965693247427 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.38 [[ 9.99885682e-01 -5.09309069e-03 1.42366649e-02 -1.70922142e+02] [ 5.13069522e-03 9.99983442e-01 -2.60611142e-03 -9.51247670e+01] [-1.42231560e-02 2.67885749e-03 9.99895257e-01 2.96375587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.449072329 meters Centerline goodness [0,1] 0.3399631521648103 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.38 [[ 9.99889577e-01 -5.08527965e-03 1.39633099e-02 -1.70921518e+02] [ 5.12473980e-03 9.99982972e-01 -2.79166284e-03 -9.51237475e+01] [-1.39488757e-02 2.86291290e-03 9.99898611e-01 2.96375727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.47907232899996 meters Centerline goodness [0,1] 0.33632634266817363 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.37 [[ 9.99910612e-01 -2.92377069e-03 1.30467977e-02 -1.70918232e+02] [ 2.94058916e-03 9.99994870e-01 -1.27009089e-03 -9.51234884e+01] [-1.30430173e-02 1.30834263e-03 9.99914080e-01 2.96374768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.509072329 meters Centerline goodness [0,1] 0.3486288465564161 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.37 [[ 9.99921822e-01 -2.50140156e-03 1.22512674e-02 -1.70916169e+02] [ 2.51928387e-03 9.99995783e-01 -1.44441452e-03 -9.51217592e+01] [-1.22476026e-02 1.47516602e-03 9.99923907e-01 2.96374830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.53907232899996 meters Centerline goodness [0,1] 0.3528549285744208 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99931701e-01 -1.92331674e-03 1.15279765e-02 -1.70914198e+02] [ 1.93767852e-03 9.99997360e-01 -1.23478022e-03 -9.51211146e+01] [-1.15255712e-02 1.25703340e-03 9.99932788e-01 2.96374674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.569072329 meters Centerline goodness [0,1] 0.3568929027932024 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99940424e-01 -1.36118760e-03 1.08302914e-02 -1.70912161e+02] [ 1.37321353e-03 9.99998449e-01 -1.10303838e-03 -9.51200576e+01] [-1.08287731e-02 1.11784497e-03 9.99940742e-01 2.96374451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.59907232899997 meters Centerline goodness [0,1] 0.3581627098773186 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99935380e-01 -1.55794469e-03 1.12609131e-02 -1.70913316e+02] [ 1.57162596e-03 9.99998038e-01 -1.20618646e-03 -9.51201271e+01] [-1.12590118e-02 1.22380646e-03 9.99935866e-01 2.96374490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62907232899994 meters Centerline goodness [0,1] 0.3558962956747913 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99933418e-01 -1.61491139e-03 1.14259230e-02 -1.70914014e+02] [ 1.62882704e-03 9.99997943e-01 -1.20870045e-03 -9.51203868e+01] [-1.14239475e-02 1.22723083e-03 9.99933991e-01 2.96374857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.65907232899997 meters Centerline goodness [0,1] 0.3697480754305372 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99937743e-01 -1.56841544e-03 1.10476736e-02 -1.70913138e+02] [ 1.58600543e-03 9.99997488e-01 -1.58360827e-03 -9.51182503e+01] [-1.10451621e-02 1.60103135e-03 9.99937719e-01 2.96375179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.68907232899994 meters Centerline goodness [0,1] 0.3656961998784296 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99935846e-01 -1.57383308e-03 1.12173042e-02 -1.70913363e+02] [ 1.59073346e-03 9.99997613e-01 -1.49787118e-03 -9.51185310e+01] [-1.12149200e-02 1.51561883e-03 9.99935962e-01 2.96374855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.71907232899997 meters Centerline goodness [0,1] 0.37139743025424976 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99934107e-01 -1.46798829e-03 1.13853406e-02 -1.70913825e+02] [ 1.48149839e-03 9.99998208e-01 -1.17827930e-03 -9.51197067e+01] [-1.13835905e-02 1.19506903e-03 9.99934491e-01 2.96374779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.74907232899994 meters Centerline goodness [0,1] 0.3572701167494603 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99942090e-01 -7.44728931e-04 1.07360113e-02 -1.70911854e+02] [ 7.51343632e-04 9.99999530e-01 -6.12102599e-04 -9.51201072e+01] [-1.07355504e-02 6.20133586e-04 9.99942180e-01 2.96374335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.779072329 meters Centerline goodness [0,1] 0.36763379277068 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99944346e-01 -5.24368641e-04 1.05371158e-02 -1.70911255e+02] [ 5.28926603e-04 9.99999768e-01 -4.29780405e-04 -9.51205010e+01] [-1.05368880e-02 4.35329847e-04 9.99944391e-01 2.96374110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.80907232899995 meters Centerline goodness [0,1] 0.369019163836122 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99949349e-01 8.51641182e-05 1.00643576e-02 -1.70909467e+02] [-8.57626165e-05 9.99999995e-01 5.90355391e-05 -9.51208830e+01] [-1.00643525e-02 -5.98956946e-05 9.99949351e-01 2.96373243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.839072329 meters Centerline goodness [0,1] 0.37766113793827416 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99949148e-01 1.35890625e-05 1.00847040e-02 -1.70909540e+02] [-1.28878048e-05 9.99999997e-01 -6.96017559e-05 -9.51205507e+01] [-1.00847050e-02 6.94682468e-05 9.99949146e-01 2.96373224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.86907232899995 meters Centerline goodness [0,1] 0.3798899113408126 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99954737e-01 3.94989884e-04 9.50619543e-03 -1.70908290e+02] [-3.95196575e-04 9.99999922e-01 1.98643098e-05 -9.51202310e+01] [-9.50618684e-03 -2.36202266e-05 9.99954815e-01 2.96373516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.899072329 meters Centerline goodness [0,1] 0.3341036576398664 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99953292e-01 2.61135356e-04 9.66155818e-03 -1.70908954e+02] [-2.59631021e-04 9.99999954e-01 -1.56957082e-04 -9.51199881e+01] [-9.66159872e-03 1.54441310e-04 9.99953314e-01 2.96373840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.92907232899995 meters Centerline goodness [0,1] 0.3571083730400285 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99950150e-01 -1.30444106e-04 9.98404848e-03 -1.70910262e+02] [ 1.37346667e-04 9.99999752e-01 -6.90676374e-04 -9.51188348e+01] [-9.98395591e-03 6.92013220e-04 9.99949920e-01 2.96374544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.959072329 meters Centerline goodness [0,1] 0.3571083730400285 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99950150e-01 -1.30444106e-04 9.98404848e-03 -1.70910262e+02] [ 1.37346667e-04 9.99999752e-01 -6.90676374e-04 -9.51188348e+01] [-9.98395591e-03 6.92013220e-04 9.99949920e-01 2.96374544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.98907232899995 meters Centerline goodness [0,1] 0.3795902103475033 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99956520e-01 1.26643297e-04 9.32429615e-03 -1.70908829e+02] [-1.16903402e-04 9.99999447e-01 -1.04510927e-03 -9.51163863e+01] [-9.32442335e-03 1.04397379e-03 9.99955982e-01 2.96375119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.019072329 meters Centerline goodness [0,1] 0.38784674136556296 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99956905e-01 -3.95606525e-05 9.28369223e-03 -1.70908987e+02] [ 5.24366410e-05 9.99999037e-01 -1.38670763e-03 -9.51151458e+01] [-9.28362843e-03 1.38713468e-03 9.99955944e-01 2.96375549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.04907232899996 meters Centerline goodness [0,1] 0.3636535195319872 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.38 [[ 9.99964853e-01 1.44241003e-03 8.25908484e-03 -1.70905934e+02] [-1.44023930e-03 9.99998927e-01 -2.68770822e-04 -9.51159584e+01] [-8.25946365e-03 2.56866317e-04 9.99965857e-01 2.96375034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.079072329 meters Centerline goodness [0,1] 0.37404740411059556 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.38 [[ 9.99968640e-01 1.69020071e-03 7.73701083e-03 -1.70904713e+02] [-1.68769937e-03 9.99998521e-01 -3.29813076e-04 -9.51151537e+01] [-7.73755684e-03 3.16744985e-04 9.99970014e-01 2.96375154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.10907232899996 meters Centerline goodness [0,1] 0.3556059365619162 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99973555e-01 2.88970033e-03 6.67370445e-03 -1.70901870e+02] [-2.88925187e-03 9.99995823e-01 -7.68385688e-05 -9.51134464e+01] [-6.67389862e-03 5.75545237e-05 9.99977728e-01 2.96375292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.139072329 meters Centerline goodness [0,1] 0.3663308144416457 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99976288e-01 2.79334825e-03 6.29447260e-03 -1.70901119e+02] [-2.78942877e-03 9.99995910e-01 -6.31379143e-04 -9.51112899e+01] [-6.29621052e-03 6.13806189e-04 9.99979990e-01 2.96375652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.16907232899996 meters Centerline goodness [0,1] 0.364036835812129 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99976211e-01 2.51765776e-03 6.42181490e-03 -1.70901435e+02] [-2.51084685e-03 9.99996277e-01 -1.06843143e-03 -9.51101306e+01] [-6.42448094e-03 1.05228182e-03 9.99978809e-01 2.96375660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.199072329 meters Centerline goodness [0,1] 0.3788670064388935 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99975901e-01 2.58558524e-03 6.44306261e-03 -1.70901688e+02] [-2.57952306e-03 9.99996223e-01 -9.49017482e-04 -9.51106277e+01] [-6.44549204e-03 9.32374582e-04 9.99978793e-01 2.96375870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.22907232899996 meters Centerline goodness [0,1] 0.3636649609932052 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99975845e-01 2.35301307e-03 6.54012904e-03 -1.70902100e+02] [-2.34402721e-03 9.99996299e-01 -1.38128239e-03 -9.51092957e+01] [-6.54335501e-03 1.36591878e-03 9.99977659e-01 2.96376161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.259072329 meters Centerline goodness [0,1] 0.379007585599933 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99981691e-01 -5.72935425e-04 6.02403730e-03 -1.70900470e+02] [ 5.97742378e-04 9.99991346e-01 -4.11700087e-03 -9.51120737e+01] [-6.02162640e-03 4.12052631e-03 9.99973380e-01 2.96375668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.28907232899996 meters Centerline goodness [0,1] 0.3666638704806644 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.38 [[ 9.99977721e-01 -7.54728614e-04 6.63238792e-03 -1.70902029e+02] [ 7.80883553e-04 9.99991926e-01 -3.94181335e-03 -9.51131526e+01] [-6.62935937e-03 3.94690465e-03 9.99970236e-01 2.96375582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.319072329 meters Centerline goodness [0,1] 0.3773283773283773 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.37 [[ 9.99981131e-01 1.83238920e-03 5.86344755e-03 -1.70898640e+02] [-1.82448043e-03 9.99997419e-01 -1.35389050e-03 -9.51153298e+01] [-5.86591327e-03 1.34316721e-03 9.99981893e-01 2.96373718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.34907232899997 meters Centerline goodness [0,1] 0.38205219728305373 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.37 [[ 9.99980851e-01 1.63576100e-03 5.96840014e-03 -1.70898632e+02] [-1.62607312e-03 9.99997353e-01 -1.62768607e-03 -9.51143348e+01] [-5.97104685e-03 1.61794985e-03 9.99980864e-01 2.96373343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37907232899994 meters Centerline goodness [0,1] 0.3769371491052842 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.37 [[ 9.99984098e-01 2.28568349e-03 5.15543476e-03 -1.70896504e+02] [-2.27992513e-03 9.99996771e-01 -1.12254923e-03 -9.51149165e+01] [-5.15798390e-03 1.11077738e-03 9.99986081e-01 2.96373161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.40907232899997 meters Centerline goodness [0,1] 0.37848061363875174 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.37 [[ 9.99985429e-01 2.04665065e-03 4.99534350e-03 -1.70895840e+02] [-2.03752663e-03 9.99996248e-01 -1.83091045e-03 -9.51123271e+01] [-4.99907199e-03 1.82070563e-03 9.99985847e-01 2.96372939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43907232899994 meters Centerline goodness [0,1] 0.3767954640907182 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.37 [[ 9.99987010e-01 2.78667011e-03 4.26775920e-03 -1.70893801e+02] [-2.78072588e-03 9.99995156e-01 -1.39812344e-03 -9.51121864e+01] [-4.27163463e-03 1.38623781e-03 9.99989916e-01 2.96372737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.46907232899997 meters Centerline goodness [0,1] 0.38239744451916613 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.37 [[ 9.99988835e-01 3.00877320e-03 3.64368419e-03 -1.70892489e+02] [-3.00206975e-03 9.99993794e-01 -1.84381962e-03 -9.51097871e+01] [-3.64920921e-03 1.83286044e-03 9.99991662e-01 2.96373344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49907232899994 meters Centerline goodness [0,1] 0.37713913299415547 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.37 [[ 9.99989069e-01 3.14601436e-03 3.45906424e-03 -1.70892000e+02] [-3.13973643e-03 9.99993417e-01 -1.81885590e-03 -9.51095225e+01] [-3.46476361e-03 1.80797547e-03 9.99992363e-01 2.96373347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.529072329 meters Centerline goodness [0,1] 0.36508270107816143 Centerline is valid? [False, False] Translation: X:-170.89, Y:-95.11, Z:296.37 [[ 9.99987656e-01 2.74142869e-03 4.14396395e-03 -1.70893860e+02] [-2.73325395e-03 9.99994310e-01 -1.97706246e-03 -9.51098093e+01] [-4.14936035e-03 1.96571155e-03 9.99989459e-01 2.96373417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.55907232899995 meters Centerline goodness [0,1] 0.35211297203017633 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.37 [[ 9.99985430e-01 2.49807023e-03 4.78527459e-03 -1.70895581e+02] [-2.48884177e-03 9.99995034e-01 -1.93349604e-03 -9.51106305e+01] [-4.79008083e-03 1.92155808e-03 9.99986681e-01 2.96373461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.589072329 meters Centerline goodness [0,1] 0.3213506711409396 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.37 [[ 9.99984141e-01 -1.73187606e-03 5.35902771e-03 -1.70897009e+02] [ 1.76195857e-03 9.99982690e-01 -5.61380688e-03 -9.51126307e+01] [-5.34921253e-03 5.62316024e-03 9.99969883e-01 2.96373306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.61907232899995 meters Centerline goodness [0,1] 0.30762444864524263 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.11, Z:296.37 [[ 9.99979045e-01 -2.09199153e-03 6.12636573e-03 -1.70898870e+02] [ 2.12590196e-03 9.99982428e-01 -5.53389270e-03 -9.51136485e+01] [-6.11468122e-03 5.54680079e-03 9.99965921e-01 2.96373090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.649072329 meters Centerline goodness [0,1] 0.314877802973041 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.37 [[ 9.99970693e-01 -2.53674411e-03 7.22341137e-03 -1.70901066e+02] [ 2.57070428e-03 9.99985669e-01 -4.69600611e-03 -9.51171047e+01] [-7.21139529e-03 4.71443773e-03 9.99962884e-01 2.96371798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.67907232899995 meters Centerline goodness [0,1] 0.3187784848675782 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.37 [[ 9.99960569e-01 -3.38962298e-03 8.20802313e-03 -1.70903552e+02] [ 3.43285410e-03 9.99980281e-01 -5.25858670e-03 -9.51165041e+01] [-8.19003665e-03 5.28655629e-03 9.99952487e-01 2.96371761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.709072329 meters Centerline goodness [0,1] 0.28586140944534355 Centerline is valid? [False, False] Translation: X:-170.90, Y:-95.12, Z:296.37 [[ 9.99958189e-01 -3.49881986e-03 8.44862549e-03 -1.70904234e+02] [ 3.54304766e-03 9.99980070e-01 -5.22563112e-03 -9.51167109e+01] [-8.43017356e-03 5.25534651e-03 9.99950656e-01 2.96371858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.73907232899995 meters Centerline goodness [0,1] 0.32545435444899673 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99949670e-01 -4.13694952e-03 9.14016480e-03 -1.70906214e+02] [ 4.18915500e-03 9.99974981e-01 -5.69991312e-03 -9.51159560e+01] [-9.11635587e-03 5.73791581e-03 9.99941983e-01 2.96372251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.769072329 meters Centerline goodness [0,1] 0.3267089618083274 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99940247e-01 -4.66526347e-03 9.88628220e-03 -1.70908448e+02] [ 4.72530996e-03 9.99970479e-01 -6.05908859e-03 -9.51157564e+01] [-9.85772310e-03 6.10544229e-03 9.99932772e-01 2.96372716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.79907232899996 meters Centerline goodness [0,1] 0.3037438092839755 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99927593e-01 -5.26236330e-03 1.08220664e-02 -1.70911121e+02] [ 5.32779662e-03 9.99967648e-01 -6.02637178e-03 -9.51173798e+01] [-1.07900033e-02 6.08359320e-03 9.99923280e-01 2.96372916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.829072329 meters Centerline goodness [0,1] 0.33458559825382506 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99915977e-01 -5.61932327e-03 1.16817413e-02 -1.70913313e+02] [ 5.68649502e-03 9.99967444e-01 -5.72490788e-03 -9.51193903e+01] [-1.16491909e-02 5.79085502e-03 9.99915378e-01 2.96372744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.85907232899996 meters Centerline goodness [0,1] 0.31514261744966443 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99908266e-01 -5.70503111e-03 1.22846277e-02 -1.70914577e+02] [ 5.77310634e-03 9.99968138e-01 -5.51318435e-03 -9.51204121e+01] [-1.22527834e-02 5.58359907e-03 9.99909342e-01 2.96372309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.889072329 meters Centerline goodness [0,1] 0.31376004363605847 Centerline is valid? [False, False] Translation: X:-170.91, Y:-95.12, Z:296.37 [[ 9.99906991e-01 -5.18720692e-03 1.26135759e-02 -1.70914725e+02] [ 5.24250135e-03 9.99976776e-01 -4.35461746e-03 -9.51236912e+01] [-1.25906946e-02 4.42033913e-03 9.99910964e-01 2.96371130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.91907232899996 meters Centerline goodness [0,1] 0.30078297193475934 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.37 [[ 9.99899299e-01 -5.41230172e-03 1.31186606e-02 -1.70915766e+02] [ 5.46834181e-03 9.99976061e-01 -4.23968539e-03 -9.51244662e+01] [-1.30954001e-02 4.31099577e-03 9.99904958e-01 2.96370674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.949072329 meters Centerline goodness [0,1] 0.3162490030642656 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.37 [[ 9.99897315e-01 -5.39352814e-03 1.32766160e-02 -1.70915887e+02] [ 5.44831311e-03 9.99976778e-01 -4.09372101e-03 -9.51245595e+01] [-1.32542281e-02 4.16563581e-03 9.99903482e-01 2.96370313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.97907232899996 meters Centerline goodness [0,1] 0.3172627653110399 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.37 [[ 9.99889686e-01 -5.82596104e-03 1.36629039e-02 -1.70917541e+02] [ 5.89205945e-03 9.99971109e-01 -4.80254782e-03 -9.51227673e+01] [-1.36345297e-02 4.88252067e-03 9.99895125e-01 2.96371358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.009072329 meters Centerline goodness [0,1] 0.3111315778456901 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.37 [[ 9.99854589e-01 -9.07427740e-03 1.44380938e-02 -1.70922308e+02] [ 9.19489650e-03 9.99923197e-01 -8.30989167e-03 -9.51198169e+01] [-1.43615787e-02 8.44144009e-03 9.99861234e-01 2.96374902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.03907232899996 meters Centerline goodness [0,1] 0.3267540187541862 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.38 [[ 9.99853546e-01 -9.04546538e-03 1.45281464e-02 -1.70923930e+02] [ 9.16651681e-03 9.99923645e-01 -8.28733502e-03 -9.51202200e+01] [-1.44520743e-02 8.41929381e-03 9.99860117e-01 2.96376820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.069072329 meters Centerline goodness [0,1] 0.33881668445616453 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.12, Z:296.38 [[ 9.99848040e-01 -9.29858443e-03 1.47456263e-02 -1.70924600e+02] [ 9.42653748e-03 9.99918314e-01 -8.63172307e-03 -9.51191495e+01] [-1.46641590e-02 8.76941159e-03 9.99854019e-01 2.96377050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.09907232899997 meters Centerline goodness [0,1] 0.3071437533983019 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.38 [[ 9.99830983e-01 -9.99378414e-03 1.54314276e-02 -1.70926025e+02] [ 1.01334956e-02 9.99908132e-01 -9.00220378e-03 -9.51185201e+01] [-1.53400439e-02 9.15705657e-03 9.99840403e-01 2.96376689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12907232899994 meters Centerline goodness [0,1] 0.33656985017159124 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.38 [[ 9.99802365e-01 -1.10691956e-02 1.65137302e-02 -1.70928791e+02] [ 1.12308303e-02 9.99889616e-01 -9.72747863e-03 -9.51177986e+01] [-1.64042320e-02 9.91101904e-03 9.99816320e-01 2.96376705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.15907232899997 meters Centerline goodness [0,1] 0.31945055175157566 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.38 [[ 9.99768897e-01 -1.21197418e-02 1.77557084e-02 -1.70931364e+02] [ 1.22898864e-02 9.99879300e-01 -9.50495582e-03 -9.51201572e+01] [-1.76383677e-02 9.72097483e-03 9.99797175e-01 2.96375516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.18907232899994 meters Centerline goodness [0,1] 0.3262999246420497 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99752752e-01 -1.23712763e-02 1.84766455e-02 -1.70932880e+02] [ 1.25436363e-02 9.99878614e-01 -9.24195494e-03 -9.51216922e+01] [-1.83600679e-02 9.47143420e-03 9.99786577e-01 2.96374902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.21907232899997 meters Centerline goodness [0,1] 0.3192446984445979 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99746314e-01 -1.22704905e-02 1.88876450e-02 -1.70933641e+02] [ 1.24356377e-02 9.99885249e-01 -8.65118435e-03 -9.51237350e+01] [-1.87793233e-02 8.88386957e-03 9.99784184e-01 2.96374328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.24907232899994 meters Centerline goodness [0,1] 0.3399673188921942 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.12, Z:296.37 [[ 9.99768996e-01 -8.74980317e-03 1.96314773e-02 -1.70935581e+02] [ 8.84775460e-03 9.99948812e-01 -4.90821195e-03 -9.51232252e+01] [-1.95875265e-02 5.08077263e-03 9.99795236e-01 2.96374189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.279072329 meters Centerline goodness [0,1] 0.3291197522079444 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.12, Z:296.37 [[ 9.99753970e-01 -9.39224303e-03 2.00944136e-02 -1.70936424e+02] [ 9.50657186e-03 9.99939121e-01 -5.60164189e-03 -9.51216441e+01] [-2.00405783e-02 5.79129271e-03 9.99782394e-01 2.96373794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.30907232899995 meters Centerline goodness [0,1] 0.33615996649916247 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.12, Z:296.37 [[ 9.99760778e-01 -9.08345052e-03 1.98966725e-02 -1.70935427e+02] [ 9.19183920e-03 9.99943373e-01 -5.36291514e-03 -9.51216877e+01] [-1.98468320e-02 5.54451923e-03 9.99787658e-01 2.96373066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.339072329 meters Centerline goodness [0,1] 0.3029528795811518 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99780950e-01 -8.40453957e-03 1.91680950e-02 -1.70933699e+02] [ 8.49994132e-03 9.99951864e-01 -4.90108153e-03 -9.51220688e+01] [-1.91259810e-02 5.06293563e-03 9.99804263e-01 2.96373120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.36907232899995 meters Centerline goodness [0,1] 0.27771380718099026 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99789145e-01 -8.13207412e-03 1.88556516e-02 -1.70932792e+02] [ 8.22335866e-03 9.99954817e-01 -4.76875747e-03 -9.51216833e+01] [-1.88160197e-02 4.92280874e-03 9.99810844e-01 2.96372991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.399072329 meters Centerline goodness [0,1] 0.3105224583813213 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99801322e-01 -7.71926001e-03 1.83774319e-02 -1.70931618e+02] [ 7.80325092e-03 9.99959415e-01 -4.50301529e-03 -9.51217193e+01] [-1.83419261e-02 4.64552435e-03 9.99820980e-01 2.96373025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.42907232899995 meters Centerline goodness [0,1] 0.3035602094240838 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99824471e-01 -6.60766024e-03 1.75318554e-02 -1.70928723e+02] [ 6.67804227e-03 9.99969865e-01 -3.95901968e-03 -9.51210491e+01] [-1.75051672e-02 4.07540322e-03 9.99838467e-01 2.96372191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.459072329 meters Centerline goodness [0,1] 0.31217540626570617 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99833279e-01 -6.40375378e-03 1.70999142e-02 -1.70927526e+02] [ 6.47580802e-03 9.99970372e-01 -4.16167679e-03 -9.51194131e+01] [-1.70727573e-02 4.27171871e-03 9.99845125e-01 2.96372190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.48907232899995 meters Centerline goodness [0,1] 0.3145462167260532 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99842189e-01 -6.34863218e-03 1.65918996e-02 -1.70926542e+02] [ 6.42786187e-03 9.99968172e-01 -4.72624426e-03 -9.51166548e+01] [-1.65613664e-02 4.83214884e-03 9.99851175e-01 2.96372825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.519072329 meters Centerline goodness [0,1] 0.29592221616864345 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99845776e-01 -6.23033847e-03 1.64197114e-02 -1.70926085e+02] [ 6.30847592e-03 9.99969003e-01 -4.71126782e-03 -9.51160895e+01] [-1.63898496e-02 4.81412458e-03 9.99854088e-01 2.96372877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.54907232899996 meters Centerline goodness [0,1] 0.2978857154831004 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99847310e-01 -6.09201236e-03 1.63781733e-02 -1.70926130e+02] [ 6.16719746e-03 9.99970659e-01 -4.54398537e-03 -9.51163387e+01] [-1.63500107e-02 4.64429898e-03 9.99855543e-01 2.96373102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.579072329 meters Centerline goodness [0,1] 0.30190615835777124 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99845880e-01 -6.12742003e-03 1.64520734e-02 -1.70927019e+02] [ 6.20522572e-03 9.99969785e-01 -4.68235694e-03 -9.51160630e+01] [-1.64228855e-02 4.78372413e-03 9.99853692e-01 2.96374146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.60907232899996 meters Centerline goodness [0,1] 0.31100969288420877 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.11, Z:296.37 [[ 9.99833542e-01 -6.59969679e-03 1.70097491e-02 -1.70928482e+02] [ 6.68923266e-03 9.99964042e-01 -5.21228724e-03 -9.51147752e+01] [-1.69747380e-02 5.32520178e-03 9.99841738e-01 2.96374288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.639072329 meters Centerline goodness [0,1] 0.31753078147248515 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.12, Z:296.37 [[ 9.99859626e-01 -4.82247941e-03 1.60459306e-02 -1.70925678e+02] [ 4.87934420e-03 9.99981948e-01 -3.50661578e-03 -9.51170352e+01] [-1.60287303e-02 3.58441716e-03 9.99865107e-01 2.96373685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.66907232899996 meters Centerline goodness [0,1] 0.32427058478797777 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99875885e-01 -5.94813758e-04 1.57435895e-02 -1.70924656e+02] [ 5.91308671e-04 9.99999799e-01 2.27289839e-04 -9.51148255e+01] [-1.57437216e-02 -2.17952308e-04 9.99876036e-01 2.96373355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.699072329 meters Centerline goodness [0,1] 0.3238460249643964 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99879698e-01 -6.07881502e-04 1.54990114e-02 -1.70924136e+02] [ 6.07844893e-04 9.99999815e-01 7.07278902e-06 -9.51140293e+01] [-1.54990128e-02 2.34905677e-06 9.99879883e-01 2.96373464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.72907232899996 meters Centerline goodness [0,1] 0.3297738693467337 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99883915e-01 -6.57100017e-04 1.52224930e-02 -1.70923433e+02] [ 6.63120668e-04 9.99999704e-01 -3.90466102e-04 -9.51123196e+01] [-1.52222319e-02 4.00515125e-04 9.99884055e-01 2.96373552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.759072329 meters Centerline goodness [0,1] 0.32519492464307365 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99887297e-01 -5.29289130e-04 1.50037923e-02 -1.70923050e+02] [ 5.37510593e-04 9.99999708e-01 -5.43931718e-04 -9.51114267e+01] [-1.50035000e-02 5.51935112e-04 9.99887289e-01 2.96373823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.78907232899996 meters Centerline goodness [0,1] 0.32539433167850185 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99888277e-01 -5.25921612e-04 1.49384360e-02 -1.70923109e+02] [ 5.35592329e-04 9.99999650e-01 -6.43378170e-04 -9.51111590e+01] [-1.49380924e-02 6.51307202e-04 9.99888208e-01 2.96374074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.819072329 meters Centerline goodness [0,1] 0.3340526271683567 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99897272e-01 -9.52975663e-05 1.43330217e-02 -1.70921448e+02] [ 1.02596528e-04 9.99999865e-01 -5.08506535e-04 -9.51106965e+01] [-1.43329714e-02 5.09924816e-04 9.99897148e-01 2.96373945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.84907232899997 meters Centerline goodness [0,1] 0.3349532866898488 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99900136e-01 -8.97306185e-05 1.41318518e-02 -1.70920900e+02] [ 9.97525255e-05 9.99999744e-01 -7.08468250e-04 -9.51095505e+01] [-1.41317846e-02 7.09807188e-04 9.99899889e-01 2.96373944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87907232899994 meters Centerline goodness [0,1] 0.3349532866898488 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99900136e-01 -8.97306185e-05 1.41318518e-02 -1.70920900e+02] [ 9.97525255e-05 9.99999744e-01 -7.08468250e-04 -9.51095505e+01] [-1.41317846e-02 7.09807188e-04 9.99899889e-01 2.96373944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.90907232899997 meters Centerline goodness [0,1] 0.3369977971257736 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99910255e-01 5.11765353e-04 1.33873027e-02 -1.70919187e+02] [-5.07311311e-04 9.99999815e-01 -3.36100255e-04 -9.51096343e+01] [-1.33874722e-02 3.29278561e-04 9.99910330e-01 2.96374177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93907232899994 meters Centerline goodness [0,1] 0.3487533289995177 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99917738e-01 1.01328615e-03 1.27863345e-02 -1.70917821e+02] [-1.00985189e-03 9.99999452e-01 -2.75041812e-04 -9.51089390e+01] [-1.27866062e-02 2.62106883e-04 9.99918214e-01 2.96374492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.96907232899997 meters Centerline goodness [0,1] 0.3519458190052839 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99914421e-01 6.88558675e-04 1.30643124e-02 -1.70918842e+02] [-6.79943288e-04 9.99999548e-01 -6.63889911e-04 -9.51082245e+01] [-1.30647637e-02 6.54950105e-04 9.99914438e-01 2.96374926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99907232899994 meters Centerline goodness [0,1] 0.3549732732417985 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.38 [[ 9.99911289e-01 2.75001336e-04 1.33168584e-02 -1.70920003e+02] [-2.58987989e-04 9.99999241e-01 -1.20419642e-03 -9.51071407e+01] [-1.33171795e-02 1.20064068e-03 9.99910602e-01 2.96375673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.029072329 meters Centerline goodness [0,1] 0.3617199614433595 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.38 [[ 9.99912951e-01 1.91160508e-04 1.31929370e-02 -1.70919800e+02] [-1.71755795e-04 9.99998902e-01 -1.47195841e-03 -9.51060681e+01] [-1.31932039e-02 1.46956431e-03 9.99911886e-01 2.96375888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.05907232899995 meters Centerline goodness [0,1] 0.3622860494835858 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.38 [[ 9.99918970e-01 5.46545643e-04 1.27182965e-02 -1.70918469e+02] [-5.30578849e-04 9.99999067e-01 -1.25875957e-03 -9.51058577e+01] [-1.27189726e-02 1.25190951e-03 9.99918327e-01 2.96375736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.089072329 meters Centerline goodness [0,1] 0.3607973004129027 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.10, Z:296.38 [[ 9.99927154e-01 8.94065332e-04 1.20369251e-02 -1.70916621e+02] [-8.76272427e-04 9.99998516e-01 -1.48338648e-03 -9.51035401e+01] [-1.20382334e-02 1.47273080e-03 9.99926453e-01 2.96375835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.11907232899995 meters Centerline goodness [0,1] 0.3263713036016993 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.10, Z:296.38 [[ 9.99922385e-01 6.58759707e-04 1.24414770e-02 -1.70917832e+02] [-6.39111543e-04 9.99998543e-01 -1.58315679e-03 -9.51037690e+01] [-1.24425018e-02 1.57508242e-03 9.99921349e-01 2.96376032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.149072329 meters Centerline goodness [0,1] 0.3719989096475226 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.38 [[ 9.99912390e-01 2.78048592e-04 1.32338316e-02 -1.70919648e+02] [-2.61559429e-04 9.99999187e-01 -1.24770004e-03 -9.51061946e+01] [-1.32341677e-02 1.24412930e-03 9.99911651e-01 2.96375409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.17907232899995 meters Centerline goodness [0,1] 0.33546681216292784 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99914693e-01 6.37734504e-04 1.30460945e-02 -1.70918788e+02] [-6.26713725e-04 9.99999443e-01 -8.48827778e-04 -9.51069319e+01] [-1.30466285e-02 8.40579200e-04 9.99914536e-01 2.96374795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.209072329 meters Centerline goodness [0,1] 0.3522228982649015 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99906038e-01 2.89467396e-04 1.37051758e-02 -1.70920223e+02] [-2.79044548e-04 9.99999670e-01 -7.62410621e-04 -9.51079705e+01] [-1.37053920e-02 7.58514628e-04 9.99905789e-01 2.96374299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.23907232899995 meters Centerline goodness [0,1] 0.3672171741548276 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99895126e-01 -2.33787559e-04 1.44804051e-02 -1.70922317e+02] [ 2.44330744e-04 9.99999706e-01 -7.26335319e-04 -9.51092928e+01] [-1.44802310e-02 7.29797153e-04 9.99894890e-01 2.96374295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.269072329 meters Centerline goodness [0,1] 0.3753670609950499 Centerline is valid? [False, False] Translation: X:-170.92, Y:-95.11, Z:296.37 [[ 9.99889042e-01 -4.13597143e-04 1.48906621e-02 -1.70923362e+02] [ 4.23643691e-04 9.99999685e-01 -6.71539754e-04 -9.51098952e+01] [-1.48903796e-02 6.77773577e-04 9.99888902e-01 2.96374231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.29907232899996 meters Centerline goodness [0,1] 0.3535635562086701 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.11, Z:296.38 [[ 9.99871062e-01 -1.76158777e-03 1.59610807e-02 -1.70926844e+02] [ 1.78641105e-03 9.99997217e-01 -1.54111376e-03 -9.51097541e+01] [-1.59583215e-02 1.56942810e-03 9.99871426e-01 2.96375094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.329072329 meters Centerline goodness [0,1] 0.35485562102879187 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.11, Z:296.38 [[ 9.99863882e-01 -2.04311795e-03 1.63720311e-02 -1.70927990e+02] [ 2.07043238e-03 9.99996493e-01 -1.65158327e-03 -9.51099375e+01] [-1.63685993e-02 1.68525564e-03 9.99864605e-01 2.96375183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.35907232899996 meters Centerline goodness [0,1] 0.3588124213176668 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.11, Z:296.38 [[ 9.99859550e-01 -2.23769762e-03 1.66094479e-02 -1.70928636e+02] [ 2.26808787e-03 9.99995788e-01 -1.81108496e-03 -9.51096373e+01] [-1.66053252e-02 1.84850228e-03 9.99860413e-01 2.96375246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.389072329 meters Centerline goodness [0,1] 0.36483110448638545 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.11, Z:296.38 [[ 9.99844674e-01 -3.19404109e-03 1.73327916e-02 -1.70930310e+02] [ 3.23828385e-03 9.99991569e-01 -2.52508094e-03 -9.51085341e+01] [-1.73245802e-02 2.58081722e-03 9.99846587e-01 2.96375066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.41907232899996 meters Centerline goodness [0,1] 0.3697782253834372 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.11, Z:296.38 [[ 9.99839241e-01 -3.31464401e-03 1.76211641e-02 -1.70931125e+02] [ 3.35866905e-03 9.99991311e-01 -2.46941111e-03 -9.51089776e+01] [-1.76128258e-02 2.52819779e-03 9.99841686e-01 2.96375142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.449072329 meters Centerline goodness [0,1] 0.3582971766333396 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.11, Z:296.38 [[ 9.99818905e-01 -4.32212486e-03 1.85331030e-02 -1.70933502e+02] [ 4.38150845e-03 9.99985393e-01 -3.16478374e-03 -9.51083657e+01] [-1.85191537e-02 3.24541357e-03 9.99823238e-01 2.96375202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.47907232899996 meters Centerline goodness [0,1] 0.3646476094530495 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.11, Z:296.38 [[ 9.99807162e-01 -4.69415261e-03 1.90683945e-02 -1.70935401e+02] [ 4.75957511e-03 9.99982937e-01 -3.38700620e-03 -9.51088035e+01] [-1.90521701e-02 3.47711051e-03 9.99812445e-01 2.96375806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.509072329 meters Centerline goodness [0,1] 0.32219795909797166 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.11, Z:296.38 [[ 9.99789018e-01 -5.16581221e-03 1.98804893e-02 -1.70937590e+02] [ 5.23427650e-03 9.99980544e-01 -3.39330001e-03 -9.51101443e+01] [-1.98625733e-02 3.49664406e-03 9.99796605e-01 2.96375791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.53907232899996 meters Centerline goodness [0,1] 0.32882145555275755 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.11, Z:296.38 [[ 9.99757636e-01 -8.78033552e-03 2.01884824e-02 -1.70938001e+02] [ 8.91128672e-03 9.99939777e-01 -6.40564286e-03 -9.51136694e+01] [-2.01310228e-02 6.58399572e-03 9.99775671e-01 2.96375198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.569072329 meters Centerline goodness [0,1] 0.31657531657531657 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.12, Z:296.38 [[ 9.99747040e-01 -8.85916778e-03 2.06729723e-02 -1.70939200e+02] [ 8.98676201e-03 9.99941090e-01 -6.08731203e-03 -9.51151438e+01] [-2.06178259e-02 6.27155526e-03 9.99767759e-01 2.96375007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.59907232899997 meters Centerline goodness [0,1] 0.32769037130270606 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.12, Z:296.37 [[ 9.99730737e-01 -9.10647821e-03 2.13430428e-02 -1.70940204e+02] [ 9.22723997e-03 9.99941934e-01 -5.56649680e-03 -9.51172503e+01] [-2.12911123e-02 5.76193533e-03 9.99756715e-01 2.96373793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62907232899994 meters Centerline goodness [0,1] 0.3464345637583892 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.12, Z:296.37 [[ 9.99756701e-01 -5.13224311e-03 2.14522313e-02 -1.70940675e+02] [ 5.16751917e-03 9.99985385e-01 -1.58928994e-03 -9.51165454e+01] [-2.14437611e-02 1.69975808e-03 9.99768611e-01 2.96373897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.65907232899997 meters Centerline goodness [0,1] 0.33287883873133073 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.11, Z:296.37 [[ 9.99758395e-01 -5.35623350e-03 2.13181136e-02 -1.70940336e+02] [ 5.40533623e-03 9.99982868e-01 -2.24637766e-03 -9.51140090e+01] [-2.13057162e-02 2.36106649e-03 9.99770220e-01 2.96374005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.68907232899994 meters Centerline goodness [0,1] 0.3042976455281823 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.11, Z:296.38 [[ 9.99780605e-01 -4.85516141e-03 2.03756876e-02 -1.70938995e+02] [ 4.91078480e-03 9.99984349e-01 -2.68074328e-03 -9.51114570e+01] [-2.03623533e-02 2.78021575e-03 9.99788800e-01 2.96375568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.71907232899997 meters Centerline goodness [0,1] 0.3450896418524583 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.11, Z:296.38 [[ 9.99806950e-01 -3.72858541e-03 1.92914815e-02 -1.70936433e+02] [ 3.77428751e-03 9.99990156e-01 -2.33316352e-03 -9.51101542e+01] [-1.92825921e-02 2.40552470e-03 9.99811180e-01 2.96375953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.74907232899994 meters Centerline goodness [0,1] 0.353611768897085 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.11, Z:296.38 [[ 9.99808974e-01 -3.96747671e-03 1.91383103e-02 -1.70936339e+02] [ 4.02432801e-03 9.99987601e-01 -2.93295128e-03 -9.51081327e+01] [-1.91264366e-02 3.00940984e-03 9.99812544e-01 2.96376428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.779072329 meters Centerline goodness [0,1] 0.356672676198063 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.11, Z:296.38 [[ 9.99835801e-01 -2.71763978e-03 1.79160677e-02 -1.70933231e+02] [ 2.77184945e-03 9.99991654e-01 -3.00161967e-03 -9.51052171e+01] [-1.79077608e-02 3.05078745e-03 9.99834989e-01 2.96376798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.80907232899995 meters Centerline goodness [0,1] 0.35412997903563936 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.10, Z:296.38 [[ 9.99847839e-01 -2.25052939e-03 1.72983975e-02 -1.70931703e+02] [ 2.29970943e-03 9.99993369e-01 -2.82367385e-03 -9.51048482e+01] [-1.72919281e-02 2.86302548e-03 9.99846384e-01 2.96376814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.839072329 meters Centerline goodness [0,1] 0.3589447857906767 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.10, Z:296.38 [[ 9.99860888e-01 -1.59840976e-03 1.66027313e-02 -1.70930131e+02] [ 1.64305972e-03 9.99995070e-01 -2.67602167e-03 -9.51041209e+01] [-1.65983721e-02 2.70292868e-03 9.99858584e-01 2.96377156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.86907232899995 meters Centerline goodness [0,1] 0.3156084156650515 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.10, Z:296.38 [[ 9.99861072e-01 -1.76553117e-03 1.65746796e-02 -1.70930465e+02] [ 1.81759609e-03 9.99993460e-01 -3.12669347e-03 -9.51027030e+01] [-1.65690509e-02 3.15638516e-03 9.99857742e-01 2.96377785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.899072329 meters Centerline goodness [0,1] 0.362164652662883 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.10, Z:296.38 [[ 9.99864535e-01 -1.68487135e-03 1.63729519e-02 -1.70930367e+02] [ 1.73709859e-03 9.99993447e-01 -3.17615115e-03 -9.51023572e+01] [-1.63674932e-02 3.20416232e-03 9.99860910e-01 2.96378399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.92907232899995 meters Centerline goodness [0,1] 0.3263598326359832 Centerline is valid? [False, False] Translation: X:-170.93, Y:-95.10, Z:296.38 [[ 9.99859832e-01 -1.77200612e-03 1.66485948e-02 -1.70930885e+02] [ 1.82011335e-03 9.99994211e-01 -2.87485923e-03 -9.51034256e+01] [-1.66434042e-02 2.90475860e-03 9.99857270e-01 2.96377982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.959072329 meters Centerline goodness [0,1] 0.35473999706566617 Centerline is valid? [False, False] Translation: X:-170.94, Y:-95.09, Z:296.38 [[ 9.99964291e-01 -4.56792690e-03 7.10991202e-03 -1.70942926e+02] [ 4.61328817e-03 9.99969027e-01 -6.37673459e-03 -9.50896846e+01] [-7.08056335e-03 6.40930696e-03 9.99954392e-01 2.96381229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.98907232899995 meters Centerline goodness [0,1] 0.3392134242265338 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.09, Z:296.38 [[ 9.99953710e-01 -5.12680390e-03 8.14210737e-03 -1.70945249e+02] [ 5.17251500e-03 9.99970925e-01 -5.60306102e-03 -9.50937366e+01] [-8.11314484e-03 5.64491683e-03 9.99951155e-01 2.96380171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.019072329 meters Centerline goodness [0,1] 0.316088460329106 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.10, Z:296.38 [[ 9.99948500e-01 -5.11982333e-03 8.76272375e-03 -1.70946525e+02] [ 5.16542217e-03 9.99973196e-01 -5.18903246e-03 -9.50952936e+01] [-8.73592195e-03 5.23402839e-03 9.99948143e-01 2.96379610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.04907232899996 meters Centerline goodness [0,1] 0.3137632741972646 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.10, Z:296.38 [[ 9.99941238e-01 -5.37938885e-03 9.41184068e-03 -1.70948176e+02] [ 5.42686300e-03 9.99972645e-01 -5.02584130e-03 -9.50964841e+01] [-9.38454726e-03 5.07662274e-03 9.99943077e-01 2.96379478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.079072329 meters Centerline goodness [0,1] 0.3518231349538977 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.10, Z:296.38 [[ 9.99919934e-01 -6.72151910e-03 1.07213232e-02 -1.70951081e+02] [ 6.77803809e-03 9.99963278e-01 -5.24404731e-03 -9.50978922e+01] [-1.06856815e-02 5.31629698e-03 9.99928774e-01 2.96378553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.10907232899996 meters Centerline goodness [0,1] 0.3508907985747223 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.10, Z:296.38 [[ 9.99913405e-01 -6.84314906e-03 1.12407653e-02 -1.70952174e+02] [ 6.89981785e-03 9.99963644e-01 -5.01034271e-03 -9.50988031e+01] [-1.12060701e-02 5.08746807e-03 9.99924268e-01 2.96378139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.139072329 meters Centerline goodness [0,1] 0.3560661649091176 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.10, Z:296.38 [[ 9.99904082e-01 -7.10108610e-03 1.18912292e-02 -1.70953929e+02] [ 7.15885541e-03 9.99962746e-01 -4.82264646e-03 -9.51002693e+01] [-1.18565402e-02 4.90731147e-03 9.99917667e-01 2.96378122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.16907232899996 meters Centerline goodness [0,1] 0.3456712541108946 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.10, Z:296.38 [[ 9.99892617e-01 -7.54428943e-03 1.25633773e-02 -1.70955837e+02] [ 7.60922584e-03 9.99957896e-01 -5.12895132e-03 -9.50996784e+01] [-1.25241541e-02 5.22399813e-03 9.99907923e-01 2.96378436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.199072329 meters Centerline goodness [0,1] 0.362578728212425 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.10, Z:296.38 [[ 9.99864629e-01 -9.35831731e-03 1.35331484e-02 -1.70959658e+02] [ 9.44861266e-03 9.99933423e-01 -6.62368594e-03 -9.50985118e+01] [-1.34702608e-02 6.75065876e-03 9.99886484e-01 2.96380042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.22907232899996 meters Centerline goodness [0,1] 0.3168841505561024 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.10, Z:296.38 [[ 9.99842413e-01 -1.01543390e-02 1.45615210e-02 -1.70962218e+02] [ 1.02516077e-02 9.99925532e-01 -6.62083158e-03 -9.50997737e+01] [-1.44932065e-02 6.76906723e-03 9.99872055e-01 2.96379706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.259072329 meters Centerline goodness [0,1] 0.30902690470203675 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.10, Z:296.38 [[ 9.99843863e-01 -1.00134030e-02 1.45596090e-02 -1.70961982e+02] [ 1.01091327e-02 9.99927669e-01 -6.51635297e-03 -9.50995714e+01] [-1.44933050e-02 6.66252054e-03 9.99872769e-01 2.96379382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.28907232899996 meters Centerline goodness [0,1] 0.3107929930307026 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.10, Z:296.38 [[ 9.99826849e-01 -1.05769018e-02 1.53101714e-02 -1.70963779e+02] [ 1.06812461e-02 9.99920173e-01 -6.74970447e-03 -9.50994940e+01] [-1.52375582e-02 6.91206746e-03 9.99860010e-01 2.96379217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.319072329 meters Centerline goodness [0,1] 0.3153586904188733 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99812981e-01 -1.09650207e-02 1.59302321e-02 -1.70965211e+02] [ 1.10777105e-02 9.99914117e-01 -7.00302200e-03 -9.50987324e+01] [-1.58520757e-02 7.17818280e-03 9.99848581e-01 2.96379054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.34907232899997 meters Centerline goodness [0,1] 0.31852906088448896 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99792138e-01 -1.15211689e-02 1.68208951e-02 -1.70967476e+02] [ 1.16431454e-02 9.99906498e-01 -7.17165451e-03 -9.50991571e+01] [-1.67366965e-02 7.36601192e-03 9.99832798e-01 2.96378977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37907232899994 meters Centerline goodness [0,1] 0.296810914874027 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99774461e-01 -1.17571255e-02 1.76860698e-02 -1.70969421e+02] [ 1.18743038e-02 9.99908142e-01 -6.53509794e-03 -9.51021725e+01] [-1.76076112e-02 6.74363378e-03 9.99822232e-01 2.96378306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.40907232899997 meters Centerline goodness [0,1] 0.2980443067130114 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99756964e-01 -1.21105893e-02 1.84213637e-02 -1.70971262e+02] [ 1.22354131e-02 9.99902842e-01 -6.67848902e-03 -9.51023999e+01] [-1.83386935e-02 6.90225890e-03 9.99808007e-01 2.96378208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43907232899994 meters Centerline goodness [0,1] 0.311473354231975 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99748247e-01 -1.22145955e-02 1.88214529e-02 -1.70972409e+02] [ 1.23404129e-02 9.99902183e-01 -6.58320415e-03 -9.51029602e+01] [-1.87392006e-02 6.81381131e-03 9.99801187e-01 2.96378330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.46907232899997 meters Centerline goodness [0,1] 0.33204908078227735 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99746095e-01 -1.22613918e-02 1.89051157e-02 -1.70972431e+02] [ 1.23900246e-02 9.99900780e-01 -6.70207860e-03 -9.51021222e+01] [-1.88210631e-02 6.93461176e-03 9.99798819e-01 2.96378129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49907232899994 meters Centerline goodness [0,1] 0.31313996740084427 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99749025e-01 -1.20468981e-02 1.88880959e-02 -1.70972002e+02] [ 1.21689207e-02 9.99905738e-01 -6.35871345e-03 -9.51025203e+01] [-1.88097127e-02 6.58696531e-03 9.99801384e-01 2.96377567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.529072329 meters Centerline goodness [0,1] 0.34305284987117446 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99741963e-01 -1.20300925e-02 1.92687189e-02 -1.70972618e+02] [ 1.21488929e-02 9.99907834e-01 -6.06030653e-03 -9.51033582e+01] [-1.91940369e-02 6.29283635e-03 9.99795974e-01 2.96376997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.55907232899995 meters Centerline goodness [0,1] 0.31466113416320884 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99736503e-01 -1.18869629e-02 1.96373036e-02 -1.70973425e+02] [ 1.19999958e-02 9.99912045e-01 -5.64825292e-03 -9.51045518e+01] [-1.95684358e-02 5.88241219e-03 9.99791215e-01 2.96376733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.589072329 meters Centerline goodness [0,1] 0.3118590751808745 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99734037e-01 -1.18079204e-02 1.98097844e-02 -1.70973619e+02] [ 1.19208346e-02 9.99913310e-01 -5.59154345e-03 -9.51042386e+01] [-1.97420426e-02 5.82620547e-03 9.99788131e-01 2.96376404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.61907232899995 meters Centerline goodness [0,1] 0.3117822114175539 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.10, Z:296.38 [[ 9.99704840e-01 -1.27388180e-02 2.06871048e-02 -1.70975765e+02] [ 1.28727071e-02 9.99896968e-01 -6.35188553e-03 -9.51030039e+01] [-2.06040579e-02 6.61630975e-03 9.99765821e-01 2.96376328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.649072329 meters Centerline goodness [0,1] 0.3524876924688384 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.10, Z:296.38 [[ 9.99713719e-01 -1.24709919e-02 2.04194665e-02 -1.70975300e+02] [ 1.25997639e-02 9.99901461e-01 -6.18986818e-03 -9.51029400e+01] [-2.03402605e-02 6.44537660e-03 9.99772340e-01 2.96376611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.67907232899995 meters Centerline goodness [0,1] 0.32947807320803735 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99718157e-01 -1.25112111e-02 2.01761078e-02 -1.70974963e+02] [ 1.26493639e-02 9.99897316e-01 -6.73432062e-03 -9.51004100e+01] [-2.00897815e-02 6.98763753e-03 9.99773761e-01 2.96377137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.709072329 meters Centerline goodness [0,1] 0.3270051908908238 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.10, Z:296.38 [[ 9.99748405e-01 -9.12876340e-03 2.04888251e-02 -1.70976732e+02] [ 9.20661638e-03 9.99950741e-01 -3.70867176e-03 -9.50976342e+01] [-2.04539603e-02 3.89637143e-03 9.99783203e-01 2.96378412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.73907232899995 meters Centerline goodness [0,1] 0.3446991104133962 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.10, Z:296.38 [[ 9.99753053e-01 -9.02523453e-03 2.03070792e-02 -1.70976644e+02] [ 9.10295989e-03 9.99951579e-01 -3.73832330e-03 -9.50975121e+01] [-2.02723567e-02 3.92225466e-03 9.99786801e-01 2.96378892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.769072329 meters Centerline goodness [0,1] 0.3446991104133962 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.10, Z:296.38 [[ 9.99753053e-01 -9.02523453e-03 2.03070792e-02 -1.70976644e+02] [ 9.10295989e-03 9.99951579e-01 -3.73832330e-03 -9.50975121e+01] [-2.02723567e-02 3.92225466e-03 9.99786801e-01 2.96378892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.79907232899996 meters Centerline goodness [0,1] 0.3484835808408283 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.10, Z:296.38 [[ 9.99772881e-01 -8.40295686e-03 1.95850948e-02 -1.70975213e+02] [ 8.47885438e-03 9.99956851e-01 -3.79545731e-03 -9.50962739e+01] [-1.95523566e-02 3.96065445e-03 9.99800989e-01 2.96379559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.829072329 meters Centerline goodness [0,1] 0.34644531904203646 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.10, Z:296.38 [[ 9.99791977e-01 -7.79433537e-03 1.88480992e-02 -1.70973804e+02] [ 7.86532968e-03 9.99962239e-01 -3.69546302e-03 -9.50954510e+01] [-1.88185838e-02 3.84294079e-03 9.99815529e-01 2.96380174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.85907232899996 meters Centerline goodness [0,1] 0.3180229028408734 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.09, Z:296.38 [[ 9.99801864e-01 -7.56611976e-03 1.84116063e-02 -1.70972801e+02] [ 7.63739058e-03 9.99963600e-01 -3.80374057e-03 -9.50943564e+01] [-1.83821566e-02 3.94360354e-03 9.99823257e-01 2.96380373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.889072329 meters Centerline goodness [0,1] 0.34833036742384593 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.09, Z:296.38 [[ 9.99833916e-01 -3.33119370e-03 1.79177130e-02 -1.70971299e+02] [ 3.33518531e-03 9.99994420e-01 -1.92897604e-04 -9.50914573e+01] [-1.79169704e-02 2.52624460e-04 9.99839446e-01 2.96380124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.91907232899996 meters Centerline goodness [0,1] 0.35226820324777375 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.09, Z:296.38 [[ 9.99851598e-01 -2.67311692e-03 1.70187014e-02 -1.70969230e+02] [ 2.67471877e-03 9.99996420e-01 -7.13614985e-05 -9.50905408e+01] [-1.70184498e-02 1.16871148e-04 9.99855169e-01 2.96380436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.949072329 meters Centerline goodness [0,1] 0.3312727882318428 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.09, Z:296.38 [[ 9.99860282e-01 -2.47808377e-03 1.65310199e-02 -1.70968247e+02] [ 2.48416094e-03 9.99996854e-01 -3.47097793e-04 -9.50890552e+01] [-1.65301077e-02 3.88115011e-04 9.99863293e-01 2.96380849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.97907232899996 meters Centerline goodness [0,1] 0.337236583015627 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.09, Z:296.38 [[ 9.99875374e-01 -1.46567099e-03 1.57190314e-02 -1.70966217e+02] [ 1.46431504e-03 9.99998923e-01 9.77707495e-05 -9.50890402e+01] [-1.57191577e-02 -7.47409507e-05 9.99876444e-01 2.96380909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.009072329 meters Centerline goodness [0,1] 0.31731494676837957 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.09, Z:296.38 [[ 9.99872300e-01 -1.81734315e-03 1.58770675e-02 -1.70966996e+02] [ 1.82481240e-03 9.99998231e-01 -4.55968111e-04 -9.50878754e+01] [-1.58762107e-02 4.84882553e-04 9.99873847e-01 2.96381413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.03907232899996 meters Centerline goodness [0,1] 0.32095657646318443 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.09, Z:296.38 [[ 9.99882399e-01 -1.41317365e-03 1.52705770e-02 -1.70965534e+02] [ 1.42135212e-03 9.99998852e-01 -5.24730991e-04 -9.50868765e+01] [-1.52698179e-02 5.46374150e-04 9.99883260e-01 2.96381590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.069072329 meters Centerline goodness [0,1] 0.3518153613952708 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.09, Z:296.38 [[ 9.99883524e-01 -1.45573756e-03 1.51927581e-02 -1.70965403e+02] [ 1.46643414e-03 9.99998685e-01 -6.92941401e-04 -9.50861957e+01] [-1.51917294e-02 7.15139869e-04 9.99884343e-01 2.96381702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.09907232899997 meters Centerline goodness [0,1] 0.32570518462634646 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.09, Z:296.38 [[ 9.99890661e-01 -1.17625849e-03 1.47405081e-02 -1.70964569e+02] [ 1.18568913e-03 9.99999098e-01 -6.31053691e-04 -9.50858147e+01] [-1.47397526e-02 6.48462353e-04 9.99891154e-01 2.96382175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12907232899994 meters Centerline goodness [0,1] 0.3265468727066865 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.08, Z:296.38 [[ 9.99886603e-01 -1.51734298e-03 1.49825914e-02 -1.70965445e+02] [ 1.53473409e-03 9.99998162e-01 -1.14932469e-03 -9.50844685e+01] [-1.49808200e-02 1.17218866e-03 9.99887094e-01 2.96382611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.15907232899997 meters Centerline goodness [0,1] 0.3353948720098954 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.08, Z:296.38 [[ 9.99873240e-01 -2.25560508e-03 1.57612205e-02 -1.70967388e+02] [ 2.28228542e-03 9.99995993e-01 -1.67500229e-03 -9.50839296e+01] [-1.57573792e-02 1.71076157e-03 9.99874381e-01 2.96382535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.18907232899994 meters Centerline goodness [0,1] 0.3380163556301111 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.09, Z:296.38 [[ 9.99875713e-01 -1.87651733e-03 1.56536841e-02 -1.70967001e+02] [ 1.89333533e-03 9.99997646e-01 -1.05962891e-03 -9.50857239e+01] [-1.56516589e-02 1.08913489e-03 9.99876912e-01 2.96382241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.21907232899997 meters Centerline goodness [0,1] 0.34752680951081827 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.08, Z:296.38 [[ 9.99889647e-01 -3.39235591e-04 1.48519239e-02 -1.70963906e+02] [ 3.41125986e-04 9.99999934e-01 -1.24749688e-04 -9.50848842e+01] [-1.48518806e-02 1.29802299e-04 9.99889696e-01 2.96381147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.24907232899994 meters Centerline goodness [0,1] 0.3513365951995968 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.08, Z:296.38 [[ 9.99895803e-01 -3.21154178e-04 1.44318922e-02 -1.70962973e+02] [ 3.30020580e-04 9.99999758e-01 -6.11984407e-04 -9.50826156e+01] [-1.44316922e-02 6.16683461e-04 9.99895668e-01 2.96381465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.279072329 meters Centerline goodness [0,1] 0.35506622725078196 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.08, Z:296.38 [[ 9.99899976e-01 -3.76853985e-04 1.41384916e-02 -1.70962507e+02] [ 3.94878957e-04 9.99999113e-01 -1.27211654e-03 -9.50801975e+01] [-1.41379997e-02 1.27757229e-03 9.99899237e-01 2.96382043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.30907232899995 meters Centerline goodness [0,1] 0.3507494017381082 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.08, Z:296.38 [[ 9.99904392e-01 -3.08288830e-04 1.38243087e-02 -1.70962023e+02] [ 3.29513201e-04 9.99998771e-01 -1.53304202e-03 -9.50789640e+01] [-1.38238191e-02 1.53745075e-03 9.99903264e-01 2.96382547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.339072329 meters Centerline goodness [0,1] 0.3553065122038238 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.08, Z:296.38 [[ 9.99912977e-01 1.48621262e-04 1.31915180e-02 -1.70960452e+02] [-1.27463373e-04 9.99998704e-01 -1.60472728e-03 -9.50775367e+01] [-1.31917394e-02 1.60290619e-03 9.99911700e-01 2.96382709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.36907232899995 meters Centerline goodness [0,1] 0.3427044025157233 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.08, Z:296.38 [[ 9.99916329e-01 1.77997608e-04 1.29345751e-02 -1.70960032e+02] [-1.54725260e-04 9.99998368e-01 -1.80021406e-03 -9.50765070e+01] [-1.29348744e-02 1.79806212e-03 9.99914724e-01 2.96383106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.399072329 meters Centerline goodness [0,1] 0.3618665602620913 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.38 [[ 9.99909844e-01 4.25159392e-03 1.27368683e-02 -1.70959512e+02] [-4.27449536e-03 9.99989295e-01 1.77136046e-03 -9.50740496e+01] [-1.27292008e-02 -1.82564445e-03 9.99917314e-01 2.96383183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.42907232899995 meters Centerline goodness [0,1] 0.361747234524884 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.38 [[ 9.99914784e-01 4.57458791e-03 1.22269110e-02 -1.70958308e+02] [-4.59656437e-03 9.99987869e-01 1.76988715e-03 -9.50732556e+01] [-1.22186662e-02 -1.82593811e-03 9.99923682e-01 2.96383335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.459072329 meters Centerline goodness [0,1] 0.3540719002201027 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.38 [[ 9.99919741e-01 5.04066765e-03 1.16234192e-02 -1.70956656e+02] [-5.06174113e-03 9.99985597e-01 1.78431364e-03 -9.50720886e+01] [-1.16142576e-02 -1.84300517e-03 9.99930854e-01 2.96383296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.48907232899995 meters Centerline goodness [0,1] 0.35635463433055004 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.38 [[ 9.99920363e-01 4.72641774e-03 1.17016361e-02 -1.70957052e+02] [-4.74011783e-03 9.99988112e-01 1.14332659e-03 -9.50700943e+01] [-1.16960931e-02 -1.19870267e-03 9.99930880e-01 2.96383605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.519072329 meters Centerline goodness [0,1] 0.3644998951562173 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.38 [[ 9.99919192e-01 4.63326625e-03 1.18381471e-02 -1.70957571e+02] [-4.64666380e-03 9.99988594e-01 1.10447246e-03 -9.50701720e+01] [-1.18328948e-02 -1.15939110e-03 9.99929317e-01 2.96383807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.54907232899996 meters Centerline goodness [0,1] 0.37305503643197613 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.38 [[ 9.99917477e-01 4.38087706e-03 1.20766986e-02 -1.70958807e+02] [-4.39029496e-03 9.99990079e-01 7.53439665e-04 -9.50695296e+01] [-1.20732780e-02 -8.06397758e-04 9.99926790e-01 2.96384684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.579072329 meters Centerline goodness [0,1] 0.3793139664335077 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.39 [[ 9.99920024e-01 4.42434959e-03 1.18478385e-02 -1.70958519e+02] [-4.43107321e-03 9.99990036e-01 5.41307570e-04 -9.50686031e+01] [-1.18453255e-02 -5.93762919e-04 9.99929665e-01 2.96385099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.60907232899996 meters Centerline goodness [0,1] 0.28376251337908454 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.39 [[ 9.99920149e-01 4.30614245e-03 1.18807500e-02 -1.70958772e+02] [-4.31035189e-03 9.99990656e-01 3.28724295e-04 -9.50679348e+01] [-1.18792235e-02 -3.79908259e-04 9.99929367e-01 2.96385338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.639072329 meters Centerline goodness [0,1] 0.2911193184202795 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.39 [[ 9.99921724e-01 4.33397770e-03 1.17372223e-02 -1.70958582e+02] [-4.33542879e-03 9.99990597e-01 9.81900445e-05 -9.50669559e+01] [-1.17366864e-02 -1.49068250e-04 9.99931112e-01 2.96385664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.66907232899996 meters Centerline goodness [0,1] 0.29236124216309156 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.39 [[ 9.99916892e-01 3.98230895e-03 1.22617660e-02 -1.70960296e+02] [-3.98272396e-03 9.99992069e-01 9.42758899e-06 -9.50677249e+01] [-1.22616313e-02 -5.82620349e-05 9.99924822e-01 2.96386039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.699072329 meters Centerline goodness [0,1] 0.3623030277597096 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.39 [[ 9.99915486e-01 3.97341170e-03 1.23787468e-02 -1.70960743e+02] [-3.97479315e-03 9.99992097e-01 8.69977504e-05 -9.50682844e+01] [-1.23783033e-02 -1.36193356e-04 9.99923377e-01 2.96386161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.72907232899996 meters Centerline goodness [0,1] 0.3699446215808021 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.39 [[ 9.99915664e-01 4.07110440e-03 1.23325118e-02 -1.70960601e+02] [-4.07264500e-03 9.99991702e-01 9.98107072e-05 -9.50681031e+01] [-1.23320031e-02 -1.50028232e-04 9.99923947e-01 2.96386095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.759072329 meters Centerline goodness [0,1] 0.34834287151751464 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.39 [[ 9.99911316e-01 3.64397615e-03 1.28094427e-02 -1.70962148e+02] [-3.64186568e-03 9.99993351e-01 -1.88081803e-04 -9.50681833e+01] [-1.28100429e-02 1.41414854e-04 9.99917938e-01 2.96386447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.78907232899996 meters Centerline goodness [0,1] 0.31001930015943613 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.39 [[ 9.99917259e-01 4.84589719e-03 1.19160422e-02 -1.70960011e+02] [-4.85089426e-03 9.99988158e-01 3.90489798e-04 -9.50680153e+01] [-1.19140089e-02 -4.48260949e-04 9.99928925e-01 2.96386742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.819072329 meters Centerline goodness [0,1] 0.30913584384032167 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.39 [[ 9.99920489e-01 4.78440010e-03 1.16673111e-02 -1.70959271e+02] [-4.78400439e-03 9.99988555e-01 -6.18256860e-05 -9.50660070e+01] [-1.16674734e-02 6.00430275e-06 9.99931933e-01 2.96386653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.84907232899997 meters Centerline goodness [0,1] 0.31010694065841893 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.39 [[ 9.99925701e-01 5.28014103e-03 1.09869671e-02 -1.70957471e+02] [-5.28220972e-03 9.99986036e-01 1.59275269e-04 -9.50657620e+01] [-1.09859727e-02 -2.17298899e-04 9.99939629e-01 2.96386540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87907232899994 meters Centerline goodness [0,1] 0.32275232048945046 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99929659e-01 6.11047102e-03 1.01655494e-02 -1.70955074e+02] [-6.11243446e-03 9.99981306e-01 1.62088413e-04 -9.50637025e+01] [-1.01643689e-02 -2.24213266e-04 9.99948316e-01 2.96386400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.90907232899997 meters Centerline goodness [0,1] 0.31796055392362566 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99932866e-01 6.85139297e-03 9.34460157e-03 -1.70953097e+02] [-6.85537557e-03 9.99976424e-01 3.94227490e-04 -9.50628650e+01] [-9.34168025e-03 -4.58261778e-04 9.99956261e-01 2.96386665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93907232899994 meters Centerline goodness [0,1] 0.31892572387746543 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99933235e-01 6.83038755e-03 9.32046693e-03 -1.70952830e+02] [-6.83234325e-03 9.99976643e-01 1.78002794e-04 -9.50619231e+01] [-9.31903340e-03 -2.41671538e-04 9.99956548e-01 2.96386415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.96907232899997 meters Centerline goodness [0,1] 0.3027721234759616 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99934153e-01 6.82946654e-03 9.22220046e-03 -1.70952747e+02] [-6.83061371e-03 9.99976667e-01 9.29007003e-05 -9.50616246e+01] [-9.22135081e-03 -1.55887872e-04 9.99957470e-01 2.96386600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99907232899994 meters Centerline goodness [0,1] 0.33175246049566653 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99936110e-01 6.93114820e-03 8.92942140e-03 -1.70952066e+02] [-6.93083611e-03 9.99975979e-01 -6.58952498e-05 -9.50606488e+01] [-8.92966363e-03 4.00268349e-06 9.99960130e-01 2.96386742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.029072329 meters Centerline goodness [0,1] 0.28211634441974587 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99937129e-01 7.27686278e-03 8.53139258e-03 -1.70951061e+02] [-7.27734846e-03 9.99973519e-01 2.58858476e-05 -9.50600293e+01] [-8.53097829e-03 -8.79701368e-05 9.99963607e-01 2.96386812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.05907232899995 meters Centerline goodness [0,1] 0.34149308833092107 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99959751e-01 3.18804757e-03 8.38647019e-03 -1.70950837e+02] [-3.15316481e-03 9.99986337e-01 -4.16934853e-03 -9.50596135e+01] [-8.39964769e-03 4.14273679e-03 9.99956141e-01 2.96387039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.089072329 meters Centerline goodness [0,1] 0.29285983816192196 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99955580e-01 2.55922916e-03 9.07128015e-03 -1.70952837e+02] [-2.51907563e-03 9.99986992e-01 -4.43511139e-03 -9.50602338e+01] [-9.08251261e-03 4.41206315e-03 9.99949020e-01 2.96387236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.11907232899995 meters Centerline goodness [0,1] 0.2939054569858647 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99955670e-01 2.95581930e-03 8.93987767e-03 -1.70952321e+02] [-2.91957831e-03 9.99987479e-01 -4.06419480e-03 -9.50606507e+01] [-8.95177876e-03 4.03791396e-03 9.99951779e-01 2.96386974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.149072329 meters Centerline goodness [0,1] 0.29285160425005763 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99950451e-01 2.38786805e-03 9.66403110e-03 -1.70954376e+02] [-2.34617097e-03 9.99987900e-01 -4.32370728e-03 -9.50609706e+01] [-9.67423862e-03 4.30081958e-03 9.99943954e-01 2.96387158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.17907232899995 meters Centerline goodness [0,1] 0.2999518334694561 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99948679e-01 2.57437514e-03 9.79856114e-03 -1.70954153e+02] [-2.53571602e-03 9.99988961e-01 -3.95576880e-03 -9.50615606e+01] [-9.80863660e-03 3.93071942e-03 9.99944168e-01 2.96386350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.209072329 meters Centerline goodness [0,1] 0.2992411537816535 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99944158e-01 2.19025061e-03 1.03384880e-02 -1.70955345e+02] [-2.14765503e-03 9.99989168e-01 -4.12940376e-03 -9.50613813e+01] [-1.03474205e-02 4.10696966e-03 9.99938030e-01 2.96386040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.23907232899995 meters Centerline goodness [0,1] 0.3026809482885111 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99946611e-01 2.83438887e-03 9.93688684e-03 -1.70953932e+02] [-2.80017749e-03 9.99990111e-01 -3.45509125e-03 -9.50622188e+01] [-9.94658165e-03 3.42708174e-03 9.99944659e-01 2.96385513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.269072329 meters Centerline goodness [0,1] 0.28582178466169184 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99943977e-01 2.38328289e-03 1.03132340e-02 -1.70954829e+02] [-2.34266986e-03 9.99989462e-01 -3.94824259e-03 -9.50610254e+01] [-1.03225351e-02 3.92386090e-03 9.99939022e-01 2.96385474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.29907232899996 meters Centerline goodness [0,1] 0.3138035845299235 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99947813e-01 3.02697529e-03 9.75748146e-03 -1.70953631e+02] [-2.99221653e-03 9.99989133e-01 -3.57489949e-03 -9.50609848e+01] [-9.76819656e-03 3.54551643e-03 9.99946004e-01 2.96385808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.329072329 meters Centerline goodness [0,1] 0.3050829701642641 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99944468e-01 1.98919948e-03 1.03491421e-02 -1.70955615e+02] [-1.93883136e-03 9.99986239e-01 -4.87464676e-03 -9.50579343e+01] [-1.03586963e-02 4.85431082e-03 9.99934564e-01 2.96386571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.35907232899996 meters Centerline goodness [0,1] 0.3051465197628872 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99944881e-01 2.16880544e-03 1.02728708e-02 -1.70955725e+02] [-2.12009673e-03 9.99986471e-01 -4.75000911e-03 -9.50581048e+01] [-1.02830337e-02 4.72796781e-03 9.99935951e-01 2.96386992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.389072329 meters Centerline goodness [0,1] 0.31244764617188814 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99945606e-01 2.44370395e-03 1.01396563e-02 -1.70955553e+02] [-2.39728626e-03 9.99986604e-01 -4.58746874e-03 -9.50579798e+01] [-1.01507309e-02 4.56291155e-03 9.99938069e-01 2.96387241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.41907232899996 meters Centerline goodness [0,1] 0.31293728266789556 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99942184e-01 2.39305704e-03 1.04833812e-02 -1.70956568e+02] [-2.34733853e-03 9.99987691e-01 -4.37118196e-03 -9.50591341e+01] [-1.04937126e-02 4.34632119e-03 9.99935494e-01 2.96387292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.449072329 meters Centerline goodness [0,1] 0.3169684016427793 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99946166e-01 3.56209852e-03 9.74557167e-03 -1.70954053e+02] [-3.52735503e-03 9.99987371e-01 -3.57992309e-03 -9.50589725e+01] [-9.75820063e-03 3.54535427e-03 9.99946103e-01 2.96386668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.47907232899996 meters Centerline goodness [0,1] 0.3270085541764508 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99944712e-01 3.26636225e-03 9.99519514e-03 -1.70955127e+02] [-3.22846400e-03 9.99987548e-01 -3.80543547e-03 -9.50588492e+01] [-1.00075006e-02 3.77295595e-03 9.99942806e-01 2.96387200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.509072329 meters Centerline goodness [0,1] 0.32511902015477867 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99948613e-01 3.98509478e-03 9.32150979e-03 -1.70953128e+02] [-3.95260039e-03 9.99986057e-01 -3.50178730e-03 -9.50580318e+01] [-9.33533477e-03 3.46476315e-03 9.99950422e-01 2.96386961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.53907232899996 meters Centerline goodness [0,1] 0.3344868084392433 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99950435e-01 3.92137256e-03 9.15150712e-03 -1.70952527e+02] [-3.88682109e-03 9.99985263e-01 -3.79023057e-03 -9.50564609e+01] [-9.16623516e-03 3.75447244e-03 9.99950941e-01 2.96386817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.569072329 meters Centerline goodness [0,1] 0.3352581735715936 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99953149e-01 4.73246101e-03 8.44409653e-03 -1.70949857e+02] [-4.70471296e-03 9.99983478e-01 -3.30293175e-03 -9.50552708e+01] [-8.45958801e-03 3.26304996e-03 9.99958893e-01 2.96385887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.59907232899997 meters Centerline goodness [0,1] 0.3364462445698936 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.05, Z:296.39 [[ 9.99954448e-01 5.14012570e-03 8.04240574e-03 -1.70948695e+02] [-5.11495178e-03 9.99981965e-01 -3.14759287e-03 -9.50546530e+01] [-8.05843971e-03 3.10631298e-03 9.99962705e-01 2.96385782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62907232899994 meters Centerline goodness [0,1] 0.32604453024993185 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.05, Z:296.39 [[ 9.99954449e-01 4.98881015e-03 8.13708918e-03 -1.70949105e+02] [-4.96145076e-03 9.99981983e-01 -3.37903425e-03 -9.50540651e+01] [-8.15379994e-03 3.33850856e-03 9.99961184e-01 2.96385989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.65907232899997 meters Centerline goodness [0,1] 0.3492106752762112 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.05, Z:296.39 [[ 9.99954348e-01 5.41350548e-03 7.87376172e-03 -1.70948470e+02] [-5.38894974e-03 9.99980560e-01 -3.13655999e-03 -9.50539819e+01] [-7.89058844e-03 3.09398549e-03 9.99964082e-01 2.96386051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.68907232899994 meters Centerline goodness [0,1] 0.3492106752762112 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.05, Z:296.39 [[ 9.99954348e-01 5.41350548e-03 7.87376172e-03 -1.70948470e+02] [-5.38894974e-03 9.99980560e-01 -3.13655999e-03 -9.50539819e+01] [-7.89058844e-03 3.09398549e-03 9.99964082e-01 2.96386051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.71907232899997 meters Centerline goodness [0,1] 0.34352106467390164 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.05, Z:296.39 [[ 9.99952317e-01 4.62419979e-03 8.60114435e-03 -1.70950888e+02] [-4.59238917e-03 9.99982556e-01 -3.71449766e-03 -9.50536025e+01] [-8.61817089e-03 3.67482074e-03 9.99956110e-01 2.96386693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.74907232899994 meters Centerline goodness [0,1] 0.34617725450691517 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.05, Z:296.39 [[ 9.99954703e-01 5.51151775e-03 7.75981441e-03 -1.70949139e+02] [-5.48410176e-03 9.99978661e-01 -3.54992859e-03 -9.50524591e+01] [-7.77921432e-03 3.50721218e-03 9.99963591e-01 2.96387434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.779072329 meters Centerline goodness [0,1] 0.346864319711488 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.05, Z:296.39 [[ 9.99954415e-01 5.59102702e-03 7.74002743e-03 -1.70949280e+02] [-5.56444949e-03 9.99978563e-01 -3.45106455e-03 -9.50526920e+01] [-7.75915650e-03 3.40783824e-03 9.99964090e-01 2.96387634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.80907232899995 meters Centerline goodness [0,1] 0.3360612737383276 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.05, Z:296.39 [[ 9.99954638e-01 5.67891949e-03 7.64670481e-03 -1.70949219e+02] [-5.65195238e-03 9.99977749e-01 -3.54363460e-03 -9.50519931e+01] [-7.66665868e-03 3.50025505e-03 9.99964485e-01 2.96387934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.839072329 meters Centerline goodness [0,1] 0.3629674660405836 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.05, Z:296.39 [[ 9.99970514e-01 1.94078498e-03 7.42998411e-03 -1.70948544e+02] [-1.88760641e-03 9.99972602e-01 -7.15762719e-03 -9.50531535e+01] [-7.44367196e-03 7.14339125e-03 9.99946780e-01 2.96387698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.86907232899995 meters Centerline goodness [0,1] 0.3625183322857741 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99964201e-01 1.10618508e-03 8.38889931e-03 -1.70950881e+02] [-1.04719119e-03 9.99974716e-01 -7.03351045e-03 -9.50554671e+01] [-8.39646757e-03 7.02447387e-03 9.99940076e-01 2.96387064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.899072329 meters Centerline goodness [0,1] 0.36060383688017617 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99960067e-01 8.09330108e-04 8.89993629e-03 -1.70951947e+02] [-7.45382146e-04 9.99973901e-01 -7.18618672e-03 -9.50552709e+01] [-8.90552001e-03 7.17926590e-03 9.99934573e-01 2.96386708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.92907232899995 meters Centerline goodness [0,1] 0.34576811715832323 Centerline is valid? [False, False] Translation: X:-170.95, Y:-95.06, Z:296.39 [[ 9.99954412e-01 6.12505871e-04 9.52879527e-03 -1.70953121e+02] [-5.48330932e-04 9.99977163e-01 -6.73599831e-03 -9.50570155e+01] [-9.53270349e-03 6.73046630e-03 9.99931912e-01 2.96385925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.959072329 meters Centerline goodness [0,1] 0.33941858271677394 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99943714e-01 -6.49347603e-04 1.05899989e-02 -1.70956125e+02] [ 7.32373686e-04 9.99969014e-01 -7.83805376e-03 -9.50553094e+01] [-1.05845811e-02 7.84536842e-03 9.99913205e-01 2.96386335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.98907232899995 meters Centerline goodness [0,1] 0.35331474921925765 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99942147e-01 -5.03365460e-04 1.07446912e-02 -1.70956456e+02] [ 5.83787218e-04 9.99971832e-01 -7.48296643e-03 -9.50561804e+01] [-1.07406219e-02 7.48880613e-03 9.99914275e-01 2.96386204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.019072329 meters Centerline goodness [0,1] 0.34609822046154815 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99929071e-01 -1.81942342e-03 1.17704454e-02 -1.70959431e+02] [ 1.91183593e-03 9.99967402e-01 -7.84475101e-03 -9.50579385e+01] [-1.17557888e-02 7.86669774e-03 9.99899953e-01 2.96386237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.04907232899996 meters Centerline goodness [0,1] 0.3632684726998239 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99918273e-01 -2.31922091e-03 1.25725634e-02 -1.70961467e+02] [ 2.41847200e-03 9.99965990e-01 -7.88481332e-03 -9.50587470e+01] [-1.25538492e-02 7.91457530e-03 9.99889874e-01 2.96386085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.079072329 meters Centerline goodness [0,1] 0.3349622483221476 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99914290e-01 -2.33157877e-03 1.28832000e-02 -1.70962240e+02] [ 2.43097992e-03 9.99967359e-01 -7.70529778e-03 -9.50593587e+01] [-1.28648140e-02 7.73595616e-03 9.99887319e-01 2.96385998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.10907232899996 meters Centerline goodness [0,1] 0.34509138162307174 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99887854e-01 -6.57260720e-03 1.34566295e-02 -1.70963387e+02] [ 6.72720778e-03 9.99911520e-01 -1.14759566e-02 -9.50608929e+01] [-1.33800119e-02 1.15651951e-02 9.99843599e-01 2.96385539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.139072329 meters Centerline goodness [0,1] 0.3486777258142315 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.39 [[ 9.99893501e-01 -5.98656543e-03 1.33096639e-02 -1.70962839e+02] [ 6.12818200e-03 9.99924775e-01 -1.06249313e-02 -9.50628102e+01] [-1.32450558e-02 1.07053638e-02 9.99854971e-01 2.96385137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.16907232899996 meters Centerline goodness [0,1] 0.35243961200846374 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.07, Z:296.38 [[ 9.99882365e-01 -6.03736702e-03 1.40998712e-02 -1.70964379e+02] [ 6.17751708e-03 9.99931738e-01 -9.91750118e-03 -9.50656253e+01] [-1.40390331e-02 1.00034367e-02 9.99851407e-01 2.96384186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.199072329 meters Centerline goodness [0,1] 0.33244574903029667 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99879906e-01 -5.79368727e-03 1.43738503e-02 -1.70965211e+02] [ 5.92711509e-03 9.99939582e-01 -9.25750862e-03 -9.50678317e+01] [-1.43193468e-02 9.34159232e-03 9.99853835e-01 2.96384181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.22907232899996 meters Centerline goodness [0,1] 0.32263407270745104 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99868433e-01 -6.09628132e-03 1.50317220e-02 -1.70966870e+02] [ 6.23826532e-03 9.99936201e-01 -9.41689780e-03 -9.50678078e+01] [-1.49733550e-02 9.50943072e-03 9.99842672e-01 2.96384123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.259072329 meters Centerline goodness [0,1] 0.34344344763980883 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99817848e-01 -1.06024890e-02 1.58700152e-02 -1.70968778e+02] [ 1.08129805e-02 9.99853921e-01 -1.32369548e-02 -9.50700300e+01] [-1.57273522e-02 1.34061459e-02 9.99786440e-01 2.96383695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.28907232899996 meters Centerline goodness [0,1] 0.349033487612306 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99810891e-01 -1.06835001e-02 1.62494712e-02 -1.70969875e+02] [ 1.08962494e-02 9.99855331e-01 -1.30609925e-02 -9.50708028e+01] [-1.61075833e-02 1.32355808e-02 9.99782659e-01 2.96383772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.319072329 meters Centerline goodness [0,1] 0.351260715558257 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.39 [[ 9.99812290e-01 -8.76593822e-03 1.72783936e-02 -1.70973633e+02] [ 8.95365133e-03 9.99901410e-01 -1.08167843e-02 -9.50691179e+01] [-1.71818709e-02 1.09694586e-02 9.99792206e-01 2.96385008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.34907232899997 meters Centerline goodness [0,1] 0.3127805041734827 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99816707e-01 -8.58293122e-03 1.71138998e-02 -1.70973148e+02] [ 8.76796959e-03 9.99903597e-01 -1.07666101e-02 -9.50682765e+01] [-1.70198409e-02 1.09146908e-02 9.99795576e-01 2.96384976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37907232899994 meters Centerline goodness [0,1] 0.3369102760254019 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99811093e-01 -8.65470999e-03 1.74032973e-02 -1.70973699e+02] [ 8.84279016e-03 9.99903015e-01 -1.07594022e-02 -9.50681519e+01] [-1.73084900e-02 1.09112633e-02 9.99790658e-01 2.96384683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.40907232899997 meters Centerline goodness [0,1] 0.3234203080792204 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99799043e-01 -8.94383155e-03 1.79410432e-02 -1.70974467e+02] [ 9.13958225e-03 9.99899274e-01 -1.08586166e-02 -9.50679506e+01] [-1.78421185e-02 1.10204081e-02 9.99780081e-01 2.96383803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43907232899994 meters Centerline goodness [0,1] 0.33034740286984976 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99797356e-01 -8.74017790e-03 1.81344082e-02 -1.70974965e+02] [ 8.92671375e-03 9.99907816e-01 -1.02309708e-02 -9.50700187e+01] [-1.80433160e-02 1.03907782e-02 9.99783212e-01 2.96383604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.46907232899997 meters Centerline goodness [0,1] 0.3409815436241611 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99809671e-01 -5.11973985e-03 1.88257774e-02 -1.70976924e+02] [ 5.24345829e-03 9.99964943e-01 -6.52827974e-03 -9.50692307e+01] [-1.87916943e-02 6.62574940e-03 9.99801466e-01 2.96383707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49907232899994 meters Centerline goodness [0,1] 0.35656915172486103 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99794859e-01 -5.64186410e-03 1.94527533e-02 -1.70978432e+02] [ 5.77497844e-03 9.99960248e-01 -6.79358504e-03 -9.50691740e+01] [-1.94136516e-02 6.90453062e-03 9.99787696e-01 2.96383530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.529072329 meters Centerline goodness [0,1] 0.3559101679632619 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99777346e-01 -6.25349717e-03 2.01531981e-02 -1.70980153e+02] [ 6.40386218e-03 9.99952075e-01 -7.40521991e-03 -9.50678346e+01] [-2.01059238e-02 7.53262942e-03 9.99769479e-01 2.96383498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.55907232899995 meters Centerline goodness [0,1] 0.34532026939135174 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99782642e-01 -5.88805129e-03 1.99999770e-02 -1.70979938e+02] [ 6.02833269e-03 9.99957601e-01 -6.96104521e-03 -9.50686354e+01] [-1.99581420e-02 7.08009869e-03 9.99775747e-01 2.96383665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.589072329 meters Centerline goodness [0,1] 0.3538558256496228 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99766492e-01 -6.40865549e-03 2.06371251e-02 -1.70981758e+02] [ 6.55901522e-03 9.99952378e-01 -7.22645936e-03 -9.50688125e+01] [-2.05898304e-02 7.36013114e-03 9.99760915e-01 2.96383844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.61907232899995 meters Centerline goodness [0,1] 0.3337243156064763 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99774245e-01 -6.06192944e-03 2.03645044e-02 -1.70981078e+02] [ 6.20671863e-03 9.99955856e-01 -7.05421465e-03 -9.50683892e+01] [-2.03208433e-02 7.17901887e-03 9.99767736e-01 2.96383889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.649072329 meters Centerline goodness [0,1] 0.35253306504013915 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99780044e-01 -5.78003133e-03 2.01607340e-02 -1.70980468e+02] [ 5.91811241e-03 9.99959394e-01 -6.79608475e-03 -9.50685502e+01] [-2.01206338e-02 6.91390340e-03 9.99773653e-01 2.96383645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.67907232899995 meters Centerline goodness [0,1] 0.34308220900025144 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99764452e-01 -6.33556724e-03 2.07581776e-02 -1.70981817e+02] [ 6.48680687e-03 9.99952848e-01 -7.22656911e-03 -9.50677959e+01] [-2.07114144e-02 7.35952119e-03 9.99758408e-01 2.96383377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.709072329 meters Centerline goodness [0,1] 0.27530551072169707 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99767412e-01 -6.08931215e-03 2.06892017e-02 -1.70981509e+02] [ 6.23363122e-03 9.99956639e-01 -6.91825833e-03 -9.50683194e+01] [-2.06461772e-02 7.04561808e-03 9.99762019e-01 2.96383125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.73907232899995 meters Centerline goodness [0,1] 0.3419938817416084 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99787865e-01 -5.06508427e-03 1.99642035e-02 -1.70979295e+02] [ 5.19138738e-03 9.99966807e-01 -6.27973751e-03 -9.50680281e+01] [-1.99317335e-02 6.38204727e-03 9.99780974e-01 2.96382683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.769072329 meters Centerline goodness [0,1] 0.33794764397905763 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99802448e-01 -4.41845117e-03 1.93789233e-02 -1.70977646e+02] [ 4.53463392e-03 9.99971984e-01 -5.95547548e-03 -9.50673375e+01] [-1.93520664e-02 6.04217528e-03 9.99794474e-01 2.96382559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.79907232899996 meters Centerline goodness [0,1] 0.28404188481675396 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99809938e-01 -4.18041248e-03 1.90423921e-02 -1.70976861e+02] [ 4.29801396e-03 9.99971919e-01 -6.13903843e-03 -9.50655204e+01] [-1.90161937e-02 6.21971609e-03 9.99799830e-01 2.96382758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.829072329 meters Centerline goodness [0,1] 0.35410735220231115 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.06, Z:296.38 [[ 9.99809704e-01 -4.19629956e-03 1.90511847e-02 -1.70976959e+02] [ 4.31805099e-03 9.99970489e-01 -6.35412252e-03 -9.50644036e+01] [-1.90239587e-02 6.43517734e-03 9.99798318e-01 2.96382911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.85907232899996 meters Centerline goodness [0,1] 0.2940696238303573 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.06, Z:296.38 [[ 9.99823059e-01 -3.57869126e-03 1.84673676e-02 -1.70976212e+02] [ 3.70046977e-03 9.99971608e-01 -6.56430085e-03 -9.50621203e+01] [-1.84433516e-02 6.63147729e-03 9.99807915e-01 2.96384171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.889072329 meters Centerline goodness [0,1] 0.2962900929570388 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.06, Z:296.38 [[ 9.99823291e-01 -3.58932589e-03 1.84527176e-02 -1.70976428e+02] [ 3.71430511e-03 9.99970367e-01 -6.74313839e-03 -9.50612533e+01] [-1.84279675e-02 6.81048584e-03 9.99806995e-01 2.96384564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.91907232899996 meters Centerline goodness [0,1] 0.3015896286677697 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.06, Z:296.38 [[ 9.99827858e-01 -3.28495119e-03 1.82609680e-02 -1.70975799e+02] [ 3.40370061e-03 9.99973240e-01 -6.47563754e-03 -9.50614004e+01] [-1.82392072e-02 6.53667768e-03 9.99812284e-01 2.96384351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.949072329 meters Centerline goodness [0,1] 0.3037720033528919 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.06, Z:296.38 [[ 9.99827154e-01 -3.21184537e-03 1.83124511e-02 -1.70975725e+02] [ 3.32839411e-03 9.99974378e-01 -6.33753140e-03 -9.50615684e+01] [-1.82916268e-02 6.39738704e-03 9.99812227e-01 2.96383964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.97907232899996 meters Centerline goodness [0,1] 0.31972632548018576 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99839684e-01 -2.13091579e-03 1.77782538e-02 -1.70973336e+02] [ 2.22677666e-03 9.99983081e-01 -5.37397750e-03 -9.50621305e+01] [-1.77665015e-02 5.41270416e-03 9.99827512e-01 2.96382677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.009072329 meters Centerline goodness [0,1] 0.3090749120160885 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99846639e-01 -1.91564262e-03 1.74077250e-02 -1.70972456e+02] [ 2.01014208e-03 9.99983331e-01 -5.41271862e-03 -9.50612134e+01] [-1.73970660e-02 5.44688052e-03 9.99833823e-01 2.96382726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.03907232899996 meters Centerline goodness [0,1] 0.31020818919428894 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99843517e-01 -1.88959118e-03 1.75889466e-02 -1.70972411e+02] [ 1.98239443e-03 9.99984200e-01 -5.26028610e-03 -9.50614641e+01] [-1.75787289e-02 5.29433118e-03 9.99831465e-01 2.96381939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.069072329 meters Centerline goodness [0,1] 0.31451866445892984 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99846108e-01 -1.75399529e-03 1.74552082e-02 -1.70972207e+02] [ 1.84587256e-03 9.99984521e-01 -5.24888354e-03 -9.50610800e+01] [-1.74457315e-02 5.28029587e-03 9.99833869e-01 2.96382117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.09907232899997 meters Centerline goodness [0,1] 0.31505529490616624 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99847568e-01 -1.64322626e-03 1.73821810e-02 -1.70972058e+02] [ 1.73640906e-03 9.99984197e-01 -5.34708975e-03 -9.50602446e+01] [-1.73731198e-02 5.37645726e-03 9.99834621e-01 2.96382234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12907232899994 meters Centerline goodness [0,1] 0.3194278653850181 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99854785e-01 -1.10278645e-03 1.70056401e-02 -1.70971015e+02] [ 1.18736424e-03 9.99986973e-01 -4.96421966e-03 -9.50602915e+01] [-1.69999441e-02 4.98369067e-03 9.99843070e-01 2.96382078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.15907232899997 meters Centerline goodness [0,1] 0.3175208481749989 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99864273e-01 -5.30573354e-04 1.64667310e-02 -1.70969965e+02] [ 6.06572802e-04 9.99989187e-01 -4.61068181e-03 -9.50604954e+01] [-1.64641067e-02 4.62004429e-03 9.99853784e-01 2.96382469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.18907232899994 meters Centerline goodness [0,1] 0.3253006998868446 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99880438e-01 1.34355878e-03 1.54047022e-02 -1.70967157e+02] [-1.28691295e-03 9.99992377e-01 -3.68650142e-03 -9.50595985e+01] [-1.54095378e-02 3.66623615e-03 9.99874545e-01 2.96382768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.21907232899997 meters Centerline goodness [0,1] 0.313647029246627 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99883357e-01 1.39882103e-03 1.52090681e-02 -1.70966818e+02] [-1.33983561e-03 9.99991545e-01 -3.88780425e-03 -9.50583650e+01] [-1.52143778e-02 3.86697312e-03 9.99876777e-01 2.96383046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.24907232899994 meters Centerline goodness [0,1] 0.337837271660801 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99886822e-01 1.58822334e-03 1.49606674e-02 -1.70966043e+02] [-1.52837415e-03 9.99990788e-01 -4.01102056e-03 -9.50570544e+01] [-1.49669000e-02 3.98770111e-03 9.99880038e-01 2.96382974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.279072329 meters Centerline goodness [0,1] 0.34848389597870955 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99884465e-01 1.63351093e-03 1.51125472e-02 -1.70966469e+02] [-1.57623233e-03 9.99991533e-01 -3.80127056e-03 -9.50577505e+01] [-1.51186286e-02 3.77701049e-03 9.99878573e-01 2.96382937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.30907232899995 meters Centerline goodness [0,1] 0.3281799899446959 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99878906e-01 1.53904305e-03 1.54856491e-02 -1.70967493e+02] [-1.48288746e-03 9.99992286e-01 -3.63712790e-03 -9.50587037e+01] [-1.54911273e-02 3.61372399e-03 9.99873475e-01 2.96382907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.339072329 meters Centerline goodness [0,1] 0.33397590361445784 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99881761e-01 1.97243560e-03 1.52503785e-02 -1.70966497e+02] [-1.92131663e-03 9.99992490e-01 -3.36590521e-03 -9.50584662e+01] [-1.52569030e-02 3.33620642e-03 9.99878041e-01 2.96382416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.36907232899995 meters Centerline goodness [0,1] 0.3380863511501604 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99886582e-01 2.65546517e-03 1.48246801e-02 -1.70965383e+02] [-2.61711238e-03 9.99993180e-01 -2.60589137e-03 -9.50599976e+01] [-1.48314988e-02 2.56679796e-03 9.99886713e-01 2.96382264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.399072329 meters Centerline goodness [0,1] 0.3491129218072516 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.38 [[ 9.99892262e-01 -1.08026735e-03 1.46389271e-02 -1.70964287e+02] [ 1.17468185e-03 9.99978557e-01 -6.44248752e-03 -9.50598022e+01] [-1.46316536e-02 6.45898950e-03 9.99872090e-01 2.96381505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.42907232899995 meters Centerline goodness [0,1] 0.3464264742890697 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.38 [[ 9.99896696e-01 -3.24414891e-04 1.43698186e-02 -1.70963172e+02] [ 4.04813579e-04 9.99984280e-01 -5.59241365e-03 -9.50610277e+01] [-1.43677784e-02 5.59765303e-03 9.99881110e-01 2.96380893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.459072329 meters Centerline goodness [0,1] 0.35282287629621867 Centerline is valid? [False, False] Translation: X:-170.96, Y:-95.06, Z:296.38 [[ 9.99888821e-01 -4.60735331e-04 1.49041057e-02 -1.70964473e+02] [ 5.41407041e-04 9.99985224e-01 -5.40913537e-03 -9.50621297e+01] [-1.49013933e-02 5.41660318e-03 9.99874297e-01 2.96380666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.48907232899995 meters Centerline goodness [0,1] 0.3565439758531064 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99877827e-01 -8.81801350e-04 1.56062097e-02 -1.70966425e+02] [ 9.66768984e-04 9.99984748e-01 -5.43776940e-03 -9.50628950e+01] [-1.56011766e-02 5.45219265e-03 9.99863429e-01 2.96380755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.519072329 meters Centerline goodness [0,1] 0.3603554512302469 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.06, Z:296.38 [[ 9.99859482e-01 -1.81141941e-03 1.66653687e-02 -1.70969383e+02] [ 1.90644715e-03 9.99982006e-01 -5.68798959e-03 -9.50641798e+01] [-1.66547655e-02 5.71896198e-03 9.99844944e-01 2.96380843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.54907232899996 meters Centerline goodness [0,1] 0.3677363944865726 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99842899e-01 -5.70353556e-03 1.67823307e-02 -1.70970014e+02] [ 5.86091597e-03 9.99939172e-01 -9.34355252e-03 -9.50656990e+01] [-1.67280186e-02 9.44044447e-03 9.99815509e-01 2.96381244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.579072329 meters Centerline goodness [0,1] 0.3677363944865726 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99842899e-01 -5.70353556e-03 1.67823307e-02 -1.70970014e+02] [ 5.86091597e-03 9.99939172e-01 -9.34355252e-03 -9.50656990e+01] [-1.67280186e-02 9.44044447e-03 9.99815509e-01 2.96381244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.60907232899996 meters Centerline goodness [0,1] 0.3502347614655823 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99827236e-01 -6.00729104e-03 1.75900731e-02 -1.70971963e+02] [ 6.16809612e-03 9.99939553e-01 -9.10187087e-03 -9.50672583e+01] [-1.75343323e-02 9.20879565e-03 9.99803853e-01 2.96380956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.639072329 meters Centerline goodness [0,1] 0.3503206068479946 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99815869e-01 -6.14931209e-03 1.81773159e-02 -1.70973334e+02] [ 6.31084963e-03 9.99940987e-01 -8.84280201e-03 -9.50684334e+01] [-1.81218660e-02 8.95588808e-03 9.99795674e-01 2.96380628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.66907232899996 meters Centerline goodness [0,1] 0.3617675995897093 Centerline is valid? [False, False] Translation: X:-170.97, Y:-95.07, Z:296.38 [[ 9.99802066e-01 -6.41464248e-03 1.88329974e-02 -1.70974860e+02] [ 6.58143509e-03 9.99939552e-01 -8.80782073e-03 -9.50689739e+01] [-1.87753600e-02 8.93002551e-03 9.99783847e-01 2.96380394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.699072329 meters Centerline goodness [0,1] 0.3611815761336715 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99781204e-01 -6.97472127e-03 1.97204663e-02 -1.70976995e+02] [ 7.15144896e-03 9.99934774e-01 -8.90536386e-03 -9.50694099e+01] [-1.96570676e-02 9.04444531e-03 9.99765871e-01 2.96380125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.72907232899996 meters Centerline goodness [0,1] 0.35511101801424383 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99759159e-01 -7.66089571e-03 2.05653727e-02 -1.70979387e+02] [ 7.84842578e-03 9.99928215e-01 -9.05355756e-03 -9.50703610e+01] [-2.04945381e-02 9.21278290e-03 9.99747517e-01 2.96380304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.759072329 meters Centerline goodness [0,1] 0.34904613322723177 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99742799e-01 -7.83495225e-03 2.12825927e-02 -1.70980909e+02] [ 8.01099674e-03 9.99934297e-01 -8.19913431e-03 -9.50742953e+01] [-2.12169546e-02 8.36752027e-03 9.99739879e-01 2.96379388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.78907232899996 meters Centerline goodness [0,1] 0.3480710426004273 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99744294e-01 -7.69371912e-03 2.12638761e-02 -1.70980833e+02] [ 7.86825124e-03 9.99935942e-01 -8.13647513e-03 -9.50738594e+01] [-2.11999142e-02 8.30170411e-03 9.99740789e-01 2.96379348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.819072329 meters Centerline goodness [0,1] 0.3445459115281502 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99738965e-01 -7.69119768e-03 2.15138681e-02 -1.70981509e+02] [ 7.86253387e-03 9.99937956e-01 -7.89076979e-03 -9.50746914e+01] [-2.14518439e-02 8.05786354e-03 9.99737410e-01 2.96379333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.84907232899997 meters Centerline goodness [0,1] 0.34471340249397464 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99714570e-01 -8.39875900e-03 2.23660467e-02 -1.70983771e+02] [ 8.59056776e-03 9.99927027e-01 -8.49366125e-03 -9.50736864e+01] [-2.22930783e-02 8.68337395e-03 9.99713768e-01 2.96379483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87907232899994 meters Centerline goodness [0,1] 0.3524629664550464 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99714192e-01 -8.25319714e-03 2.24369983e-02 -1.70984212e+02] [ 8.43877217e-03 9.99930862e-01 -8.18887451e-03 -9.50745116e+01] [-2.23678627e-02 8.37587479e-03 9.99714721e-01 2.96379810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.90907232899997 meters Centerline goodness [0,1] 0.354694673290988 Centerline is valid? [False, False] Translation: X:-170.98, Y:-95.07, Z:296.38 [[ 9.99714651e-01 -8.17429162e-03 2.24454333e-02 -1.70984562e+02] [ 8.36021942e-03 9.99931413e-01 -8.20224188e-03 -9.50741288e+01] [-2.23768463e-02 8.38755012e-03 9.99714422e-01 2.96380218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93907232899994 meters Centerline goodness [0,1] 0.314188835632208 Centerline is valid? [False, False] Translation: X:-170.99, Y:-95.08, Z:296.38 [[ 9.99689090e-01 -9.03028215e-03 2.32416962e-02 -1.70986665e+02] [ 9.22793552e-03 9.99922046e-01 -8.41110162e-03 -9.50751916e+01] [-2.31639298e-02 8.62295940e-03 9.99694492e-01 2.96380056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.96907232899997 meters Centerline goodness [0,1] 0.3226475579860456 Centerline is valid? [False, False] Translation: X:-170.99, Y:-95.06, Z:296.38 [[ 9.99896107e-01 -7.51852841e-03 1.22982393e-02 -1.70993975e+02] [ 7.66822430e-03 9.99896532e-01 -1.21706159e-02 -9.50623843e+01] [-1.22054617e-02 1.22636571e-02 9.99850304e-01 2.96384464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99907232899994 meters Centerline goodness [0,1] 0.3266183129297333 Centerline is valid? [False, False] Translation: X:-170.99, Y:-95.06, Z:296.38 [[ 9.99901903e-01 -7.02567763e-03 1.21170767e-02 -1.70992635e+02] [ 7.16661374e-03 9.99906719e-01 -1.16272639e-02 -9.50628433e+01] [-1.20342570e-02 1.17129617e-02 9.99858982e-01 2.96383256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.029072329 meters Centerline goodness [0,1] 0.3284079476861167 Centerline is valid? [False, False] Translation: X:-170.99, Y:-95.06, Z:296.38 [[ 9.99906598e-01 -6.71322803e-03 1.19049633e-02 -1.70992038e+02] [ 6.84869194e-03 9.99911851e-01 -1.13747505e-02 -9.50628095e+01] [-1.18275526e-02 1.14552215e-02 9.99864434e-01 2.96383190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.05907232899995 meters Centerline goodness [0,1] 0.34897655611656997 Centerline is valid? [False, False] Translation: X:-170.99, Y:-95.06, Z:296.38 [[ 9.99906573e-01 -6.74308437e-03 1.18901883e-02 -1.70991917e+02] [ 6.88182948e-03 9.99908259e-01 -1.16668272e-02 -9.50611716e+01] [-1.18104270e-02 1.17475635e-02 9.99861245e-01 2.96383174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.089072329 meters Centerline goodness [0,1] 0.343220694281402 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.38 [[ 9.99909999e-01 -4.21411943e-03 1.27371502e-02 -1.70995408e+02] [ 4.33081407e-03 9.99948777e-01 -9.14810019e-03 -9.50586523e+01] [-1.26979465e-02 9.20243908e-03 9.99877031e-01 2.96384856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.11907232899995 meters Centerline goodness [0,1] 0.3450321823175462 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.39 [[ 9.99905386e-01 -4.34761984e-03 1.30505799e-02 -1.70996796e+02] [ 4.46748996e-03 9.99947975e-01 -9.16998408e-03 -9.50589691e+01] [-1.30100333e-02 9.22741981e-03 9.99872789e-01 2.96385616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.149072329 meters Centerline goodness [0,1] 0.34789803313713574 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.39 [[ 9.99904606e-01 -1.00616936e-03 1.37755435e-02 -1.70999157e+02] [ 1.08743346e-03 9.99982045e-01 -5.89293910e-03 -9.50572530e+01] [-1.37693668e-02 5.90735694e-03 9.99887748e-01 2.96386285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.17907232899995 meters Centerline goodness [0,1] 0.3647105654606021 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.39 [[ 9.99889535e-01 -2.32629999e-03 1.46801472e-02 -1.71002277e+02] [ 2.42973852e-03 9.99972322e-01 -7.03225418e-03 -9.50562280e+01] [-1.46633817e-02 7.06714627e-03 9.99867512e-01 2.96387231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.209072329 meters Centerline goodness [0,1] 0.3563078727950727 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.39 [[ 9.99894935e-01 -1.58146271e-03 1.44089775e-02 -1.71001112e+02] [ 1.67058020e-03 9.99979540e-01 -6.17492281e-03 -9.50577326e+01] [-1.43989173e-02 6.19834539e-03 9.99877118e-01 2.96386466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.23907232899995 meters Centerline goodness [0,1] 0.348859136337922 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.39 [[ 9.99898447e-01 -1.23658348e-03 1.41973973e-02 -1.71000283e+02] [ 1.31914670e-03 9.99982266e-01 -5.80748560e-03 -9.50582457e+01] [-1.41899641e-02 5.82562429e-03 9.99882347e-01 2.96386024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.269072329 meters Centerline goodness [0,1] 0.35510964958213764 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.39 [[ 9.99894474e-01 -1.44044983e-03 1.44556441e-02 -1.71000816e+02] [ 1.52630713e-03 9.99981252e-01 -5.93008752e-03 -9.50579743e+01] [-1.44468311e-02 5.95152549e-03 9.99877927e-01 2.96385918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.29907232899996 meters Centerline goodness [0,1] 0.3386303205410045 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.39 [[ 9.99891245e-01 -1.52733417e-03 1.46685113e-02 -1.71001530e+02] [ 1.61576425e-03 9.99980583e-01 -6.01860797e-03 -9.50576701e+01] [-1.46590341e-02 6.04165428e-03 9.99874298e-01 2.96386173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.329072329 meters Centerline goodness [0,1] 0.3671964985026491 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.39 [[ 9.99889192e-01 -1.50135440e-03 1.48104565e-02 -1.71002160e+02] [ 1.58998765e-03 9.99980888e-01 -5.97454653e-03 -9.50576807e+01] [-1.48012035e-02 5.99743294e-03 9.99872469e-01 2.96386531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.35907232899996 meters Centerline goodness [0,1] 0.3166224709247698 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.39 [[ 9.99877229e-01 -5.10503761e-03 1.48143883e-02 -1.71001795e+02] [ 5.24479958e-03 9.99941963e-01 -9.41073867e-03 -9.50592976e+01] [-1.47654863e-02 9.48728180e-03 9.99845974e-01 2.96386059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.389072329 meters Centerline goodness [0,1] 0.34681790594981476 Centerline is valid? [False, False] Translation: X:-171.00, Y:-95.06, Z:296.39 [[ 9.99857708e-01 -5.84778339e-03 1.58229778e-02 -1.71004577e+02] [ 6.00171531e-03 9.99934958e-01 -9.69844493e-03 -9.50597788e+01] [-1.57652342e-02 9.79202993e-03 9.99827772e-01 2.96386227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.41907232899996 meters Centerline goodness [0,1] 0.3315529303338779 Centerline is valid? [False, False] Translation: X:-171.01, Y:-95.06, Z:296.39 [[ 9.99823098e-01 -7.95659615e-03 1.70430222e-02 -1.71008412e+02] [ 8.13748723e-03 9.99911015e-01 -1.05708696e-02 -9.50616104e+01] [-1.69573975e-02 1.07076870e-02 9.99798876e-01 2.96386695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.449072329 meters Centerline goodness [0,1] 0.3270255028510558 Centerline is valid? [False, False] Translation: X:-171.01, Y:-95.06, Z:296.39 [[ 9.99809208e-01 -8.27267792e-03 1.76949098e-02 -1.71009822e+02] [ 8.46145385e-03 9.99907803e-01 -1.06202448e-02 -9.50618691e+01] [-1.76054206e-02 1.07679432e-02 9.99787028e-01 2.96386313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.47907232899996 meters Centerline goodness [0,1] 0.32184052418932785 Centerline is valid? [False, False] Translation: X:-171.01, Y:-95.06, Z:296.39 [[ 9.99792198e-01 -8.60049239e-03 1.84822035e-02 -1.71011758e+02] [ 8.79565809e-03 9.99906142e-01 -1.05044384e-02 -9.50627981e+01] [-1.83901254e-02 1.06648187e-02 9.99774007e-01 2.96386090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.509072329 meters Centerline goodness [0,1] 0.3545233809184912 Centerline is valid? [False, False] Translation: X:-171.01, Y:-95.07, Z:296.39 [[ 9.99727633e-01 -1.30527968e-02 1.93464261e-02 -1.71013296e+02] [ 1.33278874e-02 9.99810925e-01 -1.41591244e-02 -9.50652177e+01] [-1.91579520e-02 1.44131149e-02 9.99712576e-01 2.96385180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.53907232899996 meters Centerline goodness [0,1] 0.33919892743422153 Centerline is valid? [False, False] Translation: X:-171.02, Y:-95.07, Z:296.39 [[ 9.99696003e-01 -1.38682123e-02 2.03856592e-02 -1.71016006e+02] [ 1.41619137e-02 9.99796965e-01 -1.43341936e-02 -9.50661146e+01] [-2.01827305e-02 1.46185360e-02 9.99689430e-01 2.96385116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.569072329 meters Centerline goodness [0,1] 0.3525739068490855 Centerline is valid? [False, False] Translation: X:-171.02, Y:-95.07, Z:296.39 [[ 9.99642836e-01 -1.59601819e-02 2.14353212e-02 -1.71019225e+02] [ 1.62945786e-02 9.99746818e-01 -1.55172714e-02 -9.50671648e+01] [-2.11822357e-02 1.58610088e-02 9.99649809e-01 2.96385445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.59907232899997 meters Centerline goodness [0,1] 0.3425652619899935 Centerline is valid? [False, False] Translation: X:-171.02, Y:-95.07, Z:296.39 [[ 9.99632384e-01 -1.61049776e-02 2.18111580e-02 -1.71020262e+02] [ 1.64447644e-02 9.99744784e-01 -1.54898551e-02 -9.50672776e+01] [-2.15561276e-02 1.58428401e-02 9.99642105e-01 2.96385544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62907232899994 meters Centerline goodness [0,1] 0.35221257453708543 Centerline is valid? [False, False] Translation: X:-171.02, Y:-95.07, Z:296.39 [[ 9.99609031e-01 -1.66191209e-02 2.24853331e-02 -1.71022103e+02] [ 1.69797813e-02 9.99728684e-01 -1.59451025e-02 -9.50663172e+01] [-2.22142389e-02 1.63206645e-02 9.99620010e-01 2.96385757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.65907232899997 meters Centerline goodness [0,1] 0.35251302001631424 Centerline is valid? [False, False] Translation: X:-171.02, Y:-95.07, Z:296.39 [[ 9.99585886e-01 -1.70562725e-02 2.31762941e-02 -1.71023627e+02] [ 1.74289912e-02 9.99720457e-01 -1.59762002e-02 -9.50666761e+01] [-2.28973209e-02 1.63735236e-02 9.99603732e-01 2.96385433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.68907232899994 meters Centerline goodness [0,1] 0.3600720102154027 Centerline is valid? [False, False] Translation: X:-171.02, Y:-95.07, Z:296.38 [[ 9.99573020e-01 -1.70314031e-02 2.37425479e-02 -1.71024774e+02] [ 1.74020059e-02 9.99728563e-01 -1.54909871e-02 -9.50683000e+01] [-2.34722701e-02 1.58975407e-02 9.99598080e-01 2.96384855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.71907232899997 meters Centerline goodness [0,1] 0.36783629401795237 Centerline is valid? [False, False] Translation: X:-171.03, Y:-95.07, Z:296.38 [[ 9.99499023e-01 -2.06050031e-02 2.40236768e-02 -1.71025324e+02] [ 2.10543929e-02 9.99605193e-01 -1.86056864e-02 -9.50716621e+01] [-2.36308218e-02 1.91021693e-02 9.99538239e-01 2.96384625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.74907232899994 meters Centerline goodness [0,1] 0.37419462806459713 Centerline is valid? [False, False] Translation: X:-171.03, Y:-95.07, Z:296.39 [[ 9.99461705e-01 -2.13704398e-02 2.48918678e-02 -1.71028076e+02] [ 2.18558616e-02 9.99572983e-01 -1.93951903e-02 -9.50700986e+01] [-2.44667548e-02 1.99287832e-02 9.99501987e-01 2.96385371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.779072329 meters Centerline goodness [0,1] 0.351915356306457 Centerline is valid? [False, False] Translation: X:-171.03, Y:-95.07, Z:296.39 [[ 9.99432234e-01 -2.19377101e-02 2.55723883e-02 -1.71030257e+02] [ 2.24466533e-02 9.99552194e-01 -1.97878498e-02 -9.50698531e+01] [-2.51268367e-02 2.03506294e-02 9.99477110e-01 2.96385968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.80907232899995 meters Centerline goodness [0,1] 0.34774149005167687 Centerline is valid? [False, False] Translation: X:-171.03, Y:-95.07, Z:296.39 [[ 9.99419119e-01 -2.21976374e-02 2.58590201e-02 -1.71031364e+02] [ 2.27194330e-02 9.99540556e-01 -2.00625105e-02 -9.50693087e+01] [-2.54017990e-02 2.06383589e-02 9.99464260e-01 2.96386444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.839072329 meters Centerline goodness [0,1] 0.36803012867454754 Centerline is valid? [False, False] Translation: X:-171.03, Y:-95.07, Z:296.39 [[ 9.99461887e-01 -1.90349180e-02 2.67134441e-02 -1.71034036e+02] [ 1.94846914e-02 9.99671027e-01 -1.66788835e-02 -9.50679606e+01] [-2.63871749e-02 1.71904115e-02 9.99503980e-01 2.96386818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.86907232899995 meters Centerline goodness [0,1] 0.33618215714614885 Centerline is valid? [False, False] Translation: X:-171.04, Y:-95.07, Z:296.39 [[ 9.99425623e-01 -1.97128896e-02 2.75649564e-02 -1.71036116e+02] [ 2.01882677e-02 9.99650376e-01 -1.70751071e-02 -9.50675904e+01] [-2.72187193e-02 1.76217882e-02 9.99474169e-01 2.96386756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.899072329 meters Centerline goodness [0,1] 0.35711145996860283 Centerline is valid? [False, False] Translation: X:-171.04, Y:-95.07, Z:296.39 [[ 9.99394956e-01 -2.01268169e-02 2.83660404e-02 -1.71038067e+02] [ 2.06171737e-02 9.99641169e-01 -1.71016005e-02 -9.50682234e+01] [-2.80116610e-02 1.76760808e-02 9.99451301e-01 2.96386539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.92907232899995 meters Centerline goodness [0,1] 0.3461651237800025 Centerline is valid? [False, False] Translation: X:-171.04, Y:-95.07, Z:296.39 [[ 9.99279059e-01 -2.56593652e-02 2.79814204e-02 -1.71043420e+02] [ 2.57993377e-02 9.99656314e-01 -4.65278149e-03 -9.50661842e+01] [-2.78524161e-02 5.37132922e-03 9.99597615e-01 2.96390599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.959072329 meters Centerline goodness [0,1] 0.34142922890255634 Centerline is valid? [False, False] Translation: X:-171.04, Y:-95.07, Z:296.39 [[ 9.99288031e-01 -2.54113469e-02 2.78871587e-02 -1.71043040e+02] [ 2.55393206e-02 9.99664816e-01 -4.24238154e-03 -9.50672936e+01] [-2.77700068e-02 4.95158018e-03 9.99602075e-01 2.96390239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.98907232899995 meters Centerline goodness [0,1] 0.34884305308344676 Centerline is valid? [False, False] Translation: X:-171.06, Y:-95.05, Z:296.39 [[ 9.99381063e-01 -2.94594171e-02 1.92258651e-02 -1.71057680e+02] [ 2.96218343e-02 9.99527391e-01 -8.21840446e-03 -9.50509495e+01] [-1.89746694e-02 8.78282318e-03 9.99781388e-01 2.96393296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.019072329 meters Centerline goodness [0,1] 0.33910404019258944 Centerline is valid? [False, False] Translation: X:-171.06, Y:-95.05, Z:296.39 [[ 9.99423125e-01 -2.73234186e-02 2.01704915e-02 -1.71061611e+02] [ 2.74467798e-02 9.99606063e-01 -5.86458277e-03 -9.50487303e+01] [-2.00023052e-02 6.41481467e-03 9.99779355e-01 2.96394892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.04907232899996 meters Centerline goodness [0,1] 0.31638075313807534 Centerline is valid? [False, False] Translation: X:-171.07, Y:-95.05, Z:296.40 [[ 9.99442190e-01 -2.60420902e-02 2.09073772e-02 -1.71066175e+02] [ 2.61477381e-02 9.99646586e-01 -4.79572310e-03 -9.50454244e+01] [-2.07750976e-02 5.33972862e-03 9.99769915e-01 2.96398071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.079072329 meters Centerline goodness [0,1] 0.3518042045811107 Centerline is valid? [False, False] Translation: X:-171.07, Y:-95.04, Z:296.40 [[ 9.99428336e-01 -2.63565684e-02 2.11738854e-02 -1.71067333e+02] [ 2.64736129e-02 9.99635639e-01 -5.26657504e-03 -9.50440159e+01] [-2.10273616e-02 5.82411357e-03 9.99761937e-01 2.96398700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.10907232899996 meters Centerline goodness [0,1] 0.30839030713583804 Centerline is valid? [False, False] Translation: X:-171.07, Y:-95.04, Z:296.40 [[ 9.99353373e-01 -2.82140145e-02 2.22891104e-02 -1.71071291e+02] [ 2.83679321e-02 9.99575630e-01 -6.61970529e-03 -9.50435441e+01] [-2.20928831e-02 7.24772079e-03 9.99729651e-01 2.96400021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.139072329 meters Centerline goodness [0,1] 0.3122608168301303 Centerline is valid? [False, False] Translation: X:-171.08, Y:-95.05, Z:296.40 [[ 9.99286448e-01 -2.98090649e-02 2.31951599e-02 -1.71075191e+02] [ 2.99911958e-02 9.99521692e-01 -7.54418323e-03 -9.50454819e+01] [-2.29591804e-02 8.23445064e-03 9.99702491e-01 2.96401779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.16907232899996 meters Centerline goodness [0,1] 0.3216391386159314 Centerline is valid? [False, False] Translation: X:-171.08, Y:-95.04, Z:296.40 [[ 9.99319129e-01 -2.79664521e-02 2.40656744e-02 -1.71078613e+02] [ 2.81031360e-02 9.99590657e-01 -5.36021404e-03 -9.50443354e+01] [-2.39059171e-02 6.03288535e-03 9.99696010e-01 2.96402891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.199072329 meters Centerline goodness [0,1] 0.326236837706836 Centerline is valid? [False, False] Translation: X:-171.08, Y:-95.04, Z:296.40 [[ 9.99269501e-01 -2.88232868e-02 2.50934719e-02 -1.71080954e+02] [ 2.89745054e-02 9.99563993e-01 -5.68354695e-03 -9.50445981e+01] [-2.49187125e-02 6.40646606e-03 9.99668953e-01 2.96402463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.22907232899996 meters Centerline goodness [0,1] 0.33164075560013373 Centerline is valid? [False, False] Translation: X:-171.09, Y:-95.04, Z:296.40 [[ 9.99332268e-01 -2.49321065e-02 2.67097203e-02 -1.71090420e+02] [ 2.53256426e-02 9.99574116e-01 -1.44982249e-02 -9.50391668e+01] [-2.63368738e-02 1.51649848e-02 9.99538089e-01 2.96396775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.259072329 meters Centerline goodness [0,1] 0.32746508321485324 Centerline is valid? [False, False] Translation: X:-171.09, Y:-95.04, Z:296.40 [[ 9.99315881e-01 -2.51776235e-02 2.70897870e-02 -1.71091519e+02] [ 2.55833507e-02 9.99564073e-01 -1.47362058e-02 -9.50386161e+01] [-2.67069552e-02 1.54191720e-02 9.99524381e-01 2.96396891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.28907232899996 meters Centerline goodness [0,1] 0.33814182973741425 Centerline is valid? [False, False] Translation: X:-171.09, Y:-95.04, Z:296.40 [[ 9.99319038e-01 -2.48358726e-02 2.72880766e-02 -1.71091756e+02] [ 2.52244907e-02 9.99583908e-01 -1.39905489e-02 -9.50407924e+01] [-2.69292548e-02 1.46693497e-02 9.99529702e-01 2.96396337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.319072329 meters Centerline goodness [0,1] 0.33762838078105717 Centerline is valid? [False, False] Translation: X:-171.10, Y:-95.04, Z:296.40 [[ 9.99336717e-01 -2.28396043e-02 2.83633478e-02 -1.71095447e+02] [ 2.31787568e-02 9.99663026e-01 -1.16867287e-02 -9.50385736e+01] [-2.80868699e-02 1.23364043e-02 9.99529360e-01 2.96397301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.34907232899997 meters Centerline goodness [0,1] 0.350909851495503 Centerline is valid? [False, False] Translation: X:-171.10, Y:-95.04, Z:296.40 [[ 9.99361623e-01 -2.06245752e-02 2.91714330e-02 -1.71098766e+02] [ 2.09064143e-02 9.99737343e-01 -9.38967025e-03 -9.50360469e+01] [-2.89701130e-02 9.99354617e-03 9.99530320e-01 2.96398775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37907232899994 meters Centerline goodness [0,1] 0.280040967330644 Centerline is valid? [False, False] Translation: X:-171.10, Y:-95.03, Z:296.40 [[ 9.99390799e-01 -1.81423706e-02 2.98141655e-02 -1.71101959e+02] [ 1.83590908e-02 9.99806873e-01 -7.01141972e-03 -9.50330462e+01] [-2.96812038e-02 7.55450933e-03 9.99530868e-01 2.96400579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.40907232899997 meters Centerline goodness [0,1] 0.3432389476766071 Centerline is valid? [False, False] Translation: X:-171.10, Y:-95.03, Z:296.40 [[ 9.99414288e-01 -1.78556119e-02 2.91934630e-02 -1.71100805e+02] [ 1.80783623e-02 9.99809306e-01 -7.38407352e-03 -9.50305275e+01] [-2.90560488e-02 7.90751858e-03 9.99546506e-01 2.96401215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43907232899994 meters Centerline goodness [0,1] 0.317081343721203 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.02, Z:296.41 [[ 9.99693239e-01 -1.72671902e-02 1.77558790e-02 -1.71107151e+02] [ 1.74874497e-02 9.99771111e-01 -1.23253413e-02 -9.50156722e+01] [-1.75389909e-02 1.26320654e-02 9.99766380e-01 2.96406719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.46907232899997 meters Centerline goodness [0,1] 0.32442676159564443 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.01, Z:296.41 [[ 9.99718558e-01 -1.47557707e-02 1.85760922e-02 -1.71110542e+02] [ 1.49332712e-02 9.99843806e-01 -9.45313888e-03 -9.50149684e+01] [-1.84337024e-02 9.72788020e-03 9.99782760e-01 2.96408011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49907232899994 meters Centerline goodness [0,1] 0.32442676159564443 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.01, Z:296.41 [[ 9.99718558e-01 -1.47557707e-02 1.85760922e-02 -1.71110542e+02] [ 1.49332712e-02 9.99843806e-01 -9.45313888e-03 -9.50149684e+01] [-1.84337024e-02 9.72788020e-03 9.99782760e-01 2.96408011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.529072329 meters Centerline goodness [0,1] 0.31899513912168953 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.01, Z:296.41 [[ 9.99704807e-01 -1.51213093e-02 1.90169407e-02 -1.71112078e+02] [ 1.53105827e-02 9.99834298e-01 -9.84697993e-03 -9.50142918e+01] [-1.88648903e-02 1.01352336e-02 9.99770670e-01 2.96408570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.55907232899995 meters Centerline goodness [0,1] 0.3449034312287905 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.01, Z:296.41 [[ 9.99692453e-01 -1.54316465e-02 1.94129571e-02 -1.71113643e+02] [ 1.56312448e-02 9.99826079e-01 -1.01723228e-02 -9.50136450e+01] [-1.92526051e-02 1.04726431e-02 9.99759802e-01 2.96409282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.589072329 meters Centerline goodness [0,1] 0.323197820620285 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99706098e-01 -1.35291138e-02 2.01166674e-02 -1.71117309e+02] [ 1.36969263e-02 9.99872341e-01 -8.22770781e-03 -9.50118709e+01] [-2.00027857e-02 8.50082619e-03 9.99763784e-01 2.96411384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.61907232899995 meters Centerline goodness [0,1] 0.278462441314554 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99704275e-01 -1.35580697e-02 2.01876508e-02 -1.71117122e+02] [ 1.37265781e-02 9.99871899e-01 -8.23206151e-03 -9.50115771e+01] [-2.00734539e-02 8.50673445e-03 9.99762318e-01 2.96410924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.649072329 meters Centerline goodness [0,1] 0.32979459958458346 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99700949e-01 -1.35169336e-02 2.03790118e-02 -1.71117168e+02] [ 1.36839059e-02 9.99873754e-01 -8.07627850e-03 -9.50115323e+01] [-2.02672725e-02 8.35272776e-03 9.99759706e-01 2.96410288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.67907232899995 meters Centerline goodness [0,1] 0.32305464010579565 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99681320e-01 -1.38309574e-02 2.11178169e-02 -1.71118190e+02] [ 1.39968495e-02 9.99872175e-01 -7.72805079e-03 -9.50132040e+01] [-2.10082312e-02 8.02117093e-03 9.99747126e-01 2.96408967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.709072329 meters Centerline goodness [0,1] 0.2883686752047029 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99698155e-01 -1.32208744e-02 2.07076422e-02 -1.71116793e+02] [ 1.33744349e-02 9.99883949e-01 -7.29478364e-03 -9.50129818e+01] [-2.06087956e-02 7.56953477e-03 9.99758961e-01 2.96408496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.73907232899995 meters Centerline goodness [0,1] 0.2990946709517508 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99692621e-01 -1.33836319e-02 2.08696205e-02 -1.71117272e+02] [ 1.35425882e-02 9.99880212e-01 -7.49399638e-03 -9.50121969e+01] [-2.07668237e-02 7.77432156e-03 9.99754119e-01 2.96408605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.769072329 meters Centerline goodness [0,1] 0.2979308318643499 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99690185e-01 -1.34572804e-02 2.09388632e-02 -1.71117489e+02] [ 1.36201477e-02 9.99877938e-01 -7.65515317e-03 -9.50112961e+01] [-2.08332899e-02 7.93797190e-03 9.99751450e-01 2.96408703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.79907232899996 meters Centerline goodness [0,1] 0.30079116912551673 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99685448e-01 -1.34995274e-02 2.11368816e-02 -1.71118310e+02] [ 1.36659570e-02 9.99876587e-01 -7.74934393e-03 -9.50109987e+01] [-2.10296605e-02 8.03576208e-03 9.99746558e-01 2.96409182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.829072329 meters Centerline goodness [0,1] 0.30202075368651016 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99712593e-01 -1.03461760e-02 2.16260758e-02 -1.71121071e+02] [ 1.04469075e-02 9.99935077e-01 -4.55009240e-03 -9.50102439e+01] [-2.15775957e-02 4.77471029e-03 9.99755775e-01 2.96410830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.85907232899996 meters Centerline goodness [0,1] 0.31253276299511434 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99733132e-01 -9.65029081e-03 2.09889563e-02 -1.71119483e+02] [ 9.74194636e-03 9.99943434e-01 -4.26898885e-03 -9.50096932e+01] [-2.09465720e-02 4.47232288e-03 9.99770593e-01 2.96410916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.889072329 meters Centerline goodness [0,1] 0.28112348708912804 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99741207e-01 -9.57458584e-03 2.06360610e-02 -1.71118766e+02] [ 9.66873230e-03 9.99943278e-01 -4.46729420e-03 -9.50085627e+01] [-2.05921180e-02 4.66566264e-03 9.99777073e-01 2.96411129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.91907232899996 meters Centerline goodness [0,1] 0.2864513422818792 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99752104e-01 -9.23325309e-03 2.02602481e-02 -1.71118050e+02] [ 9.32008219e-03 9.99947766e-01 -4.19545615e-03 -9.50088523e+01] [-2.02204521e-02 4.38324329e-03 9.99785937e-01 2.96411384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.949072329 meters Centerline goodness [0,1] 0.28955699519885947 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.01, Z:296.41 [[ 9.99777299e-01 -8.42235212e-03 1.93498394e-02 -1.71115677e+02] [ 8.50073565e-03 9.99955979e-01 -3.97218681e-03 -9.50075069e+01] [-1.93155324e-02 4.13579007e-03 9.99804884e-01 2.96411451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.97907232899996 meters Centerline goodness [0,1] 0.32441780032280376 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.01, Z:296.41 [[ 9.99790846e-01 -8.00613119e-03 1.88192863e-02 -1.71114646e+02] [ 8.07723691e-03 9.99960513e-01 -3.70537291e-03 -9.50075007e+01] [-1.87888775e-02 3.85660575e-03 9.99816035e-01 2.96411838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.009072329 meters Centerline goodness [0,1] 0.30414002725081224 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.01, Z:296.41 [[ 9.99813678e-01 -7.14151745e-03 1.79334481e-02 -1.71112415e+02] [ 7.20319865e-03 9.99968354e-01 -3.37721348e-03 -9.50063451e+01] [-1.79087621e-02 3.50576242e-03 9.99833479e-01 2.96411981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.03907232899996 meters Centerline goodness [0,1] 0.2963591064212885 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.00, Z:296.41 [[ 9.99849752e-01 -2.82827503e-03 1.71018744e-02 -1.71111152e+02] [ 2.82690882e-03 9.99995999e-01 1.04060354e-04 -9.50032683e+01] [-1.71021002e-02 -5.56992800e-05 9.99853747e-01 2.96413265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.069072329 meters Centerline goodness [0,1] 0.30712937722793043 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.00, Z:296.41 [[ 9.99857659e-01 -2.95748773e-03 1.66106710e-02 -1.71110303e+02] [ 2.97073075e-03 9.99995289e-01 -7.72641594e-04 -9.49999920e+01] [-1.66083077e-02 8.21877447e-04 9.99861735e-01 2.96413882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.09907232899997 meters Centerline goodness [0,1] 0.3130658953722334 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.00, Z:296.41 [[ 9.99883328e-01 -1.24786188e-03 1.52240991e-02 -1.71107130e+02] [ 1.25539588e-03 9.99999094e-01 -4.85326702e-04 -9.49976664e+01] [-1.52234797e-02 5.04382349e-04 9.99883989e-01 2.96414719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12907232899994 meters Centerline goodness [0,1] 0.30830627422226875 Centerline is valid? [False, False] Translation: X:-171.11, Y:-95.00, Z:296.42 [[ 9.99892981e-01 -1.01574089e-03 1.45943190e-02 -1.71105950e+02] [ 1.02441654e-03 9.99999303e-01 -5.86990293e-04 -9.49968421e+01] [-1.45937126e-02 6.01878136e-04 9.99893325e-01 2.96415270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.15907232899997 meters Centerline goodness [0,1] 0.3158335953054595 Centerline is valid? [False, False] Translation: X:-171.10, Y:-94.99, Z:296.42 [[ 9.99901942e-01 -8.91592903e-04 1.39753651e-02 -1.71104480e+02] [ 9.06299773e-04 9.99999042e-01 -1.04604460e-03 -9.49942789e+01] [-1.39744190e-02 1.05860789e-03 9.99901793e-01 2.96415534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.18907232899994 meters Centerline goodness [0,1] 0.3148252831689802 Centerline is valid? [False, False] Translation: X:-171.10, Y:-94.99, Z:296.42 [[ 9.99914929e-01 -5.42278171e-05 1.30434582e-02 -1.71101831e+02] [ 6.55685226e-05 9.99999620e-01 -8.69029355e-04 -9.49929039e+01] [-1.30434062e-02 8.69810666e-04 9.99914553e-01 2.96415359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.21907232899997 meters Centerline goodness [0,1] 0.3178377471640351 Centerline is valid? [False, False] Translation: X:-171.10, Y:-94.99, Z:296.42 [[ 9.99920977e-01 3.31608689e-04 1.25670300e-02 -1.71101138e+02] [-3.24861879e-04 9.99999802e-01 -5.38903496e-04 -9.49938447e+01] [-1.25672063e-02 5.34778361e-04 9.99920887e-01 2.96415930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.24907232899994 meters Centerline goodness [0,1] 0.32252931323283085 Centerline is valid? [False, False] Translation: X:-171.10, Y:-94.99, Z:296.42 [[ 9.99932041e-01 1.49242960e-03 1.15622633e-02 -1.71098554e+02] [-1.49215905e-03 9.99998886e-01 -3.20259826e-05 -9.49931241e+01] [-1.15622983e-02 1.47710703e-05 9.99933154e-01 2.96416020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.279072329 meters Centerline goodness [0,1] 0.32885203333752144 Centerline is valid? [False, False] Translation: X:-171.10, Y:-94.99, Z:296.42 [[ 9.99923116e-01 6.39633291e-03 1.06230707e-02 -1.71096652e+02] [-6.44044818e-03 9.99970757e-01 4.12377536e-03 -9.49917327e+01] [-1.05963830e-02 -4.19187564e-03 9.99935070e-01 2.96416827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.30907232899995 meters Centerline goodness [0,1] 0.33311686951421327 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.99, Z:296.42 [[ 9.99917915e-01 8.21602353e-03 9.83162925e-03 -1.71093951e+02] [-8.26467038e-03 9.99953755e-01 4.91763868e-03 -9.49894802e+01] [-9.79077115e-03 -4.99849019e-03 9.99939576e-01 2.96416422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.339072329 meters Centerline goodness [0,1] 0.33972614212135166 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.99, Z:296.42 [[ 9.99948951e-01 4.67248571e-03 8.95901083e-03 -1.71092030e+02] [-4.67773832e-03 9.99988899e-01 5.65428797e-04 -9.49875951e+01] [-8.95626942e-03 -6.07307841e-04 9.99959707e-01 2.96417020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.36907232899995 meters Centerline goodness [0,1] 0.3381564620152442 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.99, Z:296.42 [[ 9.99951448e-01 4.89671443e-03 8.55128785e-03 -1.71091558e+02] [-4.90249101e-03 9.99987768e-01 6.54690976e-04 -9.49877389e+01] [-8.54797742e-03 -6.96581801e-04 9.99963223e-01 2.96417725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.399072329 meters Centerline goodness [0,1] 0.3430127802220826 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.99, Z:296.42 [[ 9.99954550e-01 4.72886832e-03 8.27860231e-03 -1.71091264e+02] [-4.72946623e-03 9.99988815e-01 5.26479702e-05 -9.49855632e+01] [-8.27826075e-03 -9.17989474e-05 9.99965730e-01 2.96418429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.42907232899995 meters Centerline goodness [0,1] 0.35229841748304447 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99957975e-01 4.99720055e-03 7.68612944e-03 -1.71090028e+02] [-4.99779399e-03 9.99987509e-01 5.80043168e-05 -9.49848536e+01] [-7.68574358e-03 -9.64155707e-05 9.99970460e-01 2.96418855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.459072329 meters Centerline goodness [0,1] 0.34433032907147354 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99959234e-01 4.75104683e-03 7.67841996e-03 -1.71090244e+02] [-4.74859600e-03 9.99988668e-01 -3.37382997e-04 -9.49837741e+01] [-7.67993587e-03 3.00907528e-04 9.99970464e-01 2.96419185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.48907232899995 meters Centerline goodness [0,1] 0.35730148753404567 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99932730e-01 8.83532633e-03 7.51480662e-03 -1.71089944e+02] [-8.86080522e-03 9.99955084e-01 3.36398095e-03 -9.49819356e+01] [-7.48474721e-03 -3.43034189e-03 9.99966105e-01 2.96419517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.519072329 meters Centerline goodness [0,1] 0.35699163644748155 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99932844e-01 9.02882641e-03 7.26550742e-03 -1.71089474e+02] [-9.05378354e-03 9.99953201e-01 3.40948617e-03 -9.49818976e+01] [-7.23438375e-03 -3.47503753e-03 9.99967793e-01 2.96419667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.54907232899996 meters Centerline goodness [0,1] 0.3491141629101583 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99961091e-01 6.08308849e-03 6.38842967e-03 -1.71086911e+02] [-6.08384224e-03 9.99981488e-01 9.85591796e-05 -9.49824402e+01] [-6.38771187e-03 -1.37421543e-04 9.99979589e-01 2.96419173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.579072329 meters Centerline goodness [0,1] 0.35881798176674007 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99960522e-01 6.16333577e-03 6.40063198e-03 -1.71087024e+02] [-6.16536527e-03 9.99980950e-01 2.97395785e-04 -9.49833071e+01] [-6.39867709e-03 -3.36846279e-04 9.99979472e-01 2.96419159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.60907232899996 meters Centerline goodness [0,1] 0.33621249921382 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.98, Z:296.42 [[ 9.99961569e-01 6.98473925e-03 5.29843747e-03 -1.71084336e+02] [-6.98562998e-03 9.99975589e-01 1.49622776e-04 -9.49808587e+01] [-5.29726306e-03 -1.86629950e-04 9.99985952e-01 2.96419631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.639072329 meters Centerline goodness [0,1] 0.33708148023831497 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.98, Z:296.42 [[ 9.99961431e-01 7.55973901e-03 4.47070640e-03 -1.71082297e+02] [-7.56078775e-03 9.99971393e-01 2.17725174e-04 -9.49796654e+01] [-4.46893257e-03 -2.51518839e-04 9.99989983e-01 2.96419829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.66907232899996 meters Centerline goodness [0,1] 0.3526970084484602 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.98, Z:296.42 [[ 9.99913953e-01 1.26549294e-02 3.45543680e-03 -1.71079976e+02] [-1.26695747e-02 9.99910706e-01 4.24988149e-03 -9.49771462e+01] [-3.40134630e-03 -4.29329471e-03 9.99984999e-01 2.96420655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.699072329 meters Centerline goodness [0,1] 0.36109362541441103 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99918998e-01 1.23233592e-02 3.18300924e-03 -1.71079647e+02] [-1.23339246e-02 9.99918418e-01 3.32129826e-03 -9.49740790e+01] [-3.14182002e-03 -3.36028823e-03 9.99989419e-01 2.96421230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.72907232899996 meters Centerline goodness [0,1] 0.3612916754036486 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99918508e-01 1.24918916e-02 2.63233284e-03 -1.71079075e+02] [-1.25003766e-02 9.99916644e-01 3.23196466e-03 -9.49736931e+01] [-2.59174006e-03 -3.26460643e-03 9.99991313e-01 2.96422275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.759072329 meters Centerline goodness [0,1] 0.3559222404165092 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99915359e-01 1.28738608e-02 1.88103366e-03 -1.71077915e+02] [-1.28788088e-02 9.99913573e-01 2.64247513e-03 -9.49710522e+01] [-1.84685223e-03 -2.66647694e-03 9.99994740e-01 2.96423521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.78907232899996 meters Centerline goodness [0,1] 0.3596706781761284 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99918121e-01 1.26622221e-02 1.84900193e-03 -1.71078271e+02] [-1.26663776e-02 9.99917239e-01 2.25326144e-03 -9.49701248e+01] [-1.82031761e-03 -2.27649710e-03 9.99995752e-01 2.96424073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.819072329 meters Centerline goodness [0,1] 0.36815460560865454 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99918641e-01 1.26187634e-02 1.86513321e-03 -1.71078329e+02] [-1.26228014e-02 9.99917976e-01 2.16930275e-03 -9.49698026e+01] [-1.83760630e-03 -2.19266946e-03 9.99995908e-01 2.96424111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.84907232899997 meters Centerline goodness [0,1] 0.3650903741067676 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99953903e-01 9.56235274e-03 8.68100147e-04 -1.71076468e+02] [-9.56133688e-03 9.99953608e-01 -1.16691540e-03 -9.49709982e+01] [-8.79218331e-04 1.15856141e-03 9.99998942e-01 2.96424752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87907232899994 meters Centerline goodness [0,1] 0.32120040349697376 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99953951e-01 9.55732756e-03 8.67553043e-04 -1.71076511e+02] [-9.55622313e-03 9.99953534e-01 -1.26837579e-03 -9.49704346e+01] [-8.79635014e-04 1.26002685e-03 9.99998819e-01 2.96424829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.90907232899997 meters Centerline goodness [0,1] 0.37433917932365524 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99984115e-01 5.56882956e-03 8.70878398e-04 -1.71076571e+02] [-5.56451194e-03 9.99972591e-01 -4.88400377e-03 -9.49722445e+01] [-8.98052713e-04 4.87908018e-03 9.99987694e-01 2.96424730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93907232899994 meters Centerline goodness [0,1] 0.37395691014188126 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99981440e-01 6.07259480e-03 4.93240179e-04 -1.71075568e+02] [-6.07035979e-03 9.99971838e-01 -4.41297112e-03 -9.49726955e+01] [-5.20024474e-04 4.40989507e-03 9.99990141e-01 2.96424644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.96907232899997 meters Centerline goodness [0,1] 0.3208930146595539 Centerline is valid? [False, False] Translation: X:-171.07, Y:-94.97, Z:296.42 [[ 9.99980656e-01 6.21894048e-03 1.12235473e-04 -1.71074532e+02] [-6.21837018e-03 9.99970466e-01 -4.51656964e-03 -9.49714063e+01] [-1.40320436e-04 4.51578435e-03 9.99989794e-01 2.96424730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99907232899994 meters Centerline goodness [0,1] 0.337995337995338 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99983346e-01 5.73352955e-03 6.58968786e-04 -1.71075897e+02] [-5.73020116e-03 9.99971348e-01 -4.94643279e-03 -9.49704776e+01] [-6.87310424e-04 4.94257439e-03 9.99987549e-01 2.96424712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.029072329 meters Centerline goodness [0,1] 0.2712782712782713 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99983943e-01 5.50942205e-03 1.32654314e-03 -1.71077527e+02] [-5.50308153e-03 9.99973639e-01 -4.73685428e-03 -9.49720994e+01] [-1.35260550e-03 4.72947815e-03 9.99987901e-01 2.96424472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.05907232899995 meters Centerline goodness [0,1] 0.32778499853255627 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.42 [[ 9.99982700e-01 5.69308214e-03 1.47961773e-03 -1.71077908e+02] [-5.68654357e-03 9.99974211e-01 -4.38635514e-03 -9.49732343e+01] [-1.50455146e-03 4.37786534e-03 9.99989285e-01 2.96424346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.089072329 meters Centerline goodness [0,1] 0.3438365360409499 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.43 [[ 9.99982753e-01 5.66389664e-03 1.55362451e-03 -1.71078598e+02] [-5.65711031e-03 9.99974588e-01 -4.33822232e-03 -9.49736421e+01] [-1.57815628e-03 4.32935847e-03 9.99989383e-01 2.96425003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.11907232899995 meters Centerline goodness [0,1] 0.27944693886114724 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.43 [[ 9.99982163e-01 5.78213207e-03 1.49699640e-03 -1.71078718e+02] [-5.77581071e-03 9.99974529e-01 -4.19313269e-03 -9.49738745e+01] [-1.52120352e-03 4.18441153e-03 9.99990088e-01 2.96425378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.149072329 meters Centerline goodness [0,1] 0.3574853935878374 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.43 [[ 9.99997437e-01 1.94983951e-03 1.15087863e-03 -1.71077778e+02] [-1.94038774e-03 9.99964845e-01 -8.15742200e-03 -9.49735412e+01] [-1.16674383e-03 8.15516794e-03 9.99966065e-01 2.96425349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.17907232899995 meters Centerline goodness [0,1] 0.35984166212876467 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.97, Z:296.43 [[ 9.99997182e-01 1.14005147e-03 2.08249009e-03 -1.71080338e+02] [-1.12254088e-03 9.99964170e-01 -8.39038852e-03 -9.49746834e+01] [-2.09198094e-03 8.38802720e-03 9.99962632e-01 2.96425395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.209072329 meters Centerline goodness [0,1] 0.32776788519953914 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.98, Z:296.43 [[ 9.99995105e-01 4.18015225e-04 3.10079663e-03 -1.71082977e+02] [-3.92534795e-04 9.99966192e-01 -8.21344403e-03 -9.49771937e+01] [-3.10412515e-03 8.21218666e-03 9.99961461e-01 2.96425062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.23907232899995 meters Centerline goodness [0,1] 0.34053748113365756 Centerline is valid? [False, False] Translation: X:-171.08, Y:-94.98, Z:296.42 [[ 9.99991830e-01 2.30492967e-04 4.03559763e-03 -1.71084701e+02] [-2.00761710e-04 9.99972850e-01 -7.36610580e-03 -9.49806716e+01] [-4.03718590e-03 7.36523543e-03 9.99964727e-01 2.96423789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.269072329 meters Centerline goodness [0,1] 0.338727573429355 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99988779e-01 -1.41067988e-04 4.73509833e-03 -1.71086316e+02] [ 1.75525194e-04 9.99973504e-01 -7.27735131e-03 -9.49816482e+01] [-4.73394627e-03 7.27810078e-03 9.99962309e-01 2.96423460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.29907232899996 meters Centerline goodness [0,1] 0.343353303447987 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99982322e-01 -1.18275425e-03 5.82719414e-03 -1.71089115e+02] [ 1.22776248e-03 9.99969398e-01 -7.72631226e-03 -9.49818885e+01] [-5.81787749e-03 7.73333009e-03 9.99953173e-01 2.96423389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.329072329 meters Centerline goodness [0,1] 0.34944222357102495 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99973116e-01 -2.60531026e-03 6.85422324e-03 -1.71092710e+02] [ 2.66530097e-03 9.99958097e-01 -8.75784480e-03 -9.49813032e+01] [-6.83111912e-03 8.77587792e-03 9.99938158e-01 2.96424541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.35907232899996 meters Centerline goodness [0,1] 0.35361383961296 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99971146e-01 -2.50518608e-03 7.17148694e-03 -1.71093562e+02] [ 2.56547546e-03 9.99961344e-01 -8.40999878e-03 -9.49823373e+01] [-7.15014111e-03 8.42815439e-03 9.99938919e-01 2.96424564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.389072329 meters Centerline goodness [0,1] 0.35361383961296 Centerline is valid? [False, False] Translation: X:-171.09, Y:-94.98, Z:296.42 [[ 9.99971146e-01 -2.50518608e-03 7.17148694e-03 -1.71093562e+02] [ 2.56547546e-03 9.99961344e-01 -8.40999878e-03 -9.49823373e+01] [-7.15014111e-03 8.42815439e-03 9.99938919e-01 2.96424564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.41907232899996 meters Centerline goodness [0,1] 0.34025234876859656 Centerline is valid? [False, False] Translation: X:-171.10, Y:-94.98, Z:296.42 [[ 9.99938264e-01 -7.41229991e-03 8.27804221e-03 -1.71096021e+02] [ 7.51358425e-03 9.99896467e-01 -1.22719718e-02 -9.49848446e+01] [-8.18622162e-03 1.23334119e-02 9.99890430e-01 2.96423903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.449072329 meters Centerline goodness [0,1] 0.31432638365569787 Centerline is valid? [False, False] Translation: X:-171.10, Y:-94.99, Z:296.42 [[ 9.99916397e-01 -8.75707408e-03 9.51382657e-03 -1.71099260e+02] [ 8.87426113e-03 9.99884406e-01 -1.23459681e-02 -9.49875706e+01] [-9.40461227e-03 1.24293641e-02 9.99878525e-01 2.96423511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.47907232899996 meters Centerline goodness [0,1] 0.30455419872867184 Centerline is valid? [False, False] Translation: X:-171.10, Y:-94.99, Z:296.42 [[ 9.99888502e-01 -1.02335198e-02 1.08746427e-02 -1.71102873e+02] [ 1.03716526e-02 9.99865271e-01 -1.27227308e-02 -9.49894133e+01] [-1.07429792e-02 1.28341003e-02 9.99859927e-01 2.96423290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.509072329 meters Centerline goodness [0,1] 0.27846542403306274 Centerline is valid? [False, False] Translation: X:-171.10, Y:-94.99, Z:296.42 [[ 9.99834188e-01 -1.41526041e-02 1.14586016e-02 -1.71103654e+02] [ 1.43348748e-02 9.99769482e-01 -1.59841711e-02 -9.49924491e+01] [-1.12297425e-02 1.61457783e-02 9.99806585e-01 2.96422341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.53907232899996 meters Centerline goodness [0,1] 0.2850599234485788 Centerline is valid? [False, False] Translation: X:-171.12, Y:-94.99, Z:296.42 [[ 9.99678283e-01 -1.96069611e-02 1.60903238e-02 -1.71116052e+02] [ 1.98397127e-02 9.99698956e-01 -1.44354699e-02 -9.49926847e+01] [-1.58024442e-02 1.47500532e-02 9.99766332e-01 2.96417269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.569072329 meters Centerline goodness [0,1] 0.283721027529077 Centerline is valid? [False, False] Translation: X:-171.12, Y:-94.99, Z:296.42 [[ 9.99662542e-01 -1.97879048e-02 1.68297404e-02 -1.71117684e+02] [ 2.00233772e-02 9.99702327e-01 -1.39399503e-02 -9.49949336e+01] [-1.65488883e-02 1.42722344e-02 9.99761190e-01 2.96416725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.59907232899997 meters Centerline goodness [0,1] 0.293097678309977 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.00, Z:296.42 [[ 9.99628695e-01 -2.05536823e-02 1.78890425e-02 -1.71119660e+02] [ 2.08010445e-02 9.99689036e-01 -1.37531188e-02 -9.49965502e+01] [-1.76008024e-02 1.41201229e-02 9.99745385e-01 2.96415425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62907232899994 meters Centerline goodness [0,1] 0.29709360426382414 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.00, Z:296.41 [[ 9.99615675e-01 -2.07966591e-02 1.83303577e-02 -1.71120373e+02] [ 2.10527075e-02 9.99681902e-01 -1.38880345e-02 -9.49960920e+01] [-1.80357021e-02 1.42686006e-02 9.99735525e-01 2.96414848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.65907232899997 meters Centerline goodness [0,1] 0.32878230325332436 Centerline is valid? [False, False] Translation: X:-171.12, Y:-95.00, Z:296.42 [[ 9.99594403e-01 -2.13696845e-02 1.88246007e-02 -1.71121771e+02] [ 2.16418949e-02 9.99662404e-01 -1.43772964e-02 -9.49952939e+01] [-1.85110073e-02 1.47788651e-02 9.99719425e-01 2.96415022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.68907232899994 meters Centerline goodness [0,1] 0.35769399661250867 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99623094e-01 -1.91626158e-02 1.96587108e-02 -1.71125540e+02] [ 1.93992220e-02 9.99740801e-01 -1.19164195e-02 -9.49937805e+01] [-1.94252655e-02 1.22932918e-02 9.99735732e-01 2.96416760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.71907232899997 meters Centerline goodness [0,1] 0.3422456536747631 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99634582e-01 -1.74700873e-02 2.06276327e-02 -1.71129522e+02] [ 1.76833573e-02 9.99791584e-01 -1.02022937e-02 -9.49904527e+01] [-2.04450986e-02 1.05633314e-02 9.99735172e-01 2.96418563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.74907232899994 meters Centerline goodness [0,1] 0.31101818942086557 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99681063e-01 -1.39471314e-02 2.10534957e-02 -1.71131308e+02] [ 1.40880858e-02 9.99879228e-01 -6.56164790e-03 -9.49897496e+01] [-2.09594369e-02 6.85615860e-03 9.99756818e-01 2.96419217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.779072329 meters Centerline goodness [0,1] 0.3244966653425603 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99685557e-01 -1.38618659e-02 2.08958412e-02 -1.71131153e+02] [ 1.40045658e-02 9.99879495e-01 -6.69830506e-03 -9.49888906e+01] [-2.08004722e-02 6.98883601e-03 9.99759219e-01 2.96419578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.80907232899995 meters Centerline goodness [0,1] 0.32487394606356046 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99700130e-01 -1.34181402e-02 2.04842210e-02 -1.71130508e+02] [ 1.35532165e-02 9.99887221e-01 -6.46963151e-03 -9.49889031e+01] [-2.03951004e-02 6.74531854e-03 9.99769244e-01 2.96420029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.839072329 meters Centerline goodness [0,1] 0.3270328475547285 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99700532e-01 -1.33566769e-02 2.05047605e-02 -1.71130473e+02] [ 1.34920741e-02 9.99887986e-01 -6.47912469e-03 -9.49885327e+01] [-2.04159241e-02 6.75383615e-03 9.99768761e-01 2.96419915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.86907232899995 meters Centerline goodness [0,1] 0.3307943416757345 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99720206e-01 -1.26992358e-02 1.99559539e-02 -1.71128780e+02] [ 1.28206618e-02 9.99899998e-01 -5.96858418e-03 -9.49888201e+01] [-1.98781618e-02 6.22276274e-03 9.99783044e-01 2.96419433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.899072329 meters Centerline goodness [0,1] 0.3272776799932948 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99731267e-01 -1.23713458e-02 1.96046992e-02 -1.71127936e+02] [ 1.24854854e-02 9.99905748e-01 -5.71038388e-03 -9.49889585e+01] [-1.95322063e-02 5.95362349e-03 9.99791502e-01 2.96419360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.92907232899995 meters Centerline goodness [0,1] 0.34296203062722885 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99766980e-01 -8.50536957e-03 1.98404645e-02 -1.71128236e+02] [ 8.54445203e-03 9.99961717e-01 -1.88589544e-03 -9.49877308e+01] [-1.98236647e-02 2.05498189e-03 9.99801380e-01 2.96418758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.959072329 meters Centerline goodness [0,1] 0.3195638498637031 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99761168e-01 -8.70156401e-03 2.00471734e-02 -1.71128749e+02] [ 8.74677947e-03 9.99959394e-01 -2.16887396e-03 -9.49869533e+01] [-2.00274868e-02 2.34370417e-03 9.99796683e-01 2.96418702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.98907232899995 meters Centerline goodness [0,1] 0.3152410901467505 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.99, Z:296.42 [[ 9.99786094e-01 -7.87370411e-03 1.91251497e-02 -1.71126767e+02] [ 7.91571305e-03 9.99966419e-01 -2.12182014e-03 -9.49853161e+01] [-1.91078009e-02 2.27275547e-03 9.99814846e-01 2.96419328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.019072329 meters Centerline goodness [0,1] 0.32589332495022527 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.98, Z:296.42 [[ 9.99784928e-01 -8.11302214e-03 1.90860304e-02 -1.71126801e+02] [ 8.16610514e-03 9.99962998e-01 -2.70495712e-03 -9.49830776e+01] [-1.90633788e-02 2.86023389e-03 9.99814186e-01 2.96419596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.04907232899996 meters Centerline goodness [0,1] 0.3506411736310786 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.98, Z:296.42 [[ 9.99806211e-01 -7.33165557e-03 1.82698626e-02 -1.71125351e+02] [ 7.37127225e-03 9.99970622e-01 -2.10201875e-03 -9.49840029e+01] [-1.82539146e-02 2.23628353e-03 9.99830883e-01 2.96420214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.079072329 meters Centerline goodness [0,1] 0.34619255283461925 Centerline is valid? [False, False] Translation: X:-171.12, Y:-94.98, Z:296.42 [[ 9.99812891e-01 -7.17688411e-03 1.79631768e-02 -1.71124340e+02] [ 7.21942889e-03 9.99971284e-01 -2.30471737e-03 -9.49825490e+01] [-1.79461203e-02 2.43397001e-03 9.99835993e-01 2.96419897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.10907232899996 meters Centerline goodness [0,1] 0.3340115364446775 Centerline is valid? [False, False] Translation: X:-171.12, Y:-94.98, Z:296.42 [[ 9.99819996e-01 -7.11456805e-03 1.75886115e-02 -1.71123580e+02] [ 7.16234602e-03 9.99970826e-01 -2.65491557e-03 -9.49807527e+01] [-1.75692097e-02 2.78041340e-03 9.99841784e-01 2.96420191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.139072329 meters Centerline goodness [0,1] 0.33540802213001386 Centerline is valid? [False, False] Translation: X:-171.12, Y:-94.98, Z:296.42 [[ 9.99810387e-01 -7.72723479e-03 1.78739819e-02 -1.71124890e+02] [ 7.79246677e-03 9.99963220e-01 -3.58278521e-03 -9.49783346e+01] [-1.78456394e-02 3.72138828e-03 9.99833828e-01 2.96421120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.16907232899996 meters Centerline goodness [0,1] 0.33893862831023425 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.98, Z:296.42 [[ 9.99810681e-01 -7.69575569e-03 1.78711553e-02 -1.71125076e+02] [ 7.76057716e-03 9.99963547e-01 -3.56064149e-03 -9.49783234e+01] [-1.78431020e-02 3.69865788e-03 9.99833958e-01 2.96421334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.199072329 meters Centerline goodness [0,1] 0.34380632990987214 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.98, Z:296.42 [[ 9.99801054e-01 -7.82848952e-03 1.83457887e-02 -1.71126241e+02] [ 7.89254719e-03 9.99962999e-01 -3.42188312e-03 -9.49791620e+01] [-1.83183217e-02 3.56599735e-03 9.99825846e-01 2.96421146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.22907232899996 meters Centerline goodness [0,1] 0.3482474356554024 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.98, Z:296.42 [[ 9.99789475e-01 -7.89426381e-03 1.89389929e-02 -1.71127127e+02] [ 7.95167068e-03 9.99964011e-01 -2.95775781e-03 -9.49809799e+01] [-1.89149620e-02 3.10773176e-03 9.99816266e-01 2.96420096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.259072329 meters Centerline goodness [0,1] 0.3494461228600202 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.98, Z:296.42 [[ 9.99775405e-01 -8.14282616e-03 1.95661389e-02 -1.71128724e+02] [ 8.20122720e-03 9.99962146e-01 -2.90641507e-03 -9.49816952e+01] [-1.95417318e-02 3.06622865e-03 9.99804340e-01 2.96420029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.28907232899996 meters Centerline goodness [0,1] 0.35551502190913475 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.98, Z:296.42 [[ 9.99757017e-01 -8.41284761e-03 2.03747827e-02 -1.71129998e+02] [ 8.46659119e-03 9.99960899e-01 -2.55292488e-03 -9.49835003e+01] [-2.03525087e-02 2.72480951e-03 9.99789153e-01 2.96418721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.319072329 meters Centerline goodness [0,1] 0.3149048537178305 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.98, Z:296.42 [[ 9.99741516e-01 -8.66220702e-03 2.10206252e-02 -1.71131502e+02] [ 8.71649294e-03 9.99958905e-01 -2.49225818e-03 -9.49843646e+01] [-2.09981729e-02 2.67484010e-03 9.99775936e-01 2.96418403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.34907232899997 meters Centerline goodness [0,1] 0.3642007676657508 Centerline is valid? [False, False] Translation: X:-171.13, Y:-94.98, Z:296.42 [[ 9.99727745e-01 -8.99747572e-03 2.15286322e-02 -1.71133158e+02] [ 9.05713978e-03 9.99955404e-01 -2.67548150e-03 -9.49846738e+01] [-2.15035995e-02 2.86974092e-03 9.99764652e-01 2.96418789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37907232899994 meters Centerline goodness [0,1] 0.3242694040012569 Centerline is valid? [False, False] Translation: X:-171.14, Y:-94.98, Z:296.42 [[ 9.99695417e-01 -1.00688753e-02 2.25319852e-02 -1.71136228e+02] [ 1.01452503e-02 9.99943163e-01 -3.27788259e-03 -9.49848722e+01] [-2.24976999e-02 3.50547683e-03 9.99740749e-01 2.96419416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.40907232899997 meters Centerline goodness [0,1] 0.32924579717435964 Centerline is valid? [False, False] Translation: X:-171.14, Y:-94.98, Z:296.42 [[ 9.99652704e-01 -1.16412110e-02 2.36421994e-02 -1.71139745e+02] [ 1.17553776e-02 9.99919878e-01 -4.69570229e-03 -9.49828593e+01] [-2.35856415e-02 4.97199448e-03 9.99709456e-01 2.96420362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43907232899994 meters Centerline goodness [0,1] 0.3389756036322551 Centerline is valid? [False, False] Translation: X:-171.14, Y:-94.98, Z:296.42 [[ 9.99587078e-01 -1.58776582e-02 2.39494066e-02 -1.71141343e+02] [ 1.60975526e-02 9.99829767e-01 -9.01693459e-03 -9.49829333e+01] [-2.38021618e-02 9.39873813e-03 9.99672507e-01 2.96421747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.46907232899997 meters Centerline goodness [0,1] 0.34170906882760643 Centerline is valid? [False, False] Translation: X:-171.14, Y:-94.98, Z:296.42 [[ 9.99548449e-01 -1.66791264e-02 2.49940764e-02 -1.71144478e+02] [ 1.69204110e-02 9.99811959e-01 -9.47346693e-03 -9.49829596e+01] [-2.48313673e-02 9.89209923e-03 9.99642711e-01 2.96422384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49907232899994 meters Centerline goodness [0,1] 0.3548292478525037 Centerline is valid? [False, False] Translation: X:-171.15, Y:-94.98, Z:296.42 [[ 9.99529861e-01 -1.67689774e-02 2.56682495e-02 -1.71146110e+02] [ 1.70081442e-02 9.99813686e-01 -9.12780694e-03 -9.49845059e+01] [-2.55104032e-02 9.56008489e-03 9.99628843e-01 2.96422168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.529072329 meters Centerline goodness [0,1] 0.3615871286713873 Centerline is valid? [False, False] Translation: X:-171.16, Y:-94.97, Z:296.42 [[ 9.99642520e-01 -2.10533602e-02 1.64799368e-02 -1.71156353e+02] [ 2.12141480e-02 9.99728446e-01 -9.64331602e-03 -9.49747194e+01] [-1.62724374e-02 9.98947655e-03 9.99817692e-01 2.96421692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.55907232899995 meters Centerline goodness [0,1] 0.31059065271633157 Centerline is valid? [False, False] Translation: X:-171.16, Y:-94.98, Z:296.42 [[ 9.99682808e-01 -1.80144554e-02 1.76000809e-02 -1.71158995e+02] [ 1.81202433e-02 9.99818585e-01 -5.86976613e-03 -9.49750075e+01] [-1.74911473e-02 6.18682204e-03 9.99827877e-01 2.96420948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.589072329 meters Centerline goodness [0,1] 0.3207056950090098 Centerline is valid? [False, False] Translation: X:-171.16, Y:-94.97, Z:296.42 [[ 9.99671095e-01 -1.82336707e-02 1.80342824e-02 -1.71159311e+02] [ 1.83417462e-02 9.99814687e-01 -5.84562682e-03 -9.49747800e+01] [-1.79243532e-02 6.17448439e-03 9.99820281e-01 2.96419909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.61907232899995 meters Centerline goodness [0,1] 0.3130642424750215 Centerline is valid? [False, False] Translation: X:-171.16, Y:-94.97, Z:296.42 [[ 9.99651580e-01 -1.86584318e-02 1.86703196e-02 -1.71161149e+02] [ 1.87750675e-02 9.99805177e-01 -6.09143948e-03 -9.49746725e+01] [-1.85530255e-02 6.43985361e-03 9.99807138e-01 2.96420158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.649072329 meters Centerline goodness [0,1] 0.320548806032677 Centerline is valid? [False, False] Translation: X:-171.16, Y:-94.98, Z:296.42 [[ 9.99632425e-01 -1.89885667e-02 1.93507127e-02 -1.71163097e+02] [ 1.91112754e-02 9.99798286e-01 -6.17621440e-03 -9.49750335e+01] [-1.92295320e-02 6.54376098e-03 9.99793681e-01 2.96420417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.67907232899995 meters Centerline goodness [0,1] 0.27550079624507584 Centerline is valid? [False, False] Translation: X:-171.17, Y:-94.97, Z:296.42 [[ 9.99603103e-01 -1.95506510e-02 2.02831986e-02 -1.71165406e+02] [ 1.96858942e-02 9.99785152e-01 -6.48962601e-03 -9.49747695e+01] [-2.01519644e-02 6.88634320e-03 9.99773213e-01 2.96420331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.709072329 meters Centerline goodness [0,1] 0.2816112376930956 Centerline is valid? [False, False] Translation: X:-171.17, Y:-94.98, Z:296.42 [[ 9.99530309e-01 -2.17693876e-02 2.15697771e-02 -1.71168926e+02] [ 2.19398679e-02 9.99729649e-01 -7.69877053e-03 -9.49758302e+01] [-2.13963481e-02 8.16839255e-03 9.99737702e-01 2.96420400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.73907232899995 meters Centerline goodness [0,1] 0.3304932172165467 Centerline is valid? [False, False] Translation: X:-171.17, Y:-94.98, Z:296.42 [[ 9.99486792e-01 -2.26614795e-02 2.26409047e-02 -1.71171722e+02] [ 2.28511907e-02 9.99705610e-01 -8.15581710e-03 -9.49757940e+01] [-2.24494165e-02 8.66900310e-03 9.99710394e-01 2.96420372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.769072329 meters Centerline goodness [0,1] 0.3391229650736449 Centerline is valid? [False, False] Translation: X:-171.17, Y:-94.98, Z:296.42 [[ 9.99439319e-01 -2.35749255e-02 2.37754049e-02 -1.71174617e+02] [ 2.37820505e-02 9.99681312e-01 -8.46689468e-03 -9.49761910e+01] [-2.35682216e-02 9.02757534e-03 9.99681470e-01 2.96420348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.79907232899996 meters Centerline goodness [0,1] 0.3562053879806585 Centerline is valid? [False, False] Translation: X:-171.18, Y:-94.98, Z:296.42 [[ 9.99425574e-01 -2.37793474e-02 2.41467159e-02 -1.71175733e+02] [ 2.39923826e-02 9.99675395e-01 -8.57144614e-03 -9.49760430e+01] [-2.39350544e-02 9.14585973e-03 9.99671679e-01 2.96420563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.829072329 meters Centerline goodness [0,1] 0.3150828393691222 Centerline is valid? [False, False] Translation: X:-171.18, Y:-94.97, Z:296.42 [[ 9.99376391e-01 -2.47740699e-02 2.51609675e-02 -1.71178678e+02] [ 2.50201579e-02 9.99641681e-01 -9.51323502e-03 -9.49743199e+01] [-2.49162703e-02 1.01368339e-02 9.99638147e-01 2.96421115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.85907232899996 meters Centerline goodness [0,1] 0.31002740643109683 Centerline is valid? [False, False] Translation: X:-171.18, Y:-94.98, Z:296.42 [[ 9.99242530e-01 -2.90751174e-02 2.58650918e-02 -1.71180718e+02] [ 2.94272740e-02 9.99477901e-01 -1.33402352e-02 -9.49763665e+01] [-2.54637187e-02 1.40912695e-02 9.99576428e-01 2.96421732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.889072329 meters Centerline goodness [0,1] 0.3049890178851584 Centerline is valid? [False, False] Translation: X:-171.18, Y:-94.98, Z:296.42 [[ 9.99277318e-01 -2.67751806e-02 2.69801955e-02 -1.71184694e+02] [ 2.70627688e-02 9.99580143e-01 -1.03510060e-02 -9.49762587e+01] [-2.66917177e-02 1.10736844e-02 9.99582376e-01 2.96422652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.91907232899996 meters Centerline goodness [0,1] 0.31044007784543914 Centerline is valid? [False, False] Translation: X:-171.19, Y:-94.98, Z:296.42 [[ 9.99215094e-01 -2.78119041e-02 2.82080536e-02 -1.71187754e+02] [ 2.81244497e-02 9.99546684e-01 -1.07443850e-02 -9.49766821e+01] [-2.78964446e-02 1.15292876e-02 9.99544328e-01 2.96422450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.949072329 meters Centerline goodness [0,1] 0.314684143302833 Centerline is valid? [False, False] Translation: X:-171.20, Y:-94.97, Z:296.43 [[ 9.99037402e-01 -3.72777969e-02 2.31221631e-02 -1.71201907e+02] [ 3.75589262e-02 9.99224204e-01 -1.18455652e-02 -9.49680647e+01] [-2.26626485e-02 1.27026063e-02 9.99662467e-01 2.96425520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.97907232899996 meters Centerline goodness [0,1] 0.32743547914836657 Centerline is valid? [False, False] Translation: X:-171.20, Y:-94.97, Z:296.43 [[ 9.98997341e-01 -3.77058091e-02 2.41367719e-02 -1.71204375e+02] [ 3.79918534e-02 9.99211828e-01 -1.15040301e-02 -9.49701585e+01] [-2.36839792e-02 1.24094962e-02 9.99642473e-01 2.96425143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.009072329 meters Centerline goodness [0,1] 0.33153221077322614 Centerline is valid? [False, False] Translation: X:-171.21, Y:-94.97, Z:296.42 [[ 9.98970364e-01 -3.79758123e-02 2.48203546e-02 -1.71206085e+02] [ 3.82690268e-02 9.99201905e-01 -1.14470389e-02 -9.49708528e+01] [-2.43658350e-02 1.23851035e-02 9.99626388e-01 2.96424903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.03907232899996 meters Centerline goodness [0,1] 0.32879063828005606 Centerline is valid? [False, False] Translation: X:-171.21, Y:-94.97, Z:296.43 [[ 9.98944094e-01 -3.83661873e-02 2.52731716e-02 -1.71207569e+02] [ 3.86718447e-02 9.99183251e-01 -1.17183170e-02 -9.49705078e+01] [-2.48029426e-02 1.26833037e-02 9.99611899e-01 2.96425252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.069072329 meters Centerline goodness [0,1] 0.3376088048208905 Centerline is valid? [False, False] Translation: X:-171.21, Y:-94.97, Z:296.43 [[ 9.98930321e-01 -3.85832617e-02 2.54861784e-02 -1.71208301e+02] [ 3.88990067e-02 9.99170954e-01 -1.20113291e-02 -9.49695869e+01] [-2.50016130e-02 1.29898679e-02 9.99603013e-01 2.96425444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.09907232899997 meters Centerline goodness [0,1] 0.36405443257593173 Centerline is valid? [False, False] Translation: X:-171.21, Y:-94.97, Z:296.43 [[ 9.98905000e-01 -3.89068736e-02 2.59818569e-02 -1.71209853e+02] [ 3.92344226e-02 9.99155331e-01 -1.22181698e-02 -9.49694344e+01] [-2.54845400e-02 1.32241741e-02 9.99587745e-01 2.96425698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12907232899994 meters Centerline goodness [0,1] 0.34310060357970806 Centerline is valid? [False, False] Translation: X:-171.21, Y:-94.97, Z:296.43 [[ 9.98952389e-01 -3.69711197e-02 2.69677647e-02 -1.71213048e+02] [ 3.72559884e-02 9.99254325e-01 -1.01383016e-02 -9.49661353e+01] [-2.65728312e-02 1.11323914e-02 9.99584891e-01 2.96426140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.15907232899997 meters Centerline goodness [0,1] 0.3461087866108786 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.96, Z:296.43 [[ 9.98970275e-01 -3.55541401e-02 2.81832155e-02 -1.71217211e+02] [ 3.58146272e-02 9.99319773e-01 -8.79220943e-03 -9.49613642e+01] [-2.78514451e-02 9.79252723e-03 9.99564107e-01 2.96427256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.18907232899994 meters Centerline goodness [0,1] 0.3202213174652887 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.96, Z:296.43 [[ 9.99008567e-01 -3.38931447e-02 2.88641163e-02 -1.71220712e+02] [ 3.41130048e-02 9.99392342e-01 -7.15888139e-03 -9.49582995e+01] [-2.86039398e-02 8.13642558e-03 9.99557709e-01 2.96429117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.21907232899997 meters Centerline goodness [0,1] 0.2923092998955068 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.95, Z:296.42 [[ 9.99101266e-01 -2.83264831e-02 3.15320691e-02 -1.71232683e+02] [ 2.87832337e-02 9.99485848e-01 -1.41267685e-02 -9.49490218e+01] [-3.11156952e-02 1.50216672e-02 9.99402903e-01 2.96424155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.24907232899994 meters Centerline goodness [0,1] 0.32494513533284564 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.94, Z:296.42 [[ 9.99376186e-01 -1.69889572e-02 3.09614905e-02 -1.71245589e+02] [ 1.75268051e-02 9.99698720e-01 -1.71836992e-02 -9.49358510e+01] [-3.06602294e-02 1.77156357e-02 9.99372857e-01 2.96422930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.279072329 meters Centerline goodness [0,1] 0.32757719565990007 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.93, Z:296.42 [[ 9.99458080e-01 -1.26872201e-02 3.03740146e-02 -1.71244668e+02] [ 1.31025444e-02 9.99822833e-01 -1.35139023e-02 -9.49328726e+01] [-3.01971795e-02 1.39045557e-02 9.99447244e-01 2.96423602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.30907232899995 meters Centerline goodness [0,1] 0.32757719565990007 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.93, Z:296.42 [[ 9.99458080e-01 -1.26872201e-02 3.03740146e-02 -1.71244668e+02] [ 1.31025444e-02 9.99822833e-01 -1.35139023e-02 -9.49328726e+01] [-3.01971795e-02 1.39045557e-02 9.99447244e-01 2.96423602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.339072329 meters Centerline goodness [0,1] 0.29748264614869946 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.93, Z:296.42 [[ 9.99535535e-01 -7.97777581e-03 2.94120448e-02 -1.71243332e+02] [ 8.25467810e-03 9.99922634e-01 -9.30521839e-03 -9.49316631e+01] [-2.93355343e-02 9.54368341e-03 9.99524059e-01 2.96424860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.36907232899995 meters Centerline goodness [0,1] 0.3361460667099395 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.92, Z:296.43 [[ 9.99681146e-01 4.27209619e-03 2.48868645e-02 -1.71232930e+02] [-4.14075504e-03 9.99977240e-01 -5.32667406e-03 -9.49243804e+01] [-2.49090542e-02 5.22192522e-03 9.99676083e-01 2.96432153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.399072329 meters Centerline goodness [0,1] 0.3344085120643432 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.92, Z:296.43 [[ 9.99687862e-01 3.29076305e-03 2.47659103e-02 -1.71232908e+02] [-3.11183085e-03 9.99968804e-01 -7.26001420e-03 -9.49186907e+01] [-2.47890287e-02 7.18068075e-03 9.99666915e-01 2.96432672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.42907232899995 meters Centerline goodness [0,1] 0.32453991583443254 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.92, Z:296.43 [[ 9.99686279e-01 7.73167894e-03 2.38236356e-02 -1.71231404e+02] [-7.64267921e-03 9.99963480e-01 -3.82456488e-03 -9.49156823e+01] [-2.38523359e-02 3.64128863e-03 9.99708861e-01 2.96434012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.459072329 meters Centerline goodness [0,1] 0.3299734415190615 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.91, Z:296.43 [[ 9.99655498e-01 1.16541602e-02 2.35173559e-02 -1.71231108e+02] [-1.16471163e-02 9.99932075e-01 -4.36478096e-04 -9.49126772e+01] [-2.35208453e-02 1.62418350e-04 9.99723333e-01 2.96434844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.48907232899995 meters Centerline goodness [0,1] 0.33928758402613446 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.91, Z:296.44 [[ 9.99672005e-01 1.19389077e-02 2.26571151e-02 -1.71229194e+02] [-1.19172839e-02 9.99928393e-01 -1.08918129e-03 -9.49091226e+01] [-2.26684964e-02 8.18812769e-04 9.99742701e-01 2.96435369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.519072329 meters Centerline goodness [0,1] 0.3147508013324115 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.91, Z:296.43 [[ 9.99678572e-01 1.28672640e-02 2.18445788e-02 -1.71226555e+02] [-1.28560424e-02 9.99917144e-01 -6.54064638e-04 -9.49079694e+01] [-2.18511849e-02 3.73019573e-04 9.99761165e-01 2.96434762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.54907232899996 meters Centerline goodness [0,1] 0.330054827773825 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.91, Z:296.44 [[ 9.99685776e-01 1.30111226e-02 2.14256871e-02 -1.71226056e+02] [-1.29959864e-02 9.99915191e-01 -8.45549072e-04 -9.49069868e+01] [-2.14348715e-02 5.66835443e-04 9.99770086e-01 2.96435564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.579072329 meters Centerline goodness [0,1] 0.3232593646079518 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.91, Z:296.44 [[ 9.99687427e-01 1.30357675e-02 2.13334673e-02 -1.71226453e+02] [-1.30192093e-02 9.99914828e-01 -9.14872739e-04 -9.49069669e+01] [-2.13435764e-02 6.36841899e-04 9.99771997e-01 2.96436342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.60907232899996 meters Centerline goodness [0,1] 0.31105301683572106 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.91, Z:296.44 [[ 9.99686933e-01 1.33528818e-02 2.11598077e-02 -1.71226423e+02] [-1.33422349e-02 9.99910781e-01 -6.44267488e-04 -9.49075572e+01] [-2.11665227e-02 3.61746663e-04 9.99775899e-01 2.96436820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.639072329 meters Centerline goodness [0,1] 0.31571897955339767 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.91, Z:296.44 [[ 9.99687001e-01 1.47607392e-02 2.01994985e-02 -1.71224100e+02] [-1.47591803e-02 9.99891052e-01 -2.26264092e-04 -9.49055096e+01] [-2.02006376e-02 -7.19347675e-05 9.99795944e-01 2.96437229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.66907232899996 meters Centerline goodness [0,1] 0.317760334903192 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.90, Z:296.44 [[ 9.99695575e-01 1.34785925e-02 2.06660482e-02 -1.71226169e+02] [-1.34400223e-02 9.99907670e-01 -2.00411727e-03 -9.49013555e+01] [-2.06911528e-02 1.72575501e-03 9.99784426e-01 2.96438391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.699072329 meters Centerline goodness [0,1] 0.32443458794485014 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.90, Z:296.44 [[ 9.99696875e-01 1.31174899e-02 2.08348064e-02 -1.71227561e+02] [-1.30712379e-02 9.99911795e-01 -2.35457825e-03 -9.49011795e+01] [-2.08638548e-02 2.08152781e-03 9.99780159e-01 2.96439508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.72907232899996 meters Centerline goodness [0,1] 0.3242689202192194 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.90, Z:296.44 [[ 9.99690735e-01 1.31097396e-02 2.11322003e-02 -1.71228619e+02] [-1.30674867e-02 9.99912335e-01 -2.13631181e-03 -9.49021315e+01] [-2.11583542e-02 1.85950638e-03 9.99774408e-01 2.96439769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.759072329 meters Centerline goodness [0,1] 0.32249022027906193 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.89, Z:296.44 [[ 9.99876347e-01 1.01633177e-02 1.19999310e-02 -1.71242446e+02] [-1.01006351e-02 9.99935086e-01 -5.27268311e-03 -9.48873236e+01] [-1.20527399e-02 5.15082420e-03 9.99914097e-01 2.96443374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.78907232899996 meters Centerline goodness [0,1] 0.3219498933456021 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.89, Z:296.44 [[ 9.99874311e-01 1.01816305e-02 1.21530734e-02 -1.71242765e+02] [-1.01184279e-02 9.99935021e-01 -5.25075611e-03 -9.48870674e+01] [-1.22057449e-02 5.12712615e-03 9.99912362e-01 2.96443244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.819072329 meters Centerline goodness [0,1] 0.32807729306955535 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.89, Z:296.45 [[ 9.99952431e-01 3.94178113e-03 8.92173838e-03 -1.71233918e+02] [-3.93598979e-03 9.99992032e-01 -6.66591821e-04 -9.48937744e+01] [-8.92429485e-03 6.31444241e-04 9.99959978e-01 2.96448613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.84907232899997 meters Centerline goodness [0,1] 0.3183594158082781 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.90, Z:296.45 [[ 9.99960399e-01 6.08626641e-04 8.87863578e-03 -1.71232797e+02] [-5.77029218e-04 9.99993493e-01 -3.56094278e-03 -9.48965496e+01] [-8.88074529e-03 3.55567853e-03 9.99954244e-01 2.96447203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87907232899994 meters Centerline goodness [0,1] 0.3213083213083213 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.90, Z:296.45 [[ 9.99956219e-01 5.57048232e-04 9.34074920e-03 -1.71233704e+02] [-5.26545965e-04 9.99994523e-01 -3.26764673e-03 -9.48976805e+01] [-9.34251828e-03 3.26258534e-03 9.99951035e-01 2.96446642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.90907232899997 meters Centerline goodness [0,1] 0.27927890245942777 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.90, Z:296.45 [[ 9.99944279e-01 -2.98050401e-04 1.05522526e-02 -1.71236380e+02] [ 3.30550233e-04 9.99995207e-01 -3.07828506e-03 -9.48998190e+01] [-1.05512846e-02 3.08160159e-03 9.99939585e-01 2.96445765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93907232899994 meters Centerline goodness [0,1] 0.32531076987360286 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.90, Z:296.45 [[ 9.99933503e-01 -9.86989408e-04 1.14898270e-02 -1.71238967e+02] [ 1.02524526e-03 9.99993950e-01 -3.32412685e-03 -9.49001787e+01] [-1.14864766e-02 3.33568570e-03 9.99928464e-01 2.96445900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.96907232899997 meters Centerline goodness [0,1] 0.28011456286323533 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.90, Z:296.45 [[ 9.99919110e-01 -1.85384491e-03 1.25832157e-02 -1.71241619e+02] [ 1.90236001e-03 9.99990800e-01 -3.84466686e-03 -9.48996344e+01] [-1.25759725e-02 3.86829367e-03 9.99913437e-01 2.96445622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.99907232899994 meters Centerline goodness [0,1] 0.28479532163742693 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.90, Z:296.44 [[ 9.99888253e-01 -6.26851132e-03 1.35715795e-02 -1.71243532e+02] [ 6.36868398e-03 9.99952704e-01 -7.35046775e-03 -9.49025003e+01] [-1.35248611e-02 7.43607946e-03 9.99880884e-01 2.96444660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.029072329 meters Centerline goodness [0,1] 0.2860724059412145 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.90, Z:296.44 [[ 9.99866492e-01 -7.12109649e-03 1.47067550e-02 -1.71246415e+02] [ 7.23336350e-03 9.99944998e-01 -7.59467136e-03 -9.49029298e+01] [-1.46518637e-02 7.70003671e-03 9.99863007e-01 2.96444468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.05907232899995 meters Centerline goodness [0,1] 0.3547478456819747 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.90, Z:296.44 [[ 9.99805290e-01 -1.18438779e-02 1.57830398e-02 -1.71248924e+02] [ 1.20290057e-02 9.99859352e-01 -1.16866890e-02 -9.49041632e+01] [-1.56424042e-02 1.18742678e-02 9.99807140e-01 2.96444219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.089072329 meters Centerline goodness [0,1] 0.29629552375787405 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.90, Z:296.45 [[ 9.99757614e-01 -1.38264064e-02 1.71330893e-02 -1.71253294e+02] [ 1.40497000e-02 9.99817023e-01 -1.29817792e-02 -9.49036551e+01] [-1.69504630e-02 1.32193474e-02 9.99768939e-01 2.96445164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.11907232899995 meters Centerline goodness [0,1] 0.3050805038792025 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.90, Z:296.45 [[ 9.99703274e-01 -1.57715282e-02 1.85640310e-02 -1.71257498e+02] [ 1.60339944e-02 9.99772369e-01 -1.40755334e-02 -9.49037761e+01] [-1.83378126e-02 1.43690124e-02 9.99728591e-01 2.96445620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.149072329 meters Centerline goodness [0,1] 0.3161453225099643 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.91, Z:296.45 [[ 9.99661443e-01 -1.67464788e-02 1.99136681e-02 -1.71260841e+02] [ 1.70245127e-02 9.99758791e-01 -1.38753735e-02 -9.49062060e+01] [-1.96765011e-02 1.42096964e-02 9.99705417e-01 2.96445137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.17907232899995 meters Centerline goodness [0,1] 0.2968616589266748 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.91, Z:296.44 [[ 9.99533328e-01 -1.98650558e-02 2.32057141e-02 -1.71267646e+02] [ 2.01701805e-02 9.99712178e-01 -1.29894480e-02 -9.49096712e+01] [-2.29409989e-02 1.34514496e-02 9.99646322e-01 2.96441382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.209072329 meters Centerline goodness [0,1] 0.3062313673984197 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.91, Z:296.44 [[ 9.99485740e-01 -2.07411465e-02 2.44552630e-02 -1.71270832e+02] [ 2.10713506e-02 9.99689201e-01 -1.33228700e-02 -9.49099597e+01] [-2.41713308e-02 1.38313240e-02 9.99612145e-01 2.96441266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.23907232899995 meters Centerline goodness [0,1] 0.30822402665001036 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.91, Z:296.44 [[ 9.99416183e-01 -2.24392581e-02 2.57638036e-02 -1.71274629e+02] [ 2.28034719e-02 9.99642902e-01 -1.39309325e-02 -9.49124745e+01] [-2.54420036e-02 1.45103036e-02 9.99570986e-01 2.96441511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.269072329 meters Centerline goodness [0,1] 0.3153991959840863 Centerline is valid? [False, False] Translation: X:-171.28, Y:-94.91, Z:296.44 [[ 9.99370519e-01 -2.32341284e-02 2.68093599e-02 -1.71277191e+02] [ 2.36193814e-02 9.99620964e-01 -1.41440009e-02 -9.49130012e+01] [-2.64705746e-02 1.47683180e-02 9.99540497e-01 2.96441214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.29907232899996 meters Centerline goodness [0,1] 0.3307676261994159 Centerline is valid? [False, False] Translation: X:-171.28, Y:-94.91, Z:296.44 [[ 9.99387448e-01 -2.09289633e-02 2.80483049e-02 -1.71280323e+02] [ 2.12476756e-02 9.99712472e-01 -1.11134928e-02 -9.49123498e+01] [-2.78076463e-02 1.17026465e-02 9.99544788e-01 2.96440800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.329072329 meters Centerline goodness [0,1] 0.32484714425825834 Centerline is valid? [False, False] Translation: X:-171.29, Y:-94.90, Z:296.44 [[ 9.99498039e-01 -2.51014932e-02 1.93283586e-02 -1.71292631e+02] [ 2.53379006e-02 9.99605895e-01 -1.20849051e-02 -9.48979957e+01] [-1.90173920e-02 1.25685790e-02 9.99740151e-01 2.96441537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.35907232899996 meters Centerline goodness [0,1] 0.33338896074095703 Centerline is valid? [False, False] Translation: X:-171.29, Y:-94.90, Z:296.44 [[ 9.99468767e-01 -2.56533716e-02 2.01019392e-02 -1.71294723e+02] [ 2.59085458e-02 9.99585686e-01 -1.25380581e-02 -9.48970965e+01] [-1.97719672e-02 1.30522095e-02 9.99719315e-01 2.96441626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.389072329 meters Centerline goodness [0,1] 0.3183875205939396 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.90, Z:296.44 [[ 9.99329569e-01 -3.02553498e-02 2.06161706e-02 -1.71296316e+02] [ 3.06129554e-02 9.99382334e-01 -1.72568104e-02 -9.48960709e+01] [-2.00813259e-02 1.78763628e-02 9.99638523e-01 2.96442445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.41907232899996 meters Centerline goodness [0,1] 0.34125229434340065 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.89, Z:296.44 [[ 9.99272406e-01 -3.14531993e-02 2.15720940e-02 -1.71300108e+02] [ 3.18535273e-02 9.99321837e-01 -1.84721032e-02 -9.48942063e+01] [-2.09764579e-02 1.91458103e-02 9.99596632e-01 2.96444162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.449072329 meters Centerline goodness [0,1] 0.3461065616469755 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.89, Z:296.45 [[ 9.99221187e-01 -3.24307697e-02 2.24781092e-02 -1.71303376e+02] [ 3.28691885e-02 9.99271030e-01 -1.94171542e-02 -9.48927968e+01] [-2.18320100e-02 2.01408690e-02 9.99558757e-01 2.96445386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.47907232899996 meters Centerline goodness [0,1] 0.35617237642744015 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.89, Z:296.45 [[ 9.99148413e-01 -3.37699747e-02 2.37073450e-02 -1.71307214e+02] [ 3.42460180e-02 9.99213904e-01 -1.99696070e-02 -9.48941931e+01] [-2.30143357e-02 2.07644833e-02 9.99519473e-01 2.96445948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.509072329 meters Centerline goodness [0,1] 0.32998352897024785 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.89, Z:296.45 [[ 9.99143556e-01 -3.37605424e-02 2.39244817e-02 -1.71307827e+02] [ 3.42377305e-02 9.99217072e-01 -1.98247755e-02 -9.48946495e+01] [-2.32364554e-02 2.06269166e-02 9.99517182e-01 2.96445858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.53907232899996 meters Centerline goodness [0,1] 0.34518518518518515 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.89, Z:296.45 [[ 9.99197490e-01 -3.14016614e-02 2.48658614e-02 -1.71310847e+02] [ 3.18322728e-02 9.99346677e-01 -1.71150784e-02 -9.48926608e+01] [-2.43121741e-02 1.78928803e-02 9.99544278e-01 2.96446238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.569072329 meters Centerline goodness [0,1] 0.34456850673066886 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.89, Z:296.45 [[ 9.99194498e-01 -3.15090870e-02 2.48502143e-02 -1.71311339e+02] [ 3.19461553e-02 9.99338268e-01 -1.73916446e-02 -9.48917550e+01] [-2.42857753e-02 1.81715044e-02 9.99539893e-01 2.96446915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.59907232899997 meters Centerline goodness [0,1] 0.3623969099070884 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.89, Z:296.45 [[ 9.99187412e-01 -3.16063347e-02 2.50111081e-02 -1.71312854e+02] [ 3.20502709e-02 9.99332126e-01 -1.75522647e-02 -9.48917775e+01] [-2.44396411e-02 1.83396147e-02 9.99533072e-01 2.96448252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62907232899994 meters Centerline goodness [0,1] 0.36679045314195113 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.89, Z:296.45 [[ 9.99180346e-01 -3.17087665e-02 2.51632581e-02 -1.71313415e+02] [ 3.21589568e-02 9.99326164e-01 -1.76923659e-02 -9.48913918e+01] [-2.45852991e-02 1.84870884e-02 9.99526783e-01 2.96448368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.65907232899997 meters Centerline goodness [0,1] 0.3118091185917491 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.89, Z:296.45 [[ 9.99215903e-01 -2.96955897e-02 2.61868511e-02 -1.71316816e+02] [ 3.01023196e-02 9.99430073e-01 -1.52767935e-02 -9.48895203e+01] [-2.57182731e-02 1.60531000e-02 9.99540329e-01 2.96448942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.68907232899994 meters Centerline goodness [0,1] 0.329302927786827 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.89, Z:296.45 [[ 9.99326983e-01 -2.55088771e-02 2.63605603e-02 -1.71316712e+02] [ 2.58023237e-02 9.99608155e-01 -1.08524500e-02 -9.48896426e+01] [-2.60733972e-02 1.15253098e-02 9.99593590e-01 2.96447603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.71907232899997 meters Centerline goodness [0,1] 0.33433627948766165 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.89, Z:296.45 [[ 9.99375413e-01 -2.25659054e-02 2.71949107e-02 -1.71319280e+02] [ 2.27833221e-02 9.99710684e-01 -7.71156183e-03 -9.48878202e+01] [-2.70130244e-02 8.32633570e-03 9.99600404e-01 2.96447836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.74907232899994 meters Centerline goodness [0,1] 0.33991723100075244 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.87, Z:296.45 [[ 9.99661596e-01 -2.05498336e-02 1.59498615e-02 -1.71324045e+02] [ 2.07520643e-02 9.99705014e-01 -1.26189185e-02 -9.48728150e+01] [-1.56858398e-02 1.29456407e-02 9.99793161e-01 2.96451689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.779072329 meters Centerline goodness [0,1] 0.30472686220809897 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.87, Z:296.45 [[ 9.99697284e-01 -1.78679614e-02 1.69138026e-02 -1.71327061e+02] [ 1.80382650e-02 9.99787583e-01 -9.97047428e-03 -9.48696143e+01] [-1.67320578e-02 1.02725517e-02 9.99807238e-01 2.96452256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.80907232899995 meters Centerline goodness [0,1] 0.33136144150170366 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.87, Z:296.45 [[ 9.99751520e-01 -1.41598325e-02 1.72162019e-02 -1.71328281e+02] [ 1.42721697e-02 9.99877538e-01 -6.41982282e-03 -9.48677043e+01] [-1.71231900e-02 6.66394018e-03 9.99831180e-01 2.96452634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.839072329 meters Centerline goodness [0,1] 0.33186137039052366 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.86, Z:296.45 [[ 9.99782866e-01 -1.10608528e-02 1.76600803e-02 -1.71330344e+02] [ 1.11272212e-02 9.99931377e-01 -3.66427111e-03 -9.48642554e+01] [-1.76183384e-02 3.85998309e-03 9.99837334e-01 2.96453813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.86907232899995 meters Centerline goodness [0,1] 0.3198762308962807 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.86, Z:296.45 [[ 9.99795709e-01 -1.06061465e-02 1.72060848e-02 -1.71329817e+02] [ 1.06672363e-02 9.99937108e-01 -3.46258971e-03 -9.48639874e+01] [-1.71682779e-02 3.64542371e-03 9.99845969e-01 2.96454680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.899072329 meters Centerline goodness [0,1] 0.33516805491607715 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.86, Z:296.46 [[ 9.99824971e-01 -7.28747556e-03 1.72313417e-02 -1.71331137e+02] [ 7.30114711e-03 9.99973079e-01 -7.30635470e-04 -9.48601337e+01] [-1.72255534e-02 8.56316149e-04 9.99851262e-01 2.96456308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.92907232899995 meters Centerline goodness [0,1] 0.3348530795775384 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.86, Z:296.46 [[ 9.99836528e-01 -7.02694399e-03 1.66595028e-02 -1.71329847e+02] [ 7.04433349e-03 9.99974703e-01 -9.85366190e-04 -9.48582863e+01] [-1.66521573e-02 1.10256020e-03 9.99860735e-01 2.96456590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.959072329 meters Centerline goodness [0,1] 0.32924100140129253 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.86, Z:296.46 [[ 9.99853125e-01 -6.47980998e-03 1.58663440e-02 -1.71328066e+02] [ 6.49351409e-03 9.99978587e-01 -8.12356210e-04 -9.48576184e+01] [-1.58607404e-02 9.15265224e-04 9.99873792e-01 2.96456875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.98907232899995 meters Centerline goodness [0,1] 0.36648107836570665 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.86, Z:296.46 [[ 9.99886561e-01 -1.93399104e-03 1.49373594e-02 -1.71326149e+02] [ 1.88793186e-03 9.99993422e-01 3.09697512e-03 -9.48554591e+01] [-1.49432507e-02 -3.06842309e-03 9.99883635e-01 2.96457389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.019072329 meters Centerline goodness [0,1] 0.33094519859225746 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.85, Z:296.46 [[ 9.99900246e-01 2.99082924e-03 1.38041108e-02 -1.71323604e+02] [-3.08226266e-03 9.99973422e-01 6.60712181e-03 -9.48506521e+01] [-1.37839832e-02 -6.64901062e-03 9.99882889e-01 2.96458137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.04907232899996 meters Centerline goodness [0,1] 0.3526356572912521 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.85, Z:296.46 [[ 9.99877857e-01 1.26473035e-02 9.18247015e-03 -1.71310649e+02] [-1.27145103e-02 9.99892535e-01 7.29791514e-03 -9.48459601e+01] [-9.08918441e-03 -7.41377436e-03 9.99931209e-01 2.96464458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.079072329 meters Centerline goodness [0,1] 0.3563599019135246 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.84, Z:296.47 [[ 9.99731849e-01 2.27262396e-02 4.44392448e-03 -1.71298341e+02] [-2.27666336e-02 9.99697913e-01 9.26081755e-03 -9.48441948e+01] [-4.23211847e-03 -9.35950745e-03 9.99947243e-01 2.96471090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.10907232899996 meters Centerline goodness [0,1] 0.35447338618346547 Centerline is valid? [False, False] Translation: X:-171.29, Y:-94.84, Z:296.48 [[ 9.99529988e-01 3.06558413e-02 1.51507106e-04 -1.71288665e+02] [-3.06557992e-02 9.99478443e-01 1.01520424e-02 -9.48398987e+01] [ 1.59791314e-04 -1.01519154e-02 9.99948455e-01 2.96478060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.139072329 meters Centerline goodness [0,1] 0.3665367039785352 Centerline is valid? [False, False] Translation: X:-171.28, Y:-94.84, Z:296.49 [[ 9.98983107e-01 4.48423978e-02 -4.68087365e-03 -1.71275044e+02] [-4.47684309e-02 9.98886814e-01 1.48633987e-02 -9.48354806e+01] [ 5.34217340e-03 -1.46387288e-02 9.99878577e-01 2.96485411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.16907232899996 meters Centerline goodness [0,1] 0.36595807189473906 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.83, Z:296.49 [[ 9.98728172e-01 4.96145149e-02 -8.96872067e-03 -1.71265571e+02] [-4.94920640e-02 9.98684687e-01 1.33951780e-02 -9.48332673e+01] [ 9.62151925e-03 -1.29342611e-02 9.99870057e-01 2.96491539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.199072329 meters Centerline goodness [0,1] 0.36595807189473906 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.83, Z:296.49 [[ 9.98728172e-01 4.96145149e-02 -8.96872067e-03 -1.71265571e+02] [-4.94920640e-02 9.98684687e-01 1.33951780e-02 -9.48332673e+01] [ 9.62151925e-03 -1.29342611e-02 9.99870057e-01 2.96491539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.22907232899996 meters Centerline goodness [0,1] 0.35743805987370714 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.83, Z:296.50 [[ 9.98473658e-01 5.36300225e-02 -1.31975618e-02 -1.71256798e+02] [-5.34731506e-02 9.98497595e-01 1.19655650e-02 -9.48312094e+01] [ 1.38194472e-02 -1.12415863e-02 9.99841312e-01 2.96497505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.259072329 meters Centerline goodness [0,1] 0.31729197233284423 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.82, Z:296.50 [[ 9.97671566e-01 6.60707092e-02 -1.69147135e-02 -1.71246667e+02] [-6.58002943e-02 9.97703339e-01 1.60738450e-02 -9.48239340e+01] [ 1.79378765e-02 -1.49234250e-02 9.99727725e-01 2.96504911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.28907232899996 meters Centerline goodness [0,1] 0.32485520020146064 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.82, Z:296.51 [[ 9.97346178e-01 7.06600329e-02 -1.75431273e-02 -1.71244899e+02] [-7.03274271e-02 9.97344829e-01 1.89035782e-02 -9.48179539e+01] [ 1.88322747e-02 -1.76196484e-02 9.99667391e-01 2.96506349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.319072329 meters Centerline goodness [0,1] 0.3238706699397831 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.81, Z:296.51 [[ 9.97493891e-01 6.78153287e-02 -2.01747094e-02 -1.71240030e+02] [-6.75666619e-02 9.97633127e-01 1.27628105e-02 -9.48126492e+01] [ 2.09924726e-02 -1.13676877e-02 9.99715005e-01 2.96509495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.34907232899997 meters Centerline goodness [0,1] 0.3520902009364436 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.81, Z:296.51 [[ 9.97415961e-01 6.86579707e-02 -2.11538054e-02 -1.71237958e+02] [-6.83927806e-02 9.97573569e-01 1.30154314e-02 -9.48124253e+01] [ 2.19960903e-02 -1.15350315e-02 9.99691510e-01 2.96510100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37907232899994 meters Centerline goodness [0,1] 0.3341808325103486 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.81, Z:296.51 [[ 9.97363896e-01 6.91120306e-02 -2.21084899e-02 -1.71235652e+02] [-6.88480595e-02 9.97549006e-01 1.24869918e-02 -9.48094199e+01] [ 2.29173035e-02 -1.09319482e-02 9.99677593e-01 2.96510601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.40907232899997 meters Centerline goodness [0,1] 0.3339911405958055 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.51 [[ 9.97075152e-01 7.30706263e-02 -2.24014538e-02 -1.71234247e+02] [-7.27350856e-02 9.97231693e-01 1.54453299e-02 -9.48053663e+01] [ 2.34680396e-02 -1.37707830e-02 9.99629740e-01 2.96510919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43907232899994 meters Centerline goodness [0,1] 0.3424390039054298 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.51 [[ 9.96962347e-01 7.42509884e-02 -2.35131709e-02 -1.71231307e+02] [-7.38962874e-02 9.97143721e-01 1.56121324e-02 -9.48031373e+01] [ 2.46052269e-02 -1.38271721e-02 9.99601617e-01 2.96511351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.46907232899997 meters Centerline goodness [0,1] 0.3566534969737727 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.51 [[ 9.96540036e-01 7.94568120e-02 -2.43838361e-02 -1.71228291e+02] [-7.90082699e-02 9.96695927e-01 1.88393949e-02 -9.47974757e+01] [ 2.58001883e-02 -1.68476865e-02 9.99525140e-01 2.96512519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.49907232899994 meters Centerline goodness [0,1] 0.35877605917955613 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.51 [[ 9.96510203e-01 7.95971437e-02 -2.51338379e-02 -1.71226820e+02] [-7.91494863e-02 9.96694194e-01 1.83314731e-02 -9.47948435e+01] [ 2.65098833e-02 -1.62781696e-02 9.99516007e-01 2.96513394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.529072329 meters Centerline goodness [0,1] 0.3210227272727273 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.51 [[ 9.96497419e-01 7.95949071e-02 -2.56426455e-02 -1.71226073e+02] [-7.91551152e-02 9.96704562e-01 1.77336999e-02 -9.47924215e+01] [ 2.69696540e-02 -1.56418396e-02 9.99513867e-01 2.96514281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.55907232899995 meters Centerline goodness [0,1] 0.35474719455301984 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.51 [[ 9.96491410e-01 7.95948701e-02 -2.58752280e-02 -1.71225926e+02] [-7.91577015e-02 9.96708425e-01 1.75035406e-02 -9.47915565e+01] [ 2.71832498e-02 -1.53939043e-02 9.99511930e-01 2.96514846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.589072329 meters Centerline goodness [0,1] 0.3203946814777413 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.52 [[ 9.96476310e-01 7.96479764e-02 -2.62899738e-02 -1.71225498e+02] [-7.92151896e-02 9.96710624e-01 1.71139133e-02 -9.47901103e+01] [ 2.75665847e-02 -1.49710439e-02 9.99507855e-01 2.96515745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.61907232899995 meters Centerline goodness [0,1] 0.3244613701397071 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.52 [[ 9.96490068e-01 7.93631750e-02 -2.66276257e-02 -1.71225283e+02] [-7.89464030e-02 9.96744678e-01 1.63557879e-02 -9.47876891e+01] [ 2.78389915e-02 -1.41962250e-02 9.99511610e-01 2.96516695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.649072329 meters Centerline goodness [0,1] 0.330058691124808 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.52 [[ 9.96530960e-01 7.89384087e-02 -2.63585555e-02 -1.71226521e+02] [-7.85376663e-02 9.96784196e-01 1.59091540e-02 -9.47870909e+01] [ 2.75296349e-02 -1.37838251e-02 9.99525950e-01 2.96517204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.67907232899995 meters Centerline goodness [0,1] 0.3297592767791443 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.52 [[ 9.96572146e-01 7.85449084e-02 -2.59741421e-02 -1.71227974e+02] [-7.81584348e-02 9.96819273e-01 1.55754694e-02 -9.47869622e+01] [ 2.71148993e-02 -1.34919807e-02 9.99541269e-01 2.96517565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.709072329 meters Centerline goodness [0,1] 0.3460917007659218 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.52 [[ 9.96822677e-01 7.50644847e-02 -2.66434725e-02 -1.71226883e+02] [-7.47568271e-02 9.97125158e-01 1.23627145e-02 -9.47888864e+01] [ 2.74948775e-02 -1.03316527e-02 9.99568551e-01 2.96517353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.73907232899995 meters Centerline goodness [0,1] 0.3147023596898574 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.52 [[ 9.97443033e-01 6.61334842e-02 -2.70879581e-02 -1.71230665e+02] [-6.55610750e-02 9.97616868e-01 2.15018740e-02 -9.47929402e+01] [ 2.84453977e-02 -1.96709788e-02 9.99401777e-01 2.96520092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.769072329 meters Centerline goodness [0,1] 0.32032987786964373 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.52 [[ 9.97727719e-01 6.18041959e-02 -2.68260928e-02 -1.71232277e+02] [-6.13349302e-02 9.97955327e-01 1.79775179e-02 -9.47959962e+01] [ 2.78823283e-02 -1.62912914e-02 9.99478449e-01 2.96520037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.79907232899996 meters Centerline goodness [0,1] 0.34661128940909947 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.52 [[ 9.97930827e-01 5.81803114e-02 -2.73699722e-02 -1.71231463e+02] [-5.77944072e-02 9.98220479e-01 1.46860838e-02 -9.47982546e+01] [ 2.81757077e-02 -1.30738644e-02 9.99517485e-01 2.96519855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.829072329 meters Centerline goodness [0,1] 0.2892622658527888 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.52 [[ 9.98065491e-01 5.54042951e-02 -2.82070966e-02 -1.71229132e+02] [-5.50854604e-02 9.98410032e-01 1.19582315e-02 -9.48001815e+01] [ 2.88247857e-02 -1.03812973e-02 9.99530570e-01 2.96519094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.85907232899996 meters Centerline goodness [0,1] 0.2995442038270075 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.52 [[ 9.98334024e-01 4.85721875e-02 -3.11435101e-02 -1.71219923e+02] [-4.80449384e-02 9.98692551e-01 1.74606235e-02 -9.48074037e+01] [ 3.19508922e-02 -1.59352465e-02 9.99362401e-01 2.96524697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.889072329 meters Centerline goodness [0,1] 0.3246352471921906 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.52 [[ 9.98454582e-01 4.53823887e-02 -3.20762717e-02 -1.71218174e+02] [-4.49453256e-02 9.98888261e-01 1.42182670e-02 -9.48086444e+01] [ 3.26858702e-02 -1.27546153e-02 9.99384287e-01 2.96524980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.91907232899996 meters Centerline goodness [0,1] 0.32267203928728827 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.53 [[ 9.98612946e-01 4.13036889e-02 -3.26525566e-02 -1.71217159e+02] [-4.09979491e-02 9.99109403e-01 9.97842720e-03 -9.48075996e+01] [ 3.30356222e-02 -8.62589873e-03 9.99416951e-01 2.96525142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.949072329 meters Centerline goodness [0,1] 0.3046734068884507 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.53 [[ 9.98622764e-01 4.11472079e-02 -3.25496786e-02 -1.71217769e+02] [-4.08493841e-02 9.99117619e-01 9.76278321e-03 -9.48071272e+01] [ 3.29226687e-02 -8.41970323e-03 9.99422436e-01 2.96525538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.97907232899996 meters Centerline goodness [0,1] 0.33073554982925857 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.53 [[ 9.98736183e-01 3.76914304e-02 -3.32474396e-02 -1.71216440e+02] [-3.75019645e-02 9.99276668e-01 6.30418591e-03 -9.48081324e+01] [ 3.34610045e-02 -5.04937428e-03 9.99427268e-01 2.96525679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.009072329 meters Centerline goodness [0,1] 0.2782566748463684 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.53 [[ 9.98768709e-01 3.72004342e-02 -3.28206296e-02 -1.71218627e+02] [-3.70240339e-02 9.99296564e-01 5.96635857e-03 -9.48087688e+01] [ 3.30194936e-02 -4.74386015e-03 9.99443450e-01 2.96526648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.03907232899996 meters Centerline goodness [0,1] 0.3197491505516171 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.53 [[ 9.98777530e-01 3.70493254e-02 -3.27229825e-02 -1.71219304e+02] [-3.68836915e-02 9.99303587e-01 5.65111974e-03 -9.48079235e+01] [ 3.29095639e-02 -4.43726703e-03 9.99448484e-01 2.96527113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.069072329 meters Centerline goodness [0,1] 0.32013332774307157 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.53 [[ 9.98798029e-01 3.67420387e-02 -3.24425673e-02 -1.71220576e+02] [-3.65875344e-02 9.99316166e-01 5.34347252e-03 -9.48075761e+01] [ 3.26167121e-02 -4.15005628e-03 9.99459317e-01 2.96527677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.09907232899997 meters Centerline goodness [0,1] 0.28716776101869135 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.53 [[ 9.98786345e-01 3.68098343e-02 -3.27241979e-02 -1.71220341e+02] [-3.66626309e-02 9.99314751e-01 5.08722361e-03 -9.48063760e+01] [ 3.28890336e-02 -3.88129429e-03 9.99451473e-01 2.96528349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12907232899994 meters Centerline goodness [0,1] 0.2930300807043287 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.53 [[ 9.98796232e-01 3.66537242e-02 -3.25974267e-02 -1.71220953e+02] [-3.65123661e-02 9.99321083e-01 4.92142398e-03 -9.48061605e+01] [ 3.27556842e-02 -3.72529055e-03 9.99456446e-01 2.96528632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.15907232899997 meters Centerline goodness [0,1] 0.3358082174542252 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.53 [[ 9.98835204e-01 3.60693977e-02 -3.20504745e-02 -1.71222827e+02] [-3.59463453e-02 9.99344002e-01 4.40745671e-03 -9.48056241e+01] [ 3.21884238e-02 -3.25022550e-03 9.99476534e-01 2.96528985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.18907232899994 meters Centerline goodness [0,1] 0.29512149101658314 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.53 [[ 9.98851827e-01 3.58791229e-02 -3.17445619e-02 -1.71224275e+02] [-3.57569783e-02 9.99350796e-01 4.40727319e-03 -9.48065188e+01] [ 3.18820823e-02 -3.26712326e-03 9.99486297e-01 2.96529583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.21907232899997 meters Centerline goodness [0,1] 0.30242104381335344 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.54 [[ 9.98908164e-01 3.20347078e-02 -3.40037949e-02 -1.71216380e+02] [-3.16272778e-02 9.99422152e-01 1.24530385e-02 -9.48117768e+01] [ 3.43830754e-02 -1.13639943e-02 9.99344117e-01 2.96536455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.24907232899994 meters Centerline goodness [0,1] 0.31126828551640184 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.54 [[ 9.99033272e-01 2.78132578e-02 -3.40432746e-02 -1.71216635e+02] [-2.75367170e-02 9.99584095e-01 8.56538169e-03 -9.48126508e+01] [ 3.42673470e-02 -7.61966127e-03 9.99383655e-01 2.96536449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.279072329 meters Centerline goodness [0,1] 0.3131758530183727 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.54 [[ 9.99050397e-01 2.76015464e-02 -3.37113949e-02 -1.71217902e+02] [-2.73279294e-02 9.99589952e-01 8.55051456e-03 -9.48134281e+01] [ 3.39335791e-02 -7.62113235e-03 9.99395032e-01 2.96536690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.30907232899995 meters Centerline goodness [0,1] 0.3176088096486628 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.54 [[ 9.99082261e-01 2.70732155e-02 -3.31915119e-02 -1.71219444e+02] [-2.68211929e-02 9.99608115e-01 8.01493790e-03 -9.48125255e+01] [ 3.33954948e-02 -7.11734633e-03 9.99416872e-01 2.96536814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.339072329 meters Centerline goodness [0,1] 0.3137386489944005 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.54 [[ 9.99117818e-01 2.62127045e-02 -3.28097498e-02 -1.71221630e+02] [-2.59933906e-02 9.99636949e-01 7.09326544e-03 -9.48112598e+01] [ 3.29837719e-02 -6.23417124e-03 9.99436444e-01 2.96538118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.36907232899995 meters Centerline goodness [0,1] 0.31815609081189866 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.54 [[ 9.99145920e-01 2.55679392e-02 -3.24609086e-02 -1.71223392e+02] [-2.53736785e-02 9.99657662e-01 6.38241455e-03 -9.48100076e+01] [ 3.26129811e-02 -5.55331081e-03 9.99452627e-01 2.96539047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.399072329 meters Centerline goodness [0,1] 0.32900859358625023 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.54 [[ 9.99181069e-01 2.49351652e-02 -3.18657933e-02 -1.71225218e+02] [-2.47574904e-02 9.99675730e-01 5.95823139e-03 -9.48098446e+01] [ 3.20040297e-02 -5.16443494e-03 9.99474397e-01 2.96539212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.42907232899995 meters Centerline goodness [0,1] 0.3259574646587524 Centerline is valid? [False, False] Translation: X:-171.22, Y:-94.81, Z:296.54 [[ 9.99163170e-01 2.53319258e-02 -3.21131337e-02 -1.71224673e+02] [-2.51433064e-02 9.99664232e-01 6.26393078e-03 -9.48102168e+01] [ 3.22610286e-02 -5.45125857e-03 9.99464612e-01 2.96539252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.459072329 meters Centerline goodness [0,1] 0.27520687126846133 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.54 [[ 9.99193765e-01 2.47419510e-02 -3.16173191e-02 -1.71226326e+02] [-2.45712315e-02 9.99681391e-01 5.77679162e-03 -9.48096061e+01] [ 3.17501747e-02 -4.99525770e-03 9.99483353e-01 2.96539524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.48907232899995 meters Centerline goodness [0,1] 0.2842635333613093 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.54 [[ 9.99173786e-01 2.50644925e-02 -3.19924341e-02 -1.71225660e+02] [-2.48904884e-02 9.99673209e-01 5.82569277e-03 -9.48090931e+01] [ 3.21279973e-02 -5.02457219e-03 9.99471133e-01 2.96539920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.519072329 meters Centerline goodness [0,1] 0.3364985536410514 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.54 [[ 9.99197823e-01 2.45185857e-02 -3.16630697e-02 -1.71227080e+02] [-2.43676609e-02 9.99689831e-01 5.14375601e-03 -9.48074950e+01] [ 3.17793664e-02 -4.36807486e-03 9.99485363e-01 2.96540613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.54907232899996 meters Centerline goodness [0,1] 0.3471062240315609 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.54 [[ 9.99210430e-01 2.42719511e-02 -3.14545542e-02 -1.71227728e+02] [-2.41324142e-02 9.99697208e-01 4.80826186e-03 -9.48066216e+01] [ 3.15617359e-02 -4.04539107e-03 9.99493618e-01 2.96540697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.579072329 meters Centerline goodness [0,1] 0.3522577127157568 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.54 [[ 9.99225009e-01 2.41346858e-02 -3.10949984e-02 -1.71228799e+02] [-2.39947452e-02 9.99700243e-01 4.86579213e-03 -9.48072462e+01] [ 3.12031119e-02 -4.11590462e-03 9.99504590e-01 2.96540736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.60907232899996 meters Centerline goodness [0,1] 0.3144577554916812 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.54 [[ 9.99215512e-01 2.42707148e-02 -3.12936631e-02 -1.71228738e+02] [-2.41316873e-02 9.99697204e-01 4.81277649e-03 -9.48068373e+01] [ 3.14009970e-02 -4.05383203e-03 9.99498646e-01 2.96541269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.639072329 meters Centerline goodness [0,1] 0.3125104813013584 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.54 [[ 9.99237542e-01 2.39945427e-02 -3.07992799e-02 -1.71230155e+02] [-2.38615639e-02 9.99704328e-01 4.67795476e-03 -9.48067432e+01] [ 3.09024188e-02 -3.93946903e-03 9.99514643e-01 2.96541335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.66907232899996 meters Centerline goodness [0,1] 0.3066568822727749 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.54 [[ 9.99214205e-01 2.44886456e-02 -3.11653416e-02 -1.71229055e+02] [-2.43473760e-02 9.99691528e-01 4.90441240e-03 -9.48064784e+01] [ 3.12758304e-02 -4.14176425e-03 9.99502210e-01 2.96541152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.699072329 meters Centerline goodness [0,1] 0.30830138880160873 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.81, Z:296.54 [[ 9.99233564e-01 2.40593097e-02 -3.08777391e-02 -1.71230086e+02] [-2.39343794e-02 9.99703808e-01 4.40926950e-03 -9.48053555e+01] [ 3.09746773e-02 -3.66685055e-03 9.99513443e-01 2.96541441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.72907232899996 meters Centerline goodness [0,1] 0.32070209285744244 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.54 [[ 9.99228447e-01 2.40825872e-02 -3.10248352e-02 -1.71230039e+02] [-2.39643373e-02 9.99704085e-01 4.17772537e-03 -9.48042060e+01] [ 3.11162649e-02 -3.43101242e-03 9.99509883e-01 2.96541912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.759072329 meters Centerline goodness [0,1] 0.3156757890321904 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.54 [[ 9.99206497e-01 2.44140532e-02 -3.14695039e-02 -1.71229158e+02] [-2.42985779e-02 9.99696556e-01 4.04670928e-03 -9.48026024e+01] [ 3.15587512e-02 -3.27883401e-03 9.99496520e-01 2.96542453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.78907232899996 meters Centerline goodness [0,1] 0.32133940373035685 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.54 [[ 9.99196910e-01 2.45468144e-02 -3.16700071e-02 -1.71228712e+02] [-2.44334634e-02 9.99693610e-01 3.96123400e-03 -9.48016164e+01] [ 3.17575394e-02 -3.18424481e-03 9.99490530e-01 2.96542579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.819072329 meters Centerline goodness [0,1] 0.31876547354286433 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.54 [[ 9.99172926e-01 2.49484560e-02 -3.21097929e-02 -1.71227285e+02] [-2.48350505e-02 9.99683854e-01 3.92585972e-03 -9.48001952e+01] [ 3.21975857e-02 -3.12516442e-03 9.99476637e-01 2.96542412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.84907232899997 meters Centerline goodness [0,1] 0.3164915371547222 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.54 [[ 9.99170441e-01 2.50104306e-02 -3.21388766e-02 -1.71227368e+02] [-2.48973828e-02 9.99682354e-01 3.91293219e-03 -9.47997373e+01] [ 3.22265319e-02 -3.10951227e-03 9.99475753e-01 2.96542592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87907232899994 meters Centerline goodness [0,1] 0.3208176800218272 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.54 [[ 9.99168041e-01 2.50290106e-02 -3.21989957e-02 -1.71227554e+02] [-2.49211737e-02 9.99682400e-01 3.74611551e-03 -9.47988561e+01] [ 3.22825309e-02 -2.94056213e-03 9.99474458e-01 2.96543013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.90907232899997 meters Centerline goodness [0,1] 0.3445483911566053 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.54 [[ 9.99160755e-01 2.52896193e-02 -3.22214187e-02 -1.71227667e+02] [-2.51759600e-02 9.99675317e-01 3.92835063e-03 -9.47989245e+01] [ 3.23103035e-02 -3.11384864e-03 9.99473035e-01 2.96543225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93907232899994 meters Centerline goodness [0,1] 0.34664905217245434 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.54 [[ 9.99189487e-01 2.47775979e-02 -3.17244345e-02 -1.71229452e+02] [-2.46771630e-02 9.99689157e-01 3.55354128e-03 -9.47985567e+01] [ 3.18026214e-02 -2.76779205e-03 9.99490336e-01 2.96543665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.96907232899997 meters Centerline goodness [0,1] 0.34719103481563873 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.54 [[ 9.99194425e-01 2.46936327e-02 -3.16342620e-02 -1.71229978e+02] [-2.45963013e-02 9.99691470e-01 3.46228441e-03 -9.47981802e+01] [ 3.17099983e-02 -2.68140944e-03 9.99493515e-01 2.96543989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.99907232899994 meters Centerline goodness [0,1] 0.32076381319694813 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.54 [[ 9.99197004e-01 2.46386566e-02 -3.15956329e-02 -1.71230473e+02] [-2.45467384e-02 9.99693257e-01 3.29385582e-03 -9.47974791e+01] [ 3.16670973e-02 -2.51564114e-03 9.99495306e-01 2.96544422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.029072329 meters Centerline goodness [0,1] 0.34493531545509826 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.80, Z:296.55 [[ 9.99206711e-01 2.43820634e-02 -3.14875159e-02 -1.71231464e+02] [-2.42993560e-02 9.99700206e-01 3.00672388e-03 -9.47972300e+01] [ 3.15513863e-02 -2.23921232e-03 9.99499623e-01 2.96545160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.05907232899995 meters Centerline goodness [0,1] 0.32516045136121485 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99133486e-01 2.78274207e-02 -3.09501497e-02 -1.71232988e+02] [-2.76518951e-02 9.99599093e-01 6.08495127e-03 -9.47947030e+01] [ 3.11070701e-02 -5.22384829e-03 9.99502407e-01 2.96545560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.089072329 meters Centerline goodness [0,1] 0.3165901804237128 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99133859e-01 2.76371065e-02 -3.11082429e-02 -1.71232652e+02] [-2.74767280e-02 9.99606918e-01 5.57130936e-03 -9.47926943e+01] [ 3.12499897e-02 -4.71173109e-03 9.99500494e-01 2.96545701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.11907232899995 meters Centerline goodness [0,1] 0.3165901804237128 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99133859e-01 2.76371065e-02 -3.11082429e-02 -1.71232652e+02] [-2.74767280e-02 9.99606918e-01 5.57130936e-03 -9.47926943e+01] [ 3.12499897e-02 -4.71173109e-03 9.99500494e-01 2.96545701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.149072329 meters Centerline goodness [0,1] 0.3334593175853018 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99058660e-01 2.91968269e-02 -3.20833049e-02 -1.71229988e+02] [-2.90028749e-02 9.99558232e-01 6.49419894e-03 -9.47925850e+01] [ 3.22587415e-02 -5.55757762e-03 9.99464100e-01 2.96545763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.17907232899995 meters Centerline goodness [0,1] 0.3293416941048173 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99050506e-01 2.91221707e-02 -3.24034963e-02 -1.71229498e+02] [-2.89422965e-02 9.99563038e-01 6.00643502e-03 -9.47905713e+01] [ 3.25642576e-02 -5.06290034e-03 9.99456821e-01 2.96546271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.209072329 meters Centerline goodness [0,1] 0.33164153436379273 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99034480e-01 2.92088600e-02 -3.28169148e-02 -1.71228897e+02] [-2.90361896e-02 9.99561960e-01 5.72603368e-03 -9.47890841e+01] [ 3.29697906e-02 -4.76762692e-03 9.99444977e-01 2.96546920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.23907232899995 meters Centerline goodness [0,1] 0.3481396080075464 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99031833e-01 2.90929100e-02 -3.29999929e-02 -1.71229442e+02] [-2.89386753e-02 9.99567964e-01 5.14190736e-03 -9.47873608e+01] [ 3.31353287e-02 -4.18195306e-03 9.99442125e-01 2.96548249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.269072329 meters Centerline goodness [0,1] 0.3371490869446716 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99034298e-01 2.90194068e-02 -3.29900872e-02 -1.71230034e+02] [-2.88720381e-02 9.99570935e-01 4.93479436e-03 -9.47869471e+01] [ 3.31191371e-02 -3.97753776e-03 9.99443496e-01 2.96548880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.29907232899996 meters Centerline goodness [0,1] 0.3411293367453958 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99040485e-01 2.88670868e-02 -3.29363254e-02 -1.71230425e+02] [-2.87275893e-02 9.99576224e-01 4.70085623e-03 -9.47862519e+01] [ 3.30580678e-02 -3.75016446e-03 9.99446397e-01 2.96549121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.329072329 meters Centerline goodness [0,1] 0.35024762864098047 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99041190e-01 2.88936473e-02 -3.28916149e-02 -1.71230272e+02] [-2.87502623e-02 9.99574985e-01 4.82405111e-03 -9.47863304e+01] [ 3.30170199e-02 -3.87378320e-03 9.99447282e-01 2.96548722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.35907232899996 meters Centerline goodness [0,1] 0.35194429296530894 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99064927e-01 2.84879936e-02 -3.25223766e-02 -1.71231493e+02] [-2.83577517e-02 9.99587893e-01 4.45903412e-03 -9.47855371e+01] [ 3.26360029e-02 -3.53260312e-03 9.99461061e-01 2.96548965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.389072329 meters Centerline goodness [0,1] 0.3354081525725663 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.55 [[ 9.99080005e-01 2.82917174e-02 -3.22292033e-02 -1.71232107e+02] [-2.81644090e-02 9.99593632e-01 4.39733618e-03 -9.47853905e+01] [ 3.23405146e-02 -3.48557419e-03 9.99470831e-01 2.96548742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.41907232899996 meters Centerline goodness [0,1] 0.3627496224198691 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.78, Z:296.55 [[ 9.99082693e-01 2.81616573e-02 -3.22597880e-02 -1.71232329e+02] [-2.80408058e-02 9.99597987e-01 4.19259342e-03 -9.47846517e+01] [ 3.23648895e-02 -3.28415708e-03 9.99470724e-01 2.96549063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.449072329 meters Centerline goodness [0,1] 0.3409882135816451 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.78, Z:296.55 [[ 9.99086498e-01 2.81120081e-02 -3.21851576e-02 -1.71232741e+02] [-2.79945891e-02 9.99599694e-01 4.09315140e-03 -9.47843785e+01] [ 3.22873404e-02 -3.18840203e-03 9.99473542e-01 2.96549253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.47907232899996 meters Centerline goodness [0,1] 0.3443509993498458 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.78, Z:296.55 [[ 9.99096297e-01 2.79012540e-02 -3.20641448e-02 -1.71233330e+02] [-2.77966178e-02 9.99606735e-01 3.70455680e-03 -9.47831600e+01] [ 3.21548968e-02 -2.80993421e-03 9.99478948e-01 2.96549585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.509072329 meters Centerline goodness [0,1] 0.3486221215553039 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.78, Z:296.55 [[ 9.99062428e-01 2.84725782e-02 -3.26125270e-02 -1.71232320e+02] [-2.83563415e-02 9.99589790e-01 4.02124707e-03 -9.47832541e+01] [ 3.27136443e-02 -3.09270491e-03 9.99459981e-01 2.96550090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.53907232899996 meters Centerline goodness [0,1] 0.35610175534257493 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.78, Z:296.55 [[ 9.99043076e-01 2.85588777e-02 -3.31258657e-02 -1.71231360e+02] [-2.84600806e-02 9.99588975e-01 3.45026051e-03 -9.47806043e+01] [ 3.32107857e-02 -2.50419407e-03 9.99445232e-01 2.96550751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.569072329 meters Centerline goodness [0,1] 0.28689470041733955 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.78, Z:296.55 [[ 9.99030238e-01 2.86648380e-02 -3.34202120e-02 -1.71230870e+02] [-2.85735427e-02 9.99586551e-01 3.20624622e-03 -9.47791331e+01] [ 3.34983010e-02 -2.24820307e-03 9.99436246e-01 2.96551198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.59907232899997 meters Centerline goodness [0,1] 0.36676379950105864 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.78, Z:296.55 [[ 9.99043639e-01 2.83439324e-02 -3.32930727e-02 -1.71231707e+02] [-2.82678114e-02 9.99596589e-01 2.75495774e-03 -9.47779083e+01] [ 3.33577282e-02 -1.81120071e-03 9.99441835e-01 2.96551832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62907232899994 meters Centerline goodness [0,1] 0.2922809151341036 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.78, Z:296.55 [[ 9.99050998e-01 2.82284555e-02 -3.31701372e-02 -1.71232545e+02] [-2.81575472e-02 9.99600109e-01 2.60298832e-03 -9.47775935e+01] [ 3.32303511e-02 -1.66652837e-03 9.99446330e-01 2.96552408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.65907232899997 meters Centerline goodness [0,1] 0.3621307729397707 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.78, Z:296.55 [[ 9.99097137e-01 2.74292585e-02 -3.24429849e-02 -1.71234911e+02] [-2.73823522e-02 9.99623248e-01 1.88930763e-03 -9.47765600e+01] [ 3.24825842e-02 -9.99236603e-04 9.99471802e-01 2.96552823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.68907232899994 meters Centerline goodness [0,1] 0.3578848167539267 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.78, Z:296.55 [[ 9.99112135e-01 2.73361027e-02 -3.20574362e-02 -1.71236053e+02] [-2.72853198e-02 9.99625644e-01 2.02059662e-03 -9.47773573e+01] [ 3.21006705e-02 -1.14410521e-03 9.99483986e-01 2.96552826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.71907232899997 meters Centerline goodness [0,1] 0.3072612849944595 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.56 [[ 9.99217123e-01 2.37717315e-02 -3.16234879e-02 -1.71227281e+02] [-2.33872936e-02 9.99648685e-01 1.24716107e-02 -9.47868282e+01] [ 3.19088499e-02 -1.17222592e-02 9.99422040e-01 2.96556502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.74907232899994 meters Centerline goodness [0,1] 0.3186345432052169 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.56 [[ 9.99240161e-01 2.33210172e-02 -3.12286759e-02 -1.71228248e+02] [-2.29485835e-02 9.99661815e-01 1.22318383e-02 -9.47867300e+01] [ 3.15033738e-02 -1.15058902e-02 9.99437418e-01 2.96556267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.779072329 meters Centerline goodness [0,1] 0.31901956261925235 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.56 [[ 9.99310399e-01 1.94460240e-02 -3.16319135e-02 -1.71227618e+02] [-1.91866084e-02 9.99779923e-01 8.48406014e-03 -9.47874643e+01] [ 3.17899332e-02 -7.87130039e-03 9.99463578e-01 2.96556467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.80907232899995 meters Centerline goodness [0,1] 0.31655309780899465 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.56 [[ 9.99307613e-01 1.96864798e-02 -3.15711468e-02 -1.71227709e+02] [-1.94154337e-02 9.99772165e-01 8.86897703e-03 -9.47884177e+01] [ 3.17385528e-02 -8.24986875e-03 9.99462157e-01 2.96556267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.839072329 meters Centerline goodness [0,1] 0.3245873445332327 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.56 [[ 9.99328552e-01 1.92995082e-02 -3.11444234e-02 -1.71229222e+02] [-1.90445410e-02 9.99782821e-01 8.46261379e-03 -9.47877273e+01] [ 3.13009838e-02 -7.86380033e-03 9.99479069e-01 2.96556664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.86907232899995 meters Centerline goodness [0,1] 0.32818063759373295 Centerline is valid? [False, False] Translation: X:-171.23, Y:-94.79, Z:296.56 [[ 9.99402345e-01 1.51541011e-02 -3.10693820e-02 -1.71229903e+02] [-1.50179491e-02 9.99876593e-01 4.61088559e-03 -9.47887193e+01] [ 3.11354217e-02 -4.14153148e-03 9.99506595e-01 2.96556926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.899072329 meters Centerline goodness [0,1] 0.3293674067867616 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.79, Z:296.55 [[ 9.99725880e-01 1.40185173e-02 -1.87522511e-02 -1.71239054e+02] [-1.39189845e-02 9.99888394e-01 5.42781333e-03 -9.47912391e+01] [ 1.88262481e-02 -5.16531316e-03 9.99809428e-01 2.96552593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.92907232899995 meters Centerline goodness [0,1] 0.33492662473794554 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.79, Z:296.55 [[ 9.99784458e-01 9.71431345e-03 -1.83485651e-02 -1.71240129e+02] [-9.68449296e-03 9.99951636e-01 1.71338110e-03 -9.47930272e+01] [ 1.83643220e-02 -1.53531525e-03 9.99830183e-01 2.96552300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.959072329 meters Centerline goodness [0,1] 0.33418538384177 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.80, Z:296.55 [[ 9.99941947e-01 9.81882218e-03 -4.43769303e-03 -1.71244644e+02] [-9.79543619e-03 9.99938183e-01 5.26121733e-03 -9.47987452e+01] [ 4.48907766e-03 -5.21744276e-03 9.99976313e-01 2.96546249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.98907232899995 meters Centerline goodness [0,1] 0.3343302310990275 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.80, Z:296.55 [[ 9.99970660e-01 6.01261745e-03 -4.74635967e-03 -1.71243736e+02] [-6.00501784e-03 9.99980668e-01 1.61377566e-03 -9.47998542e+01] [ 4.75597093e-03 -1.58522634e-03 9.99987434e-01 2.96545975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.019072329 meters Centerline goodness [0,1] 0.343220961211689 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.80, Z:296.54 [[ 9.99990786e-01 1.66735488e-03 -3.95580181e-03 -1.71245233e+02] [-1.67403088e-03 9.99997179e-01 -1.68493824e-03 -9.48031381e+01] [ 3.95298126e-03 1.69154485e-03 9.99990756e-01 2.96544872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.04907232899996 meters Centerline goodness [0,1] 0.30602146930560215 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.81, Z:296.54 [[ 9.99990085e-01 -1.44910867e-03 -4.21073229e-03 -1.71243614e+02] [ 1.43025958e-03 9.99988960e-01 -4.47600875e-03 -9.48056253e+01] [ 4.21717203e-03 4.46994193e-03 9.99981117e-01 2.96543606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.079072329 meters Centerline goodness [0,1] 0.30165653176766616 Centerline is valid? [False, False] Translation: X:-171.24, Y:-94.81, Z:296.54 [[ 9.99992358e-01 -1.59434551e-03 -3.56945550e-03 -1.71244893e+02] [ 1.57945592e-03 9.99990057e-01 -4.17032819e-03 -9.48069348e+01] [ 3.57606895e-03 4.16465852e-03 9.99984934e-01 2.96542962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.10907232899996 meters Centerline goodness [0,1] 0.30302204139840194 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.81, Z:296.54 [[ 9.99994204e-01 -2.02868015e-03 -2.73440336e-03 -1.71246941e+02] [ 2.01759279e-03 9.99989758e-01 -4.05144385e-03 -9.48082806e+01] [ 2.74259444e-03 4.04590345e-03 9.99988054e-01 2.96542607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.139072329 meters Centerline goodness [0,1] 0.3281584357823186 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.81, Z:296.54 [[ 9.99992145e-01 -3.69522487e-03 -1.43360886e-03 -1.71250247e+02] [ 3.68818929e-03 9.99981293e-01 -4.87959202e-03 -9.48084014e+01] [ 1.45161324e-03 4.87426627e-03 9.99987067e-01 2.96542339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.16907232899996 meters Centerline goodness [0,1] 0.32817681877335125 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.81, Z:296.54 [[ 9.99992817e-01 -3.59200342e-03 -1.21005908e-03 -1.71250652e+02] [ 3.58638512e-03 9.99982926e-01 -4.61360918e-03 -9.48089276e+01] [ 1.22661052e-03 4.60923630e-03 9.99988625e-01 2.96542118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.199072329 meters Centerline goodness [0,1] 0.32048966907441623 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.81, Z:296.54 [[ 9.99991438e-01 -4.11487271e-03 -4.37210869e-04 -1.71252844e+02] [ 4.11279180e-03 9.99980692e-01 -4.65833116e-03 -9.48096205e+01] [ 4.56370868e-04 4.65649312e-03 9.99989054e-01 2.96542248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.22907232899996 meters Centerline goodness [0,1] 0.320991284259162 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.81, Z:296.54 [[ 9.99990701e-01 -4.31243058e-03 -3.50099433e-05 -1.71253889e+02] [ 4.31221598e-03 9.99979450e-01 -4.74384279e-03 -9.48095821e+01] [ 5.54667166e-05 4.74364771e-03 9.99988747e-01 2.96542215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.259072329 meters Centerline goodness [0,1] 0.3304751697034656 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.81, Z:296.54 [[ 9.99990883e-01 -4.26272876e-03 -2.53003775e-04 -1.71252965e+02] [ 4.26139158e-03 9.99978071e-01 -5.06932162e-03 -9.48073805e+01] [ 2.74607370e-04 5.06819725e-03 9.99987119e-01 2.96541899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.28907232899996 meters Centerline goodness [0,1] 0.3189530116682434 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.81, Z:296.54 [[ 9.99992816e-01 -3.77247661e-03 -3.69374596e-04 -1.71252414e+02] [ 3.77082178e-03 9.99983286e-01 -4.38274178e-03 -9.48088392e+01] [ 3.85902214e-04 4.38131745e-03 9.99990328e-01 2.96541479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.319072329 meters Centerline goodness [0,1] 0.3395905154292441 Centerline is valid? [False, False] Translation: X:-171.25, Y:-94.81, Z:296.54 [[ 9.99992702e-01 -3.82012633e-03 4.98455198e-05 -1.71253462e+02] [ 3.82030172e-03 9.99983916e-01 -4.19192442e-03 -9.48096294e+01] [-3.38310372e-05 4.19208426e-03 9.99991213e-01 2.96541328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.34907232899997 meters Centerline goodness [0,1] 0.3285360114295319 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99990412e-01 -4.27842181e-03 9.32910760e-04 -1.71255490e+02] [ 4.28223762e-03 9.99982314e-01 -4.12731624e-03 -9.48108400e+01] [-9.15235860e-04 4.13127161e-03 9.99991047e-01 2.96540858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37907232899994 meters Centerline goodness [0,1] 0.3315396741986337 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99991797e-01 -3.96826023e-03 8.12260018e-04 -1.71255161e+02] [ 3.97129901e-03 9.99984991e-01 -3.77434922e-03 -9.48114226e+01] [-7.97270227e-04 3.77754399e-03 9.99992547e-01 2.96540761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.40907232899997 meters Centerline goodness [0,1] 0.3328638991066737 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99987016e-01 -4.82504309e-03 1.63898217e-03 -1.71257568e+02] [ 4.83251907e-03 9.99977796e-01 -4.58844078e-03 -9.48099016e+01] [-1.61680636e-03 4.59630162e-03 9.99988130e-01 2.96541134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43907232899994 meters Centerline goodness [0,1] 0.3075872502258735 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99989029e-01 -4.43225508e-03 1.51554539e-03 -1.71257523e+02] [ 4.43834963e-03 9.99981982e-01 -4.04191916e-03 -9.48111628e+01] [-1.49760327e-03 4.04860134e-03 9.99990683e-01 2.96541393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.46907232899997 meters Centerline goodness [0,1] 0.33984030258457654 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99991876e-01 -3.85592694e-03 1.17421181e-03 -1.71256259e+02] [ 3.86001970e-03 9.99986413e-01 -3.50344406e-03 -9.48115565e+01] [-1.16068683e-03 3.50794808e-03 9.99993174e-01 2.96540880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.49907232899994 meters Centerline goodness [0,1] 0.35123758208452605 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99988302e-01 -4.46865594e-03 1.85127823e-03 -1.71257166e+02] [ 4.47568659e-03 9.99982722e-01 -3.81115592e-03 -9.48109493e+01] [-1.83421550e-03 3.81939707e-03 9.99991024e-01 2.96539792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.529072329 meters Centerline goodness [0,1] 0.356598610818775 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99981961e-01 -5.30938716e-03 2.80843532e-03 -1.71259597e+02] [ 5.32120357e-03 9.99976951e-01 -4.21686648e-03 -9.48108601e+01] [-2.78598161e-03 4.23173467e-03 9.99987165e-01 2.96539654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.55907232899995 meters Centerline goodness [0,1] 0.31703569624515915 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99980750e-01 -5.39800343e-03 3.05965410e-03 -1.71259971e+02] [ 5.41105077e-03 9.99976234e-01 -4.27220234e-03 -9.48104455e+01] [-3.03652002e-03 4.28867604e-03 9.99986193e-01 2.96539294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.589072329 meters Centerline goodness [0,1] 0.3217883204003954 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99977660e-01 -5.66402197e-03 3.54930195e-03 -1.71261128e+02] [ 5.67923628e-03 9.99974665e-01 -4.29124893e-03 -9.48106559e+01] [-3.52490630e-03 4.31131039e-03 9.99984494e-01 2.96539094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.61907232899995 meters Centerline goodness [0,1] 0.3326107088735477 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99976215e-01 -5.70153544e-03 3.88101138e-03 -1.71261777e+02] [ 5.71762435e-03 9.99975055e-01 -4.14715290e-03 -9.48110394e+01] [-3.85726943e-03 4.16924442e-03 9.99983869e-01 2.96538778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.649072329 meters Centerline goodness [0,1] 0.3367860376007916 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99977601e-01 -5.45001134e-03 3.88510117e-03 -1.71261739e+02] [ 5.46541939e-03 9.99977198e-01 -3.96640864e-03 -9.48111462e+01] [-3.86339561e-03 3.98755351e-03 9.99984587e-01 2.96538708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.67907232899995 meters Centerline goodness [0,1] 0.33819321720104356 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99973227e-01 -5.87284589e-03 4.36510554e-03 -1.71263103e+02] [ 5.89172231e-03 9.99973294e-01 -4.32418461e-03 -9.48104867e+01] [-4.33959370e-03 4.34978683e-03 9.99981123e-01 2.96538843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.709072329 meters Centerline goodness [0,1] 0.34871967654986524 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99976709e-01 -5.45886469e-03 4.09659034e-03 -1.71262312e+02] [ 5.47545941e-03 9.99976806e-01 -4.05063968e-03 -9.48102102e+01] [-4.07438343e-03 4.07297605e-03 9.99983405e-01 2.96538771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.73907232899995 meters Centerline goodness [0,1] 0.3330034115318199 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99975477e-01 -5.63779854e-03 4.15453136e-03 -1.71262507e+02] [ 5.65609713e-03 9.99974298e-01 -4.40598240e-03 -9.48086810e+01] [-4.12958454e-03 4.42937278e-03 9.99981663e-01 2.96538873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.769072329 meters Centerline goodness [0,1] 0.3599797728661427 Centerline is valid? [False, False] Translation: X:-171.26, Y:-94.81, Z:296.54 [[ 9.99972976e-01 -5.83362608e-03 4.47394422e-03 -1.71263230e+02] [ 5.85373750e-03 9.99972762e-01 -4.49539054e-03 -9.48086515e+01] [-4.44759793e-03 4.52145835e-03 9.99979887e-01 2.96538712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.79907232899996 meters Centerline goodness [0,1] 0.31417987413441095 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.81, Z:296.54 [[ 9.99963073e-01 -6.68374419e-03 5.40189445e-03 -1.71265724e+02] [ 6.71001231e-03 9.99965681e-01 -4.85935560e-03 -9.48090735e+01] [-5.36923037e-03 4.89542293e-03 9.99973603e-01 2.96538729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.829072329 meters Centerline goodness [0,1] 0.34204930630118524 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.81, Z:296.54 [[ 9.99959454e-01 -6.92098747e-03 5.76102128e-03 -1.71266470e+02] [ 6.94974260e-03 9.99963418e-01 -4.98636245e-03 -9.48088727e+01] [-5.72629998e-03 5.02619789e-03 9.99970973e-01 2.96538475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.85907232899996 meters Centerline goodness [0,1] 0.32049014653865593 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.81, Z:296.54 [[ 9.99974091e-01 -3.29266969e-03 6.40129441e-03 -1.71268210e+02] [ 3.30107919e-03 9.99993702e-01 -1.30359650e-03 -9.48079048e+01] [-6.39696178e-03 1.32469391e-03 9.99978662e-01 2.96538485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.889072329 meters Centerline goodness [0,1] 0.33273706805841996 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.81, Z:296.54 [[ 9.99974207e-01 -3.29035926e-03 6.38426458e-03 -1.71267815e+02] [ 3.29946540e-03 9.99993554e-01 -1.41633392e-03 -9.48071031e+01] [-6.37956318e-03 1.43736204e-03 9.99978617e-01 2.96538077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.91907232899996 meters Centerline goodness [0,1] 0.32062274843575533 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.81, Z:296.54 [[ 9.99975145e-01 -3.17532180e-03 6.29500867e-03 -1.71267621e+02] [ 3.18472256e-03 9.99993828e-01 -1.48390590e-03 -9.48061779e+01] [-6.29025793e-03 1.50391687e-03 9.99979085e-01 2.96538197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.949072329 meters Centerline goodness [0,1] 0.3664532164974512 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.81, Z:296.54 [[ 9.99972870e-01 -3.36872919e-03 6.55057196e-03 -1.71268499e+02] [ 3.38014534e-03 9.99992787e-01 -1.73248229e-03 -9.48052830e+01] [-6.54468845e-03 1.75457717e-03 9.99977044e-01 2.96538558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.97907232899996 meters Centerline goodness [0,1] 0.3471420748915378 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.80, Z:296.54 [[ 9.99971334e-01 -3.46040580e-03 6.73471885e-03 -1.71269215e+02] [ 3.47314144e-03 9.99992201e-01 -1.88026690e-03 -9.48046391e+01] [-6.72815984e-03 1.90360363e-03 9.99975554e-01 2.96538992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.009072329 meters Centerline goodness [0,1] 0.3471420748915378 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.80, Z:296.54 [[ 9.99971334e-01 -3.46040580e-03 6.73471885e-03 -1.71269215e+02] [ 3.47314144e-03 9.99992201e-01 -1.88026690e-03 -9.48046391e+01] [-6.72815984e-03 1.90360363e-03 9.99975554e-01 2.96538992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.03907232899996 meters Centerline goodness [0,1] 0.3585040897208871 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.80, Z:296.54 [[ 9.99969767e-01 -3.51596658e-03 6.93558041e-03 -1.71269628e+02] [ 3.52902945e-03 9.99992021e-01 -1.87211912e-03 -9.48044395e+01] [-6.92894275e-03 1.89653839e-03 9.99974196e-01 2.96538868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.069072329 meters Centerline goodness [0,1] 0.36752010780309097 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.81, Z:296.54 [[ 9.99959994e-01 -4.13675306e-03 7.93085896e-03 -1.71271471e+02] [ 4.15119567e-03 9.99989754e-01 -1.80546845e-03 -9.48055075e+01] [-7.92330892e-03 1.83831877e-03 9.99966920e-01 2.96537773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.09907232899997 meters Centerline goodness [0,1] 0.3500892763365193 Centerline is valid? [False, False] Translation: X:-171.27, Y:-94.81, Z:296.54 [[ 9.99947169e-01 -4.93584411e-03 9.01648467e-03 -1.71274284e+02] [ 4.95308261e-03 9.99985946e-01 -1.89055920e-03 -9.48068027e+01] [-9.00702645e-03 1.93511871e-03 9.99957563e-01 2.96537570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12907232899994 meters Centerline goodness [0,1] 0.35262659227287085 Centerline is valid? [False, False] Translation: X:-171.28, Y:-94.81, Z:296.54 [[ 9.99927884e-01 -6.31990522e-03 1.02120034e-02 -1.71278016e+02] [ 6.34812883e-03 9.99976114e-01 -2.73372137e-03 -9.48068907e+01] [-1.01944826e-02 2.79835134e-03 9.99944119e-01 2.96538220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.15907232899997 meters Centerline goodness [0,1] 0.3555283798599983 Centerline is valid? [False, False] Translation: X:-171.28, Y:-94.81, Z:296.54 [[ 9.99916086e-01 -6.65780596e-03 1.11128071e-02 -1.71280337e+02] [ 6.68544710e-03 9.99974646e-01 -2.45203011e-03 -9.48086992e+01] [-1.10962002e-02 2.52611843e-03 9.99935244e-01 2.96538058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.18907232899994 meters Centerline goodness [0,1] 0.3556216261808367 Centerline is valid? [False, False] Translation: X:-171.28, Y:-94.81, Z:296.54 [[ 9.99868284e-01 -1.08238422e-02 1.20937536e-02 -1.71282239e+02] [ 1.08936169e-02 9.99924311e-01 -5.71857877e-03 -9.48121606e+01] [-1.20309413e-02 5.84957026e-03 9.99910515e-01 2.96537137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.21907232899997 meters Centerline goodness [0,1] 0.361091775823156 Centerline is valid? [False, False] Translation: X:-171.28, Y:-94.81, Z:296.54 [[ 9.99848709e-01 -1.14163047e-02 1.31235270e-02 -1.71284865e+02] [ 1.14897195e-02 9.99918686e-01 -5.53241600e-03 -9.48140351e+01] [-1.30593001e-02 5.68236464e-03 9.99898578e-01 2.96536877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.24907232899994 meters Centerline goodness [0,1] 0.3209457321831565 Centerline is valid? [False, False] Translation: X:-171.29, Y:-94.82, Z:296.54 [[ 9.99811317e-01 -1.26991444e-02 1.46990492e-02 -1.71287994e+02] [ 1.27773455e-02 9.99904644e-01 -5.23851700e-03 -9.48167684e+01] [-1.46311229e-02 5.42534341e-03 9.99878241e-01 2.96535256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.279072329 meters Centerline goodness [0,1] 0.36981649441046194 Centerline is valid? [False, False] Translation: X:-171.29, Y:-94.82, Z:296.54 [[ 9.99782393e-01 -1.35688961e-02 1.58445841e-02 -1.71291109e+02] [ 1.36569781e-02 9.99891809e-01 -5.46421428e-03 -9.48176935e+01] [-1.57687265e-02 5.67941437e-03 9.99859536e-01 2.96535321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.30907232899995 meters Centerline goodness [0,1] 0.3499936679471485 Centerline is valid? [False, False] Translation: X:-171.29, Y:-94.82, Z:296.54 [[ 9.99767811e-01 -1.38368085e-02 1.65186803e-02 -1.71292733e+02] [ 1.39290450e-02 9.99887959e-01 -5.48183130e-03 -9.48180070e+01] [-1.64409785e-02 5.71064792e-03 9.99848530e-01 2.96535147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.339072329 meters Centerline goodness [0,1] 0.39646971778881723 Centerline is valid? [False, False] Translation: X:-171.29, Y:-94.82, Z:296.53 [[ 9.99753101e-01 -1.39769687e-02 1.72737413e-02 -1.71294581e+02] [ 1.40657226e-02 9.99888435e-01 -5.02730756e-03 -9.48196887e+01] [-1.72015476e-02 5.26903397e-03 9.99838159e-01 2.96534965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.36907232899995 meters Centerline goodness [0,1] 0.29040563927229746 Centerline is valid? [False, False] Translation: X:-171.29, Y:-94.82, Z:296.53 [[ 9.99752721e-01 -1.38151068e-02 1.74252593e-02 -1.71294849e+02] [ 1.39001672e-02 9.99892011e-01 -4.76980262e-03 -9.48199972e+01] [-1.73574822e-02 5.01083717e-03 9.99836791e-01 2.96534793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.399072329 meters Centerline goodness [0,1] 0.3028901001394346 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.82, Z:296.53 [[ 9.99750701e-01 -1.36658727e-02 1.76572988e-02 -1.71295494e+02] [ 1.37463937e-02 9.99895625e-01 -4.44690652e-03 -9.48207225e+01] [-1.75946850e-02 4.68852209e-03 9.99834209e-01 2.96534828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.42907232899995 meters Centerline goodness [0,1] 0.31103926292210815 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.82, Z:296.53 [[ 9.99722049e-01 -1.43683441e-02 1.86916047e-02 -1.71297739e+02] [ 1.44556191e-02 9.99885194e-01 -4.54250298e-03 -9.48215415e+01] [-1.86241905e-02 4.81143911e-03 9.99814978e-01 2.96534239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.459072329 meters Centerline goodness [0,1] 0.3699904832399281 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.82, Z:296.53 [[ 9.99702952e-01 -1.47233429e-02 1.94224486e-02 -1.71299726e+02] [ 1.48160713e-02 9.99879474e-01 -4.63905379e-03 -9.48218629e+01] [-1.93518053e-02 4.92544015e-03 9.99800604e-01 2.96534363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.48907232899995 meters Centerline goodness [0,1] 0.32292216986116096 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.82, Z:296.53 [[ 9.99671388e-01 -1.56119566e-02 2.03318142e-02 -1.71302217e+02] [ 1.57161169e-02 9.99864126e-01 -4.97334514e-03 -9.48227600e+01] [-2.02514080e-02 5.29124801e-03 9.99780918e-01 2.96534426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.519072329 meters Centerline goodness [0,1] 0.3129546608018948 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.82, Z:296.53 [[ 9.99677157e-01 -1.53039549e-02 2.02822611e-02 -1.71302181e+02] [ 1.53989887e-02 9.99871132e-01 -4.53768771e-03 -9.48238346e+01] [-2.02102028e-02 4.84854906e-03 9.99783996e-01 2.96534367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.54907232899996 meters Centerline goodness [0,1] 0.3137437350646055 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.82, Z:296.53 [[ 9.99676421e-01 -1.51875192e-02 2.04057030e-02 -1.71302359e+02] [ 1.52794836e-02 9.99873763e-01 -4.35846543e-03 -9.48240903e+01] [-2.03369328e-02 4.66884373e-03 9.99782282e-01 2.96534123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.579072329 meters Centerline goodness [0,1] 0.32400542303944413 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.81, Z:296.54 [[ 9.99856858e-01 -1.31565501e-02 1.06381032e-02 -1.71314139e+02] [ 1.32123477e-02 9.99899234e-01 -5.19191576e-03 -9.48050326e+01] [-1.05687235e-02 5.33172689e-03 9.99929935e-01 2.96538688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.60907232899996 meters Centerline goodness [0,1] 0.2847575449304849 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.80, Z:296.54 [[ 9.99885755e-01 -9.95875814e-03 1.13710219e-02 -1.71316275e+02] [ 9.98238984e-03 9.99948128e-01 -2.02337525e-03 -9.48028127e+01] [-1.13502818e-02 2.13665406e-03 9.99933301e-01 2.96538947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.639072329 meters Centerline goodness [0,1] 0.286177517802645 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.80, Z:296.54 [[ 9.99891481e-01 -9.69257189e-03 1.10941711e-02 -1.71315266e+02] [ 9.71656526e-03 9.99950565e-01 -2.11084550e-03 -9.48013026e+01] [-1.10731631e-02 2.21841367e-03 9.99936230e-01 2.96538691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.66907232899996 meters Centerline goodness [0,1] 0.3307455721709619 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.80, Z:296.54 [[ 9.99909474e-01 -6.45208039e-03 1.18074265e-02 -1.71317748e+02] [ 6.43784115e-03 9.99978504e-01 1.24356813e-03 -9.48002610e+01] [-1.18151963e-02 -1.16744122e-03 9.99929517e-01 2.96539379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.699072329 meters Centerline goodness [0,1] 0.29148809776382234 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.80, Z:296.54 [[ 9.99909422e-01 -6.54873219e-03 1.17584540e-02 -1.71317909e+02] [ 6.53841992e-03 9.99978205e-01 9.15236863e-04 -9.47992759e+01] [-1.17641914e-02 -8.38272253e-04 9.99930448e-01 2.96539781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.72907232899996 meters Centerline goodness [0,1] 0.25501978291686944 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.80, Z:296.54 [[ 9.99917028e-01 -6.12100396e-03 1.13345154e-02 -1.71316709e+02] [ 6.10894842e-03 9.99980737e-01 1.09792962e-03 -9.47988506e+01] [-1.13410175e-02 -1.02859655e-03 9.99935160e-01 2.96539678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.759072329 meters Centerline goodness [0,1] 0.3044904350770272 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.80, Z:296.54 [[ 9.99934455e-01 -4.96994179e-03 1.03143060e-02 -1.71314147e+02] [ 4.95482337e-03 9.99986614e-01 1.49080859e-03 -9.47978132e+01] [-1.03215772e-02 -1.43960531e-03 9.99945695e-01 2.96539872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.78907232899996 meters Centerline goodness [0,1] 0.3047417442845046 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.80, Z:296.54 [[ 9.99945938e-01 -4.21153761e-03 9.50700261e-03 -1.71312527e+02] [ 4.19365231e-03 9.99989401e-01 1.90042805e-03 -9.47978612e+01] [-9.51490556e-03 -1.86045625e-03 9.99953002e-01 2.96540411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.819072329 meters Centerline goodness [0,1] 0.27586206896551724 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.79, Z:296.54 [[ 9.99958435e-01 -3.86544913e-04 9.10930817e-03 -1.71312344e+02] [ 3.42527606e-04 9.99988261e-01 4.83318882e-03 -9.47938371e+01] [-9.11106949e-03 -4.82986774e-03 9.99946829e-01 2.96541691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.84907232899997 meters Centerline goodness [0,1] 0.31411707461549854 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.79, Z:296.54 [[ 9.99963545e-01 -1.25741159e-04 8.53767676e-03 -1.71311163e+02] [ 8.72381985e-05 9.99989826e-01 4.50999284e-03 -9.47920072e+01] [-8.53815699e-03 -4.50908362e-03 9.99953383e-01 2.96542110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87907232899994 meters Centerline goodness [0,1] 0.27406247354609325 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.79, Z:296.54 [[ 9.99972986e-01 9.06056511e-04 7.29427656e-03 -1.71308401e+02] [-9.38728564e-04 9.99989538e-01 4.47695858e-03 -9.47902091e+01] [-7.29014387e-03 -4.48368499e-03 9.99963375e-01 2.96542874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.90907232899997 meters Centerline goodness [0,1] 0.3295201779472513 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.79, Z:296.54 [[ 9.99978482e-01 2.40960366e-03 6.10160642e-03 -1.71305645e+02] [-2.44230340e-03 9.99982666e-01 5.35743458e-03 -9.47903289e+01] [-6.08859137e-03 -5.37222127e-03 9.99967034e-01 2.96543259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93907232899994 meters Centerline goodness [0,1] 0.32255674119241196 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.79, Z:296.54 [[ 9.99981718e-01 2.92683098e-03 5.29133277e-03 -1.71303743e+02] [-2.95293668e-03 9.99983475e-01 4.93260955e-03 -9.47872428e+01] [-5.27680842e-03 -4.94814434e-03 9.99973835e-01 2.96543703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.96907232899997 meters Centerline goodness [0,1] 0.2941301078229923 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.78, Z:296.55 [[ 9.99966516e-01 6.49693045e-03 4.97557315e-03 -1.71303927e+02] [-6.53425483e-03 9.99950357e-01 7.52237179e-03 -9.47823306e+01] [-4.92645382e-03 -7.55463158e-03 9.99959328e-01 2.96545371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.99907232899994 meters Centerline goodness [0,1] 0.3364946969536592 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.78, Z:296.55 [[ 9.99967533e-01 6.82431084e-03 4.28500106e-03 -1.71302809e+02] [-6.85561643e-03 9.99949604e-01 7.33417100e-03 -9.47810916e+01] [-4.23473445e-03 -7.36330921e-03 9.99963924e-01 2.96546282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.029072329 meters Centerline goodness [0,1] 0.29070901535069116 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.78, Z:296.55 [[ 9.99965116e-01 7.65941250e-03 3.33181117e-03 -1.71300856e+02] [-7.68293867e-03 9.99945233e-01 7.10653574e-03 -9.47787284e+01] [-3.27719681e-03 -7.13188593e-03 9.99969198e-01 2.96547242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.05907232899995 meters Centerline goodness [0,1] 0.30446773303916164 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.78, Z:296.55 [[ 9.99965282e-01 7.76282676e-03 3.02891071e-03 -1.71300264e+02] [-7.78366424e-03 9.99945697e-01 6.92948467e-03 -9.47777764e+01] [-2.97495384e-03 -6.95282011e-03 9.99971404e-01 2.96547500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.089072329 meters Centerline goodness [0,1] 0.2852356109767994 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.78, Z:296.55 [[ 9.99966857e-01 7.52578141e-03 3.10603586e-03 -1.71300565e+02] [-7.54602206e-03 9.99950030e-01 6.55710809e-03 -9.47766087e+01] [-3.05653328e-03 -6.58032898e-03 9.99973678e-01 2.96547685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.11907232899995 meters Centerline goodness [0,1] 0.30996904549887627 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99970487e-01 7.11387031e-03 2.90151397e-03 -1.71301473e+02] [-7.13019910e-03 9.99958580e-01 5.65670429e-03 -9.47744885e+01] [-2.86115273e-03 -5.67722571e-03 9.99979791e-01 2.96549697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.149072329 meters Centerline goodness [0,1] 0.31693305634459656 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99989674e-01 4.04630332e-03 2.06863399e-03 -1.71299893e+02] [-4.05062316e-03 9.99989616e-01 2.08834761e-03 -9.47744477e+01] [-2.06016242e-03 -2.09670531e-03 9.99995680e-01 2.96550440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.17907232899995 meters Centerline goodness [0,1] 0.3175984752223634 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.78, Z:296.55 [[ 9.99998200e-01 1.04125746e-03 1.58599391e-03 -1.71298279e+02] [-1.04010882e-03 9.99999196e-01 -7.24888247e-04 -9.47767255e+01] [-1.58674743e-03 7.23237336e-04 9.99998480e-01 2.96549869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.209072329 meters Centerline goodness [0,1] 0.30816902604155616 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.78, Z:296.55 [[ 9.99996001e-01 -2.37002319e-04 2.81810698e-03 -1.71301102e+02] [ 2.38472807e-04 9.99999836e-01 -5.21475258e-04 -9.47805978e+01] [-2.81798293e-03 5.22145215e-04 9.99995893e-01 2.96548797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.23907232899995 meters Centerline goodness [0,1] 0.3124455863928822 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.78, Z:296.55 [[ 9.99990951e-01 -1.40689906e-03 4.01487963e-03 -1.71304130e+02] [ 1.41073984e-03 9.99998550e-01 -9.53965873e-04 -9.47813801e+01] [-4.01353167e-03 9.59621190e-04 9.99991485e-01 2.96548514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.269072329 meters Centerline goodness [0,1] 0.31086094680828513 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.79, Z:296.55 [[ 9.99976630e-01 -5.16334561e-03 4.48106462e-03 -1.71304271e+02] [ 5.18003545e-03 9.99979661e-01 -3.72094569e-03 -9.47856372e+01] [-4.46176095e-03 3.74407080e-03 9.99983037e-01 2.96546849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.29907232899996 meters Centerline goodness [0,1] 0.3150147411288099 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.79, Z:296.55 [[ 9.99970908e-01 -5.48011962e-03 5.30578905e-03 -1.71306045e+02] [ 5.49913866e-03 9.99978483e-01 -3.57665362e-03 -9.47865615e+01] [-5.28607439e-03 3.60572684e-03 9.99979528e-01 2.96546314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.329072329 meters Centerline goodness [0,1] 0.3269553042998664 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.79, Z:296.55 [[ 9.99966867e-01 -5.66630294e-03 5.84454435e-03 -1.71307251e+02] [ 5.68646386e-03 9.99977920e-01 -3.43869705e-03 -9.47872173e+01] [-5.82493060e-03 3.47181791e-03 9.99977008e-01 2.96546011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.35907232899996 meters Centerline goodness [0,1] 0.32309095150242806 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.79, Z:296.55 [[ 9.99954641e-01 -6.51804070e-03 6.94487056e-03 -1.71309846e+02] [ 6.54255469e-03 9.99972427e-01 -3.51294511e-03 -9.47884166e+01] [-6.92178155e-03 3.55822296e-03 9.99969714e-01 2.96545590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.389072329 meters Centerline goodness [0,1] 0.3401409646739131 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.79, Z:296.55 [[ 9.99954486e-01 -6.35293913e-03 7.11805127e-03 -1.71310382e+02] [ 6.37561083e-03 9.99974661e-01 -3.16694809e-03 -9.47893406e+01] [-7.09775147e-03 3.21218587e-03 9.99969651e-01 2.96545619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.41907232899996 meters Centerline goodness [0,1] 0.34356709700593746 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.79, Z:296.55 [[ 9.99969215e-01 -4.96271361e-03 6.07785391e-03 -1.71307644e+02] [ 4.98282751e-03 9.99982145e-01 -3.29871505e-03 -9.47853969e+01] [-6.06137481e-03 3.32889840e-03 9.99976089e-01 2.96546221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.449072329 meters Centerline goodness [0,1] 0.3125556544968834 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.78, Z:296.55 [[ 9.99972951e-01 -2.78038070e-03 6.80938419e-03 -1.71311109e+02] [ 2.78583913e-03 9.99995806e-01 -7.92249852e-04 -9.47849947e+01] [-6.80715287e-03 8.11198271e-04 9.99976502e-01 2.96547851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.47907232899996 meters Centerline goodness [0,1] 0.34724219609170126 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.79, Z:296.55 [[ 9.99979327e-01 -1.84355863e-03 6.16012132e-03 -1.71309416e+02] [ 1.84435265e-03 9.99998292e-01 -1.23219528e-04 -9.47855355e+01] [-6.15988364e-03 1.34578417e-04 9.99981019e-01 2.96547811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.509072329 meters Centerline goodness [0,1] 0.36011121487392816 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.78, Z:296.55 [[ 9.99978371e-01 1.28471669e-03 6.45042755e-03 -1.71310696e+02] [-1.30054646e-03 9.99996152e-01 2.45047171e-03 -9.47816347e+01] [-6.44725456e-03 -2.45880779e-03 9.99976193e-01 2.96548586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.53907232899996 meters Centerline goodness [0,1] 0.3603072222693712 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.78, Z:296.55 [[ 9.99981934e-01 1.82294268e-03 5.72778855e-03 -1.71309156e+02] [-1.83783174e-03 9.99994943e-01 2.59525746e-03 -9.47810245e+01] [-5.72302858e-03 -2.60573729e-03 9.99980228e-01 2.96548976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.569072329 meters Centerline goodness [0,1] 0.31162356535205893 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.78, Z:296.55 [[ 9.99984439e-01 2.62866288e-03 4.92065776e-03 -1.71307159e+02] [-2.64342360e-03 9.99992019e-01 2.99564888e-03 -9.47808789e+01] [-4.91274393e-03 -3.00860965e-03 9.99983406e-01 2.96549116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.59907232899997 meters Centerline goodness [0,1] 0.37960959049437726 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.78, Z:296.55 [[ 9.99984301e-01 2.42567132e-03 5.05121571e-03 -1.71307708e+02] [-2.43937078e-03 9.99993359e-01 2.70771862e-03 -9.47801336e+01] [-5.04461413e-03 -2.71999790e-03 9.99983577e-01 2.96549391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62907232899994 meters Centerline goodness [0,1] 0.3835473941195202 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.78, Z:296.55 [[ 9.99985283e-01 2.79529188e-03 4.64972868e-03 -1.71306647e+02] [-2.80839459e-03 9.99992098e-01 2.81381299e-03 -9.47796679e+01] [-4.64182651e-03 -2.82682985e-03 9.99985231e-01 2.96549311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.65907232899997 meters Centerline goodness [0,1] 0.3263463535595448 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.78, Z:296.55 [[ 9.99986905e-01 3.07781524e-03 4.08868962e-03 -1.71305630e+02] [-3.08894929e-03 9.99991531e-01 2.71961418e-03 -9.47787111e+01] [-4.08028452e-03 -2.73220832e-03 9.99987943e-01 2.96549952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.68907232899994 meters Centerline goodness [0,1] 0.33136195018547965 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.78, Z:296.55 [[ 9.99987478e-01 3.70729404e-03 3.36157356e-03 -1.71303949e+02] [-3.71661252e-03 9.99989257e-01 2.77006455e-03 -9.47773004e+01] [-3.35126800e-03 -2.78252353e-03 9.99990513e-01 2.96550301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.71907232899997 meters Centerline goodness [0,1] 0.33338989881848846 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.78, Z:296.55 [[ 9.99988507e-01 3.25662550e-03 3.51859304e-03 -1.71304604e+02] [-3.26426429e-03 9.99992323e-01 2.16741935e-03 -9.47758539e+01] [-3.51150756e-03 -2.17888006e-03 9.99991461e-01 2.96550618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.74907232899994 meters Centerline goodness [0,1] 0.2902897382598736 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99988611e-01 3.95723334e-03 2.66813070e-03 -1.71302381e+02] [-3.96359013e-03 9.99989309e-01 2.38142401e-03 -9.47749630e+01] [-2.65867833e-03 -2.39197227e-03 9.99993605e-01 2.96550632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.779072329 meters Centerline goodness [0,1] 0.34692579954644687 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99987708e-01 4.53175667e-03 2.01147805e-03 -1.71300853e+02] [-4.53690152e-03 9.99986430e-01 2.56059702e-03 -9.47742020e+01] [-1.99984675e-03 -2.56969142e-03 9.99994699e-01 2.96550896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.80907232899995 meters Centerline goodness [0,1] 0.2987558914695767 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99988677e-01 4.40357319e-03 1.80418356e-03 -1.71300935e+02] [-4.40732679e-03 9.99988121e-01 2.08182697e-03 -9.47728075e+01] [-1.79499465e-03 -2.08975503e-03 9.99996205e-01 2.96551739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.839072329 meters Centerline goodness [0,1] 0.3122292073740549 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99988966e-01 4.50835615e-03 1.31978744e-03 -1.71300170e+02] [-4.51048650e-03 9.99988523e-01 1.61565499e-03 -9.47706818e+01] [-1.31248835e-03 -1.62159005e-03 9.99997824e-01 2.96552490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.86907232899995 meters Centerline goodness [0,1] 0.31450893804933977 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99989356e-01 4.45623218e-03 1.19590544e-03 -1.71300467e+02] [-4.45779294e-03 9.99989212e-01 1.30561071e-03 -9.47697849e+01] [-1.19007443e-03 -1.31092791e-03 9.99998433e-01 2.96553306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.899072329 meters Centerline goodness [0,1] 0.3238570064707754 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99996745e-01 2.50157038e-03 5.03120573e-04 -1.71298274e+02] [-2.50122905e-03 9.99996642e-01 -6.77900634e-04 -9.47713131e+01] [-5.04814700e-04 6.76640007e-04 9.99999644e-01 2.96552756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.92907232899995 meters Centerline goodness [0,1] 0.3238570064707754 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99996745e-01 2.50157038e-03 5.03120573e-04 -1.71298274e+02] [-2.50122905e-03 9.99996642e-01 -6.77900634e-04 -9.47713131e+01] [-5.04814700e-04 6.76640007e-04 9.99999644e-01 2.96552756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.959072329 meters Centerline goodness [0,1] 0.307945333389924 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99974770e-01 7.10072562e-03 1.98214243e-04 -1.71297355e+02] [-7.10138167e-03 9.99968544e-01 3.53276816e-03 -9.47703531e+01] [-1.73122790e-04 -3.53408662e-03 9.99993740e-01 2.96552649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.98907232899995 meters Centerline goodness [0,1] 0.3147771994414117 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99973060e-01 7.33782140e-03 -1.86348611e-04 -1.71296267e+02] [-7.33710894e-03 9.99966701e-01 3.57270428e-03 -9.47697078e+01] [ 2.12558272e-04 -3.57124077e-03 9.99993601e-01 2.96552493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.019072329 meters Centerline goodness [0,1] 0.31949573411435117 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99972957e-01 7.34906872e-03 -2.78081379e-04 -1.71295944e+02] [-7.34809869e-03 9.99967418e-01 3.34184812e-03 -9.47687656e+01] [ 3.02631790e-04 -3.33971437e-03 9.99994377e-01 2.96552360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.04907232899996 meters Centerline goodness [0,1] 0.33229418501081565 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99969986e-01 7.72411190e-03 -6.04247735e-04 -1.71295346e+02] [-7.72182850e-03 9.99963363e-01 3.69413470e-03 -9.47694310e+01] [ 6.32759507e-04 -3.68935793e-03 9.99992994e-01 2.96552555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.079072329 meters Centerline goodness [0,1] 0.3351868752255025 Centerline is valid? [False, False] Translation: X:-171.29, Y:-94.77, Z:296.55 [[ 9.99987605e-01 4.76163037e-03 -1.45511382e-03 -1.71293382e+02] [-4.76138484e-03 9.99988650e-01 1.72156110e-04 -9.47687655e+01] [ 1.45591705e-03 -1.65225619e-04 9.99998927e-01 2.96552937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.10907232899996 meters Centerline goodness [0,1] 0.3380735403200169 Centerline is valid? [False, False] Translation: X:-171.29, Y:-94.77, Z:296.55 [[ 9.99988344e-01 4.65717088e-03 -1.27417213e-03 -1.71294684e+02] [-4.65702245e-03 9.99989149e-01 1.19429964e-04 -9.47690881e+01] [ 1.27471451e-03 -1.13494723e-04 9.99999181e-01 2.96554061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.139072329 meters Centerline goodness [0,1] 0.3464434968921699 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99992559e-01 3.81875071e-03 -5.46502167e-04 -1.71296794e+02] [-3.81912250e-03 9.99992475e-01 -6.80885107e-04 -9.47676457e+01] [ 5.43897924e-04 6.82967200e-04 9.99999619e-01 2.96554385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.16907232899996 meters Centerline goodness [0,1] 0.3496202316798914 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99992697e-01 3.82080036e-03 -9.00452200e-05 -1.71297779e+02] [-3.82081566e-03 9.99992686e-01 -1.70402596e-04 -9.47697015e+01] [ 8.93934871e-05 1.70745398e-04 9.99999981e-01 2.96553962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.199072329 meters Centerline goodness [0,1] 0.34582572895887276 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99998197e-01 1.89772511e-03 7.10728419e-05 -1.71296703e+02] [-1.89763571e-03 9.99997434e-01 -1.23752470e-03 -9.47713503e+01] [-7.34211412e-05 1.23738760e-03 9.99999232e-01 2.96551891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.22907232899996 meters Centerline goodness [0,1] 0.3599601128720854 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99998590e-01 -1.67811905e-03 -6.54183186e-05 -1.71296245e+02] [ 1.67781945e-03 9.99989181e-01 -4.33843117e-03 -9.47744463e+01] [ 7.26980149e-05 4.33831529e-03 9.99990587e-01 2.96551591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.259072329 meters Centerline goodness [0,1] 0.36656125978904475 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99997484e-01 2.24178751e-03 8.29087288e-05 -1.71296701e+02] [-2.24172849e-03 9.99997239e-01 -7.05244757e-04 -9.47725021e+01] [-8.44895088e-05 7.05057123e-04 9.99999748e-01 2.96551730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.28907232899996 meters Centerline goodness [0,1] 0.3742281822232596 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99997236e-01 2.33916356e-03 -2.37595173e-04 -1.71295983e+02] [-2.33938657e-03 9.99996819e-01 -9.42693230e-04 -9.47710539e+01] [ 2.35389303e-04 9.43246452e-04 9.99999527e-01 2.96552027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.319072329 meters Centerline goodness [0,1] 0.3307128326835057 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99998445e-01 1.74533888e-03 2.54107365e-04 -1.71297403e+02] [-1.74492071e-03 9.99997138e-01 -1.63668518e-03 -9.47694531e+01] [-2.56963209e-04 1.63623924e-03 9.99998628e-01 2.96552261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.34907232899997 meters Centerline goodness [0,1] 0.3231597465081283 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99998038e-01 1.96927626e-03 2.15213366e-04 -1.71297236e+02] [-1.96898240e-03 9.99997141e-01 -1.35719928e-03 -9.47699663e+01] [-2.17885451e-04 1.35677286e-03 9.99999056e-01 2.96552140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37907232899994 meters Centerline goodness [0,1] 0.33419502479128704 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99997094e-01 2.40032682e-03 -2.23175055e-04 -1.71296167e+02] [-2.40057566e-03 9.99996490e-01 -1.12146122e-03 -9.47698727e+01] [ 2.20482398e-04 1.12199371e-03 9.99999346e-01 2.96552253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.40907232899997 meters Centerline goodness [0,1] 0.35733208994765064 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99996379e-01 2.63979083e-03 -5.23639307e-04 -1.71295414e+02] [-2.64035183e-03 9.99995938e-01 -1.07355431e-03 -9.47692346e+01] [ 5.20803222e-04 1.07493301e-03 9.99999287e-01 2.96552303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43907232899994 meters Centerline goodness [0,1] 0.3444096619992385 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99996840e-01 2.48870664e-03 -3.56640037e-04 -1.71296043e+02] [-2.48913449e-03 9.99996177e-01 -1.20427306e-03 -9.47691783e+01] [ 3.53641591e-04 1.20515698e-03 9.99999211e-01 2.96552590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.46907232899997 meters Centerline goodness [0,1] 0.34816709652868805 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99997202e-01 2.36526330e-03 -4.85646504e-05 -1.71296930e+02] [-2.36531833e-03 9.99996523e-01 -1.16613269e-03 -9.47696891e+01] [ 4.58062707e-05 1.16624430e-03 9.99999319e-01 2.96552645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.49907232899994 meters Centerline goodness [0,1] 0.347711062667993 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99996682e-01 2.57287099e-03 -1.29477486e-04 -1.71296835e+02] [-2.57299933e-03 9.99996189e-01 -1.00094110e-03 -9.47698005e+01] [ 1.26901700e-04 1.00127092e-03 9.99999491e-01 2.96552784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.529072329 meters Centerline goodness [0,1] 0.348493822981892 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99997765e-01 2.05079272e-03 5.14699087e-04 -1.71298797e+02] [-2.05012490e-03 9.99997060e-01 -1.29468046e-03 -9.47698827e+01] [-5.17352695e-04 1.29362237e-03 9.99999029e-01 2.96553093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.55907232899995 meters Centerline goodness [0,1] 0.3545538837611161 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99997891e-01 1.97141901e-03 5.75652976e-04 -1.71299171e+02] [-1.97058333e-03 9.99997009e-01 -1.44868907e-03 -9.47693074e+01] [-5.78507227e-04 1.44755164e-03 9.99998785e-01 2.96553484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.589072329 meters Centerline goodness [0,1] 0.3642979181168132 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99998104e-01 1.71157684e-03 9.28562923e-04 -1.71300142e+02] [-1.71007633e-03 9.99997235e-01 -1.61434061e-03 -9.47690097e+01] [-9.31323423e-04 1.61274964e-03 9.99998266e-01 2.96553595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.61907232899995 meters Centerline goodness [0,1] 0.36901901268917836 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99997721e-01 1.65261210e-03 1.35184171e-03 -1.71301065e+02] [-1.65097418e-03 9.99997903e-01 -1.21183779e-03 -9.47704990e+01] [-1.35384157e-03 1.20960318e-03 9.99998352e-01 2.96553288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.649072329 meters Centerline goodness [0,1] 0.3721791849107443 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99997503e-01 1.59266833e-03 1.56738096e-03 -1.71301330e+02] [-1.59074162e-03 9.99997979e-01 -1.22973300e-03 -9.47703342e+01] [-1.56933635e-03 1.22723663e-03 9.99998016e-01 2.96552882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.67907232899995 meters Centerline goodness [0,1] 0.3650052576235542 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99996925e-01 1.02840781e-03 2.25680412e-03 -1.71303109e+02] [-1.02510139e-03 9.99998400e-01 -1.46575751e-03 -9.47705751e+01] [-2.25830791e-03 1.46343955e-03 9.99996379e-01 2.96552806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.709072329 meters Centerline goodness [0,1] 0.37565136997814763 Centerline is valid? [False, False] Translation: X:-171.30, Y:-94.77, Z:296.55 [[ 9.99995618e-01 7.50372243e-04 2.86378258e-03 -1.71304204e+02] [-7.46559107e-04 9.99998834e-01 -1.33234036e-03 -9.47714506e+01] [-2.86477899e-03 1.33019654e-03 9.99995012e-01 2.96552125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.73907232899995 meters Centerline goodness [0,1] 0.38461053825314484 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.77, Z:296.55 [[ 9.99994077e-01 3.62688261e-04 3.42267132e-03 -1.71305288e+02] [-3.57164955e-04 9.99998633e-01 -1.61421446e-03 -9.47708364e+01] [-3.42325210e-03 1.61298244e-03 9.99992840e-01 2.96551647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.769072329 meters Centerline goodness [0,1] 0.390199903509324 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.77, Z:296.55 [[ 9.99993477e-01 5.47407742e-04 3.57020186e-03 -1.71305692e+02] [-5.43185476e-04 9.99999152e-01 -1.18350314e-03 -9.47721473e+01] [-3.57084669e-03 1.18155614e-03 9.99992926e-01 2.96551610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.79907232899996 meters Centerline goodness [0,1] 0.4031541909269887 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.77, Z:296.55 [[ 9.99992596e-01 4.83112697e-04 3.81757657e-03 -1.71306762e+02] [-4.78312103e-04 9.99999094e-01 -1.25831079e-03 -9.47720577e+01] [-3.81818102e-03 1.25647548e-03 9.99991921e-01 2.96552198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.829072329 meters Centerline goodness [0,1] 0.4069835557973137 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.77, Z:296.55 [[ 9.99989483e-01 -5.25283002e-04 4.55606551e-03 -1.71309567e+02] [ 5.35139101e-04 9.99997519e-01 -2.16234269e-03 -9.47710203e+01] [-4.55491836e-03 2.16475807e-03 9.99987283e-01 2.96553322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.85907232899996 meters Centerline goodness [0,1] 0.3291848815076659 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.77, Z:296.55 [[ 9.99985493e-01 -1.02371706e-03 5.28831454e-03 -1.71311476e+02] [ 1.03577726e-03 9.99996868e-01 -2.27830329e-03 -9.47716117e+01] [-5.28596564e-03 2.28374776e-03 9.99983421e-01 2.96553313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.889072329 meters Centerline goodness [0,1] 0.336352985480564 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.77, Z:296.55 [[ 9.99983484e-01 -9.62129459e-04 5.66623694e-03 -1.71312062e+02] [ 9.72912619e-04 9.99997721e-01 -1.90060605e-03 -9.47726878e+01] [-5.66439539e-03 1.90608741e-03 9.99982141e-01 2.96552755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.91907232899996 meters Centerline goodness [0,1] 0.33359817676208003 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.77, Z:296.55 [[ 9.99981052e-01 -1.02903803e-03 6.06924973e-03 -1.71312665e+02] [ 1.03925301e-03 9.99998049e-01 -1.68015672e-03 -9.47734590e+01] [-6.06750894e-03 1.68643237e-03 9.99980170e-01 2.96552128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.949072329 meters Centerline goodness [0,1] 0.3402875138630229 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.77, Z:296.55 [[ 9.99975156e-01 -1.59654063e-03 6.86575005e-03 -1.71314111e+02] [ 1.60755867e-03 9.99997429e-01 -1.59956398e-03 -9.47745455e+01] [-6.86317863e-03 1.61056134e-03 9.99975151e-01 2.96551252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.97907232899996 meters Centerline goodness [0,1] 0.31210923614160546 Centerline is valid? [False, False] Translation: X:-171.31, Y:-94.77, Z:296.55 [[ 9.99972356e-01 -1.68899484e-03 7.24118744e-03 -1.71314860e+02] [ 1.70015851e-03 9.99997375e-01 -1.53581241e-03 -9.47746913e+01] [-7.23857445e-03 1.54808112e-03 9.99972603e-01 2.96550972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.009072329 meters Centerline goodness [0,1] 0.30897878122713496 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.77, Z:296.55 [[ 9.99960623e-01 -2.93862605e-03 8.37363465e-03 -1.71317860e+02] [ 2.95714982e-03 9.99993206e-01 -2.20063192e-03 -9.47746853e+01] [-8.36711092e-03 2.22530736e-03 9.99962519e-01 2.96551019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.03907232899996 meters Centerline goodness [0,1] 0.35573561124719977 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.78, Z:296.55 [[ 9.99956550e-01 -2.94101969e-03 8.84582481e-03 -1.71318812e+02] [ 2.95783659e-03 9.99993842e-01 -1.88862969e-03 -9.47755442e+01] [-8.84021584e-03 1.91471213e-03 9.99959091e-01 2.96550636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.069072329 meters Centerline goodness [0,1] 0.32106056798190497 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.78, Z:296.55 [[ 9.99942321e-01 -3.83726706e-03 1.00314624e-02 -1.71321741e+02] [ 3.85472876e-03 9.99991088e-01 -1.72193854e-03 -9.47780260e+01] [-1.00247654e-02 1.76050779e-03 9.99948201e-01 2.96550279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.09907232899997 meters Centerline goodness [0,1] 0.33164764143025016 Centerline is valid? [False, False] Translation: X:-171.32, Y:-94.78, Z:296.55 [[ 9.99934723e-01 -4.00569550e-03 1.07006701e-02 -1.71323669e+02] [ 4.02250126e-03 9.99990709e-01 -1.54947334e-03 -9.47790730e+01] [-1.06943639e-02 1.59241565e-03 9.99941546e-01 2.96550499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12907232899994 meters Centerline goodness [0,1] 0.3294671373340057 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.78, Z:296.55 [[ 9.99923555e-01 -4.48794285e-03 1.15213720e-02 -1.71325962e+02] [ 4.50739696e-03 9.99988459e-01 -1.66311333e-03 -9.47796553e+01] [-1.15137751e-02 1.71491759e-03 9.99932244e-01 2.96550793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.15907232899997 meters Centerline goodness [0,1] 0.32618486404579505 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.78, Z:296.55 [[ 9.99914488e-01 -4.75378526e-03 1.21826726e-02 -1.71327608e+02] [ 4.77420998e-03 9.99987245e-01 -1.64800437e-03 -9.47802580e+01] [-1.21746830e-02 1.70602608e-03 9.99924430e-01 2.96550664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.18907232899994 meters Centerline goodness [0,1] 0.32145939914524513 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.78, Z:296.55 [[ 9.99907400e-01 -4.97141595e-03 1.26679480e-02 -1.71328542e+02] [ 4.99302482e-03 9.99986132e-01 -1.67473547e-03 -9.47804134e+01] [-1.26594465e-02 1.73783177e-03 9.99918356e-01 2.96550221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.21907232899997 meters Centerline goodness [0,1] 0.34552141015344295 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.78, Z:296.55 [[ 9.99895492e-01 -5.30353296e-03 1.34490429e-02 -1.71330388e+02] [ 5.32577400e-03 9.99984508e-01 -1.61845127e-03 -9.47812448e+01] [-1.34402511e-02 1.68990869e-03 9.99908248e-01 2.96549946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.24907232899994 meters Centerline goodness [0,1] 0.33799361238604875 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.78, Z:296.55 [[ 9.99889317e-01 -5.46161787e-03 1.38392504e-02 -1.71331290e+02] [ 5.48606837e-03 9.99983456e-01 -1.72940330e-03 -9.47809563e+01] [-1.38295761e-02 1.80513496e-03 9.99902737e-01 2.96549825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.279072329 meters Centerline goodness [0,1] 0.3361134631668078 Centerline is valid? [False, False] Translation: X:-171.33, Y:-94.78, Z:296.55 [[ 9.99877262e-01 -5.94602801e-03 1.44950150e-02 -1.71333377e+02] [ 5.97669890e-03 9.99979990e-01 -2.07356195e-03 -9.47807933e+01] [-1.44823955e-02 2.15993979e-03 9.99892792e-01 2.96550416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.30907232899995 meters Centerline goodness [0,1] 0.33499533225833833 Centerline is valid? [False, False] Translation: X:-171.34, Y:-94.78, Z:296.55 [[ 9.99860940e-01 -6.40404806e-03 1.53977199e-02 -1.71336308e+02] [ 6.44008548e-03 9.99976636e-01 -2.29199414e-03 -9.47810530e+01] [-1.53826821e-02 2.39083805e-03 9.99878821e-01 2.96551314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.339072329 meters Centerline goodness [0,1] 0.3487784151264075 Centerline is valid? [False, False] Translation: X:-171.34, Y:-94.78, Z:296.55 [[ 9.99848199e-01 -6.66468815e-03 1.60984650e-02 -1.71338293e+02] [ 6.70132969e-03 9.99975074e-01 -2.22321721e-03 -9.47819312e+01] [-1.60832466e-02 2.33076084e-03 9.99867940e-01 2.96551611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.36907232899995 meters Centerline goodness [0,1] 0.3119896223205172 Centerline is valid? [False, False] Translation: X:-171.34, Y:-94.78, Z:296.55 [[ 9.99831921e-01 -7.13044563e-03 1.68904000e-02 -1.71340420e+02] [ 7.17207110e-03 9.99971388e-01 -2.40515449e-03 -9.47822117e+01] [-1.68727669e-02 2.52588939e-03 9.99854454e-01 2.96551769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.399072329 meters Centerline goodness [0,1] 0.33065238725092805 Centerline is valid? [False, False] Translation: X:-171.34, Y:-94.78, Z:296.55 [[ 9.99803733e-01 -8.35656785e-03 1.79628051e-02 -1.71344028e+02] [ 8.41469696e-03 9.99959594e-01 -3.16293804e-03 -9.47828667e+01] [-1.79356480e-02 3.31346882e-03 9.99833653e-01 2.96552675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.42907232899995 meters Centerline goodness [0,1] 0.3275928379129097 Centerline is valid? [False, False] Translation: X:-171.35, Y:-94.78, Z:296.55 [[ 9.99779692e-01 -9.12467131e-03 1.89025785e-02 -1.71346611e+02] [ 9.18502405e-03 9.99952985e-01 -3.10847540e-03 -9.47847480e+01] [-1.88733260e-02 3.28141122e-03 9.99816498e-01 2.96552728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.459072329 meters Centerline goodness [0,1] 0.29698137443802186 Centerline is valid? [False, False] Translation: X:-171.35, Y:-94.79, Z:296.55 [[ 9.99778214e-01 -9.05688305e-03 1.90130378e-02 -1.71346980e+02] [ 9.11537373e-03 9.99953978e-01 -2.99193865e-03 -9.47850463e+01] [-1.89850651e-02 3.16458603e-03 9.99814759e-01 2.96552714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.48907232899995 meters Centerline goodness [0,1] 0.296459416491213 Centerline is valid? [False, False] Translation: X:-171.36, Y:-94.77, Z:296.55 [[ 9.99823379e-01 -1.52714184e-02 1.09541901e-02 -1.71361478e+02] [ 1.53457683e-02 9.99859559e-01 -6.73570285e-03 -9.47719580e+01] [-1.08497880e-02 6.90261365e-03 9.99917315e-01 2.96554017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.519072329 meters Centerline goodness [0,1] 0.30370434109194167 Centerline is valid? [False, False] Translation: X:-171.37, Y:-94.77, Z:296.56 [[ 9.99781066e-01 -1.70161306e-02 1.21766763e-02 -1.71365422e+02] [ 1.71153208e-02 9.99820804e-01 -8.08860140e-03 -9.47711060e+01] [-1.20368576e-02 8.29523825e-03 9.99893146e-01 2.96555081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.54907232899996 meters Centerline goodness [0,1] 0.29470598379030866 Centerline is valid? [False, False] Translation: X:-171.37, Y:-94.77, Z:296.56 [[ 9.99746621e-01 -1.82170717e-02 1.32224010e-02 -1.71369231e+02] [ 1.83338705e-02 9.99793487e-01 -8.76659565e-03 -9.47716847e+01] [-1.30599687e-02 9.00679217e-03 9.99874150e-01 2.96556527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.579072329 meters Centerline goodness [0,1] 0.31090767769237415 Centerline is valid? [False, False] Translation: X:-171.37, Y:-94.77, Z:296.56 [[ 9.99756876e-01 -1.66072385e-02 1.45047453e-02 -1.71373223e+02] [ 1.67096041e-02 9.99836126e-01 -6.96492978e-03 -9.47694298e+01] [-1.43867001e-02 7.20560500e-03 9.99870543e-01 2.96557365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.60907232899996 meters Centerline goodness [0,1] 0.2629088709328955 Centerline is valid? [False, False] Translation: X:-171.38, Y:-94.77, Z:296.56 [[ 9.99728787e-01 -1.74132827e-02 1.54638357e-02 -1.71375547e+02] [ 1.75296678e-02 9.99818789e-01 -7.42288492e-03 -9.47691351e+01] [-1.53317767e-02 7.69194764e-03 9.99852874e-01 2.96557202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.639072329 meters Centerline goodness [0,1] 0.26633764097235746 Centerline is valid? [False, False] Translation: X:-171.38, Y:-94.77, Z:296.56 [[ 9.99723172e-01 -1.74373209e-02 1.57961706e-02 -1.71376295e+02] [ 1.75547868e-02 9.99819045e-01 -7.32845982e-03 -9.47693234e+01] [-1.56655235e-02 7.60372950e-03 9.99848376e-01 2.96556992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.66907232899996 meters Centerline goodness [0,1] 0.1936653351858284 Centerline is valid? [False, False] Translation: X:-171.38, Y:-94.77, Z:296.56 [[ 9.99704875e-01 -1.77223263e-02 1.66157040e-02 -1.71378320e+02] [ 1.78440143e-02 9.99814828e-01 -7.20424053e-03 -9.47702969e+01] [-1.64849513e-02 7.49860525e-03 9.99835995e-01 2.96556868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.699072329 meters Centerline goodness [0,1] 0.19185616765946345 Centerline is valid? [False, False] Translation: X:-171.38, Y:-94.77, Z:296.56 [[ 9.99683798e-01 -1.80666986e-02 1.74899252e-02 -1.71380222e+02] [ 1.81944775e-02 9.99808725e-01 -7.17450227e-03 -9.47708895e+01] [-1.73569603e-02 7.49045374e-03 9.99821299e-01 2.96556428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.72907232899996 meters Centerline goodness [0,1] 0.1995467323323672 Centerline is valid? [False, False] Translation: X:-171.38, Y:-94.77, Z:296.56 [[ 9.99675461e-01 -1.80591503e-02 1.79677613e-02 -1.71381531e+02] [ 1.81853341e-02 9.99810932e-01 -6.88435103e-03 -9.47718458e+01] [-1.78400387e-02 7.20886653e-03 9.99814865e-01 2.96556456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.759072329 meters Centerline goodness [0,1] 0.19911398206141018 Centerline is valid? [False, False] Translation: X:-171.38, Y:-94.77, Z:296.56 [[ 9.99667799e-01 -1.82580317e-02 1.81916447e-02 -1.71382421e+02] [ 1.83929425e-02 9.99804356e-01 -7.27656794e-03 -9.47707833e+01] [-1.80552298e-02 7.60874853e-03 9.99808039e-01 2.96556909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.78907232899996 meters Centerline goodness [0,1] 0.2021185977940374 Centerline is valid? [False, False] Translation: X:-171.38, Y:-94.77, Z:296.56 [[ 9.99640968e-01 -1.88695045e-02 1.90230440e-02 -1.71384625e+02] [ 1.90169669e-02 9.99790269e-01 -7.60089510e-03 -9.47707155e+01] [-1.88756292e-02 7.95992674e-03 9.99790153e-01 2.96557068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.819072329 meters Centerline goodness [0,1] 0.2021185977940374 Centerline is valid? [False, False] Translation: X:-171.38, Y:-94.77, Z:296.56 [[ 9.99640968e-01 -1.88695045e-02 1.90230440e-02 -1.71384625e+02] [ 1.90169669e-02 9.99790269e-01 -7.60089510e-03 -9.47707155e+01] [-1.88756292e-02 7.95992674e-03 9.99790153e-01 2.96557068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.84907232899997 meters Centerline goodness [0,1] 0.20368302349514988 Centerline is valid? [False, False] Translation: X:-171.39, Y:-94.77, Z:296.56 [[ 9.99633492e-01 -1.89508688e-02 1.93325271e-02 -1.71385726e+02] [ 1.91047146e-02 9.99787028e-01 -7.80445338e-03 -9.47702720e+01] [-1.91805086e-02 8.17093539e-03 9.99782648e-01 2.96557553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87907232899994 meters Centerline goodness [0,1] 0.20466900482244632 Centerline is valid? [False, False] Translation: X:-171.39, Y:-94.77, Z:296.56 [[ 9.99618540e-01 -1.92524804e-02 1.98019271e-02 -1.71386989e+02] [ 1.94147023e-02 9.99779247e-01 -8.03285401e-03 -9.47698403e+01] [-1.96429034e-02 8.41423832e-03 9.99771652e-01 2.96557644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.90907232899997 meters Centerline goodness [0,1] 0.2056911997189531 Centerline is valid? [False, False] Translation: X:-171.39, Y:-94.77, Z:296.56 [[ 9.99637566e-01 -1.70711024e-02 2.08161991e-02 -1.71390627e+02] [ 1.71892309e-02 9.99837076e-01 -5.50916197e-03 -9.47680842e+01] [-2.07187601e-02 5.86497971e-03 9.99768141e-01 2.96558792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93907232899994 meters Centerline goodness [0,1] 0.20901567177319946 Centerline is valid? [False, False] Translation: X:-171.39, Y:-94.77, Z:296.56 [[ 9.99661890e-01 -1.62800172e-02 2.02747631e-02 -1.71389429e+02] [ 1.63840003e-02 9.99853405e-01 -4.97318082e-03 -9.47679904e+01] [-2.01908275e-02 5.30368107e-03 9.99782077e-01 2.96558855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.96907232899997 meters Centerline goodness [0,1] 0.21026873305262228 Centerline is valid? [False, False] Translation: X:-171.40, Y:-94.75, Z:296.56 [[ 9.99848868e-01 -1.45820474e-02 9.46596873e-03 -1.71396988e+02] [ 1.46476902e-02 9.99868890e-01 -6.90271233e-03 -9.47524229e+01] [-9.36407197e-03 7.04032369e-03 9.99931372e-01 2.96563026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.99907232899994 meters Centerline goodness [0,1] 0.1764488981433281 Centerline is valid? [False, False] Translation: X:-171.39, Y:-94.76, Z:296.56 [[ 9.99772562e-01 -1.11550393e-02 1.81765974e-02 -1.71386598e+02] [ 1.12400736e-02 9.99926327e-01 -4.58280335e-03 -9.47644776e+01] [-1.81241369e-02 4.78606734e-03 9.99824289e-01 2.96562934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.029072329 meters Centerline goodness [0,1] 0.21396336607379873 Centerline is valid? [False, False] Translation: X:-171.42, Y:-94.74, Z:296.56 [[ 9.99768891e-01 -1.21422663e-02 1.77406559e-02 -1.71417564e+02] [ 1.21814812e-02 9.99923589e-01 -2.10406299e-03 -9.47374403e+01] [-1.77137523e-02 2.31968418e-03 9.99840408e-01 2.96564672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.05907232899995 meters Centerline goodness [0,1] 0.15748901017222705 Centerline is valid? [False, False] Translation: X:-171.38, Y:-94.76, Z:296.56 [[ 9.99807474e-01 -1.09815026e-02 1.62610664e-02 -1.71383400e+02] [ 1.10384628e-02 9.99933235e-01 -3.41725481e-03 -9.47643680e+01] [-1.62224541e-02 3.59609408e-03 9.99861941e-01 2.96563590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.089072329 meters Centerline goodness [0,1] 0.18497999384425978 Centerline is valid? [False, False] Translation: X:-171.44, Y:-94.71, Z:296.57 [[ 9.99874105e-01 -5.78479902e-03 1.47753538e-02 -1.71444720e+02] [ 5.72426091e-03 9.99975062e-01 4.13624664e-03 -9.47071615e+01] [-1.47989127e-02 -4.05114792e-03 9.99882283e-01 2.96568202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.11907232899995 meters Centerline goodness [0,1] 0.17884374519325852 Centerline is valid? [False, False] Translation: X:-171.44, Y:-94.71, Z:296.57 [[ 9.99891580e-01 -1.56543070e-03 1.46416378e-02 -1.71444914e+02] [ 1.44590682e-03 9.99965577e-01 8.17031285e-03 -9.47063949e+01] [-1.46539238e-02 -8.14825658e-03 9.99859424e-01 2.96568811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.149072329 meters Centerline goodness [0,1] 0.1685591229444009 Centerline is valid? [False, False] Translation: X:-171.44, Y:-94.70, Z:296.57 [[ 9.99893265e-01 2.44615940e-03 1.44040147e-02 -1.71444690e+02] [-2.60855826e-03 9.99933128e-01 1.12665823e-02 -9.47024156e+01] [-1.43754916e-02 -1.13029535e-02 9.99832780e-01 2.96569430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.17907232899995 meters Centerline goodness [0,1] 0.15980472631442522 Centerline is valid? [False, False] Translation: X:-171.45, Y:-94.70, Z:296.57 [[ 9.99883598e-01 5.85076330e-03 1.40911217e-02 -1.71445862e+02] [-6.04029540e-03 9.99891358e-01 1.34456738e-02 -9.46965523e+01] [-1.40109234e-02 -1.35292232e-02 9.99810309e-01 2.96571793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.209072329 meters Centerline goodness [0,1] 0.1569160997732426 Centerline is valid? [False, False] Translation: X:-171.45, Y:-94.69, Z:296.57 [[ 9.99891115e-01 6.18598605e-03 1.33974427e-02 -1.71445015e+02] [-6.35734147e-03 9.99898052e-01 1.27855630e-02 -9.46932594e+01] [-1.33169856e-02 -1.28693430e-02 9.99828504e-01 2.96573038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.23907232899995 meters Centerline goodness [0,1] 0.14684038808276811 Centerline is valid? [False, False] Translation: X:-171.45, Y:-94.69, Z:296.58 [[ 9.99816801e-01 1.39954825e-02 1.30572521e-02 -1.71446133e+02] [-1.42479052e-02 9.99709431e-01 1.94435335e-02 -9.46877351e+01] [-1.27813364e-02 -1.96260099e-02 9.99725691e-01 2.96575321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.269072329 meters Centerline goodness [0,1] 0.1379694019471488 Centerline is valid? [False, False] Translation: X:-171.45, Y:-94.68, Z:296.58 [[ 9.99748452e-01 1.85555462e-02 1.25986234e-02 -1.71445406e+02] [-1.88436179e-02 9.99554509e-01 2.31452222e-02 -9.46846914e+01] [-1.21635386e-02 -2.33768037e-02 9.99652726e-01 2.96575988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.29907232899996 meters Centerline goodness [0,1] 0.139128939335311 Centerline is valid? [False, False] Translation: X:-171.46, Y:-94.67, Z:296.58 [[ 9.99671392e-01 2.40793330e-02 8.79165508e-03 -1.71456564e+02] [-2.42157345e-02 9.99582635e-01 1.57528800e-02 -9.46699864e+01] [-8.40866692e-03 -1.59605998e-02 9.99837264e-01 2.96575320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.329072329 meters Centerline goodness [0,1] 0.13264018141753842 Centerline is valid? [False, False] Translation: X:-171.46, Y:-94.67, Z:296.58 [[ 9.99668763e-01 2.43712170e-02 8.27088948e-03 -1.71455841e+02] [-2.44937900e-02 9.99586584e-01 1.50570442e-02 -9.46662574e+01] [-7.90051167e-03 -1.52546422e-02 9.99852428e-01 2.96576079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.35907232899996 meters Centerline goodness [0,1] 0.13149019355115898 Centerline is valid? [False, False] Translation: X:-171.46, Y:-94.66, Z:296.58 [[ 9.99575178e-01 2.80058879e-02 8.07053830e-03 -1.71457323e+02] [-2.81433153e-02 9.99451576e-01 1.74499637e-02 -9.46597377e+01] [-7.57741049e-03 -1.76696823e-02 9.99815166e-01 2.96578521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.389072329 meters Centerline goodness [0,1] 0.1277535874391369 Centerline is valid? [False, False] Translation: X:-171.46, Y:-94.66, Z:296.58 [[ 9.99573396e-01 2.82052252e-02 7.58223497e-03 -1.71456932e+02] [-2.83289443e-02 9.99458519e-01 1.67373470e-02 -9.46560953e+01] [-7.10604870e-03 -1.69450035e-02 9.99831171e-01 2.96579544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.41907232899996 meters Centerline goodness [0,1] 0.127246894710783 Centerline is valid? [False, False] Translation: X:-171.46, Y:-94.65, Z:296.58 [[ 9.99463038e-01 3.18727227e-02 7.60029885e-03 -1.71458739e+02] [-3.20147073e-02 9.99299971e-01 1.93552688e-02 -9.46500963e+01] [-6.97807331e-03 -1.95881971e-02 9.99783781e-01 2.96581619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.449072329 meters Centerline goodness [0,1] 0.12663379341530112 Centerline is valid? [False, False] Translation: X:-171.46, Y:-94.65, Z:296.58 [[ 9.99473057e-01 3.16125124e-02 7.36600291e-03 -1.71459510e+02] [-3.17438796e-02 9.99325592e-01 1.84577379e-02 -9.46467719e+01] [-6.77753975e-03 -1.86818372e-02 9.99802507e-01 2.96583041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.47907232899996 meters Centerline goodness [0,1] 0.1269413287316652 Centerline is valid? [False, False] Translation: X:-171.46, Y:-94.64, Z:296.58 [[ 9.99467560e-01 3.18678439e-02 7.00258214e-03 -1.71459898e+02] [-3.19898572e-02 9.99324947e-01 1.80637844e-02 -9.46445289e+01] [-6.42220117e-03 -1.82781781e-02 9.99812314e-01 2.96584519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.509072329 meters Centerline goodness [0,1] 0.12028261244184046 Centerline is valid? [False, False] Translation: X:-171.46, Y:-94.64, Z:296.59 [[ 9.99321311e-01 3.61937216e-02 6.85067244e-03 -1.71461318e+02] [-3.63315691e-02 9.99114930e-01 2.11984518e-02 -9.46394388e+01] [-6.07735825e-03 -2.14329603e-02 9.99751816e-01 2.96586594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.53907232899996 meters Centerline goodness [0,1] 0.13530757722432452 Centerline is valid? [False, False] Translation: X:-171.48, Y:-94.62, Z:296.59 [[ 9.99190593e-01 3.96831657e-02 6.58830070e-03 -1.71484987e+02] [-3.97911650e-02 9.99060620e-01 1.71621786e-02 -9.46165010e+01] [-5.90106221e-03 -1.74104436e-02 9.99831013e-01 2.96586361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.569072329 meters Centerline goodness [0,1] 0.1337345148348984 Centerline is valid? [False, False] Translation: X:-171.49, Y:-94.61, Z:296.59 [[ 9.99155143e-01 4.06059886e-02 6.33667365e-03 -1.71485541e+02] [-4.07074755e-02 9.99029764e-01 1.68057004e-02 -9.46122784e+01] [-5.64811351e-03 -1.70494520e-02 9.99838694e-01 2.96587778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.59907232899997 meters Centerline goodness [0,1] 0.13373618860684122 Centerline is valid? [False, False] Translation: X:-171.49, Y:-94.61, Z:296.59 [[ 9.99161497e-01 4.04617281e-02 6.25713384e-03 -1.71486554e+02] [-4.05588705e-02 9.99044722e-01 1.62671657e-02 -9.46104375e+01] [-5.59295891e-03 -1.65073079e-02 9.99848102e-01 2.96589057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62907232899994 meters Centerline goodness [0,1] 0.12464731742525315 Centerline is valid? [False, False] Translation: X:-171.49, Y:-94.61, Z:296.59 [[ 9.99158748e-01 4.05460332e-02 6.14942834e-03 -1.71487254e+02] [-4.06399191e-02 9.99045749e-01 1.59996252e-02 -9.46091075e+01] [-5.49483891e-03 -1.62360778e-02 9.99853087e-01 2.96590062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.65907232899997 meters Centerline goodness [0,1] 0.12357730695149716 Centerline is valid? [False, False] Translation: X:-171.49, Y:-94.61, Z:296.59 [[ 9.99163515e-01 4.04349953e-02 6.10590072e-03 -1.71488598e+02] [-4.05254518e-02 9.99058291e-01 1.54990267e-02 -9.46073120e+01] [-5.47344766e-03 -1.57335063e-02 9.99861239e-01 2.96591518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.68907232899994 meters Centerline goodness [0,1] 0.11761509368343259 Centerline is valid? [False, False] Translation: X:-171.49, Y:-94.60, Z:296.59 [[ 9.99163216e-01 4.04322284e-02 6.17278232e-03 -1.71491720e+02] [-4.05199754e-02 9.99068790e-01 1.48217397e-02 -9.46044181e+01] [-5.56775819e-03 -1.50594581e-02 9.99871098e-01 2.96594285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.71907232899997 meters Centerline goodness [0,1] 0.11435766074762299 Centerline is valid? [False, False] Translation: X:-171.49, Y:-94.60, Z:296.60 [[ 9.99180762e-01 3.99898231e-02 6.21434252e-03 -1.71493944e+02] [-4.00739366e-02 9.99097818e-01 1.40580524e-02 -9.46022191e+01] [-5.64655703e-03 -1.42955686e-02 9.99881870e-01 2.96596229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.74907232899994 meters Centerline goodness [0,1] 0.11426707264027836 Centerline is valid? [False, False] Translation: X:-171.50, Y:-94.59, Z:296.60 [[ 9.99050768e-01 4.30436776e-02 6.69362208e-03 -1.71498310e+02] [-4.31479439e-02 9.98935679e-01 1.63022494e-02 -9.45949560e+01] [-5.98478915e-03 -1.65755908e-02 9.99844704e-01 2.96599112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.779072329 meters Centerline goodness [0,1] 0.11357250212376657 Centerline is valid? [False, False] Translation: X:-171.50, Y:-94.59, Z:296.60 [[ 9.99079116e-01 4.23439191e-02 6.92191743e-03 -1.71501221e+02] [-4.24458407e-02 9.98981487e-01 1.53081618e-02 -9.45919281e+01] [-6.26665980e-03 -1.55878714e-02 9.99858864e-01 2.96600950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.80907232899995 meters Centerline goodness [0,1] 0.11091767675668618 Centerline is valid? [False, False] Translation: X:-171.50, Y:-94.59, Z:296.60 [[ 9.99094174e-01 4.19712812e-02 7.01728043e-03 -1.71503505e+02] [-4.20705927e-02 9.99007074e-01 1.46605624e-02 -9.45897279e+01] [-6.39499020e-03 -1.49425037e-02 9.99867904e-01 2.96602714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.839072329 meters Centerline goodness [0,1] 0.1089882761615284 Centerline is valid? [False, False] Translation: X:-171.51, Y:-94.59, Z:296.60 [[ 9.99102593e-01 4.17475870e-02 7.15172656e-03 -1.71505488e+02] [-4.18462577e-02 9.99022401e-01 1.42525025e-02 -9.45881802e+01] [-6.54972745e-03 -1.45389852e-02 9.99872851e-01 2.96604101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.86907232899995 meters Centerline goodness [0,1] 0.10179147802352528 Centerline is valid? [False, False] Translation: X:-171.51, Y:-94.58, Z:296.61 [[ 9.98991731e-01 4.41965150e-02 7.88600067e-03 -1.71511781e+02] [-4.43204408e-02 9.98884374e-01 1.63004839e-02 -9.45816100e+01] [-7.15677826e-03 -1.66335597e-02 9.99836039e-01 2.96607949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.899072329 meters Centerline goodness [0,1] 0.09217084908903406 Centerline is valid? [False, False] Translation: X:-171.51, Y:-94.58, Z:296.61 [[ 9.98993878e-01 4.41450522e-02 7.90233650e-03 -1.71512739e+02] [-4.42654861e-02 9.98895232e-01 1.57760216e-02 -9.45778591e+01] [-7.19717295e-03 -1.61099498e-02 9.99844323e-01 2.96608771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.92907232899995 meters Centerline goodness [0,1] 0.10241474494120717 Centerline is valid? [False, False] Translation: X:-171.52, Y:-94.57, Z:296.61 [[ 9.99038229e-01 4.28073230e-02 9.49476179e-03 -1.71522814e+02] [-4.29576058e-02 9.98945010e-01 1.62330179e-02 -9.45700166e+01] [-8.78985287e-03 -1.66252777e-02 9.99823154e-01 2.96612048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.959072329 meters Centerline goodness [0,1] 0.09478396263137412 Centerline is valid? [False, False] Translation: X:-171.55, Y:-94.55, Z:296.62 [[ 9.99139750e-01 3.92524189e-02 1.33794003e-02 -1.71546556e+02] [-3.95010317e-02 9.99041646e-01 1.88535943e-02 -9.45544477e+01] [-1.26265289e-02 -1.93658756e-02 9.99732731e-01 2.96616457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.98907232899995 meters Centerline goodness [0,1] 0.09194288298765907 Centerline is valid? [False, False] Translation: X:-171.55, Y:-94.55, Z:296.62 [[ 9.99152939e-01 3.87120893e-02 1.39562891e-02 -1.71549963e+02] [-3.89668707e-02 9.99069772e-01 1.84708925e-02 -9.45525350e+01] [-1.32282597e-02 -1.89990794e-02 9.99731988e-01 2.96617666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.019072329 meters Centerline goodness [0,1] 0.11763049599306907 Centerline is valid? [False, False] Translation: X:-171.57, Y:-94.53, Z:296.62 [[ 9.99355654e-01 3.56001672e-02 4.57224238e-03 -1.71567944e+02] [-3.56871424e-02 9.99150521e-01 2.06073674e-02 -9.45335905e+01] [-3.83473263e-03 -2.07572594e-02 9.99777191e-01 2.96619067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.04907232899996 meters Centerline goodness [0,1] 0.11760254275768123 Centerline is valid? [False, False] Translation: X:-171.57, Y:-94.53, Z:296.62 [[ 9.99388867e-01 3.45738764e-02 5.15166311e-03 -1.71572448e+02] [-3.46691889e-02 9.99204066e-01 1.97302245e-02 -9.45309696e+01] [-4.46541238e-03 -1.98967707e-02 9.99792068e-01 2.96621284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.079072329 meters Centerline goodness [0,1] 0.11671156125417514 Centerline is valid? [False, False] Translation: X:-171.57, Y:-94.53, Z:296.62 [[ 9.99387889e-01 3.45719700e-02 5.35025930e-03 -1.71574859e+02] [-3.46707512e-02 9.99206053e-01 1.96265749e-02 -9.45301050e+01] [-4.66748212e-03 -1.98000588e-02 9.99793065e-01 2.96622746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.10907232899996 meters Centerline goodness [0,1] 0.12115333744819679 Centerline is valid? [False, False] Translation: X:-171.61, Y:-94.50, Z:296.62 [[ 9.99374689e-01 3.39095879e-02 1.00185044e-02 -1.71613796e+02] [-3.40879854e-02 9.99252966e-01 1.82076606e-02 -9.45009223e+01] [-9.39360599e-03 -1.85377858e-02 9.99784032e-01 2.96624054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.139072329 meters Centerline goodness [0,1] 0.12032109082911813 Centerline is valid? [False, False] Translation: X:-171.62, Y:-94.50, Z:296.63 [[ 9.99381218e-01 3.36885009e-02 1.01126272e-02 -1.71615305e+02] [-3.38642572e-02 9.99268928e-01 1.77431995e-02 -9.44980956e+01] [-9.50749239e-03 -1.80746769e-02 9.99791435e-01 2.96625088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.16907232899996 meters Centerline goodness [0,1] 0.12011443661971832 Centerline is valid? [False, False] Translation: X:-171.62, Y:-94.49, Z:296.63 [[ 9.99375843e-01 3.38273414e-02 1.01801796e-02 -1.71617070e+02] [-3.39991736e-02 9.99273708e-01 1.72079372e-02 -9.44932769e+01] [-9.59068702e-03 -1.75433144e-02 9.99800105e-01 2.96626555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.199072329 meters Centerline goodness [0,1] 0.10771642003704529 Centerline is valid? [False, False] Translation: X:-171.60, Y:-94.51, Z:296.61 [[ 9.99380112e-01 3.50871220e-02 2.87834616e-03 -1.71602866e+02] [-3.51530723e-02 9.99003958e-01 2.74837108e-02 -9.45067718e+01] [-1.91115489e-03 -2.75678567e-02 9.99618107e-01 2.96607772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.22907232899996 meters Centerline goodness [0,1] 0.10652361722218873 Centerline is valid? [False, False] Translation: X:-171.61, Y:-94.50, Z:296.61 [[ 9.99397143e-01 3.45506748e-02 3.40611985e-03 -1.71606508e+02] [-3.46306466e-02 9.99030375e-01 2.71850792e-02 -9.45038818e+01] [-2.46355436e-03 -2.72866467e-02 9.99624614e-01 2.96609202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.259072329 meters Centerline goodness [0,1] 0.10479257510901308 Centerline is valid? [False, False] Translation: X:-171.63, Y:-94.49, Z:296.61 [[ 9.99517527e-01 3.01225595e-02 7.57263162e-03 -1.71631264e+02] [-3.03239053e-02 9.99146408e-01 2.80520373e-02 -9.44858038e+01] [-6.72116851e-03 -2.82681347e-02 9.99577780e-01 2.96613579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.28907232899996 meters Centerline goodness [0,1] 0.10555454893197236 Centerline is valid? [False, False] Translation: X:-171.64, Y:-94.48, Z:296.62 [[ 9.99567046e-01 2.77156717e-02 9.87730811e-03 -1.71644418e+02] [-2.79819669e-02 9.99218229e-01 2.79274120e-02 -9.44765420e+01] [-9.09555934e-03 -2.81917072e-02 9.99561153e-01 2.96616208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.319072329 meters Centerline goodness [0,1] 0.10926674364896072 Centerline is valid? [False, False] Translation: X:-171.67, Y:-94.46, Z:296.61 [[ 9.99547533e-01 2.72519998e-02 1.27301752e-02 -1.71670133e+02] [-2.75116688e-02 9.99407366e-01 2.06887489e-02 -9.44616706e+01] [-1.21588211e-02 -2.10296163e-02 9.99704916e-01 2.96613132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.34907232899997 meters Centerline goodness [0,1] 0.12178483560724673 Centerline is valid? [False, False] Translation: X:-171.71, Y:-94.44, Z:296.61 [[ 9.99612919e-01 1.93227363e-02 2.00161086e-02 -1.71714655e+02] [-1.96620074e-02 9.99663941e-01 1.68940898e-02 -9.44362049e+01] [-1.96829420e-02 -1.72811073e-02 9.99656914e-01 2.96612525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37907232899994 meters Centerline goodness [0,1] 0.11470550328650597 Centerline is valid? [False, False] Translation: X:-171.72, Y:-94.43, Z:296.62 [[ 9.99668532e-01 1.65329609e-02 1.97354407e-02 -1.71719752e+02] [-1.68070849e-02 9.99763433e-01 1.38058287e-02 -9.44325334e+01] [-1.95025208e-02 -1.41329477e-02 9.99709914e-01 2.96617085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.40907232899997 meters Centerline goodness [0,1] 0.12172804152311067 Centerline is valid? [False, False] Translation: X:-171.74, Y:-94.42, Z:296.62 [[ 9.99634565e-01 1.44240344e-02 2.28622915e-02 -1.71736423e+02] [-1.47970807e-02 9.99758742e-01 1.62327898e-02 -9.44213276e+01] [-2.26226335e-02 -1.65651530e-02 9.99606829e-01 2.96620099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43907232899994 meters Centerline goodness [0,1] 0.12068238791401376 Centerline is valid? [False, False] Translation: X:-171.75, Y:-94.40, Z:296.62 [[ 9.99786768e-01 1.60510959e-02 1.29915723e-02 -1.71751479e+02] [-1.63242945e-02 9.99641902e-01 2.12034088e-02 -9.44037798e+01] [-1.26465821e-02 -2.14109658e-02 9.99690769e-01 2.96621766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.46907232899997 meters Centerline goodness [0,1] 0.1211778782238766 Centerline is valid? [False, False] Translation: X:-171.76, Y:-94.39, Z:296.62 [[ 9.99862240e-01 1.64756145e-02 2.01397554e-03 -1.71756659e+02] [-1.65224018e-02 9.99525929e-01 2.59793700e-02 -9.43933369e+01] [-1.58499469e-03 -2.60090668e-02 9.99660450e-01 2.96619277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.49907232899994 meters Centerline goodness [0,1] 0.1178105994787142 Centerline is valid? [False, False] Translation: X:-171.77, Y:-94.37, Z:296.62 [[ 9.99841476e-01 1.64291752e-02 -6.86333230e-03 -1.71774672e+02] [-1.62164833e-02 9.99419133e-01 2.99736866e-02 -9.43713433e+01] [ 7.35178857e-03 -2.98576360e-02 9.99527125e-01 2.96619773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.529072329 meters Centerline goodness [0,1] 0.11683923233548499 Centerline is valid? [False, False] Translation: X:-171.79, Y:-94.36, Z:296.61 [[ 9.99816773e-01 1.85336475e-02 -4.78783563e-03 -1.71791229e+02] [-1.84168482e-02 9.99556893e-01 2.33845598e-02 -9.43595459e+01] [ 5.21911530e-03 -2.32920983e-02 9.99715079e-01 2.96613352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.55907232899995 meters Centerline goodness [0,1] 0.11639719868580323 Centerline is valid? [False, False] Translation: X:-171.81, Y:-94.34, Z:296.61 [[ 9.99763507e-01 2.16772299e-02 -1.73992694e-03 -1.71811981e+02] [-2.16390088e-02 9.99573750e-01 1.95977228e-02 -9.43447463e+01] [ 2.16400964e-03 -1.95554378e-02 9.99806432e-01 2.96608145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.589072329 meters Centerline goodness [0,1] 0.11685500281421835 Centerline is valid? [False, False] Translation: X:-171.84, Y:-94.32, Z:296.61 [[ 9.99681165e-01 2.51450919e-02 2.30037158e-03 -1.71842976e+02] [-2.51776933e-02 9.99563542e-01 1.54534438e-02 -9.43188091e+01] [-1.91078930e-03 -1.55064347e-02 9.99877942e-01 2.96605858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.61907232899995 meters Centerline goodness [0,1] 0.11656163674033149 Centerline is valid? [False, False] Translation: X:-171.85, Y:-94.31, Z:296.61 [[ 9.99688421e-01 2.48275304e-02 2.57964083e-03 -1.71845845e+02] [-2.48627269e-02 9.99583537e-01 1.46491265e-02 -9.43135033e+01] [-2.21486487e-03 -1.47086990e-02 9.99889368e-01 2.96607659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.649072329 meters Centerline goodness [0,1] 0.11362815309093233 Centerline is valid? [False, False] Translation: X:-171.87, Y:-94.30, Z:296.61 [[ 9.99663852e-01 2.53223930e-02 5.56404598e-03 -1.71867449e+02] [-2.54179300e-02 9.99517915e-01 1.78288243e-02 -9.42953716e+01] [-5.10989514e-03 -1.79642577e-02 9.99825572e-01 2.96614659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.67907232899995 meters Centerline goodness [0,1] 0.12076317756187627 Centerline is valid? [False, False] Translation: X:-171.88, Y:-94.28, Z:296.62 [[ 9.99663887e-01 2.45360489e-02 8.37224931e-03 -1.71883037e+02] [-2.47004080e-02 9.99492251e-01 2.01278252e-02 -9.42824553e+01] [-7.87414101e-03 -2.03278580e-02 9.99762360e-01 2.96618288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.709072329 meters Centerline goodness [0,1] 0.12041642822555798 Centerline is valid? [False, False] Translation: X:-171.90, Y:-94.26, Z:296.62 [[ 9.99686918e-01 2.49952251e-02 -1.14236676e-03 -1.71900255e+02] [-2.49603132e-02 9.99395886e-01 2.41835923e-02 -9.42622924e+01] [ 1.74615097e-03 -2.41475070e-02 9.99706881e-01 2.96619629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.73907232899995 meters Centerline goodness [0,1] 0.12041642822555798 Centerline is valid? [False, False] Translation: X:-171.90, Y:-94.26, Z:296.62 [[ 9.99686918e-01 2.49952251e-02 -1.14236676e-03 -1.71900255e+02] [-2.49603132e-02 9.99395886e-01 2.41835923e-02 -9.42622924e+01] [ 1.74615097e-03 -2.41475070e-02 9.99706881e-01 2.96619629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.769072329 meters Centerline goodness [0,1] 0.11937154393048366 Centerline is valid? [False, False] Translation: X:-171.92, Y:-94.25, Z:296.61 [[ 9.99614101e-01 2.76703933e-02 2.44902761e-03 -1.71921421e+02] [-2.77149874e-02 9.99404107e-01 2.05744949e-02 -9.42487750e+01] [-1.87826389e-03 -2.06344300e-02 9.99785323e-01 2.96613999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.79907232899996 meters Centerline goodness [0,1] 0.11739376277673874 Centerline is valid? [False, False] Translation: X:-171.93, Y:-94.24, Z:296.62 [[ 9.99628675e-01 2.70646204e-02 3.16534390e-03 -1.71929047e+02] [-2.71218139e-02 9.99438184e-01 1.96906982e-02 -9.42427994e+01] [-2.63064429e-03 -1.97692364e-02 9.99801109e-01 2.96618999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.829072329 meters Centerline goodness [0,1] 0.11856833066830219 Centerline is valid? [False, False] Translation: X:-171.94, Y:-94.24, Z:296.62 [[ 9.99633283e-01 2.68009496e-02 3.87398076e-03 -1.71936348e+02] [-2.68695984e-02 9.99460023e-01 1.89126310e-02 -9.42353539e+01] [-3.36501243e-03 -1.90097878e-02 9.99813635e-01 2.96623680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.85907232899996 meters Centerline goodness [0,1] 0.11683767145480073 Centerline is valid? [False, False] Translation: X:-171.96, Y:-94.22, Z:296.63 [[ 9.99666147e-01 2.45022234e-02 8.19968145e-03 -1.71962779e+02] [-2.46738952e-02 9.99463584e-01 2.15347109e-02 -9.42164146e+01] [-7.66763472e-03 -2.17298396e-02 9.99734475e-01 2.96629077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.889072329 meters Centerline goodness [0,1] 0.11694340681881976 Centerline is valid? [False, False] Translation: X:-171.97, Y:-94.21, Z:296.63 [[ 9.99663093e-01 2.44066470e-02 8.83267935e-03 -1.71969376e+02] [-2.45873914e-02 9.99477757e-01 2.09683703e-02 -9.42103949e+01] [-8.31629893e-03 -2.11784785e-02 9.99741122e-01 2.96633439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.91907232899996 meters Centerline goodness [0,1] 0.11560208973835273 Centerline is valid? [False, False] Translation: X:-171.98, Y:-94.20, Z:296.64 [[ 9.99664271e-01 2.41124915e-02 9.48328356e-03 -1.71976222e+02] [-2.43007033e-02 9.99499394e-01 2.02592488e-02 -9.42043570e+01] [-8.99003521e-03 -2.04828976e-02 9.99749784e-01 2.96638011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.949072329 meters Centerline goodness [0,1] 0.1168019041436763 Centerline is valid? [False, False] Translation: X:-171.99, Y:-94.18, Z:296.64 [[ 9.99757646e-01 2.20103858e-02 -4.37609078e-04 -1.71993295e+02] [-2.19968236e-02 9.99548533e-01 2.04663185e-02 -9.41845176e+01] [ 8.87883078e-04 -2.04517324e-02 9.99790447e-01 2.96640896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.97907232899996 meters Centerline goodness [0,1] 0.11794081247150268 Centerline is valid? [False, False] Translation: X:-172.00, Y:-94.18, Z:296.65 [[ 9.99768529e-01 2.15126598e-02 3.04976311e-04 -1.72000904e+02] [-2.15145033e-02 9.99576194e-01 1.96101393e-02 -9.41787844e+01] [ 1.17019196e-04 -1.96121615e-02 9.99807656e-01 2.96645904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.009072329 meters Centerline goodness [0,1] 0.11709216789268717 Centerline is valid? [False, False] Translation: X:-172.01, Y:-94.17, Z:296.65 [[ 9.99777995e-01 2.10408997e-02 1.11454898e-03 -1.72007979e+02] [-2.10581547e-02 9.99601171e-01 1.88163020e-02 -9.41724131e+01] [-7.18192548e-04 -1.88355950e-02 9.99822336e-01 2.96650001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.03907232899996 meters Centerline goodness [0,1] 0.11513550366456449 Centerline is valid? [False, False] Translation: X:-172.03, Y:-94.15, Z:296.66 [[ 9.99805946e-01 1.89108681e-02 5.51802056e-03 -1.72034498e+02] [-1.90262960e-02 9.99584013e-01 2.16748834e-02 -9.41547158e+01] [-5.10583427e-03 -2.17756648e-02 9.99749844e-01 2.96655107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.069072329 meters Centerline goodness [0,1] 0.11561213991769548 Centerline is valid? [False, False] Translation: X:-172.04, Y:-94.15, Z:296.66 [[ 9.99857566e-01 1.57259176e-02 6.12720595e-03 -1.72042177e+02] [-1.58291100e-02 9.99727212e-01 1.71738393e-02 -9.41456130e+01] [-5.85546014e-03 -1.72683814e-02 9.99833744e-01 2.96660420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.09907232899997 meters Centerline goodness [0,1] 0.1171365657786797 Centerline is valid? [False, False] Translation: X:-172.07, Y:-94.13, Z:296.66 [[ 9.99859205e-01 1.25630445e-02 1.11238192e-02 -1.72070035e+02] [-1.27914125e-02 9.99703856e-01 2.07021948e-02 -9.41259309e+01] [-1.08604424e-02 -2.08415694e-02 9.99723802e-01 2.96663409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12907232899994 meters Centerline goodness [0,1] 0.11868448186973701 Centerline is valid? [False, False] Translation: X:-172.08, Y:-94.12, Z:296.67 [[ 9.99789438e-01 1.67956740e-02 1.17891723e-02 -1.72076565e+02] [-1.70772180e-02 9.99561228e-01 2.42016672e-02 -9.41173780e+01] [-1.13775162e-02 -2.43978975e-02 9.99637582e-01 2.96667880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.15907232899997 meters Centerline goodness [0,1] 0.12204468693167059 Centerline is valid? [False, False] Translation: X:-172.08, Y:-94.11, Z:296.67 [[ 9.99705120e-01 2.08922821e-02 1.23768256e-02 -1.72082462e+02] [-2.12257287e-02 9.99397743e-01 2.74521196e-02 -9.41090711e+01] [-1.17958342e-02 -2.77067317e-02 9.99546495e-01 2.96672216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.18907232899994 meters Centerline goodness [0,1] 0.09304626502914415 Centerline is valid? [False, False] Translation: X:-172.09, Y:-94.09, Z:296.67 [[ 9.99706852e-01 2.41694176e-02 1.43121018e-03 -1.72093183e+02] [-2.42023772e-02 9.99217287e-01 3.12899078e-02 -9.40887839e+01] [-6.73831107e-04 -3.13153739e-02 9.99509326e-01 2.96674181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.21907232899997 meters Centerline goodness [0,1] 0.12865865583103364 Centerline is valid? [False, False] Translation: X:-172.10, Y:-94.08, Z:296.68 [[ 9.99579731e-01 2.89328621e-02 1.80273874e-03 -1.72098213e+02] [-2.89779710e-02 9.98979432e-01 3.46463667e-02 -9.40811113e+01] [-7.98480377e-04 -3.46840457e-02 9.99398009e-01 2.96678418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.24907232899994 meters Centerline goodness [0,1] 0.13045176409321702 Centerline is valid? [False, False] Translation: X:-172.11, Y:-94.07, Z:296.67 [[ 9.99380878e-01 3.50006347e-02 3.58004347e-03 -1.72107605e+02] [-3.50984108e-02 9.98858453e-01 3.24020314e-02 -9.40683465e+01] [-2.44186502e-03 -3.25076244e-02 9.99468505e-01 2.96672794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.279072329 meters Centerline goodness [0,1] 0.13647905672459093 Centerline is valid? [False, False] Translation: X:-172.12, Y:-94.05, Z:296.67 [[ 9.98890867e-01 4.66981058e-02 6.02690695e-03 -1.72123537e+02] [-4.68723447e-02 9.98354520e-01 3.30338570e-02 -9.40483015e+01] [-4.47437124e-03 -3.32797133e-02 9.99436061e-01 2.96668481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.30907232899995 meters Centerline goodness [0,1] 0.13027022269166444 Centerline is valid? [False, False] Translation: X:-172.13, Y:-94.04, Z:296.67 [[ 9.98827207e-01 4.80372498e-02 6.05254269e-03 -1.72126918e+02] [-4.82091197e-02 9.98309229e-01 3.24740467e-02 -9.40403149e+01] [-4.48234534e-03 -3.27277491e-02 9.99454253e-01 2.96672402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.339072329 meters Centerline goodness [0,1] 0.13900185659977016 Centerline is valid? [False, False] Translation: X:-172.13, Y:-94.03, Z:296.68 [[ 9.98647016e-01 5.16025643e-02 6.42743213e-03 -1.72129923e+02] [-5.17975775e-02 9.98037219e-01 3.51954656e-02 -9.40332922e+01] [-4.59864021e-03 -3.54807722e-02 9.99359779e-01 2.96675143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.36907232899995 meters Centerline goodness [0,1] 0.13268187232540696 Centerline is valid? [False, False] Translation: X:-172.13, Y:-94.03, Z:296.68 [[ 9.98654677e-01 5.14781472e-02 6.23192100e-03 -1.72130299e+02] [-5.16634797e-02 9.98066434e-01 3.45583385e-02 -9.40293804e+01] [-4.44087193e-03 -3.48338091e-02 9.99383252e-01 2.96676485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.399072329 meters Centerline goodness [0,1] 0.13906511586923953 Centerline is valid? [False, False] Translation: X:-172.13, Y:-94.02, Z:296.68 [[ 9.98585961e-01 5.27739108e-02 6.40264053e-03 -1.72134229e+02] [-5.29628234e-02 9.98010406e-01 3.42077223e-02 -9.40221684e+01] [-4.58462659e-03 -3.44984531e-02 9.99394235e-01 2.96680512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.42907232899995 meters Centerline goodness [0,1] 0.1406728502500606 Centerline is valid? [False, False] Translation: X:-172.14, Y:-94.01, Z:296.69 [[ 9.98550146e-01 5.33756298e-02 6.97487139e-03 -1.72141215e+02] [-5.35804818e-02 9.98000251e-01 3.35355193e-02 -9.40142668e+01] [-5.17094393e-03 -3.38606147e-02 9.99413188e-01 2.96685882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.459072329 meters Centerline goodness [0,1] 0.13823944426354062 Centerline is valid? [False, False] Translation: X:-172.14, Y:-94.01, Z:296.69 [[ 9.98559547e-01 5.31747050e-02 7.16109554e-03 -1.72143122e+02] [-5.33848650e-02 9.98017651e-01 3.33290480e-02 -9.40128098e+01] [-5.37463745e-03 -3.36633332e-02 9.99418778e-01 2.96687049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.48907232899995 meters Centerline goodness [0,1] 0.1391444292207651 Centerline is valid? [False, False] Translation: X:-172.14, Y:-94.01, Z:296.69 [[ 9.98572950e-01 5.29057960e-02 7.28293603e-03 -1.72144574e+02] [-5.31182109e-02 9.98043874e-01 3.29678691e-02 -9.40105910e+01] [-5.52449834e-03 -3.33076788e-02 9.99429877e-01 2.96688099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.519072329 meters Centerline goodness [0,1] 0.13697092659342558 Centerline is valid? [False, False] Translation: X:-172.15, Y:-94.00, Z:296.69 [[ 9.98523341e-01 5.37710140e-02 7.73410478e-03 -1.72150383e+02] [-5.39959861e-02 9.98007911e-01 3.26288702e-02 -9.40022299e+01] [-5.96421032e-03 -3.29982991e-02 9.99437612e-01 2.96692919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.54907232899996 meters Centerline goodness [0,1] 0.1372948621688298 Centerline is valid? [False, False] Translation: X:-172.15, Y:-94.00, Z:296.69 [[ 9.98527455e-01 5.37265830e-02 7.50835930e-03 -1.72150298e+02] [-5.39412018e-02 9.98027372e-01 3.21202709e-02 -9.39985268e+01] [-5.76783570e-03 -3.24779823e-02 9.99455808e-01 2.96693974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.579072329 meters Centerline goodness [0,1] 0.139434876094086 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.99, Z:296.70 [[ 9.98310705e-01 5.75722078e-02 7.82156221e-03 -1.72152003e+02] [-5.78148202e-02 9.97696374e-01 3.54879190e-02 -9.39937450e+01] [-5.76042641e-03 -3.58801716e-02 9.99339497e-01 2.96695503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.60907232899996 meters Centerline goodness [0,1] 0.14008919293384137 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.99, Z:296.70 [[ 9.98075980e-01 6.14820062e-02 8.01877105e-03 -1.72152327e+02] [-6.17501561e-02 9.97323782e-01 3.91432271e-02 -9.39907278e+01] [-5.59070693e-03 -3.95630751e-02 9.99201435e-01 2.96696094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.639072329 meters Centerline goodness [0,1] 0.1411150201808724 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.99, Z:296.70 [[ 9.97822177e-01 6.54630025e-02 8.09305401e-03 -1.72152105e+02] [-6.57505867e-02 9.96919539e-01 4.27585525e-02 -9.39874148e+01] [-5.26902044e-03 -4.31975550e-02 9.99052656e-01 2.96696732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.66907232899996 meters Centerline goodness [0,1] 0.1443726834898018 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.98, Z:296.70 [[ 9.97389381e-01 7.17939295e-02 7.74950794e-03 -1.72152296e+02] [-7.20754750e-02 9.96339666e-01 4.59608111e-02 -9.39780654e+01] [-4.42143492e-03 -4.63993743e-02 9.98913184e-01 2.96700833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.699072329 meters Centerline goodness [0,1] 0.1448327333391869 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.97, Z:296.70 [[ 9.97308200e-01 7.29699539e-02 7.19299169e-03 -1.72150184e+02] [-7.32228564e-02 9.96275066e-01 4.55456565e-02 -9.39740329e+01] [-3.84273382e-03 -4.59497481e-02 9.98936361e-01 2.96701403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.72907232899996 meters Centerline goodness [0,1] 0.14646721692372378 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.97, Z:296.70 [[ 9.97236230e-01 7.39874505e-02 6.76452650e-03 -1.72148902e+02] [-7.42180130e-02 9.96222926e-01 4.50729326e-02 -9.39698835e+01] [-3.40414501e-03 -4.54504111e-02 9.98960796e-01 2.96702360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.759072329 meters Centerline goodness [0,1] 0.14497265278768623 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.97, Z:296.70 [[ 9.96906560e-01 7.83239319e-02 6.53235179e-03 -1.72147567e+02] [-7.85486031e-02 9.95741852e-01 4.82522607e-02 -9.39653296e+01] [-2.72522929e-03 -4.86161024e-02 9.98813820e-01 2.96703605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.78907232899996 meters Centerline goodness [0,1] 0.14475219288769825 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.96, Z:296.70 [[ 9.96911718e-01 7.82833061e-02 6.22499131e-03 -1.72146916e+02] [-7.84918777e-02 9.95770158e-01 4.77579129e-02 -9.39623755e+01] [-2.46001326e-03 -4.80990343e-02 9.98839542e-01 2.96704386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.819072329 meters Centerline goodness [0,1] 0.14710874980710298 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.96, Z:296.71 [[ 9.97254912e-01 7.38148495e-02 5.83169772e-03 -1.72147959e+02] [-7.39979762e-02 9.96329850e-01 4.30247437e-02 -9.39598001e+01] [-2.63442954e-03 -4.33381708e-02 9.99056987e-01 2.96706031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.84907232899997 meters Centerline goodness [0,1] 0.1441755670616781 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.96, Z:296.71 [[ 9.97576719e-01 6.93473952e-02 5.62391834e-03 -1.72148768e+02] [-6.95135595e-02 9.96831457e-01 3.86640864e-02 -9.39585572e+01] [-2.92484503e-03 -3.89613311e-02 9.99236438e-01 2.96706556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87907232899994 meters Centerline goodness [0,1] 0.1449508529113589 Centerline is valid? [False, False] Translation: X:-172.15, Y:-93.96, Z:296.71 [[ 9.97829462e-01 6.56026268e-02 5.71491943e-03 -1.72153405e+02] [-6.57617049e-02 9.97235547e-01 3.45928129e-02 -9.39553973e+01] [-3.42974141e-03 -3.48935507e-02 9.99385149e-01 2.96710420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.90907232899997 meters Centerline goodness [0,1] 0.14256962219159497 Centerline is valid? [False, False] Translation: X:-172.17, Y:-93.95, Z:296.71 [[ 9.98396278e-01 5.59895861e-02 8.36889582e-03 -1.72168302e+02] [-5.62235762e-02 9.97937278e-01 3.09854552e-02 -9.39548461e+01] [-6.61677030e-03 -3.14062924e-02 9.99484799e-01 2.96708960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93907232899994 meters Centerline goodness [0,1] 0.1422056750088121 Centerline is valid? [False, False] Translation: X:-172.17, Y:-93.95, Z:296.71 [[ 9.98590690e-01 5.23512199e-02 8.71685028e-03 -1.72174239e+02] [-5.25699965e-02 9.98249068e-01 2.71144524e-02 -9.39532999e+01] [-7.28211301e-03 -2.75344845e-02 9.99594329e-01 2.96713131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.96907232899997 meters Centerline goodness [0,1] 0.1399112503262856 Centerline is valid? [False, False] Translation: X:-172.17, Y:-93.95, Z:296.71 [[ 9.98766606e-01 4.89158219e-02 8.51526088e-03 -1.72174259e+02] [-4.91041624e-02 9.98516523e-01 2.35273068e-02 -9.39526856e+01] [-7.35177114e-03 -2.39164231e-02 9.99686929e-01 2.96713153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.99907232899994 meters Centerline goodness [0,1] 0.14130604071643116 Centerline is valid? [False, False] Translation: X:-172.18, Y:-93.95, Z:296.72 [[ 9.98955005e-01 4.47783903e-02 9.15388338e-03 -1.72181513e+02] [-4.49485613e-02 9.98802534e-01 1.93164528e-02 -9.39500184e+01] [-8.27796226e-03 -1.97077210e-02 9.99771514e-01 2.96717623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 35392.59 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%| | 0/15067 [00:00